Self-walking type omnidirectional welding robot

Abstract

The invention relates to the technical field of welding equipment, in particular to a self-walking type omnidirectional welding robot which comprises a walking base, a walking system arranged at the lower end of the walking base and a control console arranged at the upper end of the walking base. A small arm frame is rotationally connected to the large arm frame, a welding rotary table is connected to the side, away from the control table, of the small arm frame, a rotary base is connected to the welding rotary table, a telescopic arm frame is connected to the rotary base, and a welding gun is connected to the end, away from the rotary base, of the telescopic arm frame. The position of the welding gun is adjusted through rotation of the rotating base and stretching of the telescopic arm frame; and the practicability is high.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of welding equipment, and particularly relates to a self-walking omnidirectional welding robot. BACKGROUND

[0002] The welding robot is widely applied to manufacturing and other fields due to the advantages of high welding efficiency, good welding quality and continuous operation in harmful environment, and with the development of science and technology, the welding robot is also developing in the direction of high intelligence and high quality.

[0003] A kind of automatic spot welding robot applied to rail transit is disclosed in Chinese patent with application No.CN202510492249.7, the above-mentioned patent is provided with lifting assembly, in the process of spot welding, when welding head and protective tube contact with the surface of welding piece, welding head can complete spot welding operation on welding piece in the process of moving upward under the action of welding piece, and with the continuous upward movement of protective tube, lifting rod can pull welding head upward and separate from welding piece by taking second fixed shaft as center and pulling welding head through pull rod, thereby avoiding welding head from sticking to welding piece during welding, and ensuring welding quality; by being provided with buffer spring, when welding head contacts with welding piece, buffer spring can be slightly compressed, so as to convert the force when welding head collides with the surface of welding piece into elastic potential energy of buffer spring, thereby reducing the impact force received by welding head, protecting welding head from being damaged, and when lifting rod pulls welding head to move upward, compressed buffer spring can be first elongated, so that welding head can keep close to the surface of welding piece in a short time, thereby ensuring that welding head has sufficient time to weld welding piece, and ensuring welding quality.

[0004] Chinese patent with application No.CN202510410934.0 discloses an industrial welding robot, which effectively solves the problem of damage of splashed welding slag to the surface quality of the pipeline during the welding process. The protective structure formed by the slag blocking box and the slag blocking piece can block most of the splashed welding slag within a certain range, avoiding the direct impact of the welding slag on the other parts of the pipeline except the welding area, thereby protecting the flatness and smoothness of the pipeline surface, maintaining the integrity of the pipeline surface corrosion-resistant coating, and improving the corrosion resistance of the pipeline. At the same time, the slag blocking piece is slidable to adapt to the design of different pipeline surface radii, enhancing the universality of the welding robot, making it applicable to pipeline welding work of various pipe diameters, reducing the cost and time of replacing different welding equipment for different pipe diameters, and improving the efficiency of industrial production. However, the following problems still exist in actual application: 1. Most of the existing welding robots adopt fixed position for welding, and the welding workpiece is moved to the welding position for welding. It is more cumbersome to handle larger workpieces, and the moving range of most welding robots is limited, and it cannot be adjusted in all directions and at all angles, and the welding range is limited; 2. The existing welding equipment gas cylinder installation needs to carry and lift, and bolts are needed during the fixing process of the gas cylinder. In addition, in the case of low temperature and small gas volume, the gas volatilization is slow, and the gas overflow cannot be effectively guaranteed. 3. The welding fume generated during the welding process cannot be effectively discharged, which affects the monitoring of the welding position and the welding quality.

[0005] Therefore, the present application provides a self-walking omnidirectional welding robot to solve the above problems. SUMMARY

[0006] In view of the above, in order to overcome the defects of the prior art, the present application provides a self-walking omnidirectional welding robot, which effectively solves the problems of full-range and full-angle welding of large workpieces, effective limiting of gas cylinders, and effective discharge of welding fume.

