Humanoid welding robot

Abstract

The invention discloses a humanoid welding robot which comprises a main body, a welding limb, an observing limb and a pincer limb, the main body is equivalent to the waist and the legs of a human body, the welding limb and the pincer limb are equivalent to the double arms of the human body, the observing limb is equivalent to the neck and the brain of the human body, a welding gun serves as an end effector of the welding limb, and a double-finger dexterous hand serves as an end effector of the pincer limb. A robot camera is carried at the tail end of the observation limb, and high-quality welding of complex welding seams can be completed through cooperation of the main body and the three branch chains. The whole robot adopts 4 + 4 + 4 + 4 joint configuration; the problems that current manual welding efficiency is low, working time is unstable, and welding quality is difficult to guarantee are solved. Meanwhile, rapid development in the high-end equipment manufacturing industry has vigorous requirements for welding, and the humanoid welding robot is wide in application prospect.

Description

Technical Field

[0001] The present invention belongs to the field of robots and is a humanoid welding robot. Specifically, the robot includes a main body and three branches, which is a 16-degree-of-freedom robotic arm with a special 4+4+4+4 configuration and is applied to the welding field. The end effector of the welding limb is a welding torch, the end effector of the clamping limb is a two-finger dexterous hand (ground wire clamp), and the viewing limb is equipped with a camera at the end. Through the coordinated operation of the main body and the three branches, high-quality welding of complex welds can be completed. Background Art

[0002] Intelligent welding technology is an important part of manufacturing technologies in fields such as infrastructure construction and aerospace. There are a large number of complex structural parts in different fields, with complex spatial curve welds and great welding difficulties. Humanoid robots have the advantages of high flexibility and strong operating ability. On the basis of improving their intelligent level and combining related technologies such as neural networks and machine learning, their operating ability in complex environments is particularly prominent and is very suitable for performing precision and complex welding tasks.

[0003] Based on the current development trend of China's high-end equipment manufacturing industry, the demand for intelligent equipment is expected to continue to grow in the future. However, intelligent manufacturing equipment still fails to reach the ideal quality and efficiency standards, and there is still a lack of mature intelligent equipment. Especially in the field of welding complex structural parts, China's technology is relatively lagging, with low welding efficiency, large errors, and poor flexibility in non-structural environments.

[0004] Aiming at the problems existing in the welding process of complex structural parts in China's high-end equipment manufacturing industry at present, the present invention designs a humanoid welding robot with 16 degrees of freedom and one body with three limbs. Among them, the main body can be regarded as the waist and legs of a human, the clamping limb and the welding limb can be regarded as the left and right arms of a human, and the viewing limb can be regarded as the neck and brain of a human. The robot has a compact structure and high flexibility and can replace humans to complete high-quality welding of complex welds through the coordinated cooperation of the main body and the three branches. During the welding operation, the welding limb mainly completes the welding action. The end of the clamping limb is relatively stationary with respect to the ground to fix the ground wire. The viewing limb is equipped with a camera at the end and moves synchronously with the welding limb to observe the welding movement process at all times. Through the research on the key technologies of the humanoid welding robot, the breakthrough of scientific and technological achievements can be accelerated, making future robots more intelligent and flexible, capable of playing an important role in more complex and extreme environments, effectively supporting the industrial upgrading and scientific and technological progress of the country, improving China's international competitiveness in the field of intelligent robots, and providing scientific and technological support for national strategic needs. Summary of the Invention

[0005] The object of the present invention is to provide a humanoid welding robot, including a fixed power supply device (1), a mobile power supply device (2), a main body (3), a welding limb (4), a viewing limb (5), and a clamping limb (6).

[0006] The fixed power supply device (1) includes a power source (1-1) and a power quick connector (1-2). The connection relationship between each component is as follows: the power source (1-1) is fixedly connected to the power quick connector (1-2).

[0007] The mobile power supply device (2) includes a vehicle body (2-1), a camera lifting device (2-2), an on-vehicle camera (2-3), a control cabinet (2-4), and a vehicle power source (2-5). The connection relationship between each component is as follows: the bottom of the camera lifting device (2-2) is fixedly connected to the vehicle body (2-1); the on-vehicle camera (2-3) is connected to the top of the camera lifting device (2-2) through a rotating pair driven by a motor; the control cabinet (2-4) is fixedly connected to the vehicle body (2-1); the vehicle power source (2-5) is fixedly connected to the vehicle body (2-1).

