Machining robot and control method

Abstract

The invention relates to the technical field of barrel machining equipment, in particular to a machining robot and a control method, the machining robot comprises a crawling assembly, a machining assembly, a transmission assembly and a detection assembly, the crawling assembly is provided with an adsorption part, and the adsorption part can apply adsorption force to a hull barrel so that the crawling assembly can crawl on the surface of the hull barrel. The machining assembly is arranged on the crawling assembly and used for machining the workpiece to be machined. The transmission assembly is in transmission connection with the machining assembly and the crawling assembly to drive the machining assembly to adjust the machining position and the machining posture. The detection assembly is used for detecting position information of the machining robot, and the detection assembly is arranged on the crawling assembly and is in communication connection with the crawling assembly and the transmission assembly. According to the machining robot and the control method, automatic machining of the machining robot is achieved, the machining efficiency is improved, the operation difficulty is reduced, the machining precision is improved, and the machining consistency is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of barrel processing equipment, and in particular to a processing robot and a control method. Background Art

[0002] During the processing and assembly of large metal cylinders (e.g., cylinders, pipes, etc.), cutting / welding and other scenarios are usually encountered. For example, the cylinder needs to be welded at the joint during the assembly process. After welding, there is usually a design margin in the length direction, which needs to be cut before the large-scale closure on the slipway.

[0003] However, welding and cutting work is usually performed manually nowadays. On the one hand, when processing the top position of a large metal cylinder, it is necessary to set up scaffolding inside or outside the cylinder, and technicians are required to climb the scaffolding to perform high-altitude operations. Not only is the operation difficult and the processing efficiency low, but there is also a risk of falling from a height when working at high altitudes. On the other hand, the processing error is limited by the technical level of the technology, and the technical levels of different technicians are difficult to unify, resulting in difficult to control processing errors. Summary of the invention

[0004] The purpose of this application is to provide a processing robot and control method to solve the existing problems in the prior art that welding and cutting work is usually performed manually. When processing the top position of a large metal cylinder, it is necessary to set up scaffolding inside or outside the cylinder, and technicians need to climb the scaffolding to perform aerial work. Not only is the operation difficult and the processing efficiency low, but there is also a risk of falling from a height when working at high altitude; the processing error is limited by the technical level of the technology, and the technical levels of different technicians are difficult to unify, resulting in a technical problem that the processing error is difficult to control.

[0005] According to a first aspect of the present application, a processing robot is provided for barrel processing, comprising:

[0006] A crawling assembly is provided with an adsorption portion, and the adsorption portion can apply an adsorption force to the cylinder so that the crawling assembly can crawl on the surface of the hull cylinder;

[0007] A processing assembly, arranged on the crawling assembly, for processing a workpiece to be processed;

[0008] A transmission component, which is connected to the processing component and the crawling component to drive the processing component to adjust the processing position and processing posture;

[0009] A detection component is used to detect the position information of the processing robot. The detection component is arranged on the crawling component and is respectively communicatively connected with the crawling component and the transmission component.

[0010] Preferably, the crawling assembly further comprises a chassis, and the transmission assembly and the detection assembly are both arranged on the chassis;

[0011] The adsorption part includes a first adsorption member, the first adsorption member is arranged at the bottom of the chassis, and the first adsorption member is spaced apart from the bottom edge of the crawling assembly;

[0012] The detection component includes a position sensing portion, and the chassis is provided with the position sensing portion in the traveling direction of the crawling component.

[0013] Preferably, the crawling assembly comprises a first rolling portion and a second rolling portion which are arranged side by side on the chassis along a first direction, and the first adsorption member is arranged between the first rolling portion and the second rolling portion;

[0014] The first adsorption member is disposed at an end portion of the chassis in a second direction, and the second direction is a moving direction of the crawling assembly.

[0015] Preferably, the adsorption portion further includes a second adsorption member, which is embedded in the outer edges of the first rolling portion and the second rolling portion. There are multiple second adsorption members, and the multiple second adsorption members are arranged at circumferential intervals between the first rolling portion and the second rolling portion.

[0016] Preferably, the crawling assembly further comprises a driving part, the first rolling part and the second rolling part are respectively connected to the driving part in a transmission manner, and the detection assembly is connected to the driving part in a communication manner;

[0017] The driving torque output by the driving unit Wherein, F1 is the driving force required by the processing robot to overcome the friction force, F1 = μ(G+F c ), F2 is the driving force F2=am required for the processing robot to accelerate or decelerate, S is the safety factor, D is the maximum diameter of the first rolling part and the second rolling part rotating with the driving part, μ is the friction coefficient between the first rolling part and the second rolling part and the cylinder, G is the gravity of the processing robot, F c is the total adsorption force provided by the adsorption part, a is the acceleration of the processing robot to accelerate or decelerate, and m is the mass of the processing robot.

