A combined mobile intelligent welding robot

Abstract

The invention discloses a combined mobile intelligent welding robot, comprising a wheeled base and a frame, wherein a welding machine is installed on the wheeled base; the frame is spliced ​​on the wheeled base, the frame comprises a longitudinally arranged lifting frame and a mechanical arm installed on the lifting frame and controlled by lifting, a track is installed at the end of the mechanical arm, a slider is provided on the track, a welding gun and a telescopic cylinder are installed on the slider, the slider moves along the track to adjust the positions of the welding gun and the telescopic cylinder, the telescopic cylinder is configured to control the welding gun to approach or move away from the track, thereby realizing linear movement welding of the welding gun, and improving the efficiency and accuracy of linear movement welding through the regional movement of the end of the mechanical arm; wherein, through the action of the telescopic cylinder, the position of the welding gun can be finely adjusted, thereby realizing compensation operation of the welding position; a flexible guide platform is installed on the track, a moving route is constructed through the flexible guide platform, and the moving route is automatically matched for floating, thereby realizing curve welding.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to a combined mobile intelligent welding robot. Background Art

[0002] An ordinary welding robot is usually mainly composed of a base, a rotating motor, a rotating shaft, a large arm, a small arm, a welding head (welding gun) and other components. One end of the large arm cooperates with the base, and the other end of the large arm is used to cooperate with the small arm and welding head of the welding robot. The large arm drives the small arm and the welding head to perform multi-dimensional movements in space, so as to implement welding at the joints of the entire plate. A welding wire is provided at the end of the welding head, and the high-temperature welding arc generated by the welding head is used to melt the welding wire, thereby implementing welding of the entire plate. In the welding process of the existing welding robot, the control of the welding head (welding gun) is achieved by swinging the multi-axis mechanical arm. During linear welding, , usually requires the linkage and coordination of multiple nodes of the robot arm, which has high requirements for intelligent control, or the movement of the entire robot arm is realized, the movement range is large, the accuracy is small, and it is not suitable for welding operations in narrow areas. In addition, when welding arc-shaped or irregular parts to be welded, one conventional method is to use image recognition and then calculate and analyze the internal algorithm to plan the movement route of the robot arm for control. Image recognition is limited by the parts to be welded and the environment, and is prone to errors. The other method is to control the movement of the mechanical energy of the parts to be welded, and the welding object is relatively limited. Therefore, there is an urgent need for a combined mobile intelligent welding robot to solve the above problems. Summary of the invention

[0003] The purpose of the present invention is to provide a combined mobile intelligent welding robot that can effectively solve the problems existing in the above-mentioned prior art.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solution: a combined mobile intelligent welding robot, comprising:

[0005] A pulley base, on which a welding machine is installed;

[0006] A frame is spliced ​​on the wheeled base, and the frame includes a longitudinally arranged lifting frame and a mechanical arm installed on the lifting frame and controlled to lift. A track is installed at the end of the mechanical arm, and a slider is provided on the track. A welding gun and a telescopic cylinder are installed on the slider. The slider moves along the track to adjust the positions of the welding gun and the telescopic cylinder. The telescopic cylinder is configured to control the welding gun to approach or move away from the track.

[0007] Preferably, the welding gun is connected to the telescopic cylinder via a follower elastic member;

[0008] A flexible guide platform is installed on the track, and the flexible guide platform is configured to form a corresponding guide path through deformation, and a pressure wheel is provided on the welding gun, and the pressure wheel is attached to the flexible guide platform; and

[0009] The follower elastic member tends to drive the pressure wheel to move toward the flexible guide platform.

[0010] Preferably, the telescopic end of the telescopic cylinder is installed with an outer tube, an inner rod is inserted into the outer tube, and one end of the inner rod inserted into the outer tube is connected to the inner wall of the outer tube through a follower elastic member, and one end of the inner rod extending out of the outer tube is connected to the welding gun; the pressure wheel is installed on one side of the extended end of the inner rod.

