A mobile welding robot for steel grating

Abstract

The application relates to a mobile welding robot for a steel grating, comprising a welding robot, a main frame module and a wheel module, the welding robot is used for welding a steel grating to be welded; the main frame module is used for connecting and installing the welding robot; the wheel module is connected with the main frame module and is used for walking on the steel grating to be welded; the wheel module rotates around a set horizontal direction, the size of the wheel module along the set horizontal direction is L1, the size of the grating of the steel grating to be welded along the set horizontal direction is L2, and L1 is greater than L2. The mobile welding robot for the steel grating sets the size of the wheel module of the mobile welding robot to be greater than the size of the grating of the steel grating to be welded, on one hand, the size of the mobile welding robot is relatively small, the cost is small, and the automatic welding of the steel grating can be realized; on the other hand, the size of the wheel module is greater than the size of the grating of the steel grating to be welded, and the mobile welding robot can move on the steel grating.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of steel grating welding, and particularly relates to a mobile welding robot for steel grating. BACKGROUND

[0002] The steel grating is also called steel grating plate. The steel grating plate is a kind of steel product with square grids in the middle, which is obtained by cross arrangement and welding of flat steel according to a certain spacing and cross bar. The steel grating plate is mainly used for water ditch cover plate, steel structure platform plate, steel step plate and the like. The steel grating plate usually needs to be welded by a processing device during production, so that the steel plate is processed into a steel grating plate.

[0003] The utility model discloses a steel grating automatic welding equipment discloses a kind of steel grating automatic welding equipment, including rack and steel grating body, steel grating body is placed on the upper surface of rack, rack is provided with longitudinal feed mechanism, longitudinal feed mechanism is provided with positioning device, positioning device includes the pneumatic positioning mechanism and automatic positioning mechanism being connected with each other, pneumatic positioning mechanism is matched with the positioning hole of steel grating body, automatic positioning mechanism is used for automatically adjusting the relative position of pneumatic positioning mechanism and the positioning hole of steel grating body,And automatic positioning mechanism is also provided with the lifting movement mechanism and the multi-angle direction changing mechanism being connected with each other, the multi-angle direction changing mechanism is connected with the welding torch of outside.

[0004] The utility model discloses a kind of steel grating welding machine, it includes support frame, positioning clamping device, welding device and cutting device, the cutting device is located after welding device, it further includes feeding device and conveying device, the feeding device includes flat steel feeding device and cross bar feeding device, the flat steel feeding device is arranged on support frame, the positioning clamping device is arranged on support frame and is connected with flat steel feeding device, the cross bar feeding device is arranged on support frame and is located above flat steel feeding device, the welding device is located after flat steel feeding device and cross bar feeding device, the conveying device is connected after cutting device. The steel grating welding machine can reduce labor intensity, improve work efficiency, reduce scrap rate, improve product quality.

[0005] The above-mentioned steel grating automatic welding equipment is a gantry type steel grating welding equipment, and the above-mentioned steel grating welding equipment usually occupies a large area and has a very high cost. How to realize automatic welding of steel grating at a low cost is a technical problem to be solved in the field. SUMMARY

[0006] Therefore, the technical problem to be solved by the present application is to solve the problem that automatic welding of steel grating is difficult to realize at a low cost in the prior art.

[0007] To solve the above technical problems, the application provides a mobile welding robot for a steel grating, comprising:

[0008] a welding robot for welding a steel grating to be welded;

[0009] a main frame module for connecting and installing the welding robot;

[0010] a wheel module connected to the main frame module and used for walking on the steel grating to be welded;

[0011] wherein the wheel module rotates around a set horizontal direction, the size of the wheel module along the set horizontal direction is L1, and the size of the grid of the steel grating to be welded along the set horizontal direction is L2, and L1 is greater than L2.

[0012] In an embodiment of the application, the maximum size of the grid of the steel grating to be welded along any horizontal direction is L3, and L1 is greater than L3.

[0013] In an embodiment of the application, L1 is greater than 2L2.

[0014] In an embodiment of the application, the grid of the steel grating to be welded is a rectangular grid.

[0015] In an embodiment of the application, L1 is 1-2 meters.

[0016] In an embodiment of the application, the bottom of the main frame module is provided with two wheel modules arranged in front and back, each wheel module comprises two mounting flanges, two sections of rollers, a self-aligning roller bearing and two drive-integrated motors, the two mounting flanges are respectively located at the two ends of the wheel module, the two sections of rollers are respectively connected to the inner sides of the two mounting flanges, the self-aligning roller bearing connects the two sections of rollers, and the two drive-integrated motors are respectively mounted to the outer sides of the two mounting flanges and respectively drive the two sections of rollers to rotate.

