Mother-son type movable welding robot

Abstract

The utility model relates to the technical field of welding robots, in particular to a child-mother type movable welding robot which comprises a child machine and a mother machine, the child machine comprises a child machine AGV trolley, a multi-axis mechanical arm and a wire feeder, the multi-axis mechanical arm and the wire feeder are both arranged on the child machine AGV trolley, and a welding gun is fixedly arranged at the upper end of the multi-axis mechanical arm; the master machine comprises a master machine AGV trolley, a welding power source and a sub-machine control cabinet are arranged on the top of the master machine AGV trolley, and a sub-machine integrated remote controller is arranged on one side of the sub-machine control cabinet and electrically connected with the sub-machine control cabinet. The welding robot is divided into the son machine and the mother machine, so that the size of an operation part of the welding robot is reduced, and the welding robot can perform welding operation in a smaller space; and meanwhile, the operation range of the welding robot is expanded, and segmented welding and skip welding can be conducted on a welding seam on a large structural part.

Description

Technical Field

[0001] The utility model relates to the technical field of welding robots, in particular to a parent-child movable welding robot. Background Art

[0002] A welding robot is an industrial robot engaged in welding. A welding robot is an industrial robot with a welding clamp or welding gun installed on the end shaft flange, so that it can perform welding, cutting or thermal spraying. A welding robot mainly consists of two parts: a robot and welding equipment. A welding robot can stabilize and improve welding quality, increase labor productivity, improve the labor intensity of workers, work in harmful environments, reduce the requirements for work operation technology, shorten the preparation period for product upgrades, and reduce the corresponding equipment investment.

[0003] The application of welding robots is an inevitable trend in the development of the welding industry. However, existing welding robots that are not equipped with external axes can only move on their own axes, with a limited welding range and difficulty in performing jump welding. Welding robots equipped with external axes are mostly equipped with tracks or positioners, with large equipment specifications, and tracks and positioners are mostly laid in fixed areas. When welding workpieces, a lot of time is required to hoist, position and clamp the workpieces, resulting in low welding efficiency. In addition, for the welding of large and complex structural parts, existing welding robots need to constantly change their positions to meet the welding of long straight or arc welds. It takes a lot of time to adjust the posture and position reference of the welding robot, resulting in low welding efficiency. For welding positions with limited space, the welding robot cannot enter due to its large size, resulting in the inability to complete the welding operation. Summary of the invention

[0004] In order to solve the problems that the existing welding robots cannot enter the welding positions with limited space, and the welding robots have a small operating range and cannot perform skip welding and segment welding on large structural parts, the utility model provides a parent-child type movable welding robot, which is divided into a child machine and a parent machine, and the volume of the operating part of the welding robot is reduced, so that the welding robot can perform welding operations in a smaller space; at the same time, the operating range of the welding robot is expanded, and segment welding and skip welding can be performed on welds on large structural parts.

[0005] In order to achieve the above-mentioned purpose, the technical solution of the utility model is: a parent-child type movable welding robot, including a child machine and a parent machine, the child machine includes a child machine AGV trolley, a multi-axis robotic arm and a wire feeder, the multi-axis robotic arm and the wire feeder are both arranged on the child machine AGV trolley, a welding gun is fixedly arranged on the upper end of the multi-axis robotic arm, the child machine AGV trolley provides an external axis, which can be moved to a designated welding position according to actual needs to complete the welding operation through the welding gun, thereby expanding the operating range of the welding robot, and the multi-axis robotic arm can enable the welding gun to move freely, making welding more flexible.

[0006] The mother machine includes a mother machine AGV trolley, a welding power supply and a sub-machine control cabinet are arranged on the top of the mother machine AGV trolley, a sub-machine integrated remote control is arranged on one side of the sub-machine control cabinet, the sub-machine integrated remote control is electrically connected to the sub-machine control cabinet, and the welding power supply powers the welding gun.

[0007] Furthermore, anti-collision sensors are provided on both sides of the sub-machine AGV trolley, and the anti-collision sensors are electrically connected to the sub-machine control cabinet. The anti-collision sensors can prevent the sub-machine AGV trolley from colliding with obstacles.

[0008] Furthermore, the multi-axis robotic arm is a six-axis robotic arm, which has high flexibility and can perform complex movements.

[0009] Furthermore, a protective net is provided at the top edge of the mother machine AGV trolley, and a mother machine remote control is mounted on the protective net, and the protective net plays a protective role for the welding power supply and the sub-machine control cabinet.