[0011] Preferably, at least one touch adjustment rod is installed on the slider, and the touch adjustment rod includes a telescopic section and an adjustment section. The telescopic section is used to contact the surface to be welded when extended, and slides along the track with the slider. The telescopic section is close to the surface to be welded, and generates fluctuations based on the surface to be welded, driving the adjustment section to fluctuate synchronously in the same direction. The adjustment section is connected to the flexible guide platform, and drives the flexible guide platform to produce corresponding deformation as the adjustment section fluctuates differently.

[0012] Preferably, a plurality of slide rails are installed on the flexible guide platform, and the plurality of slide rails are distributed along the flexible guide platform array, one end of the slide rail is connected to the track, and the other end is connected to the flexible guide platform, and the slide rail has damping for maintaining the deformed state of the flexible guide platform.

[0013] Preferably, an airbag strip is installed on the flexible guide platform, and an inflation tube is arranged on the airbag strip, and the airbag strip is configured to increase the deformation resistance of the flexible guide platform in an inflated state.

[0014] Preferably, a base is installed on the pulley base, a drive motor is installed in the base, a clamping hoop is arranged on the base, the clamping hoop is used to fix the lifting frame on the base, and the screw rod in the lifting frame is connected to the output end of the drive motor.

[0015] Preferably, a sliding block is installed on the lifting frame, and the sliding block is connected to the screw member through a screw nut, and the screw member is rotated to drive the sliding block to move up and down, and a V-shaped groove is opened on the sliding block;

[0016] A cross bar is installed at one end of the mechanical arm, a limit block is installed at one end of the cross bar away from the mechanical arm, and the cross bar is movably installed on the mechanical arm, and a handle is provided on the mechanical arm, and the handle is used to drive the cross bar to move and control the limit block to move closer to or away from the mechanical arm; and

[0017] The mechanical arm is clamped in the V-shaped groove through a cross bar, and the locking and unlocking of the mechanical arm and the sliding block are achieved by moving the limit block.

[0018] Preferably, the mechanical arm comprises:

[0019] A main arm, one end of which is used to be connected to the lifting frame;

[0020] End effector, used to install the track;

[0021] A multi-axis arm has one end connected to the main arm and the other end connected to the end actuator, and the multi-axis arm can at least control the end actuator to perform two degrees of freedom movements in mutually perpendicular planes.

[0022] Beneficial effects of the present invention:

[0023] 1. The present invention realizes linear movement welding of the welding gun by installing a track at the end of the robot arm and configuring a slider, thereby solving the problem that the traditional robot arm welding linear welding requires overall movement, and improves the efficiency and accuracy of linear movement welding by regional movement of the end of the robot arm; wherein, the position of the welding gun can be finely adjusted by the action of the telescopic cylinder, thereby realizing compensation operation of the welding position.

[0024] 2. In the present invention, a flexible guide platform is installed on the track. Through the action of the follower elastic part, the welding gun has a certain degree of freedom, and cooperates with the action of the pressure wheel to fit on the flexible guide platform. The moving route is constructed by the deformed flexible guide platform, and the pressure wheel is used to realize that the welding gun automatically matches the moving route to float when moving along the track, thereby realizing curve welding.

[0025] 3. In the present invention, the touch adjustment rod can contact the surface to be welded, and automatically traverse the surface to be welded as the slider moves along the track, thereby fluctuating based on the concave and convex conditions of the surface to be welded, and the fluctuation is applied to the flexible guide table through the adjustment section, so that the flexible guide table produces corresponding deformation, thereby automatically forming a moving route that matches the surface to be welded. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0027] In the attached picture:

[0028] Figure 1 This is a structural schematic diagram of the welding robot of the present invention from one perspective;

[0029] Figure 2 It is a schematic diagram of the structure of the other four corners of the welding robot of the present invention;

[0030] Figure 3 is a plan view of the welding robot of the present invention;

[0031] Figure 4 It is a schematic diagram of the structure of the lifting frame and the mechanical arm of the present invention;

[0032] Figure 5 It is a structural schematic diagram of the screw rod member and the sliding block of the present invention;

[0033] Figure 6 It is a structural schematic diagram of the mechanical arm of the present invention;

[0034] Figure 7 is a plan view of the mechanical arm of the present invention;

[0035] Figure 8 It is a schematic diagram of the structure of the track, the slider and the welding gun of the present invention;

