Mobile carrier and welding robot

Abstract

The present invention provides a mobile carrier and a welding robot, wherein the mobile carrier comprises: a mounting frame; a motion device, the mounting frame is arranged on the motion device, and the motion device drives the mounting frame to move on a second plate; a magnetic device, the magnetic device is arranged on the mounting frame, and the magnetic device adsorbs the first plate by magnetic force to constrain the mobile carrier to move along the first plate, wherein an angle is formed between the first plate and the second plate. By arranging the magnetic device to adsorb the first plate, the motion device is effectively constrained to move along the surface of the first plate, ensuring that the moving track of the mobile carrier is closely fitted to the first plate, providing structural support for the moving track of subsequent welding robots or other types of robots to closely fit the first plate, thereby improving the welding quality of the welding robot at the groove between the first plate and the second plate, or improving the operation quality of other types of robots.

Description

Technical Field

[0001] The present invention relates to the technical field of welding devices, and in particular to a mobile carrier vehicle and a welding robot. Background Art

[0002] At present, in the field of metal structure welding, manual labor is usually used for welding large engineering structural parts (such as large and medium-sized flat or curved equipment such as steel storage tanks, spherical tanks, pipelines, hulls, etc.). However, large engineering structural parts have complex structures, and there are a large number of arc-shaped, especially annular corner welds inside and outside, such as the weld at the groove between the cylinder and the web, or other similar welds between the first plate and the second plate, especially the T-shaped weld formed by the splicing of thick plates. The welding workload is extremely large, so it requires multiple workers to work together, the labor intensity is high, and the welding skills of the welders are high. At the same time, due to the harsh environmental conditions under the welding operation conditions and the influence of various external factors on the welding quality, the manual welding quality of large engineering structural parts cannot be guaranteed, and the welding efficiency is low.

[0003] There are indeed some welding robots used for corner welds in the prior art, which generally have the disadvantages of being large in size, low in load, and requiring constant manual intervention and adjustment during the welding process. In addition, the welding robots in the prior art are limited by the mobile carrier (i.e., the robot's motion platform) used to drive the overall movement, and cannot adapt well to some particularly narrow spaces and high-altitude welding conditions. At the same time, the travel trajectory of the mobile carrier of the existing welding robot cannot fit closely to the first plate, resulting in low welding quality at the groove between the first plate and the second plate. For operations such as grinding and cutting, under similar usage environments, the existing mobile carriers all have the problem that the travel trajectory cannot fit closely to the workpiece to be processed, affecting the quality of the operation. Summary of the invention

[0004] The present invention provides a mobile carrier and a welding robot to solve the problem in the prior art that the moving track of the mobile carrier cannot closely fit the workpiece to be processed, thus affecting the operation quality.

[0005] In order to solve the above-mentioned problem, according to one aspect of the present invention, the present invention provides a mobile carrier, which includes: a mounting frame; a moving device, the mounting frame is arranged on the moving device, and the moving device drives the mounting frame to move on the second plate body; a magnetic device, the magnetic device is arranged on the mounting frame, and the magnetic device absorbs the first plate body by magnetic force to constrain the mobile carrier to move along the first plate body, wherein there is an angle between the first plate body and the second plate body.

[0006] Furthermore, the mobile carrier vehicle also includes a supporting device, which is arranged on the mounting frame or the moving device, and the supporting device abuts against the first plate body to ensure that the magnetic device and the first plate body are spaced at a set distance.

[0007] Further, the supporting device includes: a supporting seat, which is fixedly arranged on a mounting frame or a moving device, and the supporting seat has a mounting cavity and a mounting hole, and the mounting hole is connected to the mounting cavity; an adjusting member, one end of which is movably arranged in the mounting cavity and elastically connected to the mounting cavity, and the other end of the adjusting member passes through the mounting hole; an adjusting rod, which passes through the mounting cavity and the mounting hole in turn and cooperates with the adjusting member; the adjusting rod abuts against the first plate body; wherein, the axial position of the adjusting rod is adjusted by the adjusting member to adjust the set distance.

[0008] Furthermore, the adjusting piece has an internal thread, and the adjusting rod includes a universal ball and a screw. The universal ball is rotatably arranged at one end of the screw, the universal ball abuts against the first plate, and the screw is threadedly engaged with the adjusting piece; the supporting device also includes a disc spring sleeved on the adjusting rod, and the adjusting piece is elastically connected to the mounting cavity through the disc spring.

