Curved surface self-adaptive wall-climbing welding robot

Abstract

The invention discloses a curved surface self-adaption wall-climbing welding robot, and relates to the technical field of welding robots, the curved surface self-adaption wall-climbing welding robot comprises a self-adaption chassis part, a movable welding platform part and a welding equipment part, the self-adaption chassis part comprises a front end tractor module and a welding operation vehicle module, the movable welding platform part is loaded on the welding operation vehicle module, the welding equipment part is clamped on the movable welding platform part, the front-end tractor module and the welding operation vehicle module are connected through a central rotating shaft, and a first magnetic attraction module is arranged on the lower portion of the front-end tractor module. Walking of various curved surfaces is achieved through the self-adaptive chassis, welding can be carried out on the surfaces of various large steel structures, the mechanical structure is stable, manufacturing is convenient, actual worker operation is easy, and a good application scene is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding robots, and particularly to a curved surface adaptive wall-climbing welding robot. Background Art

[0002] In large steel structures such as ships, building steel plates, and large spacecraft, welding is a common process used in their construction. Taking shipbuilding as an example, in ship manufacturing, welding is the core process for connecting large steel plates, and its quality directly affects the hull structure strength and navigation safety. According to statistics, welding man-hours account for 30% - 40% of the total man-hours for hull construction, and the cost accounts for 30% - 50%. Moreover, the splicing of large steel plates on the surface of the sectional hull is still an important process in the ship assembly process. However, traditional manual welding has problems such as low efficiency, high labor intensity, and unstable quality. Especially in complex environments (such as high-altitude operations or curved surface welds), manual operation is difficult to meet the requirements of high precision and continuous operation.

[0003] A wall-climbing robot for large storage tank weld grinding operations (Chinese Patent Application CN110788690A) realizes traveling, welding, and grinding on the walls of storage tanks and pressure vessels with different curvature radii. However, the drawback of this design is that the chassis of this device is still an integral chassis without an active or passive suspension, and it needs to be adjusted manually for different curvature surfaces, unable to continuously transform the curvature surface. Moreover, when in a concave surface, there may be factors such as too large an air gap between the magnet and the surface and insufficient magnetic force.

[0004] Similarly, there is a master-slave wall-climbing welding robot system applicable to large steel structure parts (Chinese Patent Application CN110814472A). Both the main robot and the wall-climbing relay wire-feeding slave robot of this device adopt a permanent magnet gap adsorption and wheel-type motion mechanism, separating the adsorption mechanism from the motion mechanism, further improving the flexibility of the robot's movement and the motion control accuracy of the robot. However, this device does not consider the problem of the walking surface, and the guiding method relies on the control of four motors driven by the chassis, without mechanical guarantee, and there is redundancy in function for the working environment of on-site vertical gas shielded arc welding, and the completion degree of a single function is defective.

[0005] Therefore, those skilled in the art are committed to developing a curved surface adaptive wall-climbing welding robot that can walk on various curved surfaces through an adaptive chassis and perform welding on the surfaces of various large steel structures such as ship hulls, large tanks, and aerospace equipment. Summary of the Invention

[0006] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how to achieve the curved surface adaptability of the wall-climbing welding robot for wall-climbing welding on the surface of large steel plate structures.

[0007] To achieve the above object, the present invention provides a curved surface adaptive wall-climbing welding robot, which is characterized by comprising an adaptive chassis part, a movable welding platform part and a welding equipment part. Among them, the adaptive chassis part includes a front tractor module and a welding operation vehicle module, the movable welding platform part is loaded on the welding operation vehicle module, the welding equipment part is clamped on the movable welding platform part, the front tractor module and the welding operation vehicle module are connected by a central rotating shaft, and a first magnetic attraction module is provided below the front tractor module.

[0008] Further, the central rotating shaft is installed on a flange bearing, and the flange bearing is fixed to the welding operation vehicle module by bolts.

[0009] Further, the front tractor module further includes a transmission module, and the transmission module includes a motor, a reducer and a central rotating shaft, and the motor drives the central rotating shaft to rotate through the reducer.

[0010] Further, the front tractor module further includes guide wheels, and the guide wheels guide the front tractor module to walk along the weld path.

[0011] Further, the welding operation vehicle module includes bearing polyurethane rubber wheels, casters and a support frame, the casters are arranged below the central rotating shaft, and the movable welding platform part is installed on the support frame.

[0012] Further, a second magnetic attraction module is further provided below the welding operation vehicle module, and the second magnetic attraction module is used to attract the ship body steel plate when the welding operation vehicle module walks.