[0007] The present application comprises a walking base, a walking system placed at the lower end of the walking base, and a control console placed at the upper end of the walking base. The control console is rotatably connected with a large arm support. The lower end of the large arm support is rotatably connected with a telescopic hydraulic cylinder. The lower end of the telescopic hydraulic cylinder is rotatably connected with the walking base. The large arm support is rotatably connected with a small arm support. The side of the small arm support away from the control console is connected with a welding turntable. The welding turntable is connected with a rotating base. The rotating base is connected with a telescopic arm support. The end of the telescopic arm support away from the rotating base is connected with a welding gun. The position of the welding gun is adjusted by the rotation of the rotating base and the telescoping of the telescopic arm support. The walking base is internally provided with a servo turntable. The control console is connected with the servo turntable. The servo turntable drives the control console to rotate synchronously. The walking base is connected with a support bracket. The support bracket is placed with a gas cylinder. The gas cylinder supplies gas to the welding gun.

[0008] Preferably, the lower end of the walking base is connected with four support leg structures distributed in a rectangular shape. The support leg structure comprises a hydraulic lifting leg connected with the walking base. The lower end of the lifting leg is connected with an elastic limiting disc. The upper end of the hydraulic lifting leg is connected with a hydraulic system placed in the control box. The upper end of the hydraulic lifting leg is connected with a solenoid valve. The solenoid valve is connected with the hydraulic system. The communication between the hydraulic lifting leg and the hydraulic system is controlled by the opening and closing of the solenoid valve.

[0009] Preferably, the support bracket comprises a support frame fixedly connected with the walking base, a fixed vertical beam connected with the support frame, a swing arm telescopic sleeve rod in parallel with the upper and lower ends rotatably connected with the fixed vertical beam, and a storage rack rotatably connected with the other end of the swing arm telescopic sleeve rod, and the gas cylinder is arranged on the storage rack. The swing arm telescopic sleeve rod at the upper end is connected with a lifting adjusting plate, the lower end of the lifting adjusting plate is rotatably connected with a lifting hydraulic rod, and the lower end of the lifting hydraulic rod is rotatably connected with the fixed vertical beam.

[0010] Preferably, the storage rack comprises a vertical support frame rotatably connected with the swing arm telescopic sleeve rod, a support tray fixedly connected with the lower end of the vertical support frame, and a semi-annular limiting ring fixedly connected with the upper end of the vertical support frame, one end of the semi-annular limiting ring is rotatably connected with a rotating limiting ring, and a limiting locking mechanism is connected between the rotating limiting ring and the semi-annular limiting ring.

[0011] Preferably, the limiting locking mechanism comprises a locking seat connected with the semi-annular limiting ring, a locking clamping seat connected with the semi-annular limiting ring, a locking groove formed in the locking seat, a locking sliding block in sliding connection with the locking clamping seat in an up-down direction, the locking sliding block is in a wedge shape, the locking sliding block and the locking clamping seat are connected through a spring, the upper end of the locking sliding block penetrates through the locking clamping seat, and a handle is fixedly connected with the upper end of the locking clamping block.

[0012] Preferably, a semi-circular heating frame is fixedly connected with the vertical support frame, a plurality of heating rods are connected with the inside of the semi-circular heating frame in an equicircle manner, the heating rods are in contact with the gas cylinder, the heating rods are connected with an external control unit, a temperature sensor is fixedly connected with the vertical support frame, and the temperature sensor is connected with the control unit.

[0013] Preferably, a flow guide cover is fixedly connected with the tail end of the welding gun, a visual camera is connected with the inside of the flow guide cover, the welding condition is monitored and the welding position is determined through the visual camera, a flow guide ring sleeve is fixedly connected with the outer edge of the flow guide cover, the flow guide ring sleeve is connected with the inside of the flow guide cover in communication, and the flow guide ring sleeve is connected with an external negative pressure equipment.

[0014] Preferably, an air pipe is connected with the inside of the flow guide ring sleeve, a dust blocking ring is fixedly connected with the inside of the air pipe, a circular dust storage groove is formed in the inside of the dust blocking ring, and a conical flow guide plate is fixedly connected with the inside of the air pipe.

[0015] The present application improves the existing welding robot and has the following beneficial effects: 1. By setting the walking base, servo turntable, large arm support, small arm support, telescopic arm support, welding turntable and welding gun, etc. Structure, effectively realize the problem of being able to realize all-around no dead angle welding according to actual needs; 2. By supporting frame, fixed vertical beam, storage rack, lifting adjusting plate, lifting hydraulic rod, semi-ring limiting ring, rotating limiting ring and other structures, effectively realize the problem of effectively limiting and fixing the gas cylinder; 3. By setting the fairing, flow ring, air pipe, dust ring and circular dust storage groove, effectively avoid the problem of smoke gathering near the welding gun, which is not convenient for visual inspection and welding smoke affecting the welding quality. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a schematic view of the present invention.

