Magnetic suction movable welding tractor for complex steel structure

Abstract

The invention discloses a magnetic movable welding trolley for a complex steel structure, which comprises a trolley frame and a traveling mechanism, a mechanical arm revolving platform is arranged on the trolley frame, and a six-degree-of-freedom welding mechanical arm is mounted on the mechanical arm revolving platform. The walking mechanism comprises an inner side walking mechanism and an outer side walking mechanism, and the inner side walking mechanism and the outer side walking mechanism are both installed on the walking mechanism sliding way frame. Each of the inner side walking mechanism and the outer side walking mechanism comprises a walking wheel frame, a driving wheel, a transmission wheel and a magnetic attraction crawler belt, the driving wheel and the transmission wheel are mounted on the walking wheel frame, the driving wheel is driven by a driving wheel driving motor, and a wheel frame rotating motor is further arranged on the walking wheel frame. Remote control, weld joint recognition, weld joint detection and weld joint positioning can be achieved, all-directional movement of climbing along the wall and crossing along the wall in a complex and narrow steel structure is achieved, and welding work and weld joint detection can be completed in a complex space structure and operation environment.

Description

Technical Field

[0001] The invention belongs to the technical field of welding robots, and in particular relates to a magnetically attracted mobile welding trolley for complex steel structures. Background Art

[0002] In traditional steel structure welding, manual welding, welding robot arms and welding trolleys are mostly used, but welding robot arms are easily affected by the working space and are mostly fixed, and conventional welding trolleys also have high requirements for the working space and working plane. Manual welding is relatively flexible and can meet most welding tasks, but for some situations such as small closed boxes, high-altitude operations and dangerous welding environments, manual operation methods have certain risks. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a magnetically attracted mobile welding trolley for complex steel structures, which can realize remote control, weld identification, weld detection and weld positioning, and can realize all-round movement of crawling and climbing along the wall in complex and narrow steel structures, and can complete welding work and weld detection in complex spatial structures and working environments.

[0004] The object of the present invention is achieved in the following manner: A magnetic attraction mobile welding trolley for complex steel structures includes a trolley frame and a traveling mechanism, a mechanical arm rotating platform is arranged on the trolley frame, and a six-degree-of-freedom welding mechanical arm is installed on the mechanical arm rotating platform. The traveling mechanism includes an inner traveling mechanism and an outer traveling mechanism, both of which are installed on a traveling mechanism slideway frame, and both of which include a traveling wheel frame, a driving wheel installed on the traveling wheel frame, a transmission wheel, and a magnetic attraction crawler sleeved on the driving wheel and the transmission wheel, the driving wheel is driven by a driving wheel driving motor, and a wheel frame rotating motor is also arranged on the traveling wheel frame.

[0005] The magnetic mobile welding trolley for complex steel structures has a walking mechanism slide frame including an outer slide, an inner slide, an inner and outer slide connecting rod, an outer slide supporting door frame, a movable slider platform, a lockable connecting hinge shaft and a connecting tripod, the inner slide is installed on the side of the trolley frame, and is used to install a walking wheel frame of the inner walking mechanism, one end of the outer slide is installed on one end of the inner slide through the inner and outer slide connecting rods, and the other end of the outer slide is fixed to the trolley frame through the outer slide supporting door frame, and the outer slide is used to install the walking wheel frame of the outer walking mechanism, and the movable slider platform is installed on both the inner slide and the outer slide, and the movable slider platform is driven by the walking wheel frame sliding motor; the movable slider platform is installed together with the connecting tripod through a lockable connecting hinge shaft, and the walking wheel The frame hinge shaft is installed at the lower part of the connecting tripod, the walking wheel frame hinge shaft passes through the walking wheel frame and is installed on the walking wheel frame through a bearing, the walking wheel frame includes an inner frame and an outer frame, the inner frame and the outer frame are connected through a driving wheel and a transmission wheel, the walking wheel frame hinge shaft passes through the inner frame and the outer frame of the walking wheel frame in turn, and is connected to the inner frame and the outer frame through bearings. A planetary internal gear is arranged on one side of the inner frame of the walking wheel frame close to the moving slider platform, and the center of the planetary internal gear coincides with the center of the walking wheel frame hinge shaft, wheel frame rotating motors are arranged on both sides of the lower part of the connecting tripod, and the gears on the output shaft of the wheel frame rotating motor are meshed with the planetary internal gears; the driving wheel driving motor, the wheel frame rotating motor and the walking wheel frame sliding motor are all connected to the central processing unit.