[0009] Furthermore, the magnetic device includes a magnet seat and a magnet assembly, the magnet seat is arranged on the mounting frame, and the magnet assembly is arranged on the magnet seat.

[0010] Furthermore, the magnet assembly includes a plurality of permanent magnets, and the plurality of permanent magnets are detachably arranged on the magnet seat.

[0011] Furthermore, the motion device includes: a chassis, a mounting frame is arranged on the chassis; a drive unit, the drive unit is arranged on the chassis; a front wheel assembly and a rear wheel assembly are arranged side by side on the chassis, and the drive unit drives the front wheel assembly and the rear wheel assembly to move.

[0012] Furthermore, the front wheel assembly includes a first transmission mechanism, a second transmission mechanism and a front wheel connected in sequence, the first transmission mechanism is connected to the drive unit to drive the front wheel to move; the rear wheel assembly includes a third transmission mechanism and a rear wheel connected in sequence, the third transmission mechanism is connected to the second transmission mechanism to drive the rear wheel to move; wherein the drive unit drives the second transmission mechanism and the front wheel to rotate together through the first transmission mechanism, and the second transmission mechanism drives the rear wheel to rotate through the third transmission mechanism.

[0013] Furthermore, the drive unit includes: a drive motor; a drive reducer; the drive reducer includes an input shaft and an output shaft connected to the input shaft for speed reduction; the rotating shaft of the drive motor is drive-connected to the input shaft; and the output shaft is drive-connected to the front wheel assembly.

[0014] Furthermore, magnets are provided inside the front wheel and the rear wheel, and the magnetic force of the magnets ensures that the front wheel and the rear wheel are adsorbed on the second plate.

[0015] Furthermore, the front wheel and the rear wheel are both located on a side of the chassis away from the magnetic device; and the drive unit is located between the front wheel assembly and the rear wheel assembly.

[0016] Furthermore, the mobile carrier vehicle further comprises a posture sensor, which is arranged on the mounting frame or the motion device, and is used to detect the motion posture of the motion device.

[0017] According to another aspect of the present invention, the present invention further provides a welding robot, including the above-mentioned mobile carrier vehicle, the welding robot further includes: a welding device, and the welding device is arranged on a mounting frame.

[0018] Furthermore, the welding robot also includes a laser tracking device, which is used to detect the position of the position to be welded relative to the welding device, and the laser tracking device is arranged on the mounting frame.

[0019] Furthermore, the welding robot also includes a cooling device, which is used to cool the laser tracking device, and the cooling device is arranged on the mounting frame.

[0020] Furthermore, the welding device comprises an adjusting device and a welding gun located on a mounting frame, wherein the adjusting device has a movable end, the welding gun is arranged on the movable end, and the movable end drives the welding gun to move with multiple degrees of freedom.

[0021] Furthermore, the welding robot also includes an electrical interface and a data interface, which are respectively arranged on the mounting frame, the electrical interface is connected to an external power supply, and the data interface is electrically connected to an external device; the welding device, the laser tracking device and the motion device are respectively electrically connected to the electrical interface, and the welding device, the laser tracking device and the motion device are respectively electrically connected to the data interface.

[0022] Applying the technical solution of the present invention, the present invention provides a mobile carrier, which includes: a mounting frame; a motion device, the mounting frame is arranged on the motion device, and the motion device drives the mounting frame to move on the second plate; a magnetic device, the magnetic device is arranged on the mounting frame, and the magnetic device adsorbs the first plate by magnetic force to constrain the mobile carrier to move along the first plate, wherein there is an angle between the first plate and the second plate. By setting the magnetic device to adsorb the first plate, the motion device is effectively constrained to move along the surface of the first plate, ensuring that the moving trajectory of the mobile carrier is closely attached to the first plate, providing structural support for the subsequent welding robot or other types of robots (such as cutting robots, grinding robots) to closely attach to the first plate, thereby improving the welding quality of the welding robot at the groove between the first plate and the second plate, or improving the operation quality of other types of robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 A schematic diagram of the external structure of a welding robot provided by an embodiment of the present invention is shown;

[0025] Figure 2 A top view of the overall structure of a welding robot provided by an embodiment of the present invention is shown;

[0026] Figure 3 A left view of the overall structure of a welding robot provided by an embodiment of the present invention is shown;