[0008] The main body (3) includes a robot quick connector (3-1), a robot ordinary plug (3-2), a base (3-3), a wire feeding reel (3-4), joint I (3-5), joint II housing (3-6), joint II (3-7), joint III housing (3-8), joint III (3-9), joint IV housing (3-10), and joint IV (3-11). The connection relationship between each component is as follows: the robot quick connector (3-1) is fixedly connected to the robot ordinary plug (3-2); the base (3-3) is fixedly connected to the robot quick connector (3-1); the wire feeding reel (3-4) is fixedly connected to the base (3-3); joint I (3-5) is fixedly connected to the base (3-3); the joint II housing (3-6) is connected to joint I (3-5) through a rotating pair; joint II (3-7) is fixedly connected to the joint II housing (3-6); the joint III housing (3-8) is connected to joint II (3-7) through a rotating pair; joint III (3-9) is fixedly connected to the joint III housing (3-8); the joint IV housing (3-10) is connected to joint III (3-9) through a rotating pair; joint IV (3-11) is fixedly connected to the joint IV housing (3-10).

[0009] The welding limb (4) includes the joint V housing (4-1), joint V (4-2), joint VI housing (4-3), joint VI (4-4), joint VII housing (4-5), a special welding circuit board (4-6), joint VII (4-7), joint VIII housing (4-8), joint VIII (4-9), a collision preventer (4-10), and a welding torch (4-11). The connection relationships between the various components are as follows: Joint V (4-2) is fixedly connected to the joint V housing (4-1); the joint VI housing (4-3) is connected to joint V (4-2) through a revolute pair; joint VI (4-4) is fixedly connected to the joint VI housing (4-3); the joint VII housing (4-5) is connected to joint VI (4-4) through a revolute pair; the special welding circuit board (4-6) is fixedly connected to the joint VII housing (4-5); joint VII (4-7) is fixedly connected to the joint VII housing (4-5); the joint VIII housing (4-8) is connected to joint VII (4-7) through a revolute pair; joint VIII (4-9) is fixedly connected to the joint VIII housing (4-8); the collision preventer (4-10) is connected to joint VIII (4-9) through a revolute pair; and the welding torch (4-11) is fixedly connected to the collision preventer (4-10).

[0010] The viewing limb (5) includes the joint IX housing (5-1), joint IX (5-2), joint X housing (5-3), joint X (5-4), joint XI housing (5-5), joint XI (5-6), joint XII housing (5-7), joint XII (5-8), an L-shaped connecting member (5-9), and a robot camera (5-10). The connection relationships between the various components are as follows: Joint IX (5-2) is fixedly connected to the joint IX housing (5-1); the joint X housing (5-3) is connected to joint IX (5-2) through a revolute pair; joint X (5-4) is fixedly connected to the joint X housing (5-3); the joint XI housing (5-5) is connected to joint X (5-4) through a revolute pair; joint XI (5-6) is fixedly connected to the joint XI housing (5-5); the joint XII housing (5-7) is connected to joint XI (5-6) through a revolute pair; joint XII (5-8) is fixedly connected to the joint XII housing (5-7); the L-shaped connecting member (5-9) is connected to joint XII (5-8) through a revolute pair; and the robot camera (5-10) is fixedly connected to the L-shaped connecting member (5-9).

[0011] The pincer limb (6) includes the joint XIII housing (6-1), joint XIII (6-2), joint XIV housing (6-3), joint XIV (6-4), joint XV housing (6-5), joint XV (6-6), joint XVI housing (6-7), joint XVI (6-8), and the two-finger dexterous hand (6-9). The connection relationships between the components are as follows: Joint XIII (6-2) is fixedly connected to the joint XIII housing (6-1); the joint XIV housing (6-3) is connected to joint XIII (6-2) through a revolute pair; joint XIV (6-4) is fixedly connected to the joint XIV housing (6-3); the joint XV housing (6-5) is connected to joint XIV (6-4) through a revolute pair; joint XV (6-6) is fixedly connected to the joint XV housing (6-5); the joint XVI housing (6-7) is connected to joint XV (6-6) through a revolute pair; joint XVI (6-8) is fixedly connected to the joint XVI housing (6-7); the two-finger dexterous hand (6-9) is connected to joint XVI (6-8) through a revolute pair.

[0012] The connection relationships between the various parts are as follows: The robot quick connector (3-1) in the main body (3) is fixedly connected to the power quick connector (1-2) in the fixed power supply device (1); the vehicle body (2-1) in the mobile power supply device (2) is fixedly connected to the fixed power supply device (1); the joint IX housing (5-1) in the viewing limb (5) is connected to the joint IV (3-11) in the main body (3) through a revolute pair; the joint V housing (4-1) in the welding limb (4) is fixedly connected to the joint IX housing (5-1) in the viewing limb (5); the joint XIII housing (6-1) in the pincer limb (6) is fixedly connected to the joint IX housing (5-1) in the viewing limb (5).

[0013] The working principle of the present invention is as follows:

[0014] Refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 A humanoid welding robot consists of a fixed power supply device (1), a mobile power supply device (2), a main body (3), a welding limb (4), a viewing limb (5), and a pincer limb (6).

