Welding robot and welding system
By designing a multi-directional reciprocating welding robot, the technical problem of existing welding equipment being difficult to handle complex sewing has been solved, and the adaptability to various welding conditions and the improvement of welding efficiency have been achieved.
Patent Information
- Application Number
- CN202420265656.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-02
- Publication Date
- 2025-01-21
- Estimated Expiration
- 2034-02-02
AI Technical Summary
The existing welding equipment in the form of linear motion structures is difficult to meet the process requirements of ring-shaped, oblique, irregular and large gap lateral closing joint welding.
A welding robot is designed, including a welding part and a walking part. The welding part uses an adjustment device to make the welding gun reciprocate in multiple directions, forming a zigzag motion route to adapt to different types of welding conditions.
It realizes flat swing welding and oblique swing welding of the welding gun, adapts to a variety of welding conditions, reduces the risk of defects such as incomplete fusion and incomplete penetration of the base metal, and improves welding efficiency.
Smart Images
Figure CN222371617U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of welding equipment, and in particular to a welding robot and a welding system. Background Art
[0002] When welding the parent material using a welding device with a linear motion structure, the welding gun usually moves in a left-right swinging motion. That is, in the length direction of the weld, the welding gun reciprocates along a trajectory line that is approximately perpendicular to the direction. Although this swinging motion has basically met the welding requirements for common regular welds such as transverse, longitudinal, horizontal, and horizontal, it still cannot meet the welding process requirements for circular, oblique, irregular, and large-gap transverse joints. Utility Model Content
[0003] The purpose of this application is to provide a welding robot and a welding system that can adapt to a variety of welding conditions and meet welding process requirements.
[0004] The present application provides a welding robot, comprising a welding part and a walking part;
[0005] The welding part includes a welding gun and an adjustment device; the adjustment device includes a first moving mechanism and a second moving mechanism connected to each other, the first moving mechanism is used to drive the welding gun to reciprocate in the groove range along a first direction, and the second moving mechanism is used to drive the welding gun to reciprocate in the groove range along a second direction; the plane where the first direction and the second direction are located is located on the welded surface of the parent material, and the in-situ motion trajectory of the welding gun forms a preset angle with the length direction of the groove;
[0006] The walking part walks on the surface of the base material, and the walking part is connected to the welding part to drive the welding part to move along the length direction of the groove of the base material, so that the welding gun forms a zigzag movement route.
[0007] In the above technical solution, further, the first direction is perpendicular to the second direction.
[0008] In the above technical solution, further, the first direction is perpendicular to the moving direction of the walking unit, and the second direction is in the same direction as the moving direction of the walking unit.
[0009] In the above technical solution, further, the frequency at which the first moving mechanism drives the welding gun to reciprocate is a first frequency, the frequency at which the second moving mechanism drives the welding gun to reciprocate is a second frequency, and the first frequency is the same as the second frequency.
[0010] In the above technical solution, further, the speed at which the first moving mechanism drives the welding gun to reciprocate is a first speed, and the speed at which the second moving mechanism drives the welding gun to reciprocate is a second speed, and the first speed and the second speed are configured as a preset ratio so that the in-situ motion trajectory of the welding gun forms a preset angle with the length direction of the groove.
[0011] In the above technical solution, further, the adjustment device also includes a third moving mechanism;
[0012] The third moving mechanism is connected to the first moving mechanism or the second moving mechanism to drive the welding gun to reciprocate along the third direction;
[0013] The third direction is perpendicular to the welded surface of the parent material.
[0014] In the above technical solution, further, the driving end of the second moving mechanism is connected to the mounting end of the third moving mechanism, the driving end of the third moving mechanism is connected to the mounting end of the first moving mechanism, and the driving end of the first moving mechanism is connected to the welding gun.
[0015] In the above technical solution, further, the walking part includes a frame chassis and a wheel-track mechanism;
[0016] The welding part is installed on the frame chassis, the wheel-track mechanism is installed on both sides of the frame chassis, and the wheel-track mechanism is adsorbed and moved on the surface of the parent material.
[0017] In the above technical solution, further, the welding part also includes a clamping mechanism, and the clamping mechanism is connected to the adjustment device to fix the welding gun.
[0018] The present application also provides a welding system, comprising the welding robot described in the above solution.
[0019] Compared with the prior art, the beneficial effects of this application are:
[0020] The welding robot provided in the present application can realize horizontal and oblique welding of the welding gun to adapt to various welding conditions, increase the optionality of the welding process, and reduce the risk of defects such as incomplete fusion and incomplete penetration of the parent material, thereby improving the welding efficiency of the base layer of the parent material groove.