[0017] In an embodiment of the application, the main frame module comprises two upper arc-shaped legs and a plurality of cross beams, the two upper arc-shaped legs are arranged at a distance apart along the set horizontal direction, the two ends of each upper arc-shaped leg are respectively connected to the fixed parts of two wheel modules arranged in front and back, the cross beams extend along the set horizontal direction, and the cross beams support and connect the two upper arc-shaped legs.

[0018] In one embodiment of the present application, a lifting and traversing module is further included, the lifting and traversing module comprises a welding gun lifting driving device for lifting the welding robot and a welding gun traversing driving device for moving the welding robot along the set horizontal direction, a fixed part of the welding gun lifting driving device is connected to the main frame module, a fixed part of the welding gun traversing driving device is connected to a moving part of the welding gun lifting driving device, and the welding robot is connected to a moving part of the welding gun traversing driving device.

[0019] In one embodiment of the present application, an auxiliary support module is further included, the auxiliary support module comprises a support arm extending along the set horizontal direction and a support arm lifting driving device for lifting the support arm, and a fixed part of the support arm lifting driving device is connected to the main frame module.

[0020] In one embodiment of the present application, an electric control module is further included, the electric control module comprises a welding control system and a walking control system, the welding control system comprises a controller and a switching power supply, the welding control system is in wireless communication with a wireless operation handle, the welding control system controls the welding robot, and the walking control system comprises a coupler, a network interface switch, a tension and pressure sensor and a network camera, and the walking control system controls the wheel module.

[0021] The above technical solutions of the present application have the following advantages compared with the prior art:

[0022] 1) The mobile welding robot for steel grating of the present application sets the size of the wheel module of the mobile welding robot to be greater than the size of the cell of the steel grating to be welded, on the one hand, the size of the mobile welding robot is relatively small, the cost is small, and automatic welding of the steel grating can be realized, on the other hand, the size of the wheel module is greater than the size of the cell of the steel grating to be welded, and the mobile welding robot can move on the steel grating.

[0023] 2) The mobile welding robot for steel grating of the present application has L1 greater than 2L2. In order to maximize the guarantee that the mobile welding robot stably travels on the steel grating to be welded, the length dimension of the wheel module is set to be much greater than the size of one cell, and the mobile welding robot travels in any position and in any direction, and will not fall into the cell of the steel grating to be welded.

[0024] 3) The mobile welding robot for steel grating of the present application is provided with only two wheel modules, so that the size of the walking welding robot in the left-right direction is not too large, but the length dimension of the wheel module can meet the requirement that it will not fall into the cell of the steel grating to be welded. Each wheel module adopts two sections of rollers and a self-aligning roller bearing, and the left and right sides of each wheel module can adaptively walk on the road condition, and when the left and right heights of the walking welding robot are different, the wheel module can be self-adaptively bent.

[0025] 4) The mobile welding robot for steel grating described in the present application, the two ends of the upper-arched leg are connected to the two support rods respectively, and the upper-arched leg can make the installation height of the welding robot as high as possible, preventing the walking welding robot from colliding with the steel grating to be welded when walking.

[0026] 5) The mobile welding robot for steel grating described in the present application, by setting the lifting and transverse moving module, the welding robot can be adjusted to the set depth and position, ensuring that the welding robot can weld to any position of the grating.

[0027] 6) The mobile welding robot for steel grating described in the present application, when the mobile welding robot walks, at this time, the support arm goes up and leaves the steel grating to be welded, when the mobile robot stops for welding, at this time, the support arm goes down and abuts against the steel grating to be welded, the auxiliary support module can prevent the robot from moving as a whole when welding, ensuring the welding performance of the welding robot. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to make the content of the present application more easily and clearly understood, the present application will be further described in detail below according to specific embodiments of the present application and in conjunction with the drawings.

[0029] Figure 1 The structural schematic diagram of the mobile welding robot for steel grating disclosed in the present application;

[0030] Figure 2 The structural schematic diagram of the wheel module disclosed in the present application;

[0031] Figure 3 The local schematic diagram of the wheel module disclosed in the present application;

[0032] Figure 4 The connection schematic diagram of the motion platform module and the main frame module disclosed in the present application;

[0033] Figure 5 The schematic diagram of the auxiliary support module disclosed in the present application.