[0006] The above-mentioned magnetic mobile welding trolley for complex steel structures has a movable sliding platform installed on the inner slide and the outer slide, a dovetail slide accommodating cavity and a rotating shaft hole connected to the slide accommodating cavity are arranged in the movable slider platform, the outer slide and the inner slide are both sleeved in the corresponding dovetail slide accommodating cavity, and slide racks are arranged on the outer slide and the inner slide, and the output shaft of the walking wheel frame sliding motor passes through the rotating shaft hole and engages with the slide rack; a lockable connecting hinge shaft is arranged on the side of the movable slider platform.

[0007] The above-mentioned magnetically attracted mobile welding trolley for complex steel structures, the lockable hinge shaft includes a hinge shaft, the upper end of the connecting tripod is sleeved on the hinge shaft, a locking sleeve is also sleeved on the hinge shaft, the locking sleeve is fixedly connected to the hinge shaft, a pin shaft hole is provided on the locking sleeve, a plurality of adjustment holes corresponding to the pin shaft hole are provided on the hinge shaft, a spring is installed in the pin shaft hole, the pin shaft passes through the spring in the pin shaft hole and extends into the adjustment hole to fix the locking sleeve and the hinge shaft together, an electromagnet is provided on the top of the pin shaft hole; the electromagnet is connected to the central processing unit.

[0008] The magnetically attracted mobile welding trolley for complex steel structures is provided with a clamping plate at the end of the articulated shaft, which only prevents the connecting tripod from moving left and right, but does not affect the rotation of the articulated shaft.

[0009] The magnetic attraction movable welding trolley for complex steel structures, the axle plate is fixed on the locking sleeve by bolts.

[0010] The magnetically attracted mobile welding trolley for complex steel structures is also provided with an industrial camera and a lighting device on the trolley frame, and both the industrial camera and the lighting device are connected to the central processing unit.

[0011] The magnetically attracted mobile welding trolley used for complex steel structures is also provided with a welding wire feeder on the trolley frame, and the welding wire feeder is connected to the central processing unit.

[0012] Compared with the prior art, the present invention has the following technical effects: 1. The welding robot arm is installed on a movable trolley to increase the working range of the welding robot arm; 2. The magnetic crawler can ensure that the welding trolley can move freely along the metal structure, including vertical crawling and ceiling crawling; 3. By changing the base distance of the inner and outer walking mechanisms and the rotation of the wheel frame, the magnetic mobile welding trolley can crawl along the wall, climb over the wall including climbing over thin steel plates; 4. The welding quality of the weld can be evaluated through industrial video cameras and visual processing algorithms; 5. The application range is wide, from smaller box-type steel structures that cannot be entered by humans to steel structures in ultra-high and dangerous working environments that cannot be reached by humans and affect the safety of workers in construction, automatic welding can be completed.

[0013] 6. Increase the number of welding points to ensure the performance of the steel structure.

[0014] The present invention can realize remote control, weld identification, weld detection and weld positioning, realize all-round movement of crawling along the wall and climbing over the wall in complex and narrow steel structures, and can complete welding work and weld detection in complex spatial structures and working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the present invention.

[0016] Figure 2 It is a left view of the present invention.

[0017] Figure 3 It is a schematic diagram of the wheel frame structure of the present invention.

[0018] Figure 4 It is a top view of the present invention.

[0019] Figure 5 yes Figure 3 AA section view.

[0020] Figure 6 yes Figure 5 Schematic diagram of the lockable hinge shaft structure.

[0021] Figure 7 yes Figure 6 BB cross-sectional view.

[0022] Figure 8 It is a structural schematic diagram of the inner walking mechanism and the outer walking mechanism of the present invention moving to the same position.

[0023] Fig. 9 It is a state diagram of the outer walking mechanism of the present invention when it is flipped.

[0024] Fig.10 This is a state diagram when the inner and outer walking mechanisms of the present invention move together and flip at the same time.

[0025] Fig.11 This is a state diagram when the inner and outer walking mechanisms of the present invention move relative to each other and one walking mechanism flips over.

[0026] Fig.12 It is a state diagram when the inner and outer walking mechanisms of the present invention are turned over simultaneously. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0028] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0029] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0030] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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 directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] Combine the following Figure 1-8 The specific implementation method of the present invention is described in detail.