[0018] Preferably, the adsorption force provided by the first adsorption component is greater than or equal to twice the gravity of the processing robot.

[0019] Preferably, the driving part comprises a first rotating driving member and a second rotating driving member, the first rotating driving member is drivingly connected to the first rolling part, and the second rotating driving member is drivingly connected to the second rolling part.

[0020] Preferably, the transmission assembly comprises a first linear transmission module, a second linear transmission module and a rotary transmission module;

[0021] The first linear transmission module is fixedly disposed on the chassis, and the first linear transmission module is transmission-connected with the second linear transmission module to drive the second linear transmission module to move along the first direction;

[0022] The second linear transmission module is in transmission connection with the rotary transmission module to drive the rotary transmission module to move along a third direction, wherein the third direction is a direction perpendicular to the chassis;

[0023] The rotation transmission module is in transmission connection with the processing assembly to drive the processing assembly to rotate around an axis extending along a second direction, wherein the second direction is perpendicular to a plane defined by the first direction and the third direction.

[0024] Preferably, the processing assembly comprises a quick-release fixture and a processing gun, the quick-release fixture is transmission-connected to the rotary transmission module, and the processing gun is detachably connected to the quick-release fixture;

[0025] The quick-release clamp comprises a first clamping portion, a second clamping portion, a screw and a screw-limiting portion, wherein one end of the first clamping portion and the second clamping portion are hinged, the other end of the first clamping portion is provided with a clamping slot, the first end of the screw is provided at the other end of the second clamping portion, the screw-limiting portion is threadedly connected with the second end of the screw, and the screw-limiting portion can be clamped with the clamping slot;

[0026] The detection component also includes a height sensor for detecting the distance between the processing gun and the workpiece to be processed.

[0027] The embodiment of the second aspect of the present application also provides a control method for controlling the processing robot described in any of the above embodiments, and thus has all the beneficial technical effects of the processing robot, which will not be repeated here.

[0028] The steps include:

[0029] Acquire the position information of the processing robot through the detection component, and transmit the position information to the transmission component and the crawling component;

[0030] The transmission component and the crawling component are controlled according to the position information acquired by the detection component to adjust the moving trajectory of the crawling component and the position and posture of the processing component.

[0031] Compared with the prior art, the beneficial effects of this application are:

[0032] The processing robot provided by the present application, by providing an adsorption part capable of applying adsorption force to the hull cylinder on the crawling assembly, enables the processing robot to be adsorbed on the inner wall or outer wall of the cylinder during the processing process, not only enabling the processing robot to move freely in the circumferential direction of the inner wall or outer wall of the cylinder, but also ensuring the stability of the processing robot relative to the cylinder during the processing of the workpiece by the processing assembly, thereby ensuring the processing accuracy. And through the detection assembly that is respectively connected to the crawling assembly and the transmission assembly in communication, the processing robot can automatically adjust the moving track of the crawling assembly and the processing position and processing posture of the processing assembly according to the position information of the processing robot obtained by the detection assembly, thereby realizing the automated processing of the processing robot, effectively replacing the existing common manual processing of the cylinder, improving the processing efficiency of the cylinder, reducing the difficulty of operation, improving the processing accuracy, and ensuring the consistency of processing.

[0033] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 A schematic diagram of the axonometric structure of a processing robot provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of the bottom-up structure of a processing robot provided in an embodiment of the present application;

[0037] Figure 3 A schematic diagram of the isometric structure of the transmission assembly and the processing assembly provided in the embodiment of the present application;

[0038] Figure 4 A schematic diagram of the axonometric structure of a first linear transmission module provided in an embodiment of the present application;

[0039] Figure 5 This is a schematic diagram of the axonometric structure of the second linear transmission module provided in an embodiment of the present application;

[0040] Figure 6 A schematic diagram of the axonometric structure of a rotary transmission module provided in an embodiment of the present application;

[0041] Figure 7 A schematic diagram of the axonometric structure of the quick-release clamp provided in an embodiment of the present application;

[0042] Figure 8 A schematic diagram of the axonometric structure of a processing assembly provided in an embodiment of the present application;

[0043] Fig. 9 A schematic diagram of the control flow of a processing robot provided in an embodiment of the present application.

