Movable track welding robot for welding large platform

Abstract

The utility model discloses a movable track welding robot for welding a large platform. The movable track welding robot comprises a movable frame, a mechanical arm, a mechanical arm electric cabinet, a track and a signal electric cabinet. Wherein the movable frame serves as an integral frame of the robot and can slide on the track; the mechanical arm is fixed on the movable frame; the mechanical arm electric cabinet is arranged in the movable frame and is used for managing and controlling a power supply of the track welding robot; the track can be spliced and extended; and the signal electrical cabinet is used for signal acquisition and processing of the track welding robot.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of automatic welding technology, especially relates to a movable track welding robot for large platform welding. BACKGROUND

[0002] In today's era, the tide of industrial automation is sweeping in an unprecedented rapid manner. In many industrial production fields, under the welding operation scene of large platform, the demand for automation is increasingly urgent and needs to be met.

[0003] At present, the existing welding technology widely used exposes many drawbacks. First, the welding work of large platform is extremely heavy, which requires workers to work for a long time, which undoubtedly consumes a lot of manpower. Secondly, the high labor cost brought by a large number of labor input seriously compresses the profit space of enterprises, hinders the investment and development of enterprises in other key fields. Thirdly, the welding precision and quality are difficult to maintain stability, and the welding quality is uneven, which not only may lead to product quality defects, but also may cause a series of additional costs such as subsequent maintenance, rework, and even affect the market reputation of enterprises. CONTENT OF THE UTILITY MODEL

[0004] In order to solve the above technical problems, the utility model aims to provide a track type mobile welding robot, which greatly improves the welding efficiency, ensures the high stability and consistency of the welding quality, and greatly reduces the dependence on labor, so as to realize the goal of reducing labor cost, inject new vitality into the development of industrial welding field, and bring more efficient, higher quality and more cost-effective technical scheme.

[0005] The utility model provides a movable track welding robot for large platform welding, which comprises a movable frame, a mechanical arm, a mechanical arm electric cabinet, a track and a signal electric cabinet, wherein,

[0006] The movable frame serves as the overall frame of the robot, which can slide on the track;

[0007] The mechanical arm is fixed on the movable frame;

[0008] The mechanical arm electric cabinet is arranged in the movable frame, which is used for power management and control of the robot;

[0009] The track can be spliced and extended;

[0010] The signal electric cabinet is used for signal acquisition and processing of the track welding robot.

[0011] The utility model discloses a track bottom is provided with bottom support leg, and the bottom support leg is detachable.

[0012] The utility model discloses a robot further include: welding wire disc;

[0013] Welding wire disc is fixed on the side of movable frame, and provides welding wire for mechanical arm through wire feeding pipe.

[0014] The utility model discloses a robot further include: sliding device;

[0015] Movable frame is fixed on sliding device;

[0016] Sliding device can slide on the track.

[0017] The utility model discloses a track side is provided with the chute, and the top is provided with the rack;

[0018] Sliding device includes: sliding plate, servo motor, compression roller;

[0019] Sliding plate both sides are provided with compression roller, and compression roller can roll in chute, guarantees that sliding plate normally operates on the track;

[0020] Servo motor is fixed in movable frame, and its drive shaft passes through sliding plate and rack and is engaged through gear, realizes moving sliding plate.

[0021] The utility model discloses a track is detachably fixed with T beam through pressing block and F clamp. Track (4) side is provided with fixed groove (45), and pressing block (6) is fixed on the track through fixed groove (45).

[0022] The utility model discloses a track is extended through quick clamp splicing.

[0023] Preferably, the top of the movable frame is provided with a lifting eye hole.

[0024] The utility model discloses a signal electrical cabinet contains switch, 24V power, IO module, terminal block a plurality of and display screen.

[0025] The switch is used for field industrial network networking;

[0026] The 24V power is used for control module power supply;

[0027] The IO module is used for gathering input and output signal;

[0028] The terminal block is used for switching IO point, and protecting PLC contact point;

[0029] The display screen is used for displaying the station state, and facilitates manual / automatic debugging.

[0030] The utility model discloses the beneficial effect is:

[0031] Through the utility model discloses a track type mobile welding robot for large platform welding, can realize the automation of large platform welding process, improve welding efficiency and quality, reduce artificial cost and operation difficulty. Meanwhile, the robot can work stably for a long time under high temperature, dust and other harsh environment, improve production safety. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical scheme in the embodiment of the utility model or prior art, below will to the embodiment or prior art description needed to use the drawing do simple introduction, obviously, the drawing in the following description only some embodiments of the utility model, for those skilled in the art, under the premise of not paying creative labor, still can obtain other drawings according to these drawings.

[0033] Figures 1-7 It is the structural schematic diagram of the movable track welding robot of the utility model.

[0034] Figure 8 , Figure 9 It is the structural schematic diagram of the quick clamp in the utility model.

[0035] Figure 10 It is the side view of the track in the utility model.

[0036] Figure 11 It is the setting schematic diagram of the servo motor in the utility model.

[0037] Figure 12 It is the setting schematic diagram of the rack in the utility model.