[0027] Figure 4 A schematic diagram of the external structure of a support device provided by an embodiment of the present invention is shown;

[0028] Figure 5 A front view of a supporting device provided by an embodiment of the present invention is shown;

[0029] Figure 6 Shows Figure 5 Sectional view at AA in the middle;

[0030] Figure 7 A schematic diagram of the three-dimensional structure of a magnetic device provided by an embodiment of the present invention is shown;

[0031] Figure 8 A front view of a magnetic device provided by an embodiment of the present invention is shown;

[0032] Fig. 9 Shows Figure 8 Sectional view at the middle BB;

[0033] Fig.10 A schematic diagram of the three-dimensional structure of a sports device provided by an embodiment of the present invention is shown;

[0034] Fig.11 Shows Fig.10 A top view of

[0035] Fig.12 Shows Fig.10 Rear view of

[0036] Fig.13 A schematic diagram of the three-dimensional structure of a driving unit provided by an embodiment of the present invention is shown;

[0037] Fig.14 Shows Fig.13 Left view of;

[0038] Fig.15A schematic diagram of the three-dimensional structure of a front wheel assembly provided by an embodiment of the present invention is shown;

[0039] Fig.16 Shows Fig.15 The main view;

[0040] Fig.17 A schematic diagram of the three-dimensional structure of a rear wheel assembly provided by an embodiment of the present invention is shown;

[0041] Fig.18 A schematic diagram of the structure of a portion of a mounting frame provided by an embodiment of the present invention is shown;

[0042] Fig.19 A schematic diagram showing a working state of a welding robot welding a first plate body and a second plate body provided by an embodiment of the present invention is shown;

[0043] Fig. 20 A schematic diagram showing the position of a welding robot provided by an embodiment of the present invention when performing welding work is shown.

[0044] The above drawings include the following reference numerals:

[0045] 10. Mounting frame;

[0046] 20. welding device; 21. welding gun; 22. adjusting device; 2252. locking ring;

[0047] 30. Laser tracking device;

[0048] 40. Movement device; 41. Chassis; 42. Drive unit; 421. Drive bracket; 422. Drive motor; 423. Drive reducer; 4231. Input shaft; 4232. Output shaft; 43. Front wheel assembly; 431. First transmission mechanism; 432. Second transmission mechanism; 433. Front wheel; 44. Rear wheel assembly; 441. Third transmission mechanism; 442. Rear wheel;

[0049] 50. Magnetic device; 51. Magnet seat; 52. Magnet assembly; 521. Permanent magnet;

[0050] 60. Support device; 61. Support seat; 611. Mounting cavity; 62. Adjustment member; 63. Adjustment rod; 631. Universal ball; 632. Screw rod; 64. Disc spring;

[0051] 70. Cooling device;

[0052] 80. Attitude sensor;

[0053] 100. Electrical interface;

[0054] 110. Data interface. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] like Figures 1 to 20 As shown, an embodiment of the present invention provides a mobile carrier, which includes: a mounting frame 10; a moving device 40, on which the mounting frame 10 is arranged, and the moving device 40 drives the mounting frame 10 to move on a second plate body (e.g., a belly plate); a magnetic device 50, which is arranged on the mounting frame 10, and the magnetic device 50 absorbs the first plate body (e.g., a cylinder body) through magnetic force to constrain the mobile carrier to move along the first plate body, wherein an angle is provided between the first plate body and the second plate body.

[0057] By setting up a magnetic device 50 to adsorb the first plate, the motion device 40 is effectively constrained to move along the surface of the first plate, ensuring that the moving trajectory of the mobile carrier vehicle is closely fitted to the first plate, and providing structural support for the subsequent welding robot or other types of robots (such as cutting robots, grinding robots) to closely fit the moving trajectory of the first plate, thereby improving the welding quality of the welding robot at the groove between the first plate and the second plate, or improving the operating quality of other types of robots.