[0015] Refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5, A humanoid welding robot has a robot quick connector (3-1), a dedicated welding circuit board (4-6), and a robot ordinary plug (3-2), and has two power supply modes. In the welding operation scenario, the robot quick connector (3-1) is used and a dedicated fixed power supply device (1) for welding is equipped. This device is small in size and convenient to carry, and includes two parts: a power supply (1-1) and a power supply quick connector (1-2), which can meet the current and voltage requirements during robot welding operations; in other application scenarios, the robot ordinary plug (3-2) can be used. In addition, the robot is also equipped with a mobile power supply device (2), which includes a fixed power supply device (1), a vehicle body (2-1), a camera lifting device (2-2), an on-vehicle camera (2-3), etc. This device can not only provide stable power support for the robot, but also has the function of autonomous obstacle avoidance in complex terrains, so as to support the robot to quickly switch between different operation scenarios to achieve precise welding operations at different locations.

[0016] Refer to Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11, A humanoid welding robot includes a main body and three link chains, which is a 16-degree-of-freedom robotic arm with a special 4+4+4+4 configuration. The joints V(4-2), IX(5-2), and XIII(6-2) of the three link chains are evenly distributed at 90 degrees in a horizontal plane passing through the axis of joint IV(3-11) in the main body (3) and parallel to the ground. Its welding limb (3) and clamping limb (5) are completely symmetric structures. The viewing limb (4) is different in scale from the welding limb (3) and the clamping limb (5), but has the same structure. Overall, the parts in the three link chains are interchangeable. Taking the welding limb (4) and the main body (3) as an example, there are a total of 8 degrees of freedom. The axes of joint I(3-5), joint II(3-7), joint III(3-9), joint IV(3-11) of the main body and joint V(4-2), joint VI(4-4), joint VII(4-7), joint VIII(4-9) of the welding limb (4) all intersect at a straight line without offset. If joint V(4-2) is locked, it is a standard serial 7-axis robotic arm. This ensures the joint configuration characteristics where joint I(3-5), joint III(3-9), joint VI(4-4), joint VIII(4-9) are concentric, and the axes of joint II(3-7), joint IV(3-11), joint VII(4-7) are parallel. The clamping limb (6) and the welding limb (4) are symmetric structures, and their axes also intersect at a straight line with the joints of the main body (3), and it ensures that joint I(3-5), joint III(3-9), joint XIV(6-4), joint XVI(6-8) are concentric, and the axes of joint II(3-7), joint IV(3-11), joint XV(6-6) are parallel. The viewing limb (5) and the main body (3) also have 8 degrees of freedom. The axes of joint IX(5-2), joint X(5-4), joint XI(5-6), joint XII(5-8) of the viewing limb (5) and the 4 joints of the main body (3) also intersect at a straight line, and it ensures that joint I(3-5), joint III(3-9), joint X(5-4), joint XII(5-8) are concentric, and the axes of joint II(3-7), joint IV(3-11), joint IX(5-2), joint XI(5-6) are parallel. The three link chains and the main body (3) all ensure the basic 7-axis industrial robot configuration, facilitating the algorithm switching of the three motion chains during the welding movement process.

[0017] Refer to Figure 1 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 12 , Figure 13 , Figure 14 , Figure 15, A humanoid welding robot. The main body (3) is equivalent to the waist and legs of a human, the welding limbs (4) and the clamping limbs (6) are equivalent to the two arms of a human, and the viewing limb (5) is equivalent to the neck and head of a human. The end effector of its welding limb (4) is a welding torch, the end effector of the clamping limb (6) is a two-finger dexterous hand (6-9), and a robot camera (5-10) is mounted at the end of the viewing limb (5). The coordinated cooperation of the main body and the three link chains can complete the welding of complex weld seams. During the welding movement process of this robot, it is mainly divided into three motion chains. The first priority motion chain is the main body and the welding limb (with 8 degrees of freedom), which mainly completes the welding action. The second motion chain is the main body and the clamping limb (with 8 degrees of freedom). When the welding limb moves, the end of the clamping limb remains relatively stationary with respect to the ground to fix the ground wire, and an underactuated end gripper can be used for follow-up when necessary. The third motion chain is the main body and the viewing limb (with 8 degrees of freedom). The viewing limb (5) moves synchronously with the welding limb (4) to keep the ends of the two limbs relatively stationary and observe the welding process at all times.

[0018] Referring to Figure 1 , Figure 18 , Figure 19 , When a humanoid welding robot is in a non-working state, the welding limb (4) and the clamping limb (6) move closer to the main body (3), and the joints of the viewing limb (5) and the main body (3) maintain a state where their axes are on a straight line, which can reduce the occupied space volume. If it is necessary to change the working place, parts such as the viewing limb (5), wire feeding reel (3-4), anti-collision device (4-10), welding torch (4-11), two-finger dexterous hand (6-9), etc. can be disassembled. The overall structure is compact and can be put into a suitcase, which is convenient for carrying and transportation. When using it again, only need to install the viewing limb (5) and the welding tool and dock the power quick plug connector (1-2) in the fixed power supply device (1) or the mobile power supply device (2) with the robot quick plug connector (3-1).