[0032] A magnetically attracted mobile welding trolley for complex steel structures includes a trolley frame 3 and a traveling mechanism. A mechanical arm rotating platform 2 is arranged on the trolley frame, and a six-degree-of-freedom welding mechanical arm 1 is installed on the mechanical arm rotating platform. The traveling mechanism includes an inner traveling mechanism 4 and an outer traveling mechanism 5. Both the inner traveling mechanism and the outer traveling mechanism are installed on a traveling mechanism slideway frame 6. Both the inner traveling mechanism and the outer traveling mechanism include a traveling wheel frame 7 and a driving wheel 8 installed on the traveling wheel frame, a transmission wheel 9, and a magnetic track 10 sleeved on the driving wheel and the transmission wheel. The driving wheel 8 is driven by a driving wheel driving motor 11. Figure 1 and Figure 2 As shown, a wheel frame rotating motor 12 is also provided on the walking wheel frame; Figure 3 , 4As shown, the walking mechanism slide frame 6 includes an outer slide 61, an inner slide 62, an inner and outer slide connecting rod 63, an outer slide supporting door frame 64, a movable slider platform 65, a lockable connecting hinge shaft 66 and a connecting tripod 67. The inner slide 62 is installed on the side of the trolley frame and is used to install the walking wheel frame of the inner walking mechanism. One end of the outer slide 61 is installed on one end of the inner slide through the inner and outer slide connecting rod 63. The other end of the outer slide 61 is fixed to the trolley frame through the outer slide supporting door frame 64. The outer slide 61 is used to install the walking wheel frame of the outer walking mechanism. The movable slider platform 65 is installed on both the inner slide 62 and the outer slide 61. The movable slider platform 65 is driven by the walking wheel frame sliding motor 13; the movable slider platform is installed together with the connecting tripod 67 through a lockable connecting hinge shaft 66. The walking wheel frame hinge shaft 71 is installed at the lower part of the connecting tripod 67. The walking wheel frame hinge shaft passes through the walking wheel frame 7 and is installed on the walking wheel frame 7 through a bearing. The walking wheel frame includes an inner frame and an outer frame. The inner frame and the outer frame are connected by a driving wheel 8 and a transmission wheel 9. The walking wheel frame hinge shaft passes through the inner frame and the outer frame of the walking wheel frame in turn, and is connected to the walking wheel frame with bearings to the inner frame and the outer frame. A planetary internal gear 72 is arranged on one side of the inner frame close to the moving slider platform. The center of the planetary internal gear coincides with the center of the walking wheel frame hinge shaft. Wheel frame rotating motors 12 are arranged on both sides of the lower part of the connecting tripod. The gears on the output shaft of the wheel frame rotating motor are meshed with the planetary internal gears. The driving wheel drive motor 11, the wheel frame rotating motor 12, and the walking wheel frame sliding motor 13 are all connected to the central processor 17.

[0033] The magnetic attraction mobile welding trolley for complex steel structures of the present invention is as follows: Figure 5 , Figure 6 and Figure 7 As shown, a movable sliding platform 65 is installed on both the inner slide and the outer slide, a dovetail slide accommodating cavity and a rotating shaft hole connected to the slide accommodating cavity are arranged in the movable slider platform, the outer slide 61 and the inner slide 62 are both sleeved in the corresponding dovetail slide accommodating cavity, a slide rack 611 is arranged on the outer slide 61 and the inner slide 62, the output shaft of the walking wheel frame sliding motor 13 passes through the rotating shaft hole and is meshed with the slide rack 611; a lockable connecting hinge shaft 66 is arranged on the side of the movable slider platform.

[0034] The magnetically attracted mobile welding trolley for complex steel structures described in the present invention comprises a lockable hinge shaft including a hinge shaft 661, an upper end of a connecting tripod 67 is sleeved on the hinge shaft, a locking sleeve 665 is also sleeved on the hinge shaft, the locking sleeve is fixedly connected to the hinge shaft, a pin shaft hole is provided on the locking sleeve, a plurality of adjustment holes 666 corresponding to the pin shaft hole are provided on the hinge shaft, a spring is installed in the pin shaft hole, a pin shaft 663 passes through the spring in the pin shaft hole and extends into the adjustment hole to fix the locking sleeve and the hinge shaft together, an electromagnet 662 is provided on the top of the pin shaft hole; the electromagnet is connected to the central processing unit.