[0044] Reference numerals:

[0045] 10-chassis; 11-first rolling part; 12-second rolling part; 21-first adsorption member; 22-second adsorption member; 31-position sensing part; 32-height sensing part; 41-first linear transmission module; 411-first lead screw; 412-first transmission seat; 413-first driving member; 414-first synchronous wheel; 42-second linear transmission module; 421-second lead screw; 422-second transmission seat; 423-second driving member; 424-second synchronous wheel; 43-rotation transmission module; 431-reducer; 432-third driving member; 433-third synchronous wheel; 434-third synchronous belt; 51-processing gun; 52-quick release clamp; 521-first clamping part; 522-second clamping part; 523-insulating pad; 524-slot; 525-screw; 526-screw limiter; 527-rotation axis;

[0046] F1-first direction; F2-second direction; F3-third direction. DETAILED DESCRIPTION

[0047] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0048] The components of the embodiments of the present application generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed, but merely represents the selected embodiments of the present application.

[0049] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of this application.

[0050] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0051] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] Refer to the following Figures 1 to 9 Describe a processing robot and a control method according to some embodiments of the present application.

[0053] See also Figures 1 to 9 As shown, an embodiment of the first aspect of the present application provides a processing robot for cylinder processing, which includes a crawling component, a processing component, a transmission component and a detection component, wherein the crawling component is provided with an adsorption portion, which can apply an adsorption force to the cylinder so that the crawling component can crawl on the surface of the hull cylinder. The processing component is arranged on the crawling component for processing the workpiece to be processed. The transmission component transmission-connects the processing component and the crawling component to drive the processing component to adjust the processing position and processing posture. The detection component is used to detect the position information of the processing robot, and the detection component is arranged on the crawling component and is communicatively connected with the crawling component and the transmission component.

[0054] According to the processing robot provided by the above technical features, by setting an adsorption part capable of applying adsorption force to the hull cylinder on the crawling assembly, the processing robot can be adsorbed on the inner wall or outer wall of the cylinder during the processing process, which not only enables the processing robot to move freely in the circumferential direction of the inner wall or outer wall of the cylinder, but also ensures the setting stability of the processing robot relative to the cylinder during the processing of the workpiece by the processing assembly (the setting stability here can be understood as the processing robot not slipping in the upright processing position and not falling in the supine processing position), thereby ensuring the processing accuracy. And through the detection assembly that is respectively connected to the crawling assembly and the transmission assembly in communication, the processing robot can automatically adjust the moving trajectory of the crawling assembly and the processing position and processing posture of the processing assembly according to the position information of the processing robot obtained by the detection assembly, thereby realizing the automated processing of the processing robot, effectively replacing the existing manual processing of the cylinder, improving the processing efficiency of the cylinder, reducing the difficulty of operation, improving the processing accuracy, and ensuring the consistency of processing.

[0055] For the convenience of description, the width direction of the processing robot is defined as the first direction F1, the moving direction of the processing robot is defined as the second direction F2, and the height direction of the processing robot is defined as the third direction F3. Figures 1 to 8 As shown, F1 shown in the figure may be an example of the first direction F1, F2 shown in the figure may be an example of the second direction F2, and F3 shown in the figure may be an example of the third direction F3. Preferably, the first direction F1 may be perpendicular to the third direction F3, and the second direction F2 is perpendicular to a plane defined by the first direction F1 and the third direction F3.

[0056] Preferably, if Figure 1 As shown, the crawling assembly may further include a chassis 10, and the transmission assembly and the detection assembly may be fixedly disposed on the chassis 10. Optionally, the chassis 10 may be perpendicular to the third direction F3.

[0057] Preferably, if Figure 1 and Figure 2 As shown, the above-mentioned adsorption part may include a first adsorption part 21, which can be arranged at the bottom of the chassis 10, and the first adsorption part 21 is spaced apart from the bottom edge of the crawling component. Once a protrusion or obstacle (for example, a boss, a weld, etc.) appears on the surface of the cylinder, the processing robot can easily cross the protrusion or obstacle through the adsorption effect of the first adsorption part 21 and the protrusion.

[0058] Preferably, the interval between the first adsorption member 21 and the bottom edge of the crawling assembly may be greater than or equal to 8 mm, so as to cross the size of common protrusions or obstacles on the surface of the cylinder.