[0034] The drawing reference signs of the specification: 1, welding robot; 2, main frame module; 21, upper-arched leg; 22, crossbeam; 3, wheel module; 31, mounting flange; 32, roller; 33, self-aligning roller bearing; 34, drive and control integrated motor; 35, support rod; 4, lifting and transverse moving module; 41, welding gun lifting drive device; 42, welding gun transverse moving drive device; 5, auxiliary support module; 51, support arm; 52, support arm lifting drive device; 6, electric control module. DETAILED DESCRIPTION

[0035] The application will be further described below in connection with the drawings and specific embodiments so that those skilled in the art can better understand the application and implement it, but the embodiments are not intended to limit the application.

[0036] Referring to Figures 1 to 5 As shown in the drawings, a mobile welding robot for steel grating includes:

[0037] A welding robot 1 is used for welding a steel grating to be welded;

[0038] A main frame module 2 is used for connecting and installing the welding robot 1;

[0039] A wheel module 3 is connected with the main frame module 2 and is used for walking on the steel grating to be welded;

[0040] Wherein, the wheel module 3 rotates around a set horizontal direction, the size of the wheel module 3 along the set horizontal direction is L1, and the size of the grid of the steel grating to be welded along the set horizontal direction is L2, L1 is greater than L2.

[0041] The above welding robot is an industrial robot engaged in welding (including cutting and spraying). According to the definition of the International Organization for Standardization industrial robot as a standard welding robot, the industrial robot is a multipurpose, repeatable programming automatic control manipulator with three or more programmable axes for industrial automation. In order to adapt to different uses, the mechanical interface of the last axis of the robot is usually a connecting flange, which can be connected with different tools or end effectors. The welding robot is connected with a welding gun or a welding (cutting) gun on the flange of the last axis of the industrial robot, so that it can perform welding, cutting or thermal spraying.

[0042] The above main frame module is actually a vehicle frame, which is mainly used for connecting different modules into a whole that can move together.

[0043] The above wheel module is a roller, which is roughly a cylindrical body. The axial dimension of the roller is the length dimension of the wheel module, and the diameter of the roller is the radial dimension of the wheel module. The size of the wheel module along the set horizontal direction is the length dimension of the wheel module. The roller is installed at the bottom of the main frame module, so that the bottom of the main frame module is suspended and does not contact the steel grating to be welded. The roller has small weight, small space occupation and flexible rotation.

[0044] Since the length of the wheel module is greater than the maximum dimension of the grid along any horizontal direction, the mobile welding robot can travel on the steel grating to be welded in any direction.

[0045] In the preferred embodiment of the present embodiment, the maximum dimension of the grid of the steel grating to be welded along any horizontal direction is L3, and L1 is greater than L3. The grid along each horizontal direction can have multiple horizontal dimensions, of which the maximum horizontal dimension is L3. Since the length of the wheel module is greater than the maximum dimension of the grid along any horizontal direction, the mobile welding robot can travel on the steel grating to be welded in any direction.

[0046] In the preferred embodiment of the present embodiment, L1 is greater than 2L2. In order to maximize the stability of the mobile welding robot traveling on the steel grating to be welded, the length of the wheel module is set to be much larger than the size of a grid, and the mobile welding robot will not fall into the grid of the steel grating to be welded when traveling in any position and in any direction.

[0047] In the preferred embodiment of the present embodiment, the grid of the steel grating to be welded is a rectangular grid. The steel grating to be welded in the present embodiment is square, the side length of the grid is about 750 mm, and the depth of the grid is about 850 mm. The steel grating to be welded in the present embodiment is mainly used in shipyards, and the overall area of the steel grating is large, and the size of each grid of the steel grating is also large.

[0048] In the preferred embodiment of the present embodiment, L1 is 1-2 meters. The length of the vehicle module in the present embodiment is 1-2 meters, which can adapt to the above-mentioned grid with a side length of about 750 mm and a depth of about 850 mm. The 1-meter-long wheel module can ensure that it will not fall into the grid under precise control of the walking track, and the 2-meter-long wheel module can maximize the guarantee that the wheel module will not fall into the grid.