[0035] The magnetically attracted mobile welding trolley for complex steel structures of the present invention has an axis clamping plate 664 installed at the end of the articulated shaft, which only prevents the connecting tripod 67 from moving left and right, but does not affect the rotation of the articulated shaft.

[0036] In the magnetic attraction movable welding trolley for complex steel structures described in the present invention, the clamping shaft plate is fixed to the locking sleeve by bolts.

[0037] The magnetically attracted mobile welding trolley for complex steel structures described in the present invention is also provided with an industrial camera 14 and a lighting device 15 on the trolley frame, and both the industrial camera and the lighting device are connected to a central processing unit.

[0038] The magnetically attracted mobile welding trolley for complex steel structures of the present invention is further provided with a welding wire feeder 16 on the trolley frame, and the welding wire feeder is connected to a central processing unit.

[0039] The working principle of the present invention is as follows: The six-degree-of-freedom welding robot 1 is installed on the trolley frame 3 through the robot arm rotation 2, and the trolley frame 3 and the inner walking mechanism 4 and the outer walking mechanism 5 are connected together through the walking mechanism slide frame 6. The inner walking mechanism 4 and the outer walking mechanism 5 drive the driving wheel 8 installed on the walking wheel frame 7 through the driving wheel driving motor 11 to drive the magnetic track 10 and form a complete magnetic track walking circuit around the walking wheel frame 7 and the transmission wheel 9. The walking wheel frame 7 can move the trolley frame in the walking mechanism slide frame 6 through the walking wheel frame sliding driving motor 13, so that the base distance of the inner walking mechanism 4 and the outer walking mechanism 5 changes, as shown in the attached figure. Figure 1 and Figure 8 As shown; the wheel frame 7 can be rotated by the wheel frame rotation drive motor 12 to rotate the frame to a certain angle, the change of the base distance of the inner walking mechanism 4 and the outer walking mechanism 5, the rotation of the wheel frame driven by the wheel frame rotation drive motor 12 and the magnetic track 10 can ensure that the magnetic mobile welding trolley can complete the actions of crawling along the wall, climbing along the wall, etc., and cooperate with the six-degree-of-freedom welding robot arm 1 and the welding wire feeder 16 to complete the welding task in any complex steel structure, as shown in the attached Figure 9-12In addition, the magnetic mobile welding trolley used for welding complex steel structures can also transmit the position to be welded to the central processor 17 through the industrial camera 14 and the LED lighting 15 through the visual image, and the central processor 17 calculates the welding length and angle and transmits the welding path planning to the six-degree-of-freedom welding robot 1, and can also transmit the completed weld to the central processor 17 in the form of image information to evaluate the welding quality.

[0040] The improvements of this invention are as follows: 1. The welding robot arm is installed on a movable trolley to increase the working range of the welding robot arm; 2. The magnetic crawler can ensure that the welding trolley can move freely along the metal structure, including vertical crawling and ceiling crawling; 3. By changing the base distance of the inner and outer walking mechanisms and the rotation of the wheel frame, the magnetic mobile welding trolley can complete the actions of crawling along the wall, climbing over the wall including climbing over thin steel plates, such as Figure 9-12 Shown 4. The welding quality of the weld can be evaluated through industrial video cameras and visual processing algorithms; 5. The application range is wide, from smaller box-type steel structures that cannot be entered by humans to steel structures in ultra-high and dangerous working environments that cannot be reached by humans and affect the safety of workers in construction, automatic welding can be completed.

[0041] 6. Increase the number of welding points to ensure the performance of the steel structure.

[0042] The above is only a preferred embodiment of the present invention. It should be pointed out that for those skilled in the art, several changes and improvements can be made without departing from the overall concept of the present invention, which should also be regarded as the scope of protection of the present invention.

Claims

1. A magnetically attracted mobile welding trolley for complex steel structures, comprising a trolley frame (3) and a traveling mechanism, characterized in that: A mechanical arm rotary platform (2) is arranged on the trolley frame, and a six-degree-of-freedom welding mechanical arm (1) is mounted on the mechanical arm rotary platform; the walking mechanism comprises an inner walking mechanism (4) and an outer walking mechanism (5), both of which are mounted on a walking mechanism slideway frame (6), and both of the inner walking mechanism and the outer walking mechanism comprise a walking wheel frame (7), a driving wheel (8) mounted on the walking wheel frame, a transmission wheel (9), and a magnetic track (10) sleeved on the driving wheel and the transmission wheel, the driving wheel (8) being driven by a driving wheel driving motor (11), and a wheel frame rotating motor (12) being further arranged on the walking wheel frame.