[0019] The advantages of the present invention are as follows:

[0020] 1. The humanoid welding robot of the present invention is composed of one body and three limbs. Its main body can be regarded as the waist and legs of a human, the welding limbs and the clamping limbs can be regarded as the two arms of a human, and the viewing limb can be regarded as the neck and head of a human. This robot has high flexibility and strong operation ability, can be applicable to different forms of weld seams, and can efficiently complete various precision and complex welding tasks.

[0021] 2. The humanoid welding robot of the present invention adopts a 4+4+4+4 joint configuration, with 4 degrees of freedom for the main body and 4 degrees of freedom for each of the three link chains, and the axes of each joint of the main body and each link chain intersect at a straight line, ensuring the configuration of a traditional serial 7-axis robot, which is convenient for algorithm switching of each link chain during the welding movement process.

[0022] 3. A humanoid welding robot of the present invention has a compact overall structure, occupies a small space volume, and is convenient to disassemble. If it is necessary to change the working location, parts such as the viewing limb and welding special tools can be disassembled and the whole can be put into a suitcase for convenient carrying and transportation.

[0023] 4. A humanoid welding robot of the present invention has a completely symmetrical structure between the welding limb and the clamping limb. The viewing limb has different scales from the welding limb and the clamping limb but the same structure. Generally speaking, the parts in the three branch chains are interchangeable.

[0024] 5. A humanoid welding robot of the present invention integrates welding special equipment such as a welding torch, a collision preventer, a welding special circuit board, and a wire feeding reel on the robot, saving space; and is equipped with a welding special power supply system, including a fixed power supply device and a mobile power supply device. The fixed power supply device is small in volume and convenient to carry, and can meet the fast power supply requirements of the robot during welding operations. The mobile power supply device not only provides stable power support for the robot, but also has an autonomous obstacle avoidance function, supports the robot to quickly switch working scenarios in complex terrains, and realizes precise welding operations.

[0025] 6. A humanoid welding robot of the present invention divides the welding movement into three movement chains during the welding operation. Among them, the main body and the welding limb are the first movement chain, the main body and the clamping limb are the second movement chain, and the main body and the viewing limb are the third movement chain. Each movement chain has 8 degrees of freedom and ensures the configuration of a 7-axis industrial robot, making the robot joint and trajectory planning efficient and the control simple.

[0026] A humanoid welding robot of the present invention has the advantages of high flexibility, strong operation ability, compact structure, convenient disassembly and assembly, easy maintenance, and low cost. And it integrates welding special equipment. Through the coordinated cooperation of the main body and the welding limb, the clamping limb and the viewing limb, it can replace humans to complete the high-quality welding of complex structural parts' welds, solving the problems of low efficiency of manual welding, unstable working hours, and difficult to guarantee welding quality at present. At the same time, the rapid development in the high-end equipment manufacturing industry has a relatively strong demand for welding. A humanoid welding robot of the present invention has a broad application prospect. Brief Description of the Drawings

[0027] Figure 1 Schematic diagram of the overall structure of a humanoid welding robot in the present invention;

[0028] Figure 2 Schematic diagram of the fixed power supply device in the present invention;

[0029] Figure 3 Schematic diagram of the mobile power supply device in the present invention;

[0030] Figure 4 Schematic diagram of the structure of the main body part in the present invention;

[0031] Figure 5 Schematic diagram of the structure of the welding limb part in the present invention;

[0032] Figure 6 Schematic diagram of the structure of the viewing limb part in the present invention;

[0033] Figure 7 Schematic diagram of the structure of the pincer limb part in the present invention;

[0034] Figure 8 Schematic diagram of the distribution of the robot joints in the present invention Figure 1 ;

[0035] Figure 9 Schematic diagram of the distribution of the robot joints in the present invention Figure 2 ;

[0036] Figure 10 Schematic diagram of the distribution of the robot joints in the present invention Figure 3 ;

[0037] Figure 11 Schematic diagram of the distribution of the robot joints in the present invention Figure 4 ;

[0038] Figure 12 Schematic diagram of the operation of the humanoid welding robot in the present invention Figure 1 ;

[0039] Figure 13 Schematic diagram of the operation of the humanoid welding robot in the present invention Figure 2 ;

[0040] Figure 14 Schematic diagram of the operation of the humanoid welding robot in the present invention Figure 3 ;

[0041] Figure 15 Schematic diagram of the operation of the humanoid welding robot in the present invention Figure 4 ;

[0042] Figure 16 Schematic diagram of the operation of the humanoid welding robot in the present invention Figure 5 ;

[0043] Figure 17 Schematic diagram of the operation of the humanoid welding robot in the present invention Figure 6 ;

[0044] Figure 18 Schematic diagram of the non-operating state of the humanoid welding robot in the present invention Figure 1 ;

[0045] Figure 19 Schematic diagram of the non-operating state of the humanoid welding robot in the present invention Figure 2 .