[0058] like Figure 1 , Figure 2 , Figure 3 and Fig.18 As shown, the mobile carrier also includes a support device 60, which is arranged on the mounting frame 10 or the moving device 40, and the support device 60 abuts against the first plate to ensure that the magnetic device 50 is spaced a set distance from the first plate. The size of the set distance between the magnetic device 50 and the first plate is controlled by the support device 60, so as to achieve effective adjustment of the size of the magnetic force between the magnetic device 50 and the first plate; when there is no support device 60, the magnetic device 50 is adsorbed on the surface of the first plate by magnetic force, which is specifically manifested in that the magnetic device is always tangent to the arc surface of the first plate. When some protrusions or pits appear on the surface of the first plate, the magnetic device and the arc surface of the first plate will be out of the tangent state, thereby causing the mobile carrier to deviate in walking. Therefore, the support device 60 is provided. When some protrusions or pits appear on the surface of the first plate, because the magnetic device 50 is not in direct contact with the surface of the first plate at this time, the influence on the movement of the mobile carrier is limited.

[0059] like Figure 1 , Figure 2 and Figure 3 As shown, in a specific embodiment of the present invention, there are two supporting devices 60, which are correspondingly arranged at the two ends of the moving device 40. By setting up two supporting devices 60, it is ensured that when one of the supporting devices 60 is out of contact with the surface of the first plate body due to the influence of the protrusions or pits on the surface of the first plate body, the other supporting device 60 is not affected, and reliable support between the magnetic device 50 and the first plate body is still guaranteed.

[0060] like Figure 4 , Figure 5 and Figure 6 As shown, the support device 60 includes: a support seat 61, the support seat 61 is fixedly arranged on the mounting frame 10 or the motion device 40, the support seat 61 has a mounting cavity 611 and a mounting hole, and the mounting hole is connected to the mounting cavity 611; an adjusting member 62, one end of the adjusting member 62 is movably arranged in the mounting cavity 611 and elastically connected to the mounting cavity 611, and the other end of the adjusting member 62 passes through the mounting hole; an adjusting rod 63, the adjusting rod 63 passes through the mounting cavity 611 and the mounting hole in turn, and cooperates with the adjusting member 62; the adjusting rod 63 abuts against the first plate body; wherein, the axial position of the adjusting rod 63 is adjusted by the adjusting member 62 to adjust the set distance. By setting the cooperation between the adjusting member 62 and the adjusting rod 63, the simplification and miniaturization of the overall structure of the support device 60 are guaranteed, and the size of the set distance between the magnetic device 50 and the first plate body can be flexibly controlled by manually adjusting the support device 60. At the same time, in the present embodiment, the adjusting member 62 is elastically connected to the mounting cavity 611, so that the adjusting rod 63 can withstand a certain axial elastic effect. When the adjusting rod 63 moves to the raised or recessed position on the surface of the first plate body, the adjusting rod 63 can automatically adjust the axial position under the action of the elastic force. This ensures that the adjusting rod 63 maintains contact with the surface of the first plate body and avoids the support device 60 from getting stuck and hindering the movement of the mobile carrier vehicle.

[0061] Specifically, Figure 6 As shown, the adjusting member 62 has an internal thread, and the adjusting rod 63 includes a universal ball 631 and a screw 632. The universal ball 631 is rotatably arranged at one end of the screw 632, the universal ball 631 abuts against the first plate, and the screw 632 is threadedly matched with the adjusting member 62; the supporting device 60 also includes a disc spring 64 sleeved on the adjusting rod 63, and the adjusting member 62 is elastically connected to the mounting cavity 611 through the disc spring 64. By setting the screw 632 and the adjusting member 62 to threadedly match, the reliability of manual adjustment of the supporting device 60 is effectively guaranteed; by setting the universal ball 631 structure, the flexibility of the supporting device 60 abutting against the first plate is effectively improved, and the friction between the supporting device 60 and the first plate is reduced.

[0062] like Figure 7 , Figure 8 and Fig. 9 As shown, the magnetic device 50 includes a magnet seat 51 and a magnet assembly 52. ​​The magnet seat 51 is arranged on the mounting frame 10, and the magnet assembly 52 is arranged on the magnet seat 51. Such an arrangement ensures that the overall structure of the magnetic device 50 is simplified and miniaturized.

[0063] It should be noted that if Figure 7 As shown, the magnet seat 51 has a protruding structure, which is arranged on the outer surface of the magnet seat 51 close to the mounting frame 10, and the protruding structure is fixedly connected to the mounting frame 10; by setting the protruding structure, the magnetic device 50 is ensured to be easy to install and disassemble on the mounting frame 10.