[0038] Figure 13 It is the structural schematic diagram of the compression roller in the utility model.

[0039] Figure 14 It is the setting schematic diagram of the compression roller in the utility model.

[0040] Figure 15 It is the structural schematic diagram of the compression block in the utility model.

[0041] Figure 16 , Figure 17 It is the working schematic diagram of the movable track welding robot in the utility model.

[0042] Figure 18 It is the schematic diagram of F clamp in the utility model.

[0043] Figure 19The utility model discloses the setting schematic diagram of gear. DETAILED DESCRIPTION

[0044] The utility model is further explained in detail in combination with the following specific embodiments and drawings. The process, conditions, experimental methods and the like for implementing the utility model are the general knowledge and common sense in the art except for the following specifically mentioned contents, and the utility model has no special limitation contents.

[0045] Figures 1-19 In the figure, 1 is a movable frame, 11 is a lifting eye hole, 2 is a mechanical arm, 3 is a mechanical arm electric cabinet, 4 is a track, 41 is a sliding groove, 42 is a rack, 43 is a quick clamp, 44 is a gear, 45 is a fixed groove, 5 is a signal electric cabinet, 6 is a pressing block, 7 is a welding wire disc, 8 is a sliding device, 81 is a sliding plate, 82 is a servo motor, and 83 is a pressing roller.

[0046] The track type mobile welding robot of the embodiment can be cleverly used to realize flexible movement by means of the track, and can be accurately positioned to each welding position of the large platform. The embodiment provides a track type mobile welding robot which can automatically move on a fixed track, identify a welding seam and perform welding. The track type mobile welding robot mainly comprises a movable frame, a robot and a robot cabinet integrated on the frame, and an aluminum alloy track. The frame can move in a closed loop on the aluminum alloy track, and the robot mechanical arm is provided with a welding gun and a line scanner. In use, the track is fixed on a T-beam rib plate for welding, and the robot automatically identifies and tracks the welding seam through the line scanner to perform automatic welding.

[0047] The track welding robot can be clamped on any I-beam with a width greater than the width of the track through the pressing block 6 and the F clamp, and is not limited to the edge portion of the large platform.

[0048] Robot overall architecture

[0049] In an actual application scenario, first, the legs at the bottom of the track 4 are removed, and the tracks 4 can be spliced and extended through the quick clamps 43. When large-area welding work needs to be performed on a large platform, a plurality of tracks 4 can be conveniently connected together through the quick clamps 43 according to the actual work range to form a track with a length meeting the work requirements.

[0050] The track 4 is laid on the T-beam and fixed with the T-beam through the pressing block and the F clamp. This fixing mode can ensure that the track 4 remains stable during the welding work and will not be displaced due to external vibration and other factors. For example, in the welding work of a large ship manufacturing platform, the T-beam structure is widely used, and the track 4 can be quickly fixed at a suitable position through this mode.

[0051] The movable frame 1 is installed on the sliding device 8, and four compression rollers 83 are arranged on both sides of the sliding plate 81 of the sliding device 8, and the sliding plate 81 is placed on the track 4 through the compression rollers 83. The servo motor 82 is fixed in the movable frame 1, and the driving shaft thereof is engaged with the rack 42 at the top of the track 4 through a gear. In this way, when the servo motor 82 is started, the driving shaft drives the gear to rotate and interact with the rack 42, so as to realize the sliding of the sliding plate 81 on the track 4, and further drive the movable frame 1 to move on the track 4.

[0052] Installation and connection of each component

[0053] The mechanical arm 2 is fixed on the movable frame 1, and the mechanical arm electric cabinet 3 is arranged in the movable frame 1. The mechanical arm electric cabinet is an integrated part provided by the mechanical arm manufacturer, which is used for power management, control, protection, data processing, safety, expansion and environmental adaptation, etc., to ensure the efficient and safe operation of the robot system. The welding wire disc 7 is fixed on the side of the movable frame 1 and connected with the mechanical arm 2 through a wire feeding pipe to provide the welding wire required by the mechanical arm 2 for welding. There is also a communication line between the welding wire disc 7 and the mechanical arm welding gun, which can control the start and stop of the wire feeder.

[0054] The signal electric cabinet 5 contains a switch x1, a 24V power supply x1, an IO module x1, a plurality of terminal blocks, a display screen and the like. The switch is used for field industrial network networking; the 24V power supply is used for power supply of the signal electric cabinet control module; the IO module is used for collecting input and output signals; the terminal block is used for adapting IO points and protecting PLC contacts; and the display screen is used for displaying the state of the work station to facilitate manual / automatic debugging.

[0055] The signal electric cabinet 5 is connected with the mechanical arm electric cabinet 3, the servo motor 82 and other electrical components through a cable to realize the functions of signal transmission, power distribution and control instruction issuing of the whole robot system. For example, the operator can observe the running state of the robot through the display screen in the signal electric cabinet 5, receive and send control signals through the IO module, control the movement of the mechanical arm 2 and the movable frame 1, etc. The core function of the signal electric cabinet is to ensure accurate signal collection, safe transmission and efficient processing.

