Intelligent welding and cutting robot engineering platform vehicle and construction method

Abstract

The present application relates to an intelligent welding and cutting robot engineering platform vehicle and a construction method, comprising a mobile platform on which a welding robot, a gripping robot, and a control system are provided; the welding robot is used for welding workpieces and embedded parts; the gripping robot is provided with a workpiece clamping mechanism, a CCD camera detection mechanism, and a metal detector; and the control system is used to control the movements of the mobile platform, the welding robot, and the gripping robot. The present application moves the mobile platform to the position of each embedded part, uses the metal detector on the gripping robot to detect whether the embedded part is missing, uses the CCD camera to detect the position, installation angle, shape, etc. of the embedded part, and clamps the workpiece through the workpiece clamping mechanism and sends it to the position of the embedded part. The welding robot welds the workpiece and the embedded part, and after welding, the weld is inspected by the CCD camera detection mechanism, thereby realizing automatic welding and inspection of the workpiece and the embedded part, and improving the efficiency and accuracy of welding.

Description

Technical Field

[0001] The present application relates to the technical field of welding, and in particular to an intelligent welding and cutting robot engineering platform vehicle and a construction method. Background Art

[0002] Curtain walls are lightweight walls with decorative effects commonly used in modern large and high-rise buildings. They use a variety of strong, light and beautiful building materials to replace traditional brick and stone or window-wall combination exterior wall construction methods, making the entire building beautiful, functional and safe. The installation of building curtain walls is generally achieved by welding adapter plates to embedded parts, and fixing the adapter plates to the curtain wall keels. The reliability and precision of the welding between the adapter plates and the embedded parts determine the reliability and precision of the keel installation.

[0003] With respect to the above-mentioned related technologies, the inventor believes that the welding operations between the embedded parts and the adapter plate are currently performed manually, which has low welding efficiency and low welding precision. Summary of the Invention

[0004] In order to improve the welding efficiency and accuracy of embedded parts and adapter plates, the present application provides an intelligent welding and cutting robot engineering platform vehicle and a construction method.

[0005] In the first aspect, the present application provides an intelligent welding and cutting robot engineering platform vehicle, which adopts the following technical solutions:

[0006] An intelligent welding and cutting robot engineering platform vehicle comprises a mobile platform on which are arranged a welding robot, a grasping robot and a control system; the welding robot is used for welding workpieces and embedded parts; the grasping robot is provided with a workpiece clamping mechanism, a CCD camera detection mechanism and a metal detector, wherein the workpiece clamping mechanism is used for clamping the workpiece, the metal detector is used for detecting embedded parts, and the CCD camera detection mechanism is used for detecting the position of embedded parts; the control system is used for controlling the movements of the mobile platform, the welding robot and the grasping robot.

[0007] Through the above technical solution, the mobile platform moves to the position of each embedded part, the metal detector on the grasping robot is used to detect whether the embedded parts are missing, the position, installation angle, shape, etc. of the embedded parts are detected by the CCD camera, and the workpiece is clamped by the workpiece clamping mechanism and sent to the position of the embedded part. The workpiece and the embedded part are welded by the welding robot, and the weld is inspected by the CCD camera detection mechanism after welding, thereby realizing automatic welding and detection of the workpiece and the embedded parts, and improving the efficiency and accuracy of welding.

[0008] Optionally, a cutting robot is also provided on the mobile platform, and the cutting robot is used for cutting workpieces and embedded parts.

[0009] Through the above technical solution, by setting up a cutting robot, when there is a deviation in the installation angle of the embedded parts, the workpiece can be cut by the cutting robot so that the workpiece and the embedded parts are adapted to each other, ensuring the accuracy of the position of the workpiece after welding.

[0010] Optionally, the cutting robot adopts laser cutting, and a laser generator connected to the cutting robot is also provided on the mobile platform.

[0011] Through the above technical solution, the laser generator is connected to the cutting robot to achieve laser cutting with good cutting quality and high efficiency.

[0012] Optionally, the grasping robot includes a six-axis robot, a mounting plate is provided on the end effector of the six-axis robot, an electric gripper is provided on the upper part of the mounting plate, and a CCD camera detection mechanism and a metal detector are provided at the lower end of the mounting plate.

