Movable welding robot

Abstract

The utility model relates to the technical field of robots, in particular to a movable welding robot which comprises a bottom moving mechanism, a mechanical arm, a welding device, a control unit and a material supply unit. A bottom plate is arranged at the upper end of the bottom moving mechanism and is connected with the mechanical arm through a rotary table; the control unit is installed on the bottom plate and used for receiving welding seam information collected by the visual camera and controlling the welding process. The mechanical arm is driven by a driving motor and a speed reducer module to realize multi-degree-of-freedom movement and drive the welding device to swing up and down and back and forth; the welding device comprises a welding gun, a flange plate, a metal filling pipe and a visual camera, and the flange plate can control the welding gun to achieve rotating movement of the welding gun around the axis of the flange plate. The material supply unit provides welding wires and protective gas for welding. The system can realize automatic positioning, path planning and welding control, adapts to complex working conditions, and improves the welding efficiency and the intelligent level.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a movable welding robot. Background Art

[0002] In view of the more complex welding field, the role of industrial robots is particularly important. Industrial robots specially used for welding, namely welding robots, have developed rapidly. Welding is an important method for forming large steel structures and is called industrial tailor. According to statistics from relevant departments, half of the world's steel is formed by welding. However, many industrial sites now still use manual welding. The on-site environment is harsh, accompanied by various uncertain factors. Arc light, smoke, splashes, etc. will cause certain harm to the human body, and also affect the welding efficiency. Utility Model Content

[0003] In order to solve the above problems, the utility model provides a movable welding robot, which can be moved by remote control and the control unit controls the mechanical arm and the welding device to perform welding, so as to adapt to the complex welding environment, thereby realizing movable welding, aiming to improve the degree of automation, improve work efficiency, and save costs.

[0004] The utility model is achieved in this way:

[0005] A movable welding robot comprises a bottom moving mechanism, a mechanical arm, a welding device, a control unit and a material supply unit. The bottom moving mechanism is used to realize the movement of the movable welding robot, and its upper end is a bottom plate, which is connected to the mechanical arm through a turntable; the control unit is connected to the bottom moving mechanism through the bottom plate; the welding device is connected to the driving motor and the planetary reducer module through a connecting straight rod; the bottom moving mechanism drives the mechanical arm to move, and the driving motor and the planetary reducer module drive the welding device to reciprocate through gear transmission; the control unit determines the weld type and selects the welding method and welding path according to the weld information detected by the visual camera; the material supply unit is mainly used to provide filler metal and protective gas for the welding device; the flange can control the welding gun to rotate 360°.

[0006] Furthermore, the bottom moving mechanism is arranged at the bottom of the welding robot, and includes a crawler, a battery pack, a pulley, a driving motor and a reducer device, and a bottom plate.

[0007] Furthermore, the battery pack supplies power to the drive motor and the reducer device, which are connected to the pulley to transmit force to the pulley, and the pulley drives the track to rotate, thereby realizing the movement of the mobile welding robot. The upper end of the bottom plate is connected to the bearing seat and the turntable to connect the robot arm.

[0008] Furthermore, the robotic arm includes a drive motor and harmonic reducer module, a turntable, a connecting rod, a large arm, a drive motor and a planetary reducer module, a connecting straight rod, and a gear box.

[0009] Furthermore, the drive motor and harmonic reducer module are connected to the upper arm, and the upper arm can be driven to swing back and forth by the motor driving the motor and harmonic reducer module to rotate. At the same time, the drive motor and the upper end of the planetary reducer module are connected through a connecting rod, which can drive the drive motor and the planetary reducer module part, the connecting straight rod, and the welding device to swing up and down; the drive motor and the planetary reducer module are connected to the gear box through the connecting straight rod, thereby driving the welding device to swing back and forth.

[0010] Furthermore, the welding device includes a metal filling pipe, a visual camera, a flange, a gas pipe, and a welding gun.

[0011] Furthermore, the control unit is installed on the bottom plate of the bottom moving mechanism and mainly determines the weld type and selects the welding method and welding path information based on the weld information detected by the visual camera, and controls the robotic arm and the welding device to complete the welding work.

[0012] Furthermore, the welding device comprises: the welding gas storage box protection device, the welding wire reel, and a gas cylinder.

[0013] Furthermore, the left end of the metal filling tube is connected to the welding wire reel, and the right end is connected to the welding gun. One end of the gas cylinder is connected to the welding gas storage box protection device, and the other end is connected to the gas delivery pipe to complete the welding gas delivery.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] (1) The control unit is mainly used to control the robot arm and can also control the movement of the bottom moving mechanism. The control unit works in conjunction with the control handle. The control handle is mainly used to move the robot to the work location and then adjust the steering of the robot arm. The control unit determines the weld type based on the weld information scanned by the visual camera and plans the welding method and welding path.

[0016] (2) The visual camera can detect weld information, and the control unit can control the welding device to adjust the angle in real time according to the detected weld information, so that the accuracy of the welding device is improved, thereby realizing the movable welding of the welding robot with a high degree of automation.