[0046] In the figure:

[0047] 1: Fixed power supply device 2: Mobile power supply device 3: Main body 4: Welding limb 5: Visual limb 6: Gripping limb

[0048] 1-1: Power supply 1-2: Quick plug connector for power supply

[0049] 2-1: Vehicle body 2-2: Camera lifting device 2-3: Vehicle-mounted camera 2-4: Control cabinet 2-5: Vehicle power supply

[0050] 3-1: Robot quick plug connector; 3-2: Ordinary robot plug; 3-3: Base; 3-4: Wire feeding reel; 3-5: Joint I; 3-6: Joint II housing; 3-7: Joint II; 3-8: Joint III housing; 3-9: Joint III; 3-10: Joint IV housing; 3-11: Joint IV

[0051] 4-1: Joint V housing; 4-2: Joint V; 4-3: Joint VI housing; 4-4: Joint VI; 4-5: Joint VII housing; 4-6: Welding special circuit board; 4-7: Joint VII; 4-8: Joint VIII housing; 4-9: Joint VIII; 4-10: Anti-collision device; 4-11: Welding torch

[0052] 5-1: Joint IX housing; 5-2: Joint IX; 5-3: Joint X housing; 5-4: Joint X; 5-5: Joint XI housing; 5-6: Joint XI; 5-7: Joint XII housing; 5-8: Joint XII; 5-9: L-shaped connecting piece; 5-10: Robot camera

[0053] 6-1: Joint XIII housing; 6-2: Joint XIII; 6-3: Joint XIV housing; 6-4: Joint XIV; 6-5: Joint XV housing; 6-6: Joint XV; 6-7: Joint XVI housing; 6-8: Joint XVI; 6-9: Two-finger dexterous hand Detailed implementation manners

[0054] The present invention will be described below in conjunction with the accompanying drawings and embodiments, but the present invention is not limited to the following embodiments.

[0055] The present invention discloses a humanoid welding robot, which consists of four parts: a main body, welding limbs, viewing limbs, and clamping limbs. The main body is equivalent to the waist and legs of a human, the welding limbs and clamping limbs are equivalent to the two arms of a human, and the viewing limbs are equivalent to the neck and brain of a human. The end effector of the welding limb is a welding torch, the end effector of the clamping limb is a two-finger dexterous hand, and a robot camera is mounted at the end of the viewing limb. The coordinated cooperation of the main body and the three branch chains can complete high-quality welding of complex welds. The overall robot adopts a 4+4+4+4 joint configuration, with 4 degrees of freedom for the main body, 4 degrees of freedom for each of the three branch chains, a total of 16 degrees of freedom, and the axes of each joint of the three branch chains intersect at a straight line, ensuring the basic configuration of a serial 7-axis industrial robot and facilitating algorithm switching during the movement process; the robot has a compact structure, is convenient for disassembly and assembly, occupies a small space volume in the non-working state, and if it is necessary to change the working location, parts such as the viewing limb and welding special tools can be disassembled and the whole can be put into a suitcase, which is convenient for carrying and transportation; the welding limbs and clamping limbs of the robot have a completely symmetrical structure, the viewing limbs have different scales from the welding limbs and clamping limbs but the same structure, and overall, the parts in the three branch chains are interchangeable; the robot integrates welding special equipment such as welding torches, anti-collision devices, and wire feeding reels on the main body, saving space, and is equipped with a special welding power supply device, which can meet the rapid power supply requirements of the robot during welding operations; during the welding operation process of the robot, the welding movement is divided into three movement chains. Among them, the main body and the welding limb are the first movement chain, which mainly completes the welding action, the main body and the clamping limb are the second movement chain, which is mainly used to fix the ground wire, and the main body and the viewing limb are the third movement chain, which is mainly used to observe the welding process at all times. Each movement chain has 8 degrees of freedom, ensuring the configuration of a 7-axis industrial robot, making the robot joint and trajectory planning efficient and the control simple. Generally speaking, the robot has the advantages of high flexibility, strong operation ability, easy maintenance, low cost, etc., and integrates welding special equipment. Through the coordinated cooperation of the main body, welding limbs, clamping limbs, and viewing limbs, it can replace humans to complete high-quality welding of complex structural part welds, solving the problems of low efficiency of manual welding, unstable working hours, and difficult to guarantee welding quality at present. At the same time, the rapid development in the high-end equipment manufacturing industry has a relatively strong demand for welding. The humanoid welding robot of the present invention has a broad application prospect.