[0064] Specifically, Figure 7 and Fig. 9 As shown, the magnet assembly 52 includes a plurality of permanent magnets 521, and the plurality of permanent magnets 521 are detachably arranged on the magnet seat 51. By arranging a plurality of permanent magnets 521, it is ensured that the magnetic device 50 is not affected when the mobile carrier vehicle is powered off as a whole, and the magnitude of the magnetic force of the magnetic device 50 can be flexibly controlled by manually setting the number of permanent magnets 521.

[0065] In a specific embodiment of the present invention, the permanent magnet 521 is a neodymium iron boron magnet, which has a relatively large magnetic force, thus ensuring the reliability of the operation and reducing the cost.

[0066] like Fig.10 , Fig.11 and Fig.12 As shown, the motion device 40 includes: a chassis 41, on which the mounting frame 10 is arranged; a driving unit 42, which is arranged on the chassis 41; a front wheel assembly 43 and a rear wheel assembly 44 arranged side by side on the chassis 41, and the driving unit 42 drives the front wheel assembly 43 and the rear wheel assembly 44 to move along the second plate body. This arrangement ensures that the overall structure of the motion device 40 is simplified and miniaturized.

[0067] In a specific embodiment of the present invention, Figure 3 and Fig.12 As shown, the motion device 40 also includes a universal wheel, which is arranged on the chassis 41 and located between the chassis 41 and the second plate body. The universal wheel moves along the second plate body together with the front wheel assembly 43 and the rear wheel assembly 44. By setting the universal wheel, the freedom of movement of the motion device 40 is further improved, ensuring the reliable movement of the motion device 40 on the second plate body (including steering and other movements).

[0068] like Fig.11 , Fig.15 and Fig.16As shown, the front wheel assembly 43 includes a first transmission mechanism 431, a second transmission mechanism 432 and a front wheel 433 connected in sequence, the first transmission mechanism 431 is connected to the drive unit 42 to drive the front wheel 433 to move; the rear wheel assembly 44 includes a third transmission mechanism 441 and a rear wheel 442 connected in sequence, the third transmission mechanism 441 is connected to the second transmission mechanism 432 to drive the rear wheel 442 to move; wherein the drive unit 42 drives the second transmission mechanism 432 and the front wheel 433 to rotate together through the first transmission mechanism 431, and the second transmission mechanism 432 drives the rear wheel 442 to rotate through the third transmission mechanism 441. By setting the first transmission mechanism 431 to be connected to the drive unit 42 and the third transmission mechanism 441 to be connected to the second transmission mechanism 432, that is, the two-stage belt drive mode, it is ensured that the drive unit 42 effectively drives the front wheel 433 and the rear wheel 442, reduces the transmission noise, and further simplifies the transmission structure, further ensuring the miniaturization of the overall motion device.

[0069] It is worth noting that the belt connection in the present application can be a common chain connection, belt connection or synchronous belt connection. In a specific embodiment of the present invention, a synchronous belt connection is adopted for transmission, which further ensures the overall lightweight and miniaturization, while reducing transmission noise.

[0070] like Fig.13 and Fig.14 As shown, the drive unit 42 includes: a drive motor 422; a drive reducer 423; the drive reducer 423 includes an input shaft 4231 and an output shaft 4232 connected to the input shaft 4231 by speed reduction; the rotating shaft of the drive motor 422 is connected to the input shaft 4231 by driving; the output shaft 4232 is connected to the front wheel assembly 43 by driving. The drive connection in the present invention can be connected by a belt (chain connection, belt connection or synchronous belt connection). The drive motor 422 is fixedly arranged outside the drive reducer 423. Different from the traditional method of directly connecting the motor shaft in series with the speed reduction mechanism to reduce speed, the present application sets the input shaft 4231 and the rotating shaft of the drive motor 422 by belt connection, so as to ensure that the input shaft 4231 and the output shaft 4232 are parallel to the rotating shaft of the drive motor 422, effectively reducing the overall size of the drive unit 42 (especially reducing the length size compared with the direct series connection method), reducing the space occupied by the drive unit 42, and facilitating the miniaturization of the mobile carrier as a whole.

[0071] In a specific embodiment of the present invention, the driving unit 42 further includes a driving bracket 421, the driving bracket 421 is arranged on the chassis 41, the driving motor 422 is adjustably arranged on the driving bracket 421, and the driving reducer 423 is fixed on the chassis 41 or on another separate frame. The tension of the connection between the input shaft 4231 of the driving reducer 423 and the rotating shaft of the driving motor 422 can be adjusted by adjusting the position of the driving motor 422 on the driving bracket 421.