[0013] Further, the movable welding platform part includes an x-direction linear slide and a z-direction linear slide, the z-direction linear slide is placed on the x-direction linear slide, and a manual handwheel is further provided on the x-direction linear slide.

[0014] Further, the movable welding platform part further includes a linear oscillator and a welding torch adjustment fixture, the welding torch adjustment fixture is connected to the z-direction linear slide through the linear oscillator, and the welding equipment part is installed on the welding torch adjustment fixture.

[0015] Further, the movable welding platform part further includes a slider connecting plate and a copper slider, the copper slider is connected to the x-direction linear slide through the slider connecting plate, and the copper slider can slide along the welded surface protruding after welding.

[0016] Furthermore, the movable welding platform further includes a tail copper slider adjustment knob, which is connected to the x-direction linear slide table through the slider connecting plate, and the tail copper slider adjustment knob can adjust the height of the copper slider.

[0017] The beneficial technical effects of the present invention are as follows:

[0018] 1. To solve the problem of the surface adaptability of the wall-climbing welding robot when climbing on the surface of large steel plate structures, the present invention adopts a two-section vehicle body, and a hinge connection structure is adopted in the middle of the vehicle body to increase folding hinges, thereby realizing the surface self-adaptability of the robot.

[0019] 2. Currently, most welding robots rely too much on closed-loop control technology to achieve controllable chassis movement trajectories, which increases costs and places higher requirements on their computing platforms and worker operations. The present invention adopts a pure mechanical guidance method, and realizes high-reliability guidance through the front-end tractor guide wheels + the rear-end guide copper sliders, achieving strong stability of the movement trajectory of the robot equipment.

[0020] 3. When the existing welding robots encounter the problem that the weld position cannot match the welding center of the robot, they cannot be adjusted. The present invention uses an xz two-axis moving slide table as the movable welding platform, integrates copper sliders and welding torches, so that the entire module can move relative to the welding robot. The welding torch and the copper slider are integrated to form a two-degree-of-freedom platform, which can move on the same straight line, realizing the adjustability of the welding platform and the adaptability of the robot to various working conditions.

[0021] The following will further illustrate the concept, specific structure and technical effects of the present invention in conjunction with the drawings, so as to fully understand the purpose, features and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the overall structure of a surface-adaptive wall-climbing welding robot according to a preferred embodiment of the present invention;

[0023] Figure 2 is a schematic diagram of the adaptive chassis part of a surface-adaptive wall-climbing welding robot according to a preferred embodiment of the present invention;

[0024] Figure 3 is a schematic diagram of the front-end tractor module of the adaptive chassis part of a surface-adaptive wall-climbing welding robot according to a preferred embodiment of the present invention;

[0025] Figure 4 is a schematic diagram of the welding operation vehicle module of the adaptive chassis part of a surface-adaptive wall-climbing welding robot according to a preferred embodiment of the present invention;

[0026] Figure 5Schematic diagram of the movable welding platform of a curved surface adaptive wall-climbing welding robot according to a preferred embodiment of the present invention;

[0027] Figure 6 Side schematic diagram of the movable welding platform of a curved surface adaptive wall-climbing welding robot according to a preferred embodiment of the present invention;

[0028] Figure 7 Schematic diagram of the working moment of a curved surface adaptive wall-climbing welding robot according to a preferred embodiment of the present invention;

[0029] Among them, 1 - adaptive chassis part, 2 - movable welding platform part, 11 - front tractor module, 111 - motor, 112 - motor fixing bracket, 113 - reducer, 114 - guide wheel, 115 - mounting plate, 116 - rubber wheel, 117 - bearing seat, 118 - front side frame, 119 - central rotating shaft, 1110 - first magnetic attraction module, 12 - welding operation vehicle module, 121 - bearing polyurethane rubber wheel, 122 - support frame, 123 - welding operation vehicle side plate, 124 - central rotating shaft, 125 - flange bearing, 126 - caster, 127 - second magnetic attraction module, 21 - welding torch adjustment fixture, 22 - linear oscillator, 23 - z-direction linear slide, 24 - x-direction linear slide, 25 - tail copper slider adjustment knob, 26 - copper slider, 27 - slider connection plate. Detailed implementation manner

[0030] The following introduces multiple preferred embodiments of the present invention with reference to the accompanying drawings of the specification to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0031] In the drawings, components with the same structure are denoted by the same numerical labels, and components with similar structures or functions are denoted by similar numerical labels. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of some parts in the drawings is appropriately exaggerated.