[0017] Figure 2 is a partial schematic view of the present invention Figure 1 .

[0018] Figure 3 is a partial schematic view of the present invention Figure 2 .

[0019] Figure 4 is a schematic view of the walking base of the present invention.

[0020] Figure 5 is a schematic view of the present invention Figure 1 .

[0021] Figure 6 is a schematic view of the present invention Figure 2 .

[0022] Figure 7 is a schematic view of the fairing and its connecting parts of the present invention.

[0023] Figure 8 is a schematic view of the fairing and its internal structure of the present invention.

[0024] Figure 9 is a schematic view of the heating rod and its connecting parts of the present invention.

[0025] Reference numerals: 1, walking base; 2, control console; 3, large arm support; 4, telescopic hydraulic cylinder; 5, small arm support; 6, welding rotary table; 7, rotating base; 8, telescopic arm support; 9, welding torch; 10, servo rotary table; 11, support bracket; 12, gas cylinder; 13, hydraulic lifting leg; 14, elastic limiting disc; 15, support frame; 16, fixed vertical beam; 17, swing arm telescopic sleeve rod; 18, storage rack; 19, lifting adjusting plate; 20, lifting hydraulic rod; 21, vertical support frame; 22, support tray; 23, semi-annular limiting ring; 24, rotating limiting ring; 25, locking seat; 26, locking clamping seat; 27, locking groove; 28, locking slider; 29, handle; 30, semicircular heating frame; 31, heating rod; 32, flow guide cover; 33, visual camera; 34, flow guide ring sleeve; 35, dust blocking ring; 36, circular annular dust storage groove; 37, conical flow guide plate. DETAILED DESCRIPTION

[0026] The foregoing and other technical contents, features and effects of the present application will be described in detail below with reference to the accompanying drawings. Figures 1 to 9 The detailed description of the embodiments will be clearly presented. The structural contents mentioned in the following embodiments are all referred to the drawings.

[0027] The exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

[0028] The present invention is a self-propelled omnidirectional welding robot, comprising a walking base 1, a walking system placed at the lower end of the walking base 1, and a control console 2 placed at the upper end of the walking base 1, wherein the control console 2 is integrated with a control unit, and the control unit realizes control between various parts, and drives the walking base 1 to walk through the walking system, and at the same time, the walking system is driven by a conventional walking wheel walking structure, and a large boom 3 is rotatably connected to the console 2, and the lower end of the large boom 3 is rotatably connected to a telescopic hydraulic cylinder 4, and the lower end of the telescopic hydraulic cylinder 4 is rotatably connected to the walking base 1, and the rotation of the large boom 3 around the console 2 is realized by the extension and contraction of the hydraulic telescopic cylinder, thereby realizing the lifting and adjustment of the large boom 3, and the large boom 3 is connected to a small boom 5. The small arm 5 is connected to a welding turntable 6 on the side away from the console 2. The sliding of the small arm 5 on the large arm 3 can also achieve further adjustment of the position of the welding turntable 6. The welding turntable 6 is connected to a rotating base 7. The rotating base 7 rotates around the axis of the welding turntable 6. The rotating base 7 is connected to a telescopic arm 8. The telescopic arm 8 adopts a conventional telescopic arm 8 for travel, which can achieve telescopic pitch adjustment, and thus achieve adjustment of the overall height and pitch height of the telescopic arm 8. The telescopic arm 8 is connected to a welding gun 9 at one end away from the rotating base 7. The position of the welding gun 9 is adjusted by rotating the rotating base 7 and extending and retracting the telescopic arm 8. The welding gun 9 is adjusted to a suitable position, and then the workpiece is welded to ensure all-round welding without dead angles. A servo turntable 10 is placed inside the walking base 1, and the console 2 is connected to the servo turntable 10. The rotation of the servo turntable 10 drives the console 2 to rotate synchronously. The rotation of the servo turntable 10 realizes the rotation adjustment of the welding gun 9 and the telescopic arm 8 around the walking base 1, realizes the rotation of the console 2, and thus ensures that the welding gun 9 can rotate in all directions; The walking base 1 is connected to a support bracket 11, and a gas cylinder 12 is placed on the support bracket 11. The gas cylinder 12 supplies gas to the welding gun 9. The gas cylinder 12 is filled with protective gas to provide protection for welding.