[0013] Through the above technical solution, the grasping robot adopts a six-axis robot with a large grasping area and high efficiency. At the same time, by installing the electric gripper and the detection mechanism at the upper and lower ends, the electric gripper and the detection mechanism do not interfere with each other.

[0014] Optionally, a laser weld seam tracking sensor is provided on the welding robot.

[0015] Through the above technical solution, by setting up a laser weld tracking sensor, the welding robot can quickly scan the laser point across the workpiece surface to obtain the contour information of the weld cross section, guiding the robot to automatically complete the welding, thereby improving the welding efficiency and quality.

[0016] Optionally, a workpiece storage basket for placing workpieces is also provided on the mobile platform.

[0017] According to the above technical solution, by arranging a workpiece storage basket on the mobile platform, the workpiece can be carried by the mobile platform for welding, and the degree of automation is high.

[0018] Optionally, a welding gun cleaning device is also provided on the mobile platform.

[0019] Through the above technical solution, cleaning oil is sprayed onto the welding gun through the welding gun cleaning device, and the cleaning oil reaches the inner surface of the welding gun nozzle, ensuring that the welding slag and the nozzle will not be stuck together.

[0020] In a second aspect, the present application provides a construction method for an intelligent welding and cutting robot engineering platform vehicle, comprising the following steps:

[0021] (1) The engineering platform vehicle is sent to the floor to be welded, and the engineering platform vehicle is positioned at the initial position through the control system;

[0022] (2) The robot moves to detect the position of the embedded parts, compares the coordinate data of the embedded parts with the set coordinate values, and makes two control instructions: qualified or unqualified;

[0023] (3) If it is judged to be unqualified, the control system will record the location information of the unqualified embedded parts and send a warning, which will be handled manually. At the same time, the engineering platform vehicle will move to the next workstation and execute steps (2) to (3). If it is judged to be qualified, the information will be sent to the grasping robot and the welding robot to proceed to the next step;

[0024] (4) The grasping robot grasps the workpiece and sends it to the position of the embedded parts, and the welding robot welds the workpiece and the embedded parts;

[0025] (5) After welding is completed, the weld is inspected by a grabbing robot. If the weld is qualified, the next step is carried out. If it is unqualified, the parameters are manually corrected and the welding operation is carried out again;

[0026] (6) The robot returns to the car's origin, the car moves to the next station, and continues to execute steps (2) to (5).

[0027] Through the above technical solution, when the engineering platform vehicle reaches the welding floor, it is positioned and then moves to the specified coordinate position according to the set program to perform operations such as embedded parts inspection, workpiece welding, and weld inspection. After the action is completed, it continues to repeat the operation at the next workstation according to the set program, which can effectively improve the welding efficiency. At the same time, by inspecting the welds, etc., the welding quality can be guaranteed.

[0028] Optionally, when detecting the position of the embedded parts in step (2), a metal detector is also used to detect whether any embedded parts are missed.

[0029] Through the above technical solution, the embedded parts are inspected by a metal detector. If the embedded parts in the area are missed, the metal detector cannot detect it and an alarm will be issued to remind human intervention.

[0030] Optionally, the step (4) also includes a process of cutting the workpiece, which is specifically: a grasping robot detects the embedded parts, determines the angle and shape of the embedded parts, and cuts the workpiece by a cutting robot so that the workpiece fits the embedded parts.

[0031] Through the above technical solution, when the embedded part deviates from the initially set position or the angle, welding the workpiece to the embedded part will cause the position of the workpiece to deviate. The workpiece can be cut by a cutting robot and then adapted to the embedded part. Compensation can be made according to the direction of the embedded part deviation to ensure that there is no deviation in the position of the workpiece after welding.

[0032] In summary, this application includes at least one of the following beneficial technical effects:

[0033] 1. This application uses a mobile platform to move to the position of each embedded part, uses a metal detector on a grabbing robot to detect whether the embedded parts are missing, uses a CCD camera to detect the position, installation angle, shape, etc. of the embedded parts, and uses a workpiece clamping mechanism to clamp the workpiece and send it to the position of the embedded part. The workpiece and the embedded part are welded by a welding robot, and the weld is inspected by a CCD camera inspection mechanism after welding. This realizes automatic welding and inspection of the workpiece and embedded parts, improving welding efficiency and accuracy.