[0021] The present application also provides a welding system, including the welding robot described in the above solution. Based on the above analysis, it can be seen that the welding system also has the above beneficial effects, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0023] Figure 1 A schematic diagram of the structure of the welding robot provided for this application;
[0024] Figure 2 A schematic diagram of a first movement route of a welding gun provided in this application;
[0025] Figure 3 A schematic diagram of a second movement route of the welding gun provided in this application;
[0026] Figure 4 This is a schematic diagram of the third movement route of the welding gun provided in this application.
[0027] In the figure: 101- welding gun; 102- adjusting device; 103- first moving mechanism; 104- second moving mechanism; 105- groove; 106- parent material; 107- third moving mechanism; 108- frame chassis; 109- wheel track mechanism; 110- clamping mechanism. DETAILED DESCRIPTION
[0028] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.
[0029] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
[0030] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0031] Embodiment 1
[0032] See also Figures 1 to 4 As shown, the welding robot provided in the present application can weld a vertically arranged parent material 106 , and can meet the welding process requirements regardless of the length direction of the groove 105 on the parent material 106 .
[0033] The welding robot includes a welding part and a walking part. The welding part includes a welding gun 101 and an adjusting device 102; the adjusting device 102 includes a first moving mechanism 103 and a second moving mechanism 104 connected to each other. The first moving mechanism 103 is used to drive the welding gun 101 to move in a first direction ( Figure 1 The second moving mechanism 104 is used to drive the welding gun 101 to move in the second direction ( Figure 1 The welding gun 101 reciprocates within the groove 105 (in the direction B) so that the side of the welding line does not exceed the range of the groove 105. And the plane where the first direction and the second direction are located is located on the welded surface of the parent material 106. It should be noted that when the surface of the parent material 106 is non-planar, the welded surface of the parent material 106 changes accordingly according to the undulation of the surface of the parent material 106, and the welded surface is the section at the welded point of the parent material 106. Under the joint action of the first moving mechanism 103 and the second moving mechanism 104, the in-situ motion trajectory of the welding gun 101 forms a preset angle with the length direction of the groove 105.
[0034] Furthermore, the walking part walks on the surface of the base material 106, and the walking part is connected to the welding part to drive the welding part to move along the length direction of the groove 105 of the base material 106. Since the adjustment device 102 drives the welding to and fro, the welding gun 101 can form a zigzag motion path when the welding robot moves forward.
[0035] Specifically, for different length directions of the groove 105 on the parent material 106 , the control adjustment device 102 can be adaptively adjusted accordingly, so that different preset angles are formed between the in situ motion trajectory of the welding gun 101 and the length direction of the groove 105 .
[0036] like Figure 2As shown, for the groove 105 whose length direction is the vertical direction, when the walking part is not started, the adjustment device 102 can make the in-situ motion trajectory of the welding gun 101 be perpendicular to the length direction of the groove 105, that is, the welding gun 101 reciprocates in the left and right directions in the figure; after the walking part is started ( Figure 2 The B direction is the forward direction), the walking part moves at a constant speed from bottom to top, and the welding gun 101 moves forward to form a zigzag motion path ( Figure 2 As the walking part moves, the molten pool metal and slag fall due to their own weight during welding, and the molten pool metal formed at the later welding position flows down and can be fused and condensed at the first welding position, so the excess height position of the entire weld is uniform.
[0037] like Figure 3 As shown, for the groove 105 whose length direction is inclined, if the adjusting device 102 makes the in-situ motion trajectory of the welding gun 101 perpendicular to the length direction of the groove 105, after the walking part is started ( Figure 3 The B direction is the forward direction), and as the welding gun 101 moves, the welding gun 101 can form a zigzag motion path ( Figure 3 ), but each section of the movement route of the welding gun 101 is inclined downward, and the molten pool metal will accumulate and condense on the lower side (the right side of Figure 3) under the action of gravity, resulting in uneven excess height of the entire weld. When welding a large gap transverse closure seam, due to factors such as increased span and continuous advancement of the welding gun 101, the upper and lower parent materials 106 are often unable to connect, resulting in incomplete penetration. At this time, it is necessary to set the in-situ movement trajectory of the welding gun 101 according to the inclination angle of the groove 105.
[0038] like Figure 4 As shown in the figure, the welding gun 101 swings obliquely to form an oblique sawtooth motion path. When the walking part is not started, the adjustment device 102 can make the in-situ motion trajectory of the welding gun 101 form an angle with the length direction of the groove 105, so that the in-situ motion trajectory of the welding gun 101 is horizontal. Figure 4 The B direction is the forward direction), the walking part moves obliquely from bottom to top at a uniform speed, and the welding gun 101 moves forward to form an oblique zigzag motion path ( Figure 4 As shown by the dotted line, the teeth are non-isosceles triangle teeth. During the movement of the walking part, as the welding gun 101 moves, the molten pool metal is still condensed toward the welding line directly below due to the action of gravity, and will not cause local accumulation of the groove 105. This method can reduce the risk of defects such as lack of fusion and lack of penetration, increase the selectivity of the welding process, and improve the welding efficiency of the groove 105 of the parent material 106.