[0029] In the specific implementation of the embodiment, in the process of welding the workpiece, first, the walking base 1 is moved to the vicinity of the workpiece to be welded through the walking system, then the servo turntable 10 is controlled to rotate through the control unit according to the position of the workpiece, the rotation of the servo turntable 10 drives the rotation of the control console 2, the rotation of the control console 2 drives the synchronous rotation of the large arm support 3, the small arm support 5 and the telescopic arm support 8, thereby realizing the rotation adjustment of the welding torch 9, after rotating to the appropriate position, the telescopic hydraulic cylinder 4 is used to adjust the large arm support 3, thereby realizing the adjustment of the height of the welding turntable 6, after the adjustment is completed, the telescopic arm support 8 is adjusted to the welding position, and then the welding torch 9 is started to weld the workpiece.

[0030] In order to realize the positioning and supporting of the walking base 1 and avoid the shaking of the walking system, the embodiment provides a mechanism for limiting the walking base 1, specifically, four leg structures distributed in a rectangular shape are connected to the lower end of the walking base 1, the leg structure comprises a hydraulic lifting leg 13 connected to the walking base 1, the lower end of the lifting leg is connected with an elastic limiting disc 14, the upper end of the hydraulic lifting leg 13 is connected with a hydraulic system arranged in the control box, the upper end of the hydraulic lifting leg 13 is connected with an electromagnetic valve, the electromagnetic valve is connected with the hydraulic system, the communication between the hydraulic lifting leg 13 and the hydraulic system is controlled through the opening and closing of the electromagnetic valve, the lifting of the hydraulic lifting leg 13 by the hydraulic system is realized through the opening and closing control of the electromagnetic valve, thereby ensuring the effective support of the walking base 1, at the same time, the elastic limiting disc 14 is in contact with the ground, can be closely attached to the ground with poor flatness, ensures the stability of the support of the walking base 1, and avoids the problems of shaking and sliding.

[0031] In order to facilitate the installation of the gas cylinder 12, and at the same time effectively limit the fixing of the gas cylinder 12, the embodiment provides a support bracket 11, specifically, the support bracket 11 includes a support frame 15 fixedly connected with the walking base 1, a fixed vertical beam 16 is connected to the support frame 15, a swing arm telescopic sleeve rod 17 is rotatably connected to the fixed vertical beam 16 and is distributed in parallel up and down, the swing arm telescopic sleeve rod 17 is adjusted in position at the other end during rotation around the fixed vertical beam 16, the other end of the swing arm telescopic sleeve rod 17 is rotatably connected with a storage rack 18, the storage rack 18 is synchronously lifted by the lifting of the swing arm telescopic sleeve rod 17, the gas cylinder 12 is placed on the storage rack 18 and is synchronously lifted during the lifting of the storage rack 18, thereby realizing the adjustment of the position of the gas cylinder 12, when the gas cylinder 12 is installed, the storage rack 18 is at the lowermost end, facilitating the movement of the gas cylinder 12 to the storage rack 18, reducing the carrying of the gas cylinder 12, and at the same time, the gas cylinder 12 on the storage rack 18 can also be adjusted to an appropriate height.

[0032] The swing arm telescopic sleeve rod 17 is rotatably connected with a lifting adjusting plate 19, the lower end of the lifting adjusting plate 19 is rotatably connected with a lifting hydraulic rod 20, the lower end of the lifting hydraulic rod 20 is rotatably connected with the fixed vertical beam 16, the lifting hydraulic rod 20 is stretched and retracted to realize the sliding adjustment of the lifting adjusting plate 19, the swing arm telescopic sleeve rod 17 is adjusted during the sliding of the lifting adjusting plate 19, thereby realizing the height adjustment of the gas cylinder 12.