[0059] Preferably, the adsorption force provided by the first adsorption component 21 may be greater than or equal to twice the gravity of the processing robot. Under the adsorption effect of the first adsorption component 21, the processing robot can be tilted, thereby facilitating the processing robot to overcome obstacles.

[0060] Preferably, if Figure 1 and Figure 2 As shown, the crawling assembly may include a first rolling portion 11 and a second rolling portion 12 which are arranged side by side on the chassis 10 along a first direction F1, and a first adsorption component 21 is arranged between the first rolling portion 11 and the second rolling portion 12 to ensure that the adsorption force applied by the first adsorption component 21 to the cylinder has a uniform effect on the first rolling portion 11 and the second rolling portion 12, thereby reducing the problem of the processing robot's travel route deviation or even overturning due to uneven force on the first rolling portion 11 and the second rolling portion 12.

[0061] It should be noted that Figure 1 Taking the illustrated orientation as an example, the bottom edge of the above-mentioned crawling assembly can be understood as the bottom edges of both the first rolling part 11 and the second rolling part 12 .

[0062] Preferably, if Figure 2 As shown, the first adsorption members 21 are provided at both ends of the chassis 10 in the second direction F2, so as to realize the bidirectional obstacle-crossing capability of the processing robot moving forward and backward along the second direction F2.

[0063] Preferably, if Figure 2 As shown, the above-mentioned adsorption part can also include a second adsorption member 22, which is embedded in the outer edges of the first rolling part 11 and the second rolling part 12. The number of the second adsorption members 22 can be multiple, and the multiple second adsorption members 22 can be arranged at circumferential intervals between the first rolling part 11 and the second rolling part 12. In this way, it is ensured that the first rolling part 11 and the second rolling part 12 are always in contact with the surface of the cylinder, thereby ensuring the mobility of the processing robot along the cylinder.

[0064] Preferably, the sum of the adsorption forces applied to the cylinder by the second adsorption member 22 provided on the contacting parts of the first rolling part 11 and the second rolling part 12 may be greater than or equal to the gravity of the processing robot to ensure that the processing robot does not fall when in the supine processing position.

[0065] Optionally, both the first rolling portion 11 and the second rolling portion 12 may be tracks, so as to increase the contact area between the first rolling portion 11 and the second rolling portion 12 and the cylinder, thereby improving the stability of the processing robot.

[0066] Preferably, if Figure 2As shown, the above-mentioned crawler belt is formed by a plurality of chain blocks connected end to end in sequence, and each chain block can be provided with the above-mentioned second adsorption member 22 to ensure that each chain block can fit with the cylinder.

[0067] Optionally, the first adsorption member 21 and the second adsorption member 22 may both be permanent magnets. However, the present invention is not limited thereto, and the first adsorption member 21 and the second adsorption member 22 may also be electromagnets or other devices having an adsorption function.

[0068] Correspondingly, the above-mentioned cylinder can be a magnetic metal cylinder, for example, an iron cylinder, a nickel cylinder, a cobalt cylinder, etc.

[0069] It should be noted that the above-mentioned cylinder can be understood as a cylindrical cylinder, an elliptical cylinder, a polygonal cylinder or other special-shaped cylinders.

[0070] Preferably, the crawling component may also include a driving part, and the first rolling part 11 and the second rolling part 12 are respectively connected to the driving part by transmission, and the detection component is communicatively connected to the driving part, so that the processing robot controls the movement of the first rolling part 11 and the second rolling part 12 according to the position information of the processing robot obtained by the detection component.

[0071] Preferably, if Figure 1 As shown, the above-mentioned detection component may include a position sensing part 31, and the position sensing part 31 may be provided at both ends of the chassis 10 in the moving direction of the crawling component, so as to ensure that the detection component can obtain the road condition information at the front end of the moving direction during the bidirectional movement (i.e. forward and backward) of the processing robot along the second direction F2, and then confirm the position information of the processing robot.

[0072] Optionally, the position sensor 31 may be a laser tracking sensor to collect information about the margin line, welding seam, and marking line. However, it is not limited thereto, and the position sensor may also be a CCD camera or other visual sensor as long as the detection component can obtain the road condition information of the front end of the moving direction.

[0073] Preferably, although not shown in the figure, the above-mentioned driving part may include a first rotating driving member and a second rotating driving member, the first rotating driving member is transmission-connected to the first rolling part 11, and the second rotating driving member is transmission-connected to the second rolling part 12, so as to enable the first rolling part 11 and the second rolling part 12 to be driven independently, thereby realizing differential steering and position adjustment of the processing robot.