[0072] Specifically, magnets are provided in the front wheel 433 and the rear wheel 442, and the magnetic force of the magnets ensures that the front wheel 433 and the rear wheel 442 are adsorbed on the second plate. This arrangement further ensures the movement stability of the sports device 40 on the second plate.

[0073] like Fig. 20 As shown, the front wheel 433 and the rear wheel 442 are both located on the side of the chassis 41 away from the magnetic device 50; the drive unit 42 is located between the front wheel assembly 43 and the rear wheel assembly 44. By arranging the front wheel 433 and the rear wheel 442 to be located on the side of the chassis 41 away from the magnetic device 50, the front wheel 433 and the rear wheel 442 are prevented from being blocked between the welding gun 21 and the groove, further ensuring that the welding gun 21 is close to the groove, and improving the welding quality; by arranging the drive unit 42 to be located between the front wheel assembly 43 and the rear wheel assembly 44, the miniaturization of the entire motion device 40 is ensured, and the center of gravity of the entire motion device 40 is located in the middle position, thereby improving the movement stability of the motion device 40.

[0074] It should be noted that: for the front wheels 433 and the rear wheels 442 in the present application, the wheel surface shapes of the front wheels 433 and the rear wheels 442 can be designed (for example, a tapered design is added to the wheel surface) to further adapt to the surface of the first plate body or the second plate body to ensure the overall movement stability of the mobile carrier vehicle and at the same time improve the applicability of the mobile carrier vehicle.

[0075] like Fig.13 As shown, the mobile carrier further includes a posture sensor 80, which is disposed on the mounting frame 10 or the motion device 40, and is used to detect the motion posture of the motion device 40. By providing the posture sensor 80, the motion posture parameters such as the tilt angle of the entire mobile carrier are detected in real time, thereby improving safety.

[0076] The present invention further provides a welding robot, including the above-mentioned mobile carrier vehicle. The welding robot further includes: a welding device 20 , and the welding device 20 is arranged on the mounting frame 10 .

[0077] Specifically, the welding robot further includes a laser tracking device 30 , which is used to detect the position of the position to be welded relative to the welding device 20 , and the laser tracking device 30 is disposed on the mounting frame 10 .

[0078] The present invention arranges a magnetic device 50 to adsorb the first plate, effectively constrains the movement of the motion device 40 along the surface of the first plate, ensures that the travel trajectory of the welding robot is closely fitted to the first plate, thereby realizing the welding of the fillet weld inside the curved hub of the first plate, and improving the welding quality at the groove between the first plate and the second plate; by arranging a laser tracking device 30 to detect the position of the groove relative to the welding robot in real time, it is ensured that the welding robot moves along the extension direction of the groove, so that the welding device 20 can efficiently weld the groove between the first plate and the second plate, thereby improving the welding quality at the groove; the welding robot proposed by the present invention effectively replaces the manual welding method, which not only saves manpower and reduces the workload of manual workers, but also ensures welding efficiency while improving welding quality.

[0079] like Figure 1 , Figure 2 and Figure 3 As shown, the welding robot further includes a cooling device 70, which is used to cool the laser tracking device 30, and the cooling device 70 is arranged on the mounting frame 10. By arranging the cooling device 70, the working reliability of the laser tracking device 30 is ensured; cooling the laser tracking device 30 by means of an external cooling pipe may affect the overall welding work due to the leakage of coolant during the welding process, and integrating the cooling device 70 on the mounting frame 10 avoids the occurrence of the above problem. The cooling device 70 can be cooled by water cooling or air cooling.

[0080] It should be noted that, in a specific embodiment of the present invention, the cooling device 70 adopts an integrated cooling device commonly used in computers to cool the CPU. The integrated cooling device is arranged at the location where the laser tracking device 30 generates concentrated heat (e.g., the laser emitting portion, etc.), which not only ensures the reliability of cooling, but also makes the cooling device 70 as a whole tend to be miniaturized. In actual use, it is found that the use of the cooling device 70 can ensure that the welding robot can still perform welding operations normally when the base material is preheated to a high temperature of more than 180 degrees Celsius.