[0032] As Figure 1 shown, a curved surface adaptive wall-climbing welding robot includes an adaptive chassis part 1, a movable welding platform part 2, and a welding equipment part. The movable welding platform part 2 is loaded on the adaptive chassis part 1, and the welding equipment part is clamped on the movable welding platform part 2.

[0033] As Figure 2As shown in the figure, the adaptive chassis part 1 is composed of a front-end tractor module 11 and a welding operation vehicle module 12, which are connected by a central rotating shaft 124. The central rotating shaft 124 is clamped on a flange bearing 125, and the flange bearing 125 is locked by four bolts. When the vehicle body passes through steel surfaces with different curvatures, it can adaptively move through the central rotating shaft 124, the first magnetic attraction module 1110 of the front-end tractor, and the second magnetic attraction module 127 of the welding operation vehicle.

[0034] As Figure 3 shown in the figure, the front-end tractor module 11 is composed of a transmission module consisting of a motor 111, a motor fixing frame 112, a reducer 113, a mounting plate 115, a rubber wheel 116, a front-end side frame 118, a central rotating shaft 119 and a bearing seat 117, a magnetic attraction module 1110 of a magnet and its mounting box, and a guide wheel 114. The motor 111 drives the central rotating shaft 119 to rotate through the reducer 113. The guide wheel 114 cooperates with the weld shape so that the vehicle body can accurately move along the weld path. The position of the guide wheel 114 can be adjusted relative to the front-end tractor module 11 along with the weld.

[0035] As Figure 4 shown in the figure, the welding operation vehicle module 12 is composed of a bearing polyurethane rubber wheel 121, a caster 126, a support frame 122, a welding operation vehicle side plate 123, and a second magnetic attraction module 127. When the second magnetic attraction module 127 attracts the ship's hull steel plate, the movable welding platform part 2 can remain stable relative to the welding surface. When being towed by the front-end tractor module 11, the platform will not generate a height change relative to the surface.

[0036] As Figure 5 and Figure 6 shown in the figure, the movable welding platform 2 is composed of an x-direction linear slide 24, a z-direction linear slide 23, a linear swing device 22, a welding torch adjustment fixture 21, a tail copper slider adjustment knob 25, a copper slider 26, and a slider connection plate 27. The z-direction linear slide 23 is placed on the x-direction linear slide 24. The slider connection plate 27 connects the tail copper slider adjustment knob 25 and the copper slider 26 to the x-direction linear slide 24. Before welding operation, the position of the vehicle body relative to the weld can be adjusted through the manual handwheel of the x-direction linear slide 24. At the same time, the tail copper slider 26 can slide on the welding surface protruding after the welding torch completes welding to assist the trolley in determining the travel trajectory.

[0037] As Figure 7As shown in the figure, it is a schematic diagram of the robot's operation. A curved surface adaptive wall-climbing welding robot can meet the welding working conditions with obstacles on the side of the robot by changing the movable welding platform 2. The entire movable welding platform part 2 is driven to move in the x direction by the x-direction linear slide 24. At the same time, the guide wheels 114 on the front-end tractor module 11 change their installation positions on the mounting plate 115 according to the weld position, so as to match the movable welding platform part 2 in the y direction. When there are obstacles on the side that prevent the movable welding platform part 2 and the guide wheels 114 from being centered, the above-mentioned movement can be performed to make it operate.

[0038] The present invention provides a curved surface adaptive wall-climbing welding robot, which includes an adaptive chassis part, a movable welding platform part and a welding equipment part. The movable welding platform part is loaded on the adaptive chassis part, and the welding equipment part is clamped on the movable welding platform part.

[0039] As a preferred technical solution of the present invention, the adaptive chassis part is composed of a front-end tractor module and a welding operation vehicle module, which are connected by a central rotating shaft. The central rotating shaft is stuck in a flange bearing, and the flange bearing is locked by four bolts. When the vehicle body passes through steel surfaces with different curvatures, it can perform adaptive walking through the central rotating shaft and the first magnetic attraction module of the front-end tractor and the second magnetic attraction module of the welding operation vehicle.

[0040] As a preferred technical solution of the present invention, the front-end tractor module is composed of a transmission module consisting of a motor, a reducer, a central rotating shaft and a bearing seat, a magnetic attraction module of a magnet and its installation box, and a guide wheel module. The guide wheels cooperate with the weld shape so that the vehicle body can accurately walk along the weld path, and the position of the guide wheels can be adjusted relative to the front-end tractor module according to the weld.