[0036] Fig. 9 It is a schematic diagram of the structure of a flexible guide platform installed on the track of the present invention;

[0037] Fig.10 It is a side view of the track of the present invention with a flexible guide platform installed;

[0038] Fig.11 It is a front view of a track of the present invention equipped with a flexible guide platform;

[0039] Fig.12 It is a structural schematic diagram of the touch adjustment rod of the present invention;

[0040] Numbers in the figure: 1. wheeled base; 2. welding machine; 3. base; 4. driving motor; 5. lifting frame; 6. screw rod; 7. sliding block; 8. V-shaped groove; 9. main arm; 10. cross bar; 11. limit block; 12. handle; 13. multi-axis arm; 14. first rotating part; 15. first rotating arm; 16. second rotating part; 17. second rotating arm; 18. mounting block; 19. track; 20. slider; 21. welding gun; 22. telescopic cylinder; 23. flexible guide platform; 24. follow-up elastic member; 25. pressure wheel; 26. outer tube; 27. inner rod; 28. first section of telescopic tube; 29. ​​second section of telescopic tube; 30. clip; 31. third section of telescopic tube; 32. telescopic hydraulic cylinder; 33. pressure elastic member; 34. slide rail; 35. airbag strip; 36. inflation tube. DETAILED DESCRIPTION

[0041] The embodiments of the present invention are described below in conjunction with the drawings in the embodiments of the present invention. The terms used in the implementation mode of the present invention are only used to explain the specific embodiments of the present invention, and are not intended to limit the present invention. The embodiments of the present application are described below in conjunction with the drawings.

[0042] Embodiment: A combined mobile intelligent welding robot, such as Figure 1-Figure 3 As shown, from bottom to top, it includes:

[0043] A pulley base 1 is provided with a welding machine 2, a base 3, a power supply and other structures. The power supply can be equipped according to the demand and is used to provide electric energy for the welding robot. A driving motor 4 is installed on the base 3. A hoop is provided on the base 3. The hoop is used to assemble the lifting frame 5 in the frame body on the base 3, and connect the screw rod 6 in the lifting frame 5 to the output end of the driving motor 4.

[0044] The lifting frame 5 is provided with a screw rod 6. When the lifting frame 5 is installed on the base 3, the screw rod 6 is assembled with the output shaft of the driving motor 4. The driving motor 4 drives the screw rod 6 to rotate. A sliding block 7 is mounted on the lifting frame 5. The sliding block 7 is connected to the screw rod 6 through a screw nut. The screw rod 6 rotates to drive the sliding block 7 to move up and down. A mechanical arm is assembled on the sliding block 7.

[0045] For assembly of the robot arm, refer to Figure 4-Figure 6 As shown, a V-shaped groove 8 is provided on the sliding block 7, a cross bar 10 is installed at one end of the mechanical arm, a limit block 11 is installed at the end of the cross bar 10 away from the mechanical arm, and the cross bar 10 is movably installed on the mechanical arm, and a handle 12 is provided on the mechanical arm. The handle 12 is used to drive the cross bar 10 to move and control the limit block 11 to approach or move away from the mechanical arm; the cross bar 10 is clamped in the V-shaped groove 8 and moved toward the narrow part of the V-shaped groove 8, the limit block 11 is clamped in the sliding block 7, and the limit block 11 is moved by the handle 12 to move toward the mechanical arm and tightly against the inner wall of the sliding block 7, so as to realize the connection and locking between the mechanical arm and the sliding block 7, and vice versa, the limit block 11 can be moved in the opposite direction to realize unlocking, so that the mechanical arm can be disassembled easily.