[0056] Embodiment 1

[0057] Refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 A humanoid welding robot is composed of a fixed power supply device (1), a mobile power supply device (2), a main body (3), welding limbs (4), viewing limbs (5), and clamping limbs (6).

[0058] Refer to Figure 1 、Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 12 , a humanoid welding robot has components such as a robot quick connector (3-1) and a dedicated welding circuit board (4-6), and has a fast power supply mode. During welding operations, first dock the robot quick connector (3-1) in the main body (3) with the power quick connector (1-2) in the fixed power supply device (1) or the mobile power supply device (2) to achieve fast power supply to the robot and meet the current and voltage requirements of the robot during welding operations.

[0059] Refer to Figure 1 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 12 , Figure 13 , Figure 14 , Figure 15, a humanoid welding robot, where the main body (3) is equivalent to the waist and legs of a human, the welding limbs (4) and the clamping limbs (6) are equivalent to the two arms of a human, and the viewing limb (5) is equivalent to the neck and brain of a human. The end effector of the welding limb (4) is a welding torch, and a wire feeding reel (3-4) is installed on the housing of joint VII (4-5). The end effector of the clamping limb (6) is a two-fingered dexterous hand (6-9), and a robot camera (5-10) is mounted at the end of the viewing limb (5). The coordinated cooperation between the main body and the three branch chains can complete the welding of complex weld seams. During the welding movement process of this robot, it is mainly divided into three motion chains: The first priority motion chain is the main body and the welding limb (8 degrees of freedom); the second motion chain is the main body and the clamping limb (8 degrees of freedom); the third motion chain is the main body and the viewing limb (8 degrees of freedom). Its specific working process is as follows: First, a safe distance is maintained between the three branch chains to prevent interference during the movement process. Then, the robot camera (5-10) at the end of the viewing limb (5) observes the position of the welded part. The main body (3) drives the welding limb (4), the viewing limb (5), and the clamping limb (6) to slowly approach the welded part. After reaching the appropriate position, first use the second motion chain to cooperate with the third motion chain to find the welding starting point. At this time, the second motion chain of the main body (3) and the clamping limb (6) is the priority motion chain, and the viewing limb (5) and the welding limb (4) follow. During the process of the clamping limb (6) approaching the welded part, the joints in the viewing limb (5) adjust the posture to make the robot camera (5-10) relatively stationary with respect to the clamping limb (6). Through the observation of the robot camera (5-10), the clamping limb (6) finds the welding starting point and fixes the ground wire at the starting point with the two-fingered dexterous hand (6-9). Then the first motion chain of the main body and the welding limb becomes the priority motion chain, and the viewing limb (5) and the clamping limb (6) follow. The wire is fed through the wire feeding reel (3-4) in the main body (3), and the welding torch (4-11) starts welding on the weld seam. During the welding process: The joint XIII (6-2) in the clamping limb (6) can adjust the distance from the welding limb (4). The three joints of joint XIII (6-2), joint XIV (6-4), joint XV (6-6), and joint XVI (6-8) adjust the posture of the two-fingered dexterous hand (6-9) to keep it relatively stationary with respect to the ground to fix the ground wire. When necessary, an underactuated follow-up method can be adopted; the viewing limb follows as the third motion chain to observe. The position of the end robot camera (5-10) is adjusted through the joint IX (5-2) in the viewing limb (5), and the posture of the end robot camera (5-10) is adjusted by joint X (5-4), joint XI (5-6), and joint XII (5-8) to make the viewing limb (5) move synchronously with the welding limb (4) and keep the ends of the two limbs in a relatively stationary state to observe the welding process at all times. Further, the relative position of the ends of the viewing limb (5) and the welding limb (4) can be kept unchanged, but their postures can be changed to make the posture change of the end of the welding limb (4) more complex to achieve more complex welding processes (such as weaving, swinging, etc.).

[0060] Refer to Figure 1, Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 16 , Figure 17 , After a humanoid welding robot completes the welding operation, the main body (3) drives the welding limb (4), the viewing limb (5) and the clamping limb (6) away from the welded part to a safe position. After cooling, the main body (3), the welding limb (4), the viewing limb (5) and the clamping limb (6) return to the initial working posture.

[0061] Refer to Figure 1 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 18 , Figure 19 , When a humanoid welding robot is in a non-working state, the welding limb (4) and the clamping limb (6) move closer to the main body (3), and the viewing limb (5) and the joints of the main body (3) maintain a state where the axes are in a straight line, which can reduce the occupied space volume. If it is necessary to change the workplace, parts such as the viewing limb (5), the wire feeder (3-4), the anti-collision device (4-10), the welding torch (4-11), and the two-finger dexterous hand (6-9) can be disassembled. The overall structure is compact and can be placed in a suitcase, which is convenient for carrying and transportation. When using it again, only the viewing limb (5) and the welding tool need to be installed and the power quick plug connector (1-2) in the fixed power supply device (1) or the mobile power supply device (2) is docked with the robot quick plug connector (3-1).