[0034] 2. By setting up a cutting robot, when there is a deviation in the installation angle of the embedded parts, the workpiece can be cut by the cutting robot so that the workpiece is adapted to the embedded parts, ensuring the accuracy of the position of the workpiece after welding.

[0035] 3. The grasping robot adopts a six-axis robot with a large grasping area and high efficiency. At the same time, the electric gripper and the detection mechanism are installed at the upper and lower ends, so that the electric gripper and the detection mechanism do not interfere with each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural diagram of the connection between the embedded parts and the workpiece in an embodiment of the present application.

[0037] Figure 2 It is a structural diagram of an embodiment of the present application.

[0038] Figure 3 It is a structural diagram of the bottom of the mobile platform according to an embodiment of the present application.

[0039] Figure 4 It is a structural diagram of the grasping robot of this application.

[0040] Figure 5 It is a structural diagram of the end of the grasping robot of this application.

[0041] Figure 6 This is a structural diagram of the connection between the embedded parts and the workpiece in Example 2 of the present application.

[0042] Explanation of the accompanying symbols: 1. Welding robot; 2. Grasping robot; 3. Cutting robot; 4. External gas cylinder; 5. Laser generator; 6. Mobile platform; 7. Control box; 8. Workpiece storage basket; 9. Welding gun cleaning device; 10. Laser weld seam tracking sensor; 11. Embedded parts; 12. Workpiece; 201. Six-axis robot; 202. Mounting plate; 203. Electric gripper; 204. CCD camera detection mechanism; 205. Metal detector; 601. Servo motor; 602. Driving wheel. DETAILED DESCRIPTION

[0043] The following is combined with Figure 1-6 This application is described in further detail.

[0044] Reference Figure 1 The embodiment of the present application discloses an intelligent welding and cutting robot engineering platform vehicle, which is used to weld a workpiece 12 to an embedded part 11.

[0045] Example 1:

[0046] Reference Figure 2 and Figure 3 This embodiment discloses an intelligent welding and cutting robot engineering platform vehicle, including a mobile platform 6, on which are arranged a welding robot 1, a grasping robot 2, a control box 7, an external gas cylinder 4, a welding gun cleaning device 9, and a workpiece storage basket 8.

[0047] The bottom of the mobile platform 6 is provided with a servo motor 601 and a driving wheel 602, which is driven by the servo motor 601 to rotate the driving wheel 602 and move the mobile platform 6. The bottom of the mobile platform 6 can also adopt a crawler structure, which makes it easy for the mobile platform 6 to move on the construction site.

[0048] A welding robot 1 is connected to an external gas cylinder 4 and is used to weld a workpiece 12 to an embedded component 11. A laser seam tracking sensor 10 is provided on the welding robot 1. In this embodiment, the laser seam tracking sensor 10 utilizes the RRT-GV2 laser seam tracking sensor, a point-scanning weld sensor that rapidly scans a laser spot across the workpiece surface to obtain cross-sectional profile information of the weld, guiding the welding robot 1 to automatically complete the weld. This sensor integrates optical, mechanical, electrical, embedded software, and image processing technologies, resulting in a compact structure and high integration. It is resistant to arc interference and weld spatter, and can intelligently identify welds. The weld seam is configured via an industrial computer, and its location is displayed in real time. The welding robot 1 and the laser seam tracking sensor 10 can improve welding quality.

[0049] The control box 7 is provided with a control circuit for controlling the movement of the mobile platform 6, the welding robot 1, and the gripping robot 2. The workpiece storage basket 8 is hung on one side of the mobile platform 6 in an external hanging manner, and the workpiece storage basket 8 contains the workpiece 12 to be welded.

[0050] In this embodiment, the welding gun cleaning device 9 adopts a multifunctional automatic gun cleaner, which is used to automatically clean the welding slag of the welding gun when the welding robot 1 is welding, so as to protect the welding gun nozzle and conductive nozzle, extend the service life of the welding gun, save consumables costs, maintain good welding quality, and improve welding efficiency.