[0046] For the robot arm, refer to Figure 4 and Figure 7 As shown, the robot arm includes a main arm 9, a multi-axis arm 13 and an end actuator. One end of the main arm 9 is used to connect with the lifting frame 5, and the main arm 9 has at least one bend to improve the support effect. The multi-axis arm 13 is installed at the end of the main arm 9 away from the lifting frame 5. The multi-axis arm 13 can at least control the end actuator to move in two degrees of freedom in mutually perpendicular planes. In a specific implementation, reference Figure 2 and 7As shown, the multi-axis arm 13 specifically includes: a first rotating part 14 is provided at the end of the main arm 9, a first rotating arm 15 is installed at the first rotating part 14, a second rotating part 16 is installed on the rotating arm, a second rotating arm 17 is installed at the second rotating part 16, the first rotating part 14 and the second rotating part 16 The rotating plane is perpendicular to the rotating plane of the second rotating part 16, a mounting block 18 is installed at the second rotating part 16, and the track 19 is assembled on the mounting block 18, and the rotation adjustment of the two rotating planes is realized by the first rotating part 14 and the second rotating part 16.

[0047] The track 19 is provided with a slider 20 on which a welding gun 21 and a telescopic cylinder 22 are mounted. The slider 20 moves along the track 19 to adjust the positions of the welding gun 21 and the telescopic cylinder 22 to achieve linear movement welding of the welding gun 21 . The telescopic cylinder 22 is configured to control the welding gun 21 to approach or move away from the track 19 .

[0048] In a specific embodiment, reference Figure 8 As shown, the layout angle of the track 19 can be assembled on the mounting block 18 according to specific needs. Figure 8 For example, in the initial state, the track 19 is horizontally arranged. For the driving mode of the track 19, the track 19 can be driven by a built-in screw rod to drive the slider 20 to move. A telescopic cylinder 22 is arranged on the slider 20 perpendicular to the direction of the track 19. Figure 8 For example, the telescopic end of the telescopic cylinder 22 is vertically upward, and the welding gun 21 is driven to move synchronously by the telescopic cylinder 22 extending upward.

[0049] In another embodiment, on the basis of the above, a flexible guide platform 23 is installed on the track 19. The flexible guide platform 23 is a kind of platform that can produce a certain deformation in the direction of the force when subjected to a certain pressure. A moving route is constructed by the deformation of the flexible guide platform 23.

[0050] The welding gun 21 is connected to the telescopic cylinder 22 through a follower elastic member 24; a pressure wheel 25 is provided on the welding gun 21, and the pressure wheel 25 is attached to the flexible guide platform 23; and the follower elastic member 24 tends to drive the pressure wheel 25 to move toward the flexible guide platform 23. When the slider 20 moves along the slide rail 34, the pressure wheel 25 traverses the moving route constructed by the deformation of the flexible guide platform 23, and the ups and downs of the moving route can be transmitted to the pressure wheel 25, so that the pressure wheel 25 tends to rise and fall synchronously, thereby cooperating with the follower elastic member 24 to drive the welding gun 21 to rise and fall synchronously, thereby controlling the welding gun 21 to perform welding operations based on the moving route constructed by the flexible guide platform 23.

[0051] refer to Figure 9-10As shown, in a specific embodiment, an outer tube 26 is installed at the telescopic end of the telescopic cylinder 22, an inner rod 27 is inserted into the outer tube 26, and one end of the inner rod 27 inserted into the outer tube 26 is connected to the inner wall of the outer tube 26 through the follower elastic member 24, and one end of the inner rod 27 extending out of the outer tube 26 is connected to the welding gun 21; the pressure wheel 25 is installed on one side of the extended end of the inner rod 27;

[0052] As the telescopic cylinder 22 moves and retracts, the outer tube 26 and the inner rod 27 are driven to move, thereby driving the welding gun 21 to move synchronously. At the same time, the position of the pressure wheel 25 can also be adjusted to make it fit into or separate from the flexible guide platform 23. Then, when the pressure wheel 25 fits into the flexible guide platform 23, the pressure wheel 25 can be acted on according to the ups and downs of the flexible guide platform 23, so that the inner rod 27 squeezes the follower elastic member 24 to make it move in the outer tube 26, thereby automatically adjusting the position of the welding gun 21.