[0033] The storage rack 18 includes a vertical support frame 21 rotatably connected with the swing arm telescopic sleeve rod 17, the lower end of the vertical support frame 21 is fixedly connected with a support tray 22, the gas cylinder 12 is placed on the support tray 22, the support tray 22 supports the gas cylinder 12, the upper end of the vertical support frame 21 is fixedly connected with a semi-annular limiting ring 23, the semi-annular limiting ring 23 limits the gas cylinder 12 to avoid the gas cylinder 12 from falling, one end of the semi-annular limiting ring 23 is rotatably connected with a rotating limiting ring 24, a limiting locking mechanism is connected between the rotating limiting ring 24 and the semi-annular limiting ring 23, the rotating limiting ring 24 and the semi-annular limiting ring 23 are matched to effectively limit the gas cylinder 12, and the limiting locking mechanism locks the rotating limiting ring 24 and the semi-annular limiting ring 23 to avoid the shaking of the gas cylinder 12 during movement, and to ensure the stability of the gas cylinder 12.

[0034] The limiting and locking mechanism comprises a locking seat 25 connected to the semi-annular limiting ring 23, a locking clamping seat 26 connected to the semi-annular limiting ring 23, a locking slot 27 formed in the locking seat 25, a locking slider 28 slidingly connected to the locking clamping seat 26, the locking slider 28 being wedge-shaped, the locking slider 28 and the locking clamping seat 26 being connected by a spring, the upper end of the locking slider 28 penetrating the locking clamping seat 26, and a handle 29 fixedly connected to the upper end of the locking clamping block, the handle 29 being capable of achieving unlocking between the locking seat 25 and the locking slider 28.

[0035] The semi-circular heating frame 30 is fixedly connected to the vertical support frame 21, a plurality of heating rods 31 are connected to the inside of the semi-circular heating frame 30 at equal circumferences, the heating rods 31 are in contact with the gas cylinder 12, the heating rods 31 are connected to an external control unit, a temperature sensor is fixedly connected to the vertical support frame 21, the temperature sensor is connected to the control unit, and the heating rods 31 heat the gas cylinder 12 in the case of less gas or lower temperature, so as to ensure that the gas can be completely utilized.

[0036] The welding gun 9 is fixedly connected to a flow guide cover 32, a visual camera 33 is connected to the inside of the flow guide cover 32, the welding condition is monitored and the welding position is determined through the visual camera 33, a flow guide ring sleeve 34 is fixedly connected to the outer edge of the flow guide cover 32, the flow guide ring sleeve 34 is connected to the inside of the flow guide cover 32, the flow guide ring sleeve 34 is connected to an external negative pressure device, the inside of the flow guide ring sleeve is pumped by the negative pressure device, and the smoke is timely discharged, so as to facilitate the monitoring of the visual camera 33.

[0037] The flow guide ring sleeve 34 is connected to an air pipe, the air pipe is fixedly connected to a dust blocking ring 35, a circular dust storage groove 36 is formed in the inside of the dust blocking ring 35, and a conical flow guide plate 37 is fixedly connected to the inside of the air pipe, the conical flow guide plate 37 guides the smoke, so that the smoke enters the dust blocking ring 35, and the particles in the smoke are retained in the circular dust storage groove 36.

[0038] The above-mentioned embodiments are only preferred embodiments of the present application, and cannot be used to limit the protection scope of the present application, and any non-essential changes and replacements made by those skilled in the art on the basis of the present application all belong to the protection scope of the present application.

Claims

1. A self-propelled omnidirectional welding robot, comprising a walking base (1), a walking system disposed at the lower end of the walking base (1), and a control console (2) disposed at the upper end of the walking base (1), characterized in that: The control console (2) is rotatably connected to a large boom (3), the lower end of the large boom (3) is rotatably connected to a telescopic hydraulic cylinder (4), the lower end of the telescopic hydraulic cylinder (4) is rotatably connected to the walking base (1), the large boom (3) is rotatably connected to a small boom (5), the small boom (5) is connected to a welding turntable (6) on the side away from the control console (2), the welding turntable (6) is connected to a rotating base (7), the rotating base (7) is connected to a telescopic boom (8), the telescopic boom (8) is connected to a welding gun (9) on one end away from the rotating base (7), and the position of the welding gun (9) is adjusted by rotating the rotating base (7) and extending and retracting the telescopic boom (8); A servo turntable (10) is disposed inside the walking base (1), and the control console (2) is connected to the servo turntable (10). The rotation of the servo turntable (10) drives the control console (2) to rotate synchronously. The walking base (1) is connected to a support bracket (11), a gas cylinder (12) is placed on the support bracket (11), and the gas cylinder (12) supplies gas to the welding gun (9).