[0039] In an optional solution of this embodiment, the first direction is perpendicular to the second direction, and the combined movement of the two directions forms the in-situ movement trajectory of the welding gun 101. Figure 1 As shown, the first direction is perpendicular to the moving direction of the welding robot, and the second direction is in the same direction as the moving direction of the welding robot. This arrangement facilitates the installation of the adjustment device 102, and the first direction is perpendicular to the second direction, making it easier to calculate the in-situ motion trajectory of the welding gun 101 based on the synthesis of the two directions, so that the preset angle can be adjusted accordingly.
[0040] In an optional scheme of this embodiment, the frequency at which the first moving mechanism 103 drives the welding gun 101 to reciprocate is a first frequency, and the frequency at which the second moving mechanism 104 drives the welding gun 101 to reciprocate is a second frequency. The first frequency is the same as the second frequency, and the timing of the changes in the two motion forms is the same, so that the welding gun 101 can form a zigzag motion path.
[0041] like Figure 4 As shown, with the forward direction of the welding robot as the front and the reverse direction as the rear, in the process of the welding robot moving forward, on the first movement route of the welding gun 101, the first moving mechanism 103 drives the welding gun 101 to move from right to left, and at the same time, the second moving mechanism 104 drives the welding gun 101 to move from front to back, so that the welding gun 101 moves obliquely from the right groove 105 to the left groove 105; on the second movement route of the welding gun 101, the first moving mechanism 103 drives the welding gun 101 to move from left to right, and at the same time, the second moving mechanism 104 drives the welding gun 101 to move from back to front, so that the welding gun 101 moves obliquely from the left groove 105 to the right groove 105; and then repeat the above process until the welding is completed.
[0042] In an optional scheme of this embodiment, the speed at which the first moving mechanism 103 drives the welding gun 101 to reciprocate is a first speed, and the speed at which the second moving mechanism 104 drives the welding gun 101 to reciprocate is a second speed. The first speed and the second speed are configured as a preset ratio so that the in-situ motion trajectory of the welding gun 101 forms a preset angle with the length direction of the groove 105.
[0043] In this embodiment, since the first frequency is the same as the second frequency, within the same movement time, the first speed determines the swing amplitude of the welding gun 101 in the first direction, and the second speed determines the swing amplitude of the welding gun 101 in the second direction, and the ratio of the swing amplitudes in these two directions determines the size of the preset angle, thereby controlling the angle of the oblique movement of the welding gun 101. For the groove 105 whose length direction is the vertical direction, the second speed can be set to zero, the preset angle can be set to zero, and the existing flat swing welding function is retained. For the groove 105 whose length direction is the inclined direction, the ratio of the first speed to the second speed can be adjusted according to the inclination angle of the groove 105, thereby adjusting the preset angle to achieve oblique swing welding.
[0044] In an optional solution of this embodiment, the adjustment device 102 further includes a third moving mechanism 107; the third moving mechanism 107 is connected to the first moving mechanism 103 or the second moving mechanism 104 to drive the welding gun 101 along the third direction ( Figure 1 The third moving mechanism 107 drives the welding gun 101 to reciprocate along the third direction, so that the welding gun 101 approaches or moves away from the parent material 106, and the distance between the welding gun 101 and the parent material 106 can be adjusted to achieve welding at the groove 105 position.
[0045] In an optional solution of this embodiment, the driving end of the second moving mechanism 104 is connected to the mounting end of the third moving mechanism 107, the driving end of the third moving mechanism 107 is connected to the mounting end of the first moving mechanism 103, and the driving end of the first moving mechanism 103 is connected to the welding gun 101.
[0046] In this embodiment, specifically, the first moving mechanism 103, the second moving mechanism 104 and the third moving mechanism 107 all include a housing, a motor and a screw assembly. The motor is installed on the housing shell, and the screw assembly is installed in the housing. The motor drives the screw of the screw assembly to rotate so that the nut of the screw assembly moves linearly. Figure 1 The nut of the second moving mechanism 104 that moves forward and backward as shown in the figure is connected to the housing of the third moving mechanism 107, the nut of the third moving mechanism 107 is connected to the housing of the first moving mechanism 103, and the nut of the first moving mechanism 103 is connected to the welding gun 101. The third moving mechanism 107, the first moving mechanism 103 and the welding gun 101 can move forward and backward together, the first moving mechanism 103 and the welding gun 101 can move up and down together, and the welding gun 101 can perform three-axis motion in the up and down, left and right, and front and back directions.