[0074] Preferably, the driving torque output by the driving unit is Among them, F1 is the driving force required by the processing robot to overcome the friction, F1 = μ(G+F c), F2 is the driving force F2=am required for the processing robot to accelerate or decelerate, S is the safety factor, D is the maximum diameter of the first rolling part 11 and the second rolling part 12 rotating with the driving part, μ is the friction coefficient between the first rolling part 11 and the second rolling part 12 and the cylinder, G is the gravity of the processing robot, F c is the total adsorption force provided by the adsorption part, a is the acceleration of the processing robot to accelerate or decelerate, and m is the mass of the processing robot. In this way, the smoothness and stability of the processing robot can be guaranteed.

[0075] Based on the characteristics described above, Figures 1 to 8 The processing robot shown is described as an example, and the calculation process of the driving torque output by the driving part of the processing robot will be described below with a specific embodiment:

[0076] Take the overall mass of the processing robot as m=30kg, the friction coefficient between the track and the workpiece surface as μ=0.3, the adsorption force provided by the first adsorption component 21 is equal to twice the gravity of the processing robot, the adsorption force provided by the second adsorption component 22 is equal to the gravity of the processing robot, the acceleration a of the processing robot acceleration or deceleration is 0.2 times the acceleration of gravity, and the maximum diameter D=125mm of the first rolling part 11 and the second rolling part 12 rotating with the driving part as an example.

[0077] ①Total weight of the processing robot: G = mg = 30 * 9.8 = 294N;

[0078] ②Total adsorption force of the adsorption part: Fc=3G=3*294=882N;

[0079] ③ The driving force required by the processing robot to overcome friction: F1 = μ(G + F c )=0.3*(294+882)=352.8N;

[0080] ④ The driving force required for the processing robot to accelerate or decelerate: F2 = am = 30 * 0.2 * 9.8 = 58.8N;

[0081] ⑤Select safety factor S=2, Since the first rotary drive member and the second rotary drive member are dual-drive differentially driven, each of the first rotary drive member and the second rotary drive member needs to provide a driving torque of 25.7 Nm.

[0082] In this way, the first rotating drive member and the second rotating drive member are both motors with a rated power of 100W and a rated torque of 0.32Nm, and the first rotating drive member and the first rolling part 11 as well as the second rotating drive member and the second rolling part 12 are connected through a planetary reducer with a speed ratio of 100. Correspondingly, the driving torque obtained by the first rotating drive member or the first rolling part 11 is 32N.m, which meets the above-mentioned driving requirements.

[0083] It should be noted that the above embodiment is only an example of parameters of a processing robot provided in order to clarify the calculation process of the driving torque output by the driving unit. The processing robot provided in the present application is not limited to the processing robot provided by the above parameters. The driving torque output by the driving unit can be adaptively adjusted according to the actual mass of the processing robot and the friction coefficient of the actual application scenario.

[0084] In an embodiment, Figure 1 , Figure 3 and Figure 4 As shown, preferably, the above-mentioned transmission assembly may include a first linear transmission module 41, which is fixedly arranged on the above-mentioned chassis 10, and the first linear transmission module 41 is used to drive the above-mentioned processing assembly to move along the first direction F1 to adjust the position of the processing assembly in the first direction F1, so as to enable the following processing gun 51 to be aligned with the processing position of the workpiece to be processed (for example, the excess line, the welding seam, the marking line, etc.).

[0085] Alternatively, if Figure 4 As shown, the first linear transmission module 41 may include a first lead screw 411, a first transmission seat 412 and a first driving member 413. The first lead screw 411 extends along a first direction F1. The first transmission seat 412 is threadedly connected to the first lead screw 411. The first driving member 413 is transmission-connected to the first lead screw 411 to drive the first transmission seat 412 to move along the first direction F1 by driving the first lead screw 411 to rotate.

[0086] Preferably, if Figure 4 As shown, the first linear transmission module 41 may further include a first synchronous wheel 414 and a first synchronous belt. Correspondingly, the first driving member 413 may be a rotary motor. The first lead screw 411 and the output shaft of the first driving member 413 are arranged side by side. Both the first lead screw 411 and the first driving member 413 are provided with the first synchronous wheel 414. The first synchronous belt is wound around the outer sides of the first synchronous wheel 414 corresponding to the first lead screw 411 and the first synchronous wheel 414 corresponding to the first driving member 413 to realize the transmission connection between the first driving member 413 and the first lead screw 411, thereby realizing precise power transmission and greatly reducing the volume of the first linear transmission module 41, making the first linear transmission module 41 more compact and efficient.