[0049] In the preferred embodiment of the present embodiment, the bottom of the main frame module 2 is provided with two wheel modules 3 arranged front and back, each wheel module 3 comprising two mounting flanges 31, two sections of rollers 32, a self-aligning roller bearing 33, and two drive-integrated motors 34, the two mounting flanges 31 being respectively located at the two ends of the wheel module 3, the two sections of rollers 32 being respectively connected to the inner sides of the two mounting flanges 31, the self-aligning roller bearing 33 connecting the two sections of rollers, and the two drive-integrated motors 44 being respectively mounted on the outer sides of the two mounting flanges 31 and respectively driving the two sections of rollers 32 to rotate. In the present embodiment, only two wheel modules are provided, so that the size of the walking welding robot in the left-right direction will not be too large, but the length dimension of the wheel module can meet the requirement of not being trapped in the grid of the steel grating to be welded. Each wheel module adopts two sections of rollers and a self-aligning roller bearing, and the left and right sides of each wheel module can adapt to the road conditions of walking, and when the left and right heights of the walking welding robot are different, the wheel module can be self-adaptively bent, for example, when the left side of the steel grating has a protrusion and the right side of the steel grating is flat, at this time, only the left roller is inclined, and the right roller still travels on the right side of the steel grating in a horizontal posture, which is equivalent to that the wheel module can be bent at a certain angle. When the right side of the steel grating has a protrusion and the left side of the steel grating is flat, at this time, only the right roller is inclined, and the left roller still travels on the left side of the steel grating in a horizontal posture. The two rollers are driven to rotate by the respective drive-integrated motors, and the drive-integrated motor structure is compact.

[0050] The mounting flange is generally elliptical in shape, the rollers are arranged concentrically with the mounting flange, and the mounting flange is connected to the support rod 35 at both ends along the long axis direction, and the support rod 35 connects the two mounting flanges into one whole.

[0051] The rollers are pipe-type connecting pieces, one of which is provided with a rotating shaft structure, and the other of which is provided with a rotating shaft hole structure, the rotating shaft structure extending into the rotating shaft hole structure, and the two self-aligning roller bearings being connected between the rotating shaft structure and the rotating shaft hole structure. The outer diameters of the two sections of rollers are the same.

[0052] In the preferred embodiment of the present embodiment, the main frame module 2 comprises two upper arc-shaped legs 21 and a plurality of cross beams 22. The two upper arc-shaped legs 21 are arranged at a distance apart along a predetermined horizontal direction, and the two ends of each upper arc-shaped leg 21 are respectively connected to the fixed portions of two wheel modules 3 arranged in front and back. The cross beams 22 extend along the predetermined horizontal direction, and the cross beams 22 support and connect the two upper arc-shaped legs 21. The two ends of the upper arc-shaped leg are respectively connected to two support rods, and the upper arc-shaped leg can make the installation height of the welding robot as high as possible to prevent the welding robot from colliding with the steel grating to be welded when walking. Specifically, the two upper arc-shaped legs are provided, and the four cross beams are provided. Two cross beams are connected to the upper arc-shaped legs near the upper position, and the other two cross beams are connected to the lower position of the upper arc-shaped legs. The four cross beams connect the arc-shaped legs to form a whole.

[0053] In the preferred embodiment of the present embodiment, the lifting and transverse moving module 4 comprises a welding gun lifting driving device 41 for lifting the welding robot 1 and a welding gun transverse moving driving device 42 for moving the welding robot 1 along a predetermined horizontal direction. The fixed portion of the welding gun lifting driving device 41 is connected to the main frame module 2, the fixed portion of the welding gun transverse moving driving device 42 is connected to the moving portion of the welding gun lifting driving device 41, and the welding robot 1 is connected to the moving portion of the welding gun transverse moving driving device 42. The welding gun lifting driving device is an electric cylinder, and the welding gun transverse moving driving device is a servo module. The cylinders of the two electric cylinders are respectively installed on the two upper arc-shaped legs, and the servo module is connected to the lower ends of the two electric cylinders. The lifting and transverse moving module can change the position of the upward and lateral movement of the walking welding robot, so as to adapt to the inner wall surface and different grids.

[0054] The preferred embodiment in the present embodiment also includes an auxiliary support module 5, which includes a support arm 51 extending in a set horizontal direction and a support arm lifting driving device 52 driving the support arm 51 to lift, and the fixed part of the support arm lifting driving device 52 is connected to the main frame module 2. The lower surface of the support arm is a strip-shaped plane extending in the set direction, and in the present embodiment, two auxiliary support modules are included, which are a front auxiliary support module and a rear auxiliary support module, the front auxiliary support module is arranged in front of the front wheel module, and the rear auxiliary support module is arranged behind the rear wheel module. The support arm lifting driving device is an EHA electric hydraulic cylinder, and two EHA electric hydraulic cylinders are arranged, the cylinder body of the EHA electric hydraulic cylinder is installed on the main frame module, and the cylinder rod of the EHA electric hydraulic cylinder is connected to the support arm. The auxiliary support module can prevent the robot from moving as a whole during welding, and ensure the welding performance of the welding robot. When the mobile welding robot is moving, the support arm goes up at this time, and leaves the steel grating to be welded. When the mobile robot stops for welding, the support arm goes down at this time, and abuts against the steel grating to be welded. The length of the support arm in the set horizontal direction is substantially the same as the length of the wheel module.