[0053] The flexible guide platform 23 can be deformed according to the specific conditions of the surface to be welded, so as to simulate a welding route suitable for the surface to be welded. The specific deformation operation can be implemented according to the needs, such as manual action or mechanical operation after identification. Figure 9-11 In a specific embodiment, at least one touch adjustment rod is installed on the slider 20, and the touch adjustment rod includes a telescopic section and an adjustment section. The telescopic section is used to contact the surface to be welded when extended, and slides along the track 19 with the slider 20. The telescopic section is close to the surface to be welded, and generates fluctuations based on the surface to be welded, driving the adjustment section to fluctuate synchronously in the same direction. The adjustment section is connected to the flexible guide platform 23, and drives the flexible guide platform 23 to produce corresponding deformations as the adjustment section fluctuates differently.

[0054] In this embodiment, touch adjustment rods are provided on both sides of the slider 20. The touch adjustment rod located in the front of the movement serves as the main touch adjustment rod, and the touch adjustment rod located in the rear of the movement serves as the auxiliary touch adjustment rod. When the main touch adjustment rod moves, the flexible guide platform 23 is deformed by applying force through the adjustment section. The auxiliary touch adjustment rod then continues to traverse the deformed flexible guide platform 23, optimizes and adjusts the flexible guide platform 23, makes its deformation smoother, and improves the matching degree between the deformed flexible guide platform 23 and the surface to be welded.

[0055] For the telescopic section, in a specific embodiment, a three-stage telescopic structure is adopted. Fig.12For example, the top is the first section of the telescopic tube 28, the top of the first section of the telescopic tube 28 is connected to the extension block of the slider 20 through a pressure elastic member 33, the bottom of the first section of the telescopic tube 28 is fixed with the second section of the telescopic tube 29, one side of the second section of the telescopic tube 29 is used as an adjustment section, and a clamp 30 is provided on one side of the second section of the telescopic tube 29, the clamp 30 is clamped on the flexible guide platform 23, the bottom of the second section of the telescopic tube 29 is plugged with the third section of the telescopic tube 31, the bottom end of the third section of the telescopic tube 31 is used as the end point in contact with the surface to be welded, a telescopic hydraulic cylinder 32 is installed on one side of the first section of the telescopic tube 28, and the telescopic end of the telescopic hydraulic cylinder 32 is connected to the third section of the telescopic tube 31;

[0056] Based on the above, when working, the third section of the telescopic tube 31 is driven to extend and contact the surface to be welded by the telescopic hydraulic cylinder 32. At this time, the pressure elastic member 33 on the first section of the telescopic tube 28 is in a semi-compressed state. As the slider 20 moves, when encountering a concave surface, the pressure elastic member 33 in the semi-compressed state releases elastic potential energy, thereby driving the entire telescopic section, the adjustment section, and the clamp 30 to move toward the concave surface, and synchronously causing the flexible guide platform 23 to deform. When encountering a convex surface, the pressure elastic member 33 is compressed, thereby driving the entire telescopic section, the adjustment section, and the clamp 30 to move, and synchronously causing the flexible guide platform 23 to deform. As the slider 20 moves through the entire surface to be welded, the situation of the surface to be welded is automatically identified. Finally, the telescopic hydraulic cylinder 32 drives the third section of the telescopic tube 31 to reset.

[0057] For the flexible guide stage 23, refer to Figure 9-11 As shown, a plurality of slide rails 34 are installed on the flexible guide platform 23, and the plurality of slide rails 34 are distributed in an array along the flexible guide platform 23. One end of the slide rail 34 is connected to the track 19, and the other end is connected to the flexible guide platform 23. The slide rail 34 has damping for maintaining the deformed state of the flexible guide platform 23. The arrangement of the plurality of slide rails 34 enables the flexible guide platform 23 to form a stable welding moving route.

[0058] refer to Figure 9-11 As shown, in order to further form a stable welding moving route, in a specific embodiment, an airbag strip 35 is installed on the flexible guide platform 23, and an inflation tube 36 is arranged on the airbag strip 35. The airbag strip 35 is configured to increase the deformation resistance of the flexible guide platform 23 in the inflated state;

[0059] That is, in the initial state, based on the above, the flexible guide platform 23 forms a welding moving route, and at the same time, the airbag strip 35 under the flexible guide platform 23 is also bent, and then a certain amount of gas is introduced into the bent airbag strip 35 through the inflation tube 36, so that it forms a support under the flexible guide platform 23, thereby limiting the deformation of the flexible guide platform 23 during the movement of the pressure wheel 25 to a certain extent.