[0087] Preferably, the first driving member 413 may be communicatively connected with the position sensing unit 31 , so as to adaptively adjust the position of the processing assembly in the first direction F1 according to the road condition information of the front end in the moving direction obtained by the position sensing unit 31 .

[0088] Preferably, Figure 1 , Figure 3 and Figure 5 As shown, the transmission assembly may include a second linear transmission module 42 , and the second linear transmission module 42 may be disposed on the first transmission seat 412 to achieve linkage between the first linear transmission module 41 and the second linear transmission module 42 .

[0089] Preferably, the second linear transmission module 42 is used to drive the processing assembly to move along the third direction F3 to achieve the position adjustment of the processing gun 51 in the third direction F3. This can not only avoid the collision between the processing gun 51 and the protrusion on the cylinder surface during movement, but also enable the processing robot to adapt to the processing of workpieces with uneven surfaces, so that the processing distance between the processing gun 51 and the workpiece to be processed remains consistent, thereby ensuring the processing quality of the processing robot.

[0090] Similarly, the above-mentioned second linear transmission module 42 may include a second lead screw 421, a second transmission seat 422, a second driving member 423, a second synchronous wheel 424 and a second synchronous belt. Except that the second lead screw 421 can extend along the third direction F3, the second lead screw 421, the second transmission seat 422, the second driving member 423, the second synchronous wheel 424 and the second synchronous belt have a connection structure similar to that of the above-mentioned first lead screw 411, the first transmission seat 412, the first driving member 413, the first synchronous wheel 414 and the first synchronous belt, which will not be repeated here.

[0091] Preferably, the detection assembly may further include a height sensor, and the height sensing unit 32 is fixedly disposed on the processing assembly to detect the distance between the processing gun 51 and the workpiece to be processed. The second linear transmission module 42 may be connected to the height sensing unit 32 for communication, so as to adjust the second linear transmission module 42 according to the height position of the processing gun 51 obtained by the height sensing unit 32, thereby achieving real-time adjustment of the height of the processing assembly.

[0092] Preferably, Figure 1 , Figure 3 and Figure 6As shown, the transmission assembly can also include a rotation transmission module 43, which is connected to the processing assembly to drive the processing assembly to rotate around an axis extending along the second direction F2. In this way, by adjusting the setting angle of the processing gun 51 through the rotation transmission module 43 and coordinating the moving movement of the crawling assembly, the processing robot can have the ability to process grooves and V-shaped structures.

[0093] Preferably, if Figure 6 As shown, the rotation transmission module 43 may include a third driving member 432 and a reducer 431 , and the processing assembly is connected to the third driving member 432 via the reducer 431 .

[0094] Preferably, if Figure 6 As shown, the rotation transmission module 43 can also include a third synchronous wheel 433 and a third synchronous belt 434. The third driving member 432 and the reducer 431 are arranged side by side. Both the third driving member 432 and the reducer 431 are provided with a third synchronous wheel 433. The third synchronous belt 434 is wound around the outer sides of the third synchronous wheel 433 corresponding to the reducer 431 and the third synchronous wheel 433 corresponding to the third driving member 432 to achieve a transmission connection between the third driving member 432 and the reducer 431, thereby achieving precise power transmission and greatly reducing the volume of the rotation transmission module 43, making the rotation transmission module 43 more compact and efficient.

[0095] In an embodiment, Figure 1 , Figure 3 , Figure 7 and Figure 8 As shown, the above-mentioned processing assembly may include a quick-release clamp 52 and a processing device. The quick-release clamp 52 is transmission-connected to the rotation transmission module 43 , and the processing gun 51 of the processing device is detachably connected to the quick-release clamp 52 to realize the detachable connection between the processing gun 51 and the chassis 10 .

[0096] Optionally, the control devices of the processing equipment can be fixed to the chassis 10. Preferably, the control devices of the processing equipment can also be connected to the detection component to control the opening and closing of the processing equipment and the processing energy according to the position information obtained by the detection component.

[0097] Optionally, the processing equipment may be a cutting machine, and correspondingly, the processing gun 51 may be a cutting gun, so that the processing robot can realize the function of excess cutting of the barrel.

[0098] Taking the above-mentioned cutting machine as a flame cutting machine as an example, the above-mentioned control device can be a gas source distribution switch.