Claims

1. A humanoid welding robot, characterized in that: It comprises a fixed power supply device (1), a mobile power supply device (2), a main body (3), a welding limb (4), a viewing limb (5) and a clamping limb (6); The fixed power supply device (1) comprises a power supply (1-1) and a power supply quick-connect connector (1-2); the power supply (1-1) and the power supply quick-connect connector (1-2) are fixedly connected; The mobile power supply device (2) comprises a vehicle body (2-1), a camera lifting device (2-2), a vehicle-mounted camera (2-3), a control cabinet (2-4), and a vehicle power supply (2-5); the bottom of the camera lifting device (2-2) is fixedly connected to the vehicle body (2-1); The vehicle-mounted camera (2-3) is connected to the top of the camera lifting device (2-2) via a rotating pair driven by a motor; the control cabinet (2-4) is fixedly connected to the vehicle body (2-1); and the vehicle power supply (2-5) is fixedly connected to the vehicle body (2-1); The main body (3) comprises a robot quick-connect connector (3-1), a robot common plug (3-2), a base (3-3), a wire feeding reel (3-4), a joint I (3-5), a joint II housing (3-6), a joint II (3-7), a joint III housing (3-8), a joint III (3-9), a joint IV housing (3-10), and a joint IV (3-11); the connection relationship between the various components is as follows: the robot quick-connect connector (3-1) is fixedly connected to the robot common plug (3-2); the base (3-3) is fixedly connected to the robot quick-connect connector (3-1); the wire feeding reel (3-4 ... -4) is fixedly connected to the base (3-3); joint I (3-5) is fixedly connected to the base (3-3); joint II housing (3-6) is connected to joint I (3-5) via a revolute pair; joint II (3-7) is fixedly connected to joint II housing (3-6); joint III housing (3-8) is connected to joint II (3-7) via a revolute pair; joint III (3-9) is fixedly connected to joint III housing (3-8); joint IV housing (3-10) is connected to joint III (3-9) via a revolute pair; joint IV (3-11) is fixedly connected to joint IV housing (3-10); The welding limb (4) comprises a joint V housing (4-1), a joint V (4-2), a joint VI housing (4-3), a joint VI (4-4), a joint VII housing (4-5), a welding dedicated circuit board (4-6), a joint VII (4-7), a joint VIII housing (4-8), a joint VIII (4-9), an anti-collision device (4-10), and a welding gun (4-11); the connection relationship between the various components is as follows: the joint V (4-2) is fixedly connected to the joint V housing (4-1); the joint VI housing (4-3) is connected to the joint V (4-2) via a revolute pair; the joint VI (4-4) is connected to the joint VI housing (4-3); joint VII housing (4-5) is connected to joint VI (4-4) via a revolute pair; a welding dedicated circuit board (4-6) is connected to joint VII housing (4-5); joint VII (4-7) is connected to joint VII housing (4-5); joint VIII housing (4-8) is connected to joint VII (4-7) via a revolute pair; joint VIII (4-9) is connected to joint VIII housing (4-8); an anti-collision device (4-10) is connected to joint VIII (4-9) via a revolute pair; a welding gun (4-11) is connected to the anti-collision device (4-10); The robot limb (5) comprises a joint IX housing (5-1), a joint IX (5-2), a joint X housing (5-3), a joint X (5-4), a joint XI housing (5-5), a joint XI (5-6), a joint XII housing (5-7), a joint XII (5-8), an L-shaped connecting piece (5-9), and a robot camera (5-10); the joint IX (5-2) is fixedly connected to the joint IX housing (5-1); the joint X housing (5-3) is connected to the joint IX (5-2) via a rotation pair; the joint X (5-4 ) is fixedly connected to the joint X housing (5-3); the joint XI housing (5-5) is connected to the joint X (5-4) via a revolute pair; the joint XI (5-6) is fixedly connected to the joint XI housing (5-5); the joint XII housing (5-7) is connected to the joint XI (5-6) via a revolute pair; the joint XII (5-8) is fixedly connected to the joint XII housing (5-7); the L-shaped connecting piece (5-9) is connected to the joint XII (5-8) via a revolute pair; the robot camera (5-10) is fixedly connected to the L-shaped connecting piece (5-9); The forceps limb (6) comprises a joint XIII shell (6-1), a joint XIII (6-2), a joint XIV shell (6-3), a joint XIV (6-4), a joint XV shell (6-5), a joint XV (6-6), a joint XVI shell (6-7), a joint XVI (6-8), and a two-finger dexterous hand (6-9); the connection relationship between the various components is as follows: the joint XIII (6-2) is fixedly connected to the joint XIII shell (6-1); the joint XIV shell (6-3) is connected to the joint XIII shell (6-1) through a rotation pair; III (6-2); joint XIV (6-4) is fixedly connected to the joint XIV shell (6-3); the joint XV shell (6-5) is connected to the joint XIV (6-4) through a revolute pair; the joint XV (6-6) is fixedly connected to the joint XV shell (6-5); the joint XVI shell (6-7) is connected to the joint XV (6-6) through a revolute pair; the joint XVI (6-8) is fixedly connected to the joint XVI shell (6-7); the two-finger dexterous hand (6-9) is connected to the joint XVI (6-8) through a revolute pair; The robot quick-connect connector (3-1) in the main body (3) is fixedly connected to the power quick-connect connector (1-2) in the fixed power supply device (1); the vehicle body (2-1) in the mobile power supply device (2) is fixedly connected to the fixed power supply device (1); the joint IX housing (5-1) in the sight limb (5) is connected to the joint IV (3-11) in the main body (3) through a rotation pair; the joint V housing (4-1) in the welding limb (4) is fixedly connected to the joint IX housing (5-1) in the sight limb (5); and the joint XIII housing (6-1) in the clamp limb (6) is fixedly connected to the joint IX housing (5-1) in the sight limb (5).