[0041] As a preferred technical solution of the present invention, the welding operation vehicle module is composed of bearing polyurethane wheels, casters, a support frame and a magnetic attraction module. When the magnetic attraction module attracts the steel plate, the welding operation vehicle module can remain stable relative to the welding surface, and when the front-end tractor module pulls, the platform will not produce a height change relative to the surface.

[0042] As a preferred technical solution of the present invention, the movable welding platform is composed of an x-direction linear slide, a z-direction linear slide, a linear oscillator, a welding torch adjustment fixture and a tail copper slider. The z-direction linear slide is placed on the x-direction linear slide. The slider connecting plate links the tail copper slider adjustment knob and the copper slider to the x-direction linear slide. Before welding operation, the position of the vehicle body relative to the weld can be adjusted by a manual handwheel. At the same time, the tail copper slider can slide on the welding surface protruding after the welding torch completes welding to assist the trolley in determining the walking track.

[0043] As a preferred technical solution of the present invention, a curved surface adaptive wall-climbing welding robot can meet the welding working conditions with obstacles on the side of the robot by changing the movable welding platform.

[0044] Currently, various types of wall-climbing robots have diverse styles and complex structural functions. However, they are not targeted at the curved surface welding problems of large ship hulls, cannot adapt to curved surfaces, and have low working efficiency. Based on the above problems, the present invention proposes a folding method based on a central rotating shaft to adapt to the curved surface of the ship hull, proposes a method of mechanical guide wheels and tail guide sliders to ensure the movement trajectory of the robot, and designs multiple jigs to increase the adjustable parameters of the welding torch.

[0045] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations according to the concept of the present invention without creative labor. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field based on the concept of the present invention through logical analysis, reasoning, or limited experiments on the basis of the prior art should be within the protection scope determined by the claims.

Claims

1. A curved surface adaptive wall-climbing welding robot, characterized in that, It includes an adaptive chassis part, a movable welding platform part and a welding equipment part. Among them, the adaptive chassis part includes a front tractor module and a welding operation vehicle module. The movable welding platform part is loaded on the welding operation vehicle module, and the welding equipment part is clamped on the movable welding platform part. The front tractor module and the welding operation vehicle module are connected by a central rotating shaft, and a first magnetic attraction module is provided at the lower part of the front tractor module.

2. The surface adaptive wall-climbing welding robot according to claim 1, wherein The central rotating shaft is installed on a flange bearing, and the flange bearing is fixed on the welding operation vehicle module by bolts.

3. The surface adaptive wall-climbing welding robot according to claim 1, characterized in that, The front tractor module further includes a transmission module. The transmission module includes a motor, a reducer and a central rotating shaft, and the motor drives the central rotating shaft to rotate through the reducer.

4. The surface adaptive wall-climbing welding robot according to claim 1, characterized in that, The front tractor module further includes guide wheels, and the guide wheels guide the front tractor module to travel along the weld path.

5. The surface adaptive wall-climbing welding robot according to claim 1, wherein, The welding operation vehicle module includes bearing polyurethane rubber wheels, casters and a support frame. The casters are arranged below the central rotating shaft, and the movable welding platform part is installed on the support frame.

6. The surface adaptive wall-climbing welding robot according to claim 1, characterized in that, A second magnetic attraction module is further provided at the lower part of the welding operation vehicle module, and the second magnetic attraction module is used to attract the hull steel plate when the welding operation vehicle module travels.

7. The surface adaptive wall-climbing welding robot according to claim 1, characterized in that, The movable welding platform part includes an x-direction linear slide and a z-direction linear slide. The z-direction linear slide is placed on the x-direction linear slide, and a manual handwheel is further provided on the x-direction linear slide.

8. The surface adaptive wall-climbing welding robot according to claim 7, wherein, The movable welding platform part further includes a linear oscillator and a welding torch adjustment fixture. The welding torch adjustment fixture is connected to the z-direction linear slide through the linear oscillator, and the welding equipment part is installed on the welding torch adjustment fixture.

9. The surface adaptive wall-climbing welding robot according to claim 7, characterized in that, The movable welding platform part further includes a slider connecting plate and a copper slider. The copper slider is connected to the x-direction linear slide through the slider connecting plate, and the copper slider can slide along the welded surface protruding after welding.

10. The surface adaptive wall-climbing welding robot according to claim 9, characterized in that, The movable welding platform further includes a tail copper slider adjustment knob. The tail copper slider adjustment knob is connected to the x-direction linear slide through the slider connecting plate, and the tail copper slider adjustment knob can adjust the height of the copper slider.

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