[0017] (3) Integrated welding device + robotic arm, using motor drive to enable the arm to move in all directions to complete various welding tasks.

[0018] (4) The larger material supply unit is combined with the bottom moving mechanism, which greatly improves the working efficiency and is equipped with a welding gas storage box protection device, which greatly increases the safety and reliability.

[0019] (5) Tracked vehicles have the following advantages: low ground pressure, good off-road performance, strong ability to overcome obstacles, zero-radius turning, simple structure, strong and durable, patterned track shoes, can be installed with spikes, and are suitable for rainy, snowy, icy or uphill roads. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0021] Figure 1 The overall structure diagram of the utility model is as follows:

[0022] Figure 2 for Figure 1 A top view of

[0023] Figure 3 for Figure 1 The main view;

[0024] Figure 4 It is a partial view of the mechanical arm of the utility model;

[0025] Reference numerals:

[0026] 1- bottom moving mechanism: 11- crawler track; 12- battery pack; 13- pulley; 14- driving motor and reducer device; 15- bottom plate.

[0027] 2-Robot arm: 21-drive motor and harmonic reducer module; 22-turntable; 23-connecting rod; 24-big arm; 25-drive motor and planetary reducer module; 26-connecting straight rod; 27-gear box.

[0028] 3-Welding device: 31-metal filling pipe; 32-visual camera; 33-flange; 34-gas pipe; 35-welding gun.

[0029] 4- Control unit.

[0030] 5-Material supply unit: 51-Welding gas storage box protection device; 52-Welding wire reel; 53-Gas cylinder DETAILED DESCRIPTION

[0031] In order to describe the purposes, technical solutions and advantages in the embodiments of the utility model more clearly and completely, the utility model will be further explained below in conjunction with the drawings in the embodiments of the utility model; it is obvious that the specific embodiments described here are only part of the embodiments of the utility model, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field without making creative work based on the embodiments of the utility model belong to the scope of protection of the utility model.

[0032] It should be noted that when an element is referred to as being "installed on" or "fixed on" another element, it can be directly on the other element or indirectly on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0033] It should be understood that terms such as "upper", "lower", "left", "right", "top", "bottom", "inside" and "outside" that indicate orientation are based on the orientation shown in the drawings, and do not refer to devices or elements having a specific orientation, being constructed or operating in a specific orientation. Therefore, they should not be understood as limitations on the present application.

[0034] Please see attached Figure 1-4 One of the technical solutions of the utility model is: a movable welding robot includes a bottom moving mechanism 1, a mechanical arm 2, a welding device 3, a control unit 4 and a material supply unit 5.

[0035] Please see attached Figure 1-2 The bottom moving mechanism 1 is located at the bottom of the movable welding robot, and includes a track 11, a battery pack 12, a pulley 13, a drive motor and a reducer device 14, and a base plate 15, which is used to realize the movement of the movable welding robot. The upper end of the base plate 15 is connected to the robot arm 2 through a turntable 22.

[0036] Please see attached Figure 1 The control unit 4 is installed on the bottom plate 15 of the bottom moving mechanism 1, and mainly determines the weld type and selects the welding method and welding path information based on the weld information detected by the visual camera 32, and controls the robot arm 2 and the welding device 3 to complete the welding work. It is installed on the top of the bottom moving mechanism 1 through the bottom plate 15.

[0037] Please see attached Figure 4The mechanical arm 2 includes a drive motor and harmonic reducer module 21, a turntable 22, a connecting rod 23, a large arm 24, a drive motor and a planetary reducer module 25, a connecting rod 26, and a gear box 27, which are used to control the displacement of the welding device 3. The large arm 24 is installed on the turntable 22, and the turntable 22 can control the large arm 24 and the upper part to rotate 360 ​​degrees. The drive motor and harmonic reducer module 21 are used as a power source to drive the large arm 24 to swing forward or backward, and are connected to the drive motor and the planetary reducer module 25 through the connecting rod 23, so that the drive motor and the planetary reducer module 25 and the upper part can be controlled to swing upward or downward. The drive motor and the planetary reducer module 25 are used as another power source, and are connected to the gear box 27 through the connecting rod 26. The function of the gear box is to convert the high-speed rotation of the drive motor and the planetary reducer module 25 into a suitable speed and torque and then drive the welding device 3.

[0038] Please see attached Figure 4 The welding device 3 includes a metal filling pipe 31, a visual camera 32, a flange 33, a gas pipe 34, and a welding gun 35. The material supply unit 5 includes: a welding gas storage box protection device 51, a welding wire reel 52, and a gas cylinder 53. The welding device 3, as the end effector of the robot arm, can accurately reach the welding point to ensure the accuracy of the welding process.

[0039] Please see attached Figure 2 and attached Figure 4 The material supply unit 5 is mainly used to supply welding wire and argon gas required for welding. The flange 33 is used to control the welding gun 35 to make a rotary motion. The left end of the metal filling tube 31 is connected to the welding wire reel 52, and the right end is connected to the welding gun 35. One end of the gas cylinder 53 is connected to the welding gas storage box protection device 51, and the other end is connected to the gas delivery pipe 34 to complete the welding gas delivery.