[0051] Reference Figure 4 and Figure 5 The grasping robot 2 includes a six-axis robot 201. A mounting plate 202 is provided on the end effector of the six-axis robot 201. An electric gripper 203 is provided on the upper portion of the mounting plate 202. The electric gripper 203 is used to clamp the workpiece 12. A CCD camera detection mechanism 204 and a metal detector 205 are provided on the lower end of the mounting plate 202. The metal detector 205 is used to detect the embedded part 11. If the metal detector 205 detects the CCD camera detection mechanism 204, the position of the embedded part 11 is detected.

[0052] This embodiment also discloses a construction method of an intelligent welding and cutting robot engineering platform vehicle, comprising the following steps:

[0053] (1) First, the engineering platform vehicle is sent to the floor to be welded. The engineering platform vehicle is positioned at the initial position through the control system, specifically:

[0054] 1.1. The manual remote control mobile platform 6 guides the operator to accurately dock the mobile platform 6 in the initial positioning area based on the input construction coordinate data of the embedded parts 11;

[0055] 1.2. After the mobile platform 6 comes to a complete stop, the control system and the remote monitoring equipment complete the self-calibration of the coordinates of the engineering platform vehicle through remote data communication, and transmit the difference data or the corrected coordinate data to the grasping robot 2 and the welding robot 1 through the internal data channel;

[0056] 1.3. The mobile platform 6 enters the floor via the elevator. Each previous working coordinate point is the coordinate reference point of the next target working point. The position of the mobile platform 6 is aligned outside the building using a total station. Before alignment, the mobile platform 6 is moved to the inside of the first reference welding point on the floor. The posture of the mobile platform 6 is as horizontal as possible. The arm of the grasping robot 2 is moved to the preset point and the initial positioning is performed using the CCD camera detection mechanism 204. After positioning is completed, the total station measurement and control is called to calibrate the mechanical arm of the grasping robot 2. The calibration parameters include horizontal height, left and right position, and front and back distance.

[0057] (2) The grabbing robot 2 moves to detect the position of the embedded part 11. First, the metal detector 205 is used to detect whether there is an embedded part 11. If not, a signal is sent to the human for intervention. If yes, the coordinate data of the embedded part 11 is compared with the set coordinate value, and two control instructions are issued: qualified or unqualified;

[0058] (3) If it is judged to be in an unqualified state, the control system will record the position information of the unqualified embedded part 11 and send a warning, which will be handled manually. At the same time, the engineering platform vehicle will move to the next workstation and execute steps (2) to (3). If it is judged to be in a qualified state, the information will be sent to the grasping robot 2 and the welding robot 1 to proceed to the next step;

[0059] (4) The grasping robot 2 grasps the workpiece 12 and sends it to the position of the embedded part 11, and the welding robot 1 welds the workpiece 12 and the embedded part 11;

[0060] (5) After welding is completed, the weld is inspected by the CCD camera detection mechanism on the grabbing robot 2. If the weld is qualified, the next step is carried out. If it is unqualified, the parameters are manually corrected and the welding operation is carried out again;

[0061] (6) The welding robot 1 and the grasping robot 2 return to their origins, the mobile platform 6 moves to the next station, and steps (2) to (5) are continued.

[0062] Example 2:

[0063] Reference Figure 2 The rest of this embodiment is the same as that of embodiment 1, except that, in this embodiment, a cutting robot 3 is added to the mobile platform 6, and the cutting robot 3 adopts laser cutting. A laser generator 5 is provided on the mobile platform 6 and connected to the cutting robot 3.

[0064] Reference Figure 6 , when the position of embedded part 11 deviates, Figure 6 The position of the embedded part 11 in Figure 1 The position angle of the embedded part 11 is deviated. At this time, if one end of the workpiece 12 is directly welded against the embedded part 11, the workpiece 12 after welding will also be tilted, which is deviated from the specified position angle. In this way, when performing subsequent installation at the other end of the workpiece 12, deviation will be caused, resulting in slow progress and difficulty in installation.