[0056] The track can be spliced and extended. The lifting eye hole 11 arranged at the top of the movable frame 1 plays an important role in the installation, debugging and handling of the robot. When it is necessary to move the robot to different work areas, the robot can be lifted and carried to the designated position by using a lifting device through the lifting eye hole 11.

[0057] Work flow

[0058] When the welding operation is performed, first, according to the welding requirement of the large platform, the laying path of the track 4 is planned and the installation and splicing of the track are completed. After the installation and debugging of the movable frame 1, the mechanical arm 2 and other components are completed, the signal electrical cabinet 5 is started, and the control system in the signal electrical cabinet 5 is used to set parameters of the robot, such as welding current, voltage, welding speed and the like.

[0059] Subsequently, the servo motor 82 is started, the movable frame 1 moves on the track 4 according to the preset path, and the mechanical arm 2 moves according to the control instruction, the welding wire is obtained from the welding wire disc 7 through the welding wire feeding pipe, and the welding operation is performed on the large platform. During the welding process, the signal electrical cabinet 5 monitors the running state of each component of the robot in real time, and if an abnormal condition is found, an alarm can be sent in time and the robot is stopped to ensure the safety and stability of the welding operation.

[0060] In the embodiment, the mechanical arm electrical cabinet is a robot electrical cabinet, which is an integrated component and is provided by an industrial robot manufacturer.

[0061] The track and the T-beam are fixed through a pressing block+F clamp form, the F clamp is a commonly used tool for welding, and the pressing block can be customized according to the T-beam.

[0062] In the embodiment, the track type mobile welding robot is driven by a servo motor and a gear rack, the front end line laser of the robot scans the weld after being positioned, the weld position is automatically identified, the welding program is written, and the welding is automatically performed.

[0063] Unless otherwise defined, all technical and scientific terms used in the utility model have the same meaning as commonly understood by one of ordinary skill in the art to which the utility model belongs. The terms used in the specification of the utility model are only for the purpose of describing specific embodiments and are not intended to limit the utility model.

[0064] As used in the utility model, the term "comprising" is an open expression, that is, it includes the contents indicated by the utility model, but does not exclude other aspects.

[0065] As used in the utility model, the term "and / or" includes any one and all combinations of the related listed items.

[0066] The protection content of the utility model is not limited to the above embodiments. Changes and advantages that can be thought of by those skilled in the art without departing from the spirit and scope of the utility model are included in the utility model, and the appended claims are protected.

Claims

1. A mobile track welding robot for welding large platforms, characterized in that, include: The components include a movable frame (1), a robotic arm (2), a robotic arm electrical cabinet (3), a track (4), and a signal electrical cabinet (5); among which, The movable frame (1) serves as the overall frame of the robot and can slide on the track (4); The robotic arm (2) is fixed to the movable frame (1); The robotic arm electrical cabinet (3) is installed inside the movable frame (1) and is used for power management and control of the rail welding robot. The track (4) can be spliced ​​and extended; The signal electrical cabinet (5) is used for signal acquisition and processing of the track welding robot; The robot further includes: a sliding device (8); the movable frame (1) is fixed on the sliding device (8); the sliding device (8) can slide on the track (4); The track (4) has a groove (41) on its side and a rack (42) on its top; The sliding device (8) includes: a sliding plate (81), a servo motor (82), and a pressure roller (83); The pressing rollers (83) are provided on both sides of the slide plate (81). The pressing rollers (83) can roll in the slide groove (41) to ensure that the slide plate (81) runs normally on the track. The servo motor (82) is fixed inside the movable frame (1), and its drive shaft passes through the slide plate (81) and meshes with the rack (42) through the gear (44) to move the slide plate (81).

2. The mobile track welding robot for welding large platforms as described in claim 1, characterized in that, The bottom of the track (4) is provided with a bottom support leg, which is detachable.

3. The mobile track welding robot for welding large platforms as described in claim 1, characterized in that, The robot further includes: a welding wire spool (7); The welding wire spool (7) is fixed to the side of the movable frame (1) and provides welding wire to the robotic arm (2) through the wire feeding tube.

4. The mobile track welding robot for welding large platforms as described in claim 1, characterized in that, The track (4) is detachably fixed to the T-beam of the large platform by means of a clamp (6) and an F-clamp.

5. The mobile track welding robot for welding large platforms as described in claim 4, characterized in that, The track (4) has a fixing groove (45) on its side, and the pressure block (6) is fixed on the track through the fixing groove (45).

6. The mobile track welding robot for welding large platforms as described in claim 1, characterized in that, The track (4) is extended by splicing with quick clamps (43).

7. The mobile track welding robot for welding large platforms as described in claim 1, characterized in that, The movable frame (1) is provided with a lifting ring hole (11) at the top.

8. The mobile track welding robot for welding large platforms as described in claim 1, characterized in that, The signal electrical cabinet (5) includes: a switch, a power supply, an I / O module, a terminal block, and a display screen; wherein, The switch is used for on-site industrial-grade network construction; The power supply is used to power the control module; The I / O module is used to acquire input and output signals; The terminal block is used to transfer I / O points and protect PLC contacts; The display screen is used to show the status of the workstation, facilitating manual / automatic adjustments.

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