[0099] Optionally, the processing equipment may be a welding machine, and correspondingly, the processing gun 51 may be a welding gun, so that the processing robot can realize the welding function of the cylinder.

[0100] Preferably, if Figure 7 and Figure 8 As shown, the quick-release clamp 52 may include a first clamping portion 521, a second clamping portion 522 and a buckle. One end of the first clamping portion 521 and the second clamping portion 522 are hinged, and the buckle is arranged at the other end of the first clamping portion 521 and the second clamping portion 522 to achieve the closing and opening of the first clamping portion 521 and the second clamping portion 522, thereby achieving the quick-release clamp 52 to clamp and release the processing gun 51.

[0101] Preferably, if Figure 7 As shown, the quick-release clamp 52 may further include an insulating pad 523, which is arranged on the inner sides of the first clamping portion 521 and the second clamping portion 522, not only to achieve insulation between the quick-release clamp 52 and the processing gun 51, but also to effectively prevent the quick-release clamp 52 from clamping the processing gun 51 through the elastic buffering effect of the insulating pad 523.

[0102] Preferably, if Figure 7 As shown, the surface of the insulating pad 523 in contact with the processing gun 51 is provided with anti-slip protrusions to improve the stability of the quick-release clamp 52 in clamping the processing gun 51 .

[0103] Preferably, if Figure 7 and Figure 8 As shown, the above-mentioned fastening parts may include a screw 525 and a screwing limit portion 526, and a slot 524 is provided at one end of the first clamping portion 521 away from the second clamping portion 522, and the first end of the screw 525 can be provided at the end of the second clamping portion 522 away from the first clamping portion 521, and the screwing limit portion 526 is threadedly connected to the second end of the screw 525, wherein the screwing limit portion 526 can be snapped into the slot 524, so that, on the one hand, the first clamping portion 521 and the second clamping portion 522 are snapped into each other by the snapping connection between the screwing limit portion 526 and the slot 524; on the other hand, the clamping force applied by the quick-release clamp 52 to the processing gun 51 is adjusted by the screwing limit portion 526 and the second end of the screw 525. So that the quick-release clamp 52 can adapt to processing guns 51 of different sizes.

[0104] Preferably, if Figure 7 As shown, the above-mentioned fastening member may also include a rotating shaft 527, which is perpendicular to the extension direction of the above-mentioned screw rod 525. The screw rod 525 is hinged to the second clamping portion 522 via the rotating shaft 527 to improve the flexibility of the fastening member and facilitate the clamping operation of the screwing limit portion 526 and the slot 524.

[0105] Preferably, the height sensor 32 may be fixed to the processing gun 51 so as to detect the distance between the processing gun 51 and the workpiece to be processed.

[0106] Optionally, the height sensing unit 32 may be a height sensor.

[0107] Preferably, if Fig. 9 As shown, the processing robot may further include a control unit, and the first rotating drive member, the second rotating drive member, the first drive member 413, the second drive member 423, the third drive member 432 and the detection component are all connected to the control unit for communication.

[0108] See also Fig. 9 The embodiment of the second aspect of the present application also provides a control method for controlling the processing robot described in any of the above embodiments, and thus has all the beneficial technical effects of the processing robot, which will not be repeated here.

[0109] Specifically, the control method comprises the following steps:

[0110] S01, obtaining position information of the processing robot through the detection component, and transmitting the position information to the transmission component and the crawling component;

[0111] Optionally, the processing robot may further include a control unit, and the detection component obtains position information of the processing robot and transmits the information to the transmission component and the crawling component after being processed by the control unit.

[0112] Preferably, the position information includes the road condition information of the front end of the processing robot in the moving direction acquired by the position sensor 31 and the distance information between the processing gun 51 and the workpiece to be processed acquired by the height sensor 32 .

[0113] S02, based on the position information of the processing robot obtained by the detection component, the transmission component and the crawling component are controlled to adjust the moving trajectory of the crawling component, the position, height and posture (ie, the tilt angle) of the processing gun 51.