[0010] Furthermore, the sub-machine control cabinet is electrically connected to the welding power supply; the sub-machine control cabinet is connected to a cable, and the sub-machine control cabinet is electrically connected to the sub-machine AGV trolley, the multi-axis robotic arm and the wire feeder through the cable.

[0011] Through the above technical solution, the beneficial effects of the utility model are:

[0012] The utility model is divided into a sub-machine and a main machine, which reduces the volume of the operating part of the welding robot, so that the welding robot can perform welding operations in a smaller space; at the same time, it expands the operating range of the welding robot and can perform segmented welding and jump welding on welds on large structural parts.

[0013] The utility model integrates the sub-machine AGV trolley with the multi-axis mechanical arm. The sub-machine AGV trolley provides an external axis for the multi-axis mechanical arm and can be moved to a designated welding position according to actual needs to complete the welding operation through a welding gun, thereby greatly improving the operating range of the welding robot. The use of the multi-axis mechanical arm allows the welding gun to move freely, making welding more flexible.

[0014] The utility model can prevent the sub-machine AGV trolley from expanding with obstacles when the sub-machine AGV trolley moves by means of the anti-collision sensor.

[0015] The mother machine AGV trolley of the utility model can change the overall position of the mother machine according to the position of the child machine AGV trolley, thereby changing the position of the welding power source and the child machine control cabinet to avoid the phenomenon of pulling due to insufficient length of the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural schematic diagram of a movable welding robot of a mother-and-child type in the utility model;

[0017] Figure 2 It is a structural schematic diagram of the mother machine of the utility model;

[0018] Figure 3 It is a structural schematic diagram of the utility model sub-machine;

[0019] Figure 4 It is a schematic diagram of the use state of the utility model.

[0020] The numbers in the attached figure are: 1 is the mother machine AGV trolley, 2 is the protective net, 3 is the mother machine remote control, 4 is the welding power supply, 5 is the sub-machine control cabinet, 6 is the sub-machine integrated remote control, 7 is the sub-machine AGV trolley, 8 is the anti-collision sensor, 9 is the multi-axis robotic arm, 10 is the welding gun, 11 is the wire feeder, and 12 is the cable. DETAILED DESCRIPTION

[0021] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments:

[0022] like Figure 1 to Figure 4 As shown, a movable welding robot of a parent-child type includes a child machine and a parent machine, the child machine includes a child machine AGV trolley 7, a multi-axis robotic arm 9 and a wire feeder 11, the multi-axis robotic arm 9 and the wire feeder 11 are both arranged on the child machine AGV trolley 7, the multi-axis robotic arm 9 and the wire feeder 11 are both fixedly installed on the top of the child machine AGV trolley, the wire feeder 11 provides welding wire for the welding gun 10, the upper end of the multi-axis robotic arm 9 is fixedly provided with a welding gun 10, the welding gun 10 is used to complete the welding operation, the child machine AGV trolley 7 provides an external axis for the multi-axis robotic arm 9, the child machine is moved to a designated welding position by the child machine AGV trolley 7, the use of the multi-axis robotic arm 9 allows the welding gun 10 to move freely, and the welding gun 10 is moved to the welding position by the multi-axis robotic arm 9.

[0023] The mother machine includes a mother machine AGV trolley 1, a welding power supply 4 and a sub-machine control cabinet 5 are arranged on the top of the mother machine AGV trolley 1, a sub-machine integrated remote control 6 is arranged on one side of the sub-machine control cabinet 5, and the sub-machine integrated remote control 6 is electrically connected to the sub-machine control cabinet 5. In this embodiment, the mother machine AGV trolley 1 and the sub-machine AGV trolley 7 are both automatic guided transport vehicles, which are prior arts and are not described in detail here. The mother machine AGV trolley 1 is used to transport the welding power supply 4 and the sub-machine control cabinet 5 according to the position of the sub-machine AGV trolley 7. The welding power supply 4 supplies power to the welding gun 10. In the working state, the mother machine AGV trolley 1 is electrically connected to the power grid to power the mother machine AGV trolley 1.

[0024] Anti-collision sensors 8 are arranged on both sides of the sub-machine AGV trolley 7, and the anti-collision sensors 8 are electrically connected to the sub-machine control cabinet 5. Under the action of the anti-collision sensors 8, the sub-machine AGV trolley 7