2. The humanoid welding robot according to claim 1, characterized in that: The robot consists of one body and three limbs. The main body can be regarded as the waist and legs of a human being, the welding limbs and the clamp limbs can be regarded as the arms of a human being, and the looking limbs can be regarded as the neck and head of a human being. The end effector of the welding limb is a welding gun, the end effector of the clamp limb is a two-finger dexterous hand, and the end of the viewing limb is equipped with a camera. The welding of complex welds is completed through the coordinated cooperation of the main body and three branches.

3. The humanoid welding robot according to claim 1, characterized in that: It adopts 4+4+4+4 joint configuration, with 4 degrees of freedom for the main body and 4 degrees of freedom for each of the three branches. The joints V, IX and XIII of the three branches are evenly distributed at 90 degrees in a horizontal plane passing through the axis of joint IV in the main body and parallel to the ground; the welding limbs and the main body have a total of 8 degrees of freedom. The axes of joints I, II, III and IV of the main body and joints V, VI, VII and VIII of the welding limbs all intersect in a straight line without offset, and ensure that joints I, III, VI and VIII are concentric, and joints II, IV, The joint configuration feature is that the axis of joint VII is parallel; the clamp limb and the welding limb are symmetrical structures, and the axes of the joints of the main body also intersect in a straight line, and ensure that joints I, joints III, joints XIV, and joints XVI are concentric, and the axes of joints II, joints IV, and joints XV are parallel; the viewing limb and the main body also have 8 degrees of freedom, and the joints IX, joints X, joints XI, and joints XII of the viewing limb also intersect with the 4 joints of the main body in a straight line, and ensure that joints I, joints III, joints X, and joints XII are concentric, and the axes of joints II, joints IV, joints IX, and joints XI are parallel.

4. The humanoid welding robot according to claim 1, characterized in that: If you need to change the work location, you can disassemble the limbs, wire feeding reel, bumper, welding gun, and two-finger dexterous hand parts and put them into the suitcase for easy carrying and transportation. When you use it again, you only need to install the limbs and welding tools and connect the power quick-connect connector in the fixed power supply device or mobile power supply device with the robot quick-connect connector.

5. The humanoid welding robot according to claim 1, characterized in that: The welding limb and the clamp limb are completely symmetrical structures. The sizes of the welding limb and the clamp limb are different but the structure is the same. The parts in the three branches are interchangeable.

6. The humanoid welding robot according to claim 1, characterized in that: The robot has a robot quick-connect connector, a special welding circuit board and a robot ordinary plug, and has two power supply modes; in the welding operation scenario, the robot quick-connect connector is used, and it is equipped with a welding-specific power supply system, including a fixed power supply device and a mobile power supply device. The fixed power supply device can meet the current and voltage requirements of the robot in welding operations. The mobile power supply device provides stable power support for the robot and also has an autonomous obstacle avoidance function, supporting the robot to quickly switch operation scenes in complex terrain and achieve precise welding operations; in other application scenarios, the robot ordinary plug can be used.

7. The humanoid welding robot according to claim 1, characterized in that: During the welding operation, the welding motion is divided into three motion chains, among which the first motion chain is the main body and welding limb, that is, 8 degrees of freedom, which completes the welding action; the second motion chain is the main body and clamp limb, that is, 8 degrees of freedom. When the welding limb moves, the end of the clamp limb remains relatively still with the ground to fix the ground wire. If necessary, an under-actuated end gripper is used for follow-up; the third motion chain is the main body and viewing limb, that is, 8 degrees of freedom. The viewing limb and the welding limb move synchronously to keep the ends of the two limbs relatively still and observe the welding process at all times; each motion chain has 8 degrees of freedom and ensures a 7-axis industrial robot configuration, so that the robot joint and trajectory planning are efficient and the control is simple.

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