[0081] like Figure 1 , Figure 2 and Figure 3 As shown, the welding device 20 includes an adjustment device 22 and a welding gun 21 located on the mounting frame 10, the adjustment device 22 has a movable end, the welding gun 21 is arranged on the movable end, and the movable end drives the welding gun 21 to move with multiple degrees of freedom. Such an arrangement ensures flexible adjustment of the welding gun 21.

[0082] like Figure 2 and Figure 3 As shown, the adjusting device 22 includes a locking ring 2252 for locking and fixing the welding gun 21. The locking ring 2252 is fixedly arranged at the movable end. The welding gun 21 is detachably arranged in the locking ring 2252. By arranging the locking ring 2252, the welding gun 21 can be quickly installed and disassembled and replaced.

[0083] like Fig.18 As shown, the welding robot further includes an electrical interface 100 and a data interface 110, which are respectively arranged on the mounting frame 10, the electrical interface 100 is connected to an external power source, and the data interface 110 is electrically connected to an external device; the welding device 20, the laser tracking device 30, and the motion device 40 are respectively electrically connected to the electrical interface 100, and the welding device 20, the laser tracking device 30, and the motion device 40 are respectively electrically connected to the data interface 110. By arranging the electrical interface 100 and the data interface 110, the reliable connection between the welding robot and the external device is facilitated, and the applicable scope of the welding robot is improved.

[0084] In summary, the present invention provides a mobile carrier and a welding robot. The welding robot proposed in the present invention effectively constrains the movement of the motion device 40 along the surface of the first plate body by setting a magnetic device 50 to adsorb the first plate body, thereby ensuring that the moving trajectory of the welding robot closely fits the arc-shaped first plate body, thereby improving the welding quality at the groove between the first plate body and the second plate body; by setting a laser tracking device 30 to detect the position of the groove relative to the welding robot in real time, it is ensured that the welding robot moves along the extension direction of the groove, so that the welding device 20 can efficiently weld the groove between the first plate body and the second plate body, thereby improving the welding quality at the groove; the welding robot proposed in the present invention effectively replaces the manual welding method, which not only saves manpower and reduces the labor intensity of manual labor, but also ensures welding efficiency under the premise of improving welding quality. The welding robot provided by the present invention is miniaturized as a whole, and after being externally controlled, the overall operation is intelligent, and has a wide range of applications.

[0085] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0086] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0087] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0088] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0089] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0090] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A mobile carrier vehicle, characterized in that: The mobile carrier comprises: Mounting frame (10); A moving device (40), the mounting frame (10) being arranged on the moving device (40), and the moving device (40) driving the mounting frame (10) to move on the second plate body; a magnetic device (50), the magnetic device (50) being arranged on the mounting frame (10), the magnetic device (50) adsorbing the first plate body by magnetic force to constrain the mobile carrier vehicle to move along the first plate body, wherein an angle is formed between the first plate body and the second plate body; The mobile carrier vehicle further comprises a support device (60), wherein the support device (60) is arranged on the mounting frame (10) or the moving device (40), and the support device (60) abuts against the first plate body to ensure that a set distance is maintained between the magnetic device (50) and the first plate body; The supporting device (60) comprises: A support seat (61), the support seat (61) being fixedly arranged on the mounting frame (10) or the motion device (40), the support seat (61) having a mounting cavity (611) and a mounting hole, the mounting hole being in communication with the mounting cavity (611); an adjusting member (62), one end of the adjusting member (62) being movably disposed in the mounting cavity (611) and elastically connected to the mounting cavity (611), and the other end of the adjusting member (62) passing through the mounting hole; an adjusting rod (63), the adjusting rod (63) passing through the mounting cavity (611) and the mounting hole in sequence and cooperating with the adjusting member (62); the adjusting rod (63) abutting against the first plate body; The setting distance is adjusted by adjusting the axial position of the adjusting rod (63) through the adjusting member (62).

2. The mobile carrier according to claim 1, characterized in that: The adjusting member (62) has an internal thread, and the adjusting rod (63) comprises a universal ball (631) and a screw rod (632). The universal ball (631) is rotatably arranged at one end of the screw rod (632). The universal ball (631) abuts against the first plate body, and the screw rod (632) is threadably matched with the adjusting member (62). The supporting device (60) further comprises a disc spring (64) sleeved on the adjusting rod (63), and the adjusting member (62) is elastically connected to the mounting cavity (611) via the disc spring (64).