[0040] Please see attached Figure 1-3 The bottom moving mechanism 1 drives the robot arm 2 to move, and the robot arm 2 drives the welding device 3 to reciprocate through gear transmission. The welding device adjusts the welding angle by driving the motor and the rotation of the planetary reducer module 25; the control unit 4 is installed on the bottom plate 15 of the bottom moving mechanism 1, and mainly determines the weld type and selects the welding method and welding path information based on the weld information detected by the visual camera 32, and controls the robot arm 2 and the welding device 3 to complete the welding work.

[0041] The working method and use principle of the utility model are as follows: before the movable welding robot is started, all the actuators of the movable welding robot should be in the original state. Before the welding machine, the movable welding robot replaces the gas cylinder 53 and the welding wire reel 52 as required, and checks whether the welding gas storage box protection device 51 is normal, and then drives to the welding site by manual remote control, and uses the control handle to control the turntable 22, the turntable rotates, drives the entire mechanical arm 2 and the welding device 3 to rotate to the correct working direction, and then the drive motor and the harmonic reducer module 21 start to rotate, control the arm 24 to complete the forward and backward swing, and indirectly control the drive motor and the planetary reducer module 25 through the connecting rod 23, the connecting straight rod 26 and the welding device 3 can swing up and down, we use the control handle to turn the welding The connecting device 3 moves to the vicinity of the weld, and the visual camera 32 starts to scan from top to bottom and search for the weld, and then transmits the scanned weld information to the control unit 4. The control unit 4 determines the welding method and welding path according to the weld type, and then starts working. At the same time, the material supply unit 5 starts, the wire reel 52 starts to supply welding wire, and the gas cylinder 53 starts to supply gas, which is transmitted to the welding gun 35 through the metal filling pipe 31 and the gas pipe 34 until the welding is completed. The material supply unit 5 stops working, and the reset button on the control handle is used to return the robotic arm to a safe position, and the welding robot returns to a designated safe point.

[0042] The above is only a preferred specific implementation of the utility model; however, the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and improved ideas of the utility model within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model.

Claims

1. A mobile welding robot, characterized in that: The invention comprises a bottom moving mechanism (1), a mechanical arm (2), a welding device (3), a control unit (4), and a material supply unit (5). The bottom moving mechanism (1) comprises: a crawler (11), a battery pack (12), a pulley (13), a drive motor and a reducer device (14), and a bottom plate (15). The mechanical arm (2) comprises: a drive motor and a harmonic reducer module (21), a rotary table (22), a connecting rod (23), a large arm (24), a drive motor and a planetary reducer module (25), a connecting straight rod (26), and a gear box (27). The welding device (3) comprises: a metal filling pipe (31), a visual camera (32), a flange (33), a gas pipe (34), and a welding gun (35). The material supply unit (5) comprises: a welding gas storage box protection device (51), a welding wire reel (52), a gas cylinder (53), and a welding torch (35). ), the bottom moving mechanism (1) is used to realize the movement of the movable welding robot, and its upper end is a bottom plate (15) connected to the mechanical arm (2) through a turntable (22), the control unit (4) is connected to the bottom moving mechanism (1) through the bottom plate (15), the welding device (3) is connected to the driving motor and the planetary reducer module (25) through a connecting straight rod (26), the bottom moving mechanism (1) drives the mechanical arm (2) to move, the driving motor and the planetary reducer module (25) drive the welding device (3) to reciprocate through gear transmission, the control unit (4) determines the weld type and selects the welding method and welding path according to the weld information detected by the visual camera (32), and the material supply unit (5) is mainly used to provide filler metal and protective gas for the welding device (3).

2. A movable welding robot according to claim 1, characterized in that: The driving motor and harmonic reducer module (21) is connected to the arm (24), driving the arm (24) to swing back and forth. At the same time, the driving motor and the planetary reducer module (25) are connected to the upper end part through the connecting rod (23), and can drive the driving motor and the planetary reducer module (25), the connecting straight rod (26), and the welding device (3) to swing up and down. The driving motor and the planetary reducer module (25) are connected to the gear box (27) through the connecting straight rod (26), thereby driving the welding device (3) to swing back and forth. The flange (33) can control the welding gun (35) to rotate 360 ​​degrees.

3. The movable welding robot according to claim 1, characterized in that: The control unit (4) is installed on the bottom plate (15) of the bottom moving mechanism (1) and is mainly used to control the movement of the bottom moving mechanism (1) and control the robot arm (2) and the welding device (3) to complete the welding work according to the welding seam information detected by the visual camera (32).

4. The movable welding robot according to claim 1, characterized in that: The left end of the metal filling tube (31) is connected to the welding wire reel (52), and the right end is connected to the welding gun (35). One end of the gas cylinder (53) is connected to the welding gas storage box protection device (51), and the other end is connected to the gas pipe (34) to complete the welding gas delivery.

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