[0055] In an embodiment of the present application, an electric control module 6 is also included, which includes a welding control system (not shown in the figure) and a walking control system (not shown in the figure), the welding control system includes a controller and a switching power supply, the welding control system communicates with the wireless operation handle, the welding control system controls the welding robot, and the walking control system includes a coupler, a network interface switch, a tension and pressure sensor, and a network camera, the walking control system controls the wheel module. The electric control module enables the mobile welding robot to be remotely controlled wirelessly, and the operation is simple. Different welding requirements between different squares can be achieved. The control module of the mobile robot includes a robot main control system and a robot vehicle control system. Specifically, the main control system is mainly composed of a Beckhoff controller and a switching power supply, and adopts wireless communication; the operation handle is a wireless operation handle. The robot vehicle control system includes a Beckhoff coupler, a network interface switch, a tension and pressure sensor, a network camera, etc.

[0056] Obviously, the above embodiment is only an example for clear illustration, and is not a limitation on the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments do not need to be exhausted, and the obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A mobile welding robot for steel grating, characterized by, The utility model relates to a welding robot, a main frame module, a wheel module and a lifting and horizontal moving module. The welding robot is used for welding a steel grating to be welded. The main frame module is used for connecting and mounting the welding robot. The wheel module is connected with the main frame module and is used for walking on the steel grating to be welded. The wheel module rotates around a set horizontal direction, and the size of the wheel module along the set horizontal direction is L1, L1 is 1-2 meters, and the size of the grid of the steel grating to be welded along the set horizontal direction is L2, L1 is greater than L2. The bottom of the main frame module is provided with two wheel modules arranged in front and back.

2. The mobile welding robot for steel grating according to claim 1, characterized by, Each wheel module comprises two mounting flanges, two sections of rollers, two self-aligning roller bearings and two drive and control integrated motors.

3. The mobile welding robot for steel grating according to claim 1, characterized by, One of the rollers is provided with a rotating shaft structure, and the other roller is provided with a rotating shaft hole structure.

4. The mobile welding robot for steel grating according to claim 1, characterized by, The rotating shaft structure extends into the rotating shaft hole structure.

5. The mobile welding robotic apparatus for steel grating according to claim 1, wherein The two self-aligning roller bearings are connected between the rotating shaft structure and the rotating shaft hole structure.

6. The mobile welding robotic apparatus for steel grating according to claim 1, wherein The two drive and control integrated motors are respectively mounted on the outer sides of the two mounting flanges and respectively drive the two sections of rollers to rotate.

7. The mobile welding robotic apparatus for steel grating according to claim 1, wherein The rollers are concentrically arranged with the mounting flanges. The two ends of the mounting flanges along the long axis direction are connected with two support rods. The two support rods connect the two mounting flanges into a whole. The main frame module connects the two support rods. The maximum size of the grid of the steel grating to be welded along any horizontal direction is L3, and L1 is greater than L3. L1 is greater than 2L2. The grid of the steel grating to be welded is a rectangular grid. The main frame module comprises two upper arc-shaped legs and a plurality of cross beams. The two upper arc-shaped legs are arranged at a distance apart along the set horizontal direction. Each of the two ends of the upper arc-shaped leg is connected to the two support rods. The cross beams extend along the set horizontal direction. The cross beams support and connect the two upper arc-shaped legs. The lifting and horizontal moving module comprises a welding gun lifting driving device for driving the welding robot to lift and a welding gun horizontal moving driving device for driving the welding robot to move along the set horizontal direction. The fixed part of the welding gun lifting driving device is connected to the main frame module. The fixed part of the welding gun horizontal moving driving device is connected to the moving part of the welding gun lifting driving device. The welding robot is connected to the moving part of the welding gun horizontal moving driving device. The auxiliary support module comprises a support arm extending along the set horizontal direction and a support arm lifting driving device for driving the support arm to lift. The fixed part of the support arm lifting driving device is connected to the main frame module.

8. The mobile welding robotic apparatus for steel grating according to claim 1, wherein, Also included is an electric control module, the electric control module including a welding control system and a walking control system, the welding control system including a controller and a switching power supply, the welding control system in wireless communication with a wireless operating handle, the welding control system controlling the welding robot, the walking control system including a coupler, a network interface switch, a pull and pressure sensor, and a network camera, the walking control system controlling the wheel module.

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