[0060] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. For ordinary technicians in this technical field, after knowing the contents recorded in the present invention, they can make several equivalent changes and substitutions without departing from the principle of the present invention. These equivalent changes and substitutions should also be regarded as belonging to the protection scope of the present invention.

Claims

1. A combined mobile intelligent welding robot, characterized in that: include: A pulley base, on which a welding machine is installed; A frame body is spliced ​​on the wheeled base, the frame body includes a longitudinally arranged lifting frame and a mechanical arm installed on the lifting frame and controlled to lift, a track is installed at the end of the mechanical arm, a slider is arranged on the track, a welding gun and a telescopic cylinder are installed on the slider, the slider moves along the track to adjust the position of the welding gun and the telescopic cylinder, and the telescopic cylinder is configured to control the welding gun to approach or move away from the track; The welding gun is connected to the telescopic cylinder via a follower elastic member; A flexible guide platform is installed on the track, and the flexible guide platform is configured to form a corresponding guide path through deformation, and a pressure wheel is provided on the welding gun, and the pressure wheel is attached to the flexible guide platform; and The follower elastic member tends to drive the pressure wheel to move toward the flexible guide platform; At least one touch adjustment rod is installed on the slider, and the touch adjustment rod includes a telescopic section and an adjustment section. The telescopic section is used to contact the surface to be welded when extended, and slide along the track with the slider. The telescopic section is close to the surface to be welded, and generates fluctuations based on the surface to be welded, driving the adjustment section to fluctuate synchronously in the same direction. The adjustment section is connected to the flexible guide platform, and drives the flexible guide platform to generate corresponding deformations as the adjustment section fluctuates differently; A plurality of slide rails are installed on the flexible guide platform, and the plurality of slide rails are distributed along the flexible guide platform array. One end of the slide rail is connected to the track, and the other end is connected to the flexible guide platform. The slide rail has damping for maintaining the deformed state of the flexible guide platform.

2. The combined mobile intelligent welding robot according to claim 1, characterized in that: An outer tube is installed at the telescopic end of the telescopic cylinder, an inner rod is inserted into the outer tube, and one end of the inner rod inserted into the outer tube is connected to the inner wall of the outer tube through a follower elastic member, and one end of the inner rod extending out of the outer tube is connected to the welding gun; the pressure wheel is installed on one side of the extended end of the inner rod.

3. A combined mobile intelligent welding robot according to any one of claims 1-2, characterized in that: An airbag strip is installed on the flexible guide platform, and an inflation tube is arranged on the airbag strip. The airbag strip is arranged to increase the deformation resistance of the flexible guide platform in an inflated state.

4. The combined mobile intelligent welding robot according to claim 1, characterized in that: A base is installed on the pulley base, a driving motor is installed in the base, a clamping hoop is arranged on the base, the clamping hoop is used to fix the lifting frame on the base, and the screw rod in the lifting frame is connected to the output end of the driving motor.

5. The combined mobile intelligent welding robot according to claim 4, characterized in that: A sliding block is installed on the lifting frame, and the sliding block is connected to the screw member through a screw nut, and the screw member is rotated to drive the sliding block to move up and down, and a V-shaped groove is opened on the sliding block; A cross bar is installed at one end of the mechanical arm, a limit block is installed at one end of the cross bar away from the mechanical arm, and the cross bar is movably installed on the mechanical arm, and a handle is provided on the mechanical arm, and the handle is used to drive the cross bar to move and control the limit block to move closer to or away from the mechanical arm; and The mechanical arm is clamped in the V-shaped groove through a cross bar, and the locking and unlocking of the mechanical arm and the sliding block are achieved by moving the limit block.

6. A combined mobile intelligent welding robot according to claim 1 or 5, characterized in that: The robotic arm comprises: A main arm, one end of which is used to be connected to the lifting frame; End effector, used to install the track; A multi-axis arm has one end connected to the main arm and the other end connected to the end actuator, and the multi-axis arm can at least control the end actuator to perform two degrees of freedom movements in mutually perpendicular planes.

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