2. The magnetic attraction mobile welding trolley for complex steel structures according to claim 1 is characterized in that: The walking mechanism slide frame (6) comprises an outer slide (61), an inner slide (62), an inner and outer slide connecting rod (63), an outer slide supporting door frame (64), a movable slider platform (65), a lockable connecting hinge shaft (66) and a connecting tripod (67); the inner slide (62) is mounted on the side of the trolley frame and is used to mount the walking wheel frame of the inner walking mechanism; one end of the outer slide (61) is mounted on one end of the inner slide through the inner and outer slide connecting rod (63); the other end of the outer slide (61) is fixed to the trolley frame through the outer slide supporting door frame (64); the outer slide (61) is used to mount the walking wheel frame of the outer walking mechanism; the movable slider platform (65) is mounted on both the inner slide (62) and the outer slide (61); the movable slider platform ( 65) is driven by a walking wheel frame sliding motor (13); the moving slider platform is installed together with the connecting tripod (67) through a lockable connecting hinge shaft (66); the walking wheel frame hinge shaft (71) is installed at the lower part of the connecting tripod (67); the walking wheel frame hinge shaft passes through the walking wheel frame (7) and is installed on the walking wheel frame (7) through a bearing; a planetary internal gear (72) is arranged on the walking wheel frame, and the center of the planetary internal gear coincides with the center of the walking wheel frame hinge shaft; wheel frame rotating motors (12) are arranged on both sides of the lower part of the connecting tripod (67); the gears on the output shaft of the wheel frame rotating motor are meshed with the planetary internal gears; the driving wheel driving motor (11), the wheel frame rotating motor (12), and the walking wheel frame sliding motor (13) are all connected to the central processing unit (17).

3. The magnetic attraction mobile welding trolley for complex steel structures according to claim 2 is characterized in that: A movable sliding platform (65) is installed on both the inner slideway and the outer slideway, a dovetail slideway accommodating cavity and a rotating shaft hole connected to the slideway accommodating cavity are arranged in the movable slider platform, the outer slideway (61) and the inner slideway (62) are sleeved in the corresponding dovetail slideway accommodating cavity, a slideway rack (611) is arranged on the outer slideway (61) and the inner slideway (62), and the output shaft of the walking wheel frame sliding motor (13) passes through the rotating shaft hole and is meshed with the slideway rack (611); a lockable connecting hinge shaft (66) is arranged on the side of the movable slider platform.

4. The magnetic attraction mobile welding trolley for complex steel structures according to claim 3 is characterized in that: The lockable hinge shaft comprises a hinge shaft (661), the upper end of the connecting tripod (67) is sleeved on the hinge shaft, a locking sleeve (665) is sleeved on the hinge shaft, the locking sleeve is fixedly connected to the hinge shaft, a pin hole is provided on the locking sleeve, a plurality of adjustment holes (666) corresponding to the pin hole are provided on the hinge shaft, a spring is installed in the pin hole, the pin (663) passes through the spring in the pin hole and extends into the adjustment hole to fix the locking sleeve and the hinge shaft together, and an electromagnet 662 is provided at the top of the pin hole; the electromagnet is connected to the central processing unit.

5. The magnetic attraction mobile welding trolley for complex steel structures according to claim 4 is characterized in that: Install the chuck plate (664) on the end of the articulated shaft.

6. The magnetic attraction mobile welding trolley for complex steel structures according to claim 5 is characterized in that: The clamping shaft plate is fixed to the locking sleeve (665) by means of bolts.

7. The magnetic attraction mobile welding trolley for complex steel structures according to claim 1 is characterized in that: An industrial camera (14) and a lighting device (15) are also provided on the trolley frame, and both the industrial camera and the lighting device are connected to the central processing unit.

8. The magnetic attraction mobile welding trolley for complex steel structures according to claim 1 is characterized in that: A welding wire feeder (16) is also provided on the trolley frame, and the welding wire feeder is connected to the central processing unit.

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