[0065] Reference Figure 2 and Figure 3When the position and angle of the embedded part 11 deviate, the embedded part 11 is detected by the CCD camera detection mechanism 204 on the grasping robot 2 to obtain the position and angle deviation of the embedded part 11. Then, the electric gripper 203 on the grasping robot 2 grasps the workpiece and sends it to the position of the cutting robot 3 for cutting. The workpiece 11 is cut into an inclined surface. Then, the grasping robot 2 makes the cut surface of the cut workpiece 12 contact the embedded part 11, and then the welding robot 1 is used for welding. In this way, after welding, the end of the workpiece 12 away from the embedded part 11 will be consistent with the set position, which is convenient for subsequent installation.

[0066] The embodiments of this specific implementation method are all preferred embodiments of the present application and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. An intelligent welding and cutting robot engineering platform vehicle, characterized by: The invention comprises a mobile platform (6), on which a welding robot (1), a grasping robot (2) and a control system are arranged; the welding robot (1) is used for welding a workpiece (12) and an embedded part (11); the grasping robot (2) is provided with a workpiece clamping mechanism, a CCD camera detection mechanism (204) and a metal detector (205), wherein the workpiece clamping mechanism is used for clamping the workpiece, the metal detector (205) is used for detecting the embedded part (11), and the CCD camera detection mechanism (204) is used for position detection of the embedded part (11); the control system is used for controlling the movement of the mobile platform (6), the welding robot (1) and the grasping robot (2); A cutting robot (3) is also provided on the mobile platform (6), and the cutting robot (3) is used for cutting workpieces (12) and embedded parts (11); And, a construction method of an intelligent welding and cutting robot engineering platform vehicle, comprising the following steps: S10, sending the engineering platform vehicle to the floor to be welded, and positioning the engineering platform vehicle at the initial position through the control system; S20, the grabbing robot moves to detect the position of the embedded part, compares the coordinate data of the embedded part with the set coordinate value, and makes a qualified or unqualified control instruction; S30: If it is determined to be unqualified, the control system records the location information of the unqualified embedded parts and sends an alert for manual processing. At the same time, the engineering platform vehicle moves to the next workstation and executes steps S20 to S30. If it is determined to be qualified, the information is sent to the grasping robot and the welding robot for the next step; S40: The grasping robot grasps the workpiece and delivers it to the position of the embedded part, and the welding robot welds the workpiece and the embedded part; S50: After welding is completed, the weld is inspected by a grabbing robot. If the weld is qualified, the next step is carried out. If it is unqualified, the parameters are manually corrected and the welding operation is carried out again; S60: The robot returns to the trolley origin, the trolley moves to the next station, and steps S20 to S50 are continued; When detecting the position of the embedded parts in step S20, a metal detector is also used to detect whether any embedded parts are missed; The step S40 also includes a process of cutting the workpiece, which is specifically: the grasping robot detects the embedded parts, determines the angle and shape of the embedded parts, and cuts the workpiece by the cutting robot so that the workpiece fits the embedded parts.

2. The intelligent welding and cutting robot engineering platform vehicle according to claim 1 is characterized in that: The cutting robot (3) adopts laser cutting, and a laser generator (5) is also provided on the mobile platform (6) and connected to the cutting robot (3).

3. The intelligent welding and cutting robot engineering platform vehicle according to claim 1 is characterized in that: The grasping robot comprises a six-axis robot (201), a mounting plate (202) is provided on the end actuator of the six-axis robot (201), an electric gripper (203) is provided on the upper part of the mounting plate (202), and a CCD camera detection mechanism (204) and a metal detector (205) are provided at the lower end of the mounting plate (202).

4. The intelligent welding and cutting robot engineering platform vehicle according to claim 1 is characterized in that: A laser weld seam tracking sensor (10) is provided on the welding robot (1).

5. The intelligent welding and cutting robot engineering platform vehicle according to claim 1 is characterized in that: A workpiece storage basket (8) for placing workpieces (12) is also provided on the mobile platform (6).

6. The intelligent welding and cutting robot engineering platform vehicle according to claim 1, characterized in that: A welding gun cleaning device (9) is also provided on the mobile platform (6).

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