[0114] Specifically, the first rotary drive member and the second rotary drive member are controlled according to the above road condition information to adjust the moving trajectory of the crawling assembly, the first linear transmission module 41 and the rotary transmission module 43 are controlled according to the above road condition information to adjust the position and posture of the processing gun 51, and the second linear transmission module 42 is controlled according to the spacing information to adjust the height of the processing gun 51.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A processing robot, characterized in that: For barrel processing, including: The crawling assembly is provided with an adsorption portion, and the adsorption portion can apply an adsorption force to the cylinder so that the crawling assembly can crawl on the surface of the cylinder; A processing assembly, arranged on the crawling assembly, for processing a workpiece to be processed; A transmission component, which is connected to the processing component and the crawling component to drive the processing component to adjust the processing position and processing posture; A detection component is used to detect the position information of the processing robot. The detection component is arranged on the crawling component and is respectively communicatively connected with the crawling component and the transmission component.

2. The processing robot according to claim 1, characterized in that: The crawling assembly also includes a chassis, and the transmission assembly and the detection assembly are both arranged on the chassis; The adsorption part includes a first adsorption member, the first adsorption member is arranged at the bottom of the chassis, and the first adsorption member is spaced apart from the bottom edge of the crawling assembly; The detection component includes a position sensing portion, and the chassis is provided with the position sensing portion in the traveling direction of the crawling component.

3. The processing robot according to claim 2, characterized in that: The crawling assembly comprises a first rolling portion and a second rolling portion which are arranged side by side on the chassis along a first direction, and the first adsorption member is arranged between the first rolling portion and the second rolling portion; The first adsorption member is disposed at an end portion of the chassis in a second direction, and the second direction is a moving direction of the crawling assembly.

4. The processing robot according to claim 3, characterized in that: The adsorption part further includes a second adsorption member, which is embedded in the outer edges of the first rolling part and the second rolling part. There are multiple second adsorption members, and the multiple second adsorption members are arranged at intervals along the circumference of the first rolling part and the second rolling part.

5. The processing robot according to claim 3, characterized in that: The crawling assembly further includes a driving part, the first rolling part and the second rolling part are respectively connected to the driving part by transmission, and the detection assembly is connected to the driving part by communication; The driving torque output by the driving unit Wherein, F1 is the driving force required by the processing robot to overcome the friction force, F1 = μ(G+F c ), F2 is the driving force F2=am required for the processing robot to accelerate or decelerate, S is the safety factor, D is the maximum diameter of the first rolling part and the second rolling part rotating with the driving part, μ is the friction coefficient between the first rolling part and the second rolling part and the cylinder, G is the gravity of the processing robot, F c is the total adsorption force provided by the adsorption part, a is the acceleration of the processing robot to accelerate or decelerate, and m is the mass of the processing robot.

6. The processing robot according to claim 2, characterized in that: The adsorption force provided by the first adsorption component is greater than or equal to twice the gravity of the processing robot.

7. The processing robot according to claim 5, characterized in that: The driving part includes a first rotating driving member and a second rotating driving member, wherein the first rotating driving member is drivingly connected to the first rolling part, and the second rotating driving member is drivingly connected to the second rolling part.

8. The processing robot according to any one of claims 2 to 7, characterized in that: The transmission assembly includes a first linear transmission module, a second linear transmission module and a rotary transmission module; The first linear transmission module is fixedly disposed on the chassis, and the first linear transmission module is transmission-connected with the second linear transmission module to drive the second linear transmission module to move along the first direction; The second linear transmission module is in transmission connection with the rotary transmission module to drive the rotary transmission module to move along a third direction, wherein the third direction is a direction perpendicular to the chassis; The rotation transmission module is in transmission connection with the processing assembly to drive the processing assembly to rotate around an axis extending along a second direction, wherein the second direction is perpendicular to a plane defined by the first direction and the third direction.

9. The processing robot according to claim 8, characterized in that: The processing assembly includes a quick-release fixture and a processing gun, the quick-release fixture is transmission-connected to the rotary transmission module, and the processing gun is detachably connected to the quick-release fixture; The quick-release clamp comprises a first clamping portion, a second clamping portion, a screw and a screw-limiting portion, wherein one end of the first clamping portion and the second clamping portion are hinged, the other end of the first clamping portion is provided with a clamping slot, the first end of the screw is provided at the other end of the second clamping portion, the screw-limiting portion is threadedly connected with the second end of the screw, and the screw-limiting portion can be clamped with the clamping slot; The detection component also includes a height sensor for detecting the distance between the processing gun and the workpiece to be processed.

10. A control method, characterized in that: Used to control the processing robot according to any one of claims 1 to 9, the steps comprising: Acquire the position information of the processing robot through the detection component, and transmit the position information to the transmission component and the crawling component; The transmission component and the crawling component are controlled according to the position information acquired by the detection component to adjust the moving trajectory of the crawling component and the position and posture of the processing component.

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