[0047] Embodiment 2
[0048] The welding robot in the second embodiment is an improvement on the above embodiment, and the technical contents disclosed in the above embodiment will not be described repeatedly, and the contents disclosed in the above embodiment also belong to the contents disclosed in the second embodiment.
[0049] See also Figure 1 As shown, in the optional solution of this embodiment, the walking part includes a frame chassis 108 and a wheel-track mechanism 109. The welding part is installed on the frame chassis 108, specifically, the first moving mechanism 103 of the welding part is connected to the frame chassis 108. Wheel-track mechanisms 109 are installed on both sides of the frame chassis 108, and the wheel-track mechanisms 109 on both sides respectively walk on both sides of the groove 105, and the wheel-track mechanisms 109 adsorb and walk on the surface of the parent material 106. Preferably, the wheel-track mechanism 109 is a magnetic adsorption crawler, and the welding robot can adsorb and walk on the surface of the parent material 106 arranged in the vertical direction, and can weld welds of various lengths.
[0050] In addition, the walking part of the present application can also adopt other forms such as a magnetic wheel structure.
[0051] In an optional solution of this embodiment, the welding part further includes a clamping mechanism 110, which is connected to the adjustment device 102 to fix the welding gun 101. Preferably, the clamping mechanism 110 is detachably connected to the welding gun 101, and the pitch angle of the welding gun 101 can be adjusted so that the welding gun 101 is aligned with the groove 105.
[0052] Embodiment 3
[0053] Embodiment 3 of the present application provides a welding system, including a welding robot of any of the above embodiments, and thus has all the beneficial technical effects of the welding robot of any of the above embodiments, which will not be elaborated here.
[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application is described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application. In addition, a person skilled in the art can understand that although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments means being within the scope of the present application and forming different embodiments.
Claims
1. A welding robot, characterized in that: Including welding part and walking part; The welding part includes a welding gun and an adjustment device; the adjustment device includes a first moving mechanism and a second moving mechanism connected to each other, the first moving mechanism is used to drive the welding gun to reciprocate in a first direction within the groove range of the parent material, and the second moving mechanism is used to drive the welding gun to reciprocate in a second direction within the groove range; the plane where the first direction and the second direction are located is located on the welded surface of the parent material, and the in-situ motion trajectory of the welding gun forms a preset angle with the length direction of the groove; The walking part walks on the surface of the base material, and the walking part is connected to the welding part to drive the welding part to move along the length direction of the groove, so that the welding gun forms a zigzag movement route.
2. The welding robot according to claim 1, characterized in that: The first direction is perpendicular to the second direction.
3. The welding robot according to claim 2, characterized in that: The first direction is perpendicular to the moving direction of the walking unit, and the second direction is in the same direction as the moving direction of the walking unit.
4. The welding robot according to claim 1, characterized in that: The frequency at which the first moving mechanism drives the welding gun to reciprocate is a first frequency, and the frequency at which the second moving mechanism drives the welding gun to reciprocate is a second frequency, and the first frequency is the same as the second frequency.
5. The welding robot according to claim 4, characterized in that: The speed at which the first moving mechanism drives the welding gun to reciprocate is a first speed, and the speed at which the second moving mechanism drives the welding gun to reciprocate is a second speed. The first speed and the second speed are configured as a preset ratio so that the in-situ motion trajectory of the welding gun forms a preset angle with the length direction of the groove.
6. The welding robot according to claim 1, characterized in that: The adjustment device also includes a third moving mechanism; The third moving mechanism is connected to the first moving mechanism or the second moving mechanism to drive the welding gun to reciprocate along the third direction; The third direction is perpendicular to the welded surface of the parent material.
7. The welding robot according to claim 6, characterized in that: The driving end of the second moving mechanism is connected to the mounting end of the third moving mechanism, the driving end of the third moving mechanism is connected to the mounting end of the first moving mechanism, and the driving end of the first moving mechanism is connected to the welding gun.
8. The welding robot according to claim 1, characterized in that: The walking part includes a frame chassis and a wheel-track mechanism; The welding part is installed on the frame chassis, the wheel-track mechanism is installed on both sides of the frame chassis, and the wheel-track mechanism walks on the surface of the parent material by adsorption.
9. The welding robot according to claim 1, characterized in that: The welding part further comprises a clamping mechanism, and the clamping mechanism is connected to the adjusting device to fix the welding gun.
10. A welding system, characterized in that: Comprising the welding robot as claimed in any one of claims 1 to 9.