2. A self-propelled omnidirectional welding robot according to claim 2, characterized in that: The lower end of the walking base (1) is connected to four rectangularly distributed leg structures, and the leg structure includes a hydraulic lifting leg (13) connected to the walking base (1), and the lower end of the lifting leg is connected to an elastic limit plate (14), and the upper end of the hydraulic lifting leg (13) is connected to the hydraulic system placed inside the control box, and the upper end of the hydraulic lifting leg (13) is connected to a solenoid valve, and the solenoid valve is connected to the hydraulic system, and the connection between the hydraulic lifting leg (13) and the hydraulic system is controlled by opening and closing the solenoid valve.

3. The self-propelled omnidirectional welding robot according to claim 3, characterized in that: The support bracket (11) includes a support frame (15) fixedly connected to the walking base (1), the support frame (15) is connected to a fixed vertical beam (16), the fixed vertical beam (16) is rotatably connected to a swing arm telescopic sleeve (17) distributed in parallel up and down, the other end of the swing arm telescopic sleeve (17) is rotatably connected to a storage rack (18), and the gas cylinder (12) is placed on the storage rack (18); The upper end of the swing arm telescopic sleeve rod (17) is connected to a lifting adjustment plate (19), the lower end of the lifting adjustment plate (19) is rotatably connected to a lifting hydraulic rod (20), and the lower end of the lifting hydraulic rod (20) is rotatably connected to the fixed vertical beam (16).

4. The self-propelled omnidirectional welding robot according to claim 3, characterized in that: The storage rack (18) includes a vertical support frame (21) rotatably connected to the swing arm telescopic sleeve (17), the lower end of the vertical support frame (21) is fixedly connected to a support tray (22), the gas cylinder (12) is placed on the support tray (22), the upper end of the vertical support frame (21) is fixedly connected to a semi-annular limiting ring (23), one end of the semi-annular limiting ring (23) is rotatably connected to a rotation limiting ring (24), and a limited locking mechanism is connected between the rotation limiting ring (24) and the semi-circular limiting ring.

5. The self-propelled omnidirectional welding robot according to claim 4, characterized in that: The limit locking mechanism includes a locking seat (25) connected to the semi-annular limit ring (23), a locking card seat (26) connected to the semi-annular limit ring (23), a locking groove (27) provided on the locking seat (25), a locking slider (28) connected to the locking card seat (26) for sliding up and down, the locking slider (28) being wedge-shaped, the locking slider (28) and the locking card seat (26) being connected by a spring, the upper end of the locking slider (28) passing through the locking card seat (26), and the upper end of the locking card block being fixedly connected to a handle (29).

6. A self-propelled omnidirectional welding robot according to claim 6, characterized in that A semicircular heating frame (30) is fixedly connected to the vertical support frame (21), and a plurality of heating rods (31) are connected to the interior of the semicircular heating frame (30) at equal circumferences. The heating rod (31) is in contact with the gas cylinder (12), and the heating rod (31) The vertical support frame (21) is connected to an external control unit, and a temperature sensor is fixedly connected to the vertical support frame (21), and the temperature sensor is connected to the control unit.

7. The self-propelled omnidirectional welding robot according to claim 1, characterized in that In, The tail end of the welding gun (9) is fixedly connected to a guide cover (32), and a visual camera (33) is connected inside the guide cover (32). The visual camera (33) is used to monitor the welding situation and determine the welding position. The outer edge of the guide cover (32) is fixedly connected to a guide ring (34), and the guide ring (34) is connected to the inside of the guide cover (32). The guide ring (34) is connected to the external negative pressure equipment.

8. The self-propelled omnidirectional welding robot according to claim 7, characterized in that In, The guide ring sleeve (34) is internally connected to a vent pipe, the vent pipe is internally fixedly connected to a dust shield ring (35), the dust shield ring is internally provided with an annular dust storage groove (36), and the vent pipe is internally fixedly connected to a conical guide plate (37).

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