3. The mobile carrier according to claim 1, characterized in that: The magnetic device (50) comprises a magnet seat (51) and a magnet assembly (52); the magnet seat (51) is arranged on the mounting frame (10), and the magnet assembly (52) is arranged on the magnet seat (51).

4. The mobile carrier according to claim 3, characterized in that: The magnet assembly (52) comprises a plurality of permanent magnets (521), and the plurality of permanent magnets (521) are detachably arranged on the magnet seat (51).

5. The mobile carrier according to claim 1, characterized in that: The motion device (40) comprises: A chassis (41), wherein the mounting frame (10) is arranged on the chassis (41); A drive unit (42), wherein the drive unit (42) is arranged on the chassis (41); A front wheel assembly (43) and a rear wheel assembly (44) are arranged side by side on the chassis (41), and the drive unit (42) drives the front wheel assembly (43) and the rear wheel assembly (44) to move.

6. The mobile carrier according to claim 5, characterized in that: The front wheel assembly (43) comprises a first transmission mechanism (431), a second transmission mechanism (432), and a front wheel (433) which are connected in sequence, and the first transmission mechanism (431) is connected to the drive unit (42) to drive the front wheel (433) to move; The rear wheel assembly (44) comprises a third transmission mechanism (441) and a rear wheel (442) connected in sequence, wherein the third transmission mechanism (441) is connected to the second transmission mechanism (432) to drive the rear wheel (442) to move; The drive unit (42) drives the second transmission mechanism (432) and the front wheel (433) to rotate together via the first transmission mechanism (431), and the second transmission mechanism (432) drives the rear wheel (442) to rotate via the third transmission mechanism (441).

7. The mobile carrier according to claim 5, characterized in that: The driving unit (42) comprises: Drive motor (422); A driving reducer (423); the driving reducer (423) comprises an input shaft (4231) and an output shaft (4232) connected to the input shaft (4231) in a reducing manner; the rotating shaft of the driving motor (422) is drivingly connected to the input shaft (4231); and the output shaft (4232) is drivingly connected to the front wheel assembly (43).

8. The mobile carrier according to claim 6, characterized in that: Magnets are provided in the front wheel (433) and the rear wheel (442), and the magnetic force of the magnets ensures that the front wheel (433) and the rear wheel (442) are adsorbed on the second plate.

9. The mobile carrier according to claim 6, characterized in that: The front wheel (433) and the rear wheel (442) are both located on a side of the chassis (41) away from the magnetic device (50); and the drive unit (42) is located between the front wheel assembly (43) and the rear wheel assembly (44).

10. The mobile carrier according to claim 1, characterized in that: The mobile carrier vehicle further comprises a posture sensor (80), wherein the posture sensor (80) is arranged on the mounting frame (10) or the motion device (40), and the posture sensor (80) is used to detect the motion posture of the motion device (40).

11. A welding robot, characterized in that: The mobile carrier vehicle comprises the mobile carrier vehicle according to any one of claims 1 to 10, wherein the welding robot further comprises: a welding device (20), wherein the welding device (20) is arranged on the mounting frame (10).

12. The welding robot according to claim 11, characterized in that: The welding robot further comprises a laser tracking device (30), the laser tracking device (30) being used to detect the position of a position to be welded relative to the welding device (20), and the laser tracking device (30) being arranged on the mounting frame (10).

13. The welding robot according to claim 12, characterized in that: The welding robot further comprises a cooling device (70), wherein the cooling device (70) is used to cool the laser tracking device (30), and the cooling device (70) is arranged on the mounting frame (10).

14. The welding robot according to claim 11, characterized in that: The welding device (20) comprises an adjustment device (22) and a welding gun (21) located on the mounting frame (10); the adjustment device (22) has a movable end; the welding gun (21) is arranged on the movable end; and the movable end drives the welding gun (21) to move with multiple degrees of freedom.

15. The welding robot according to claim 12, characterized in that: The welding robot further comprises an electrical interface (100) and a data interface (110), wherein the electrical interface (100) and the data interface (110) are respectively arranged on the mounting frame (10), the electrical interface (100) is connected to an external power source, and the data interface (110) is electrically connected to an external device; the welding device (20), the laser tracking device (30), and the motion device (40) are respectively electrically connected to the electrical interface (100), and the welding device (20), the laser tracking device (30), and the motion device (40) are respectively electrically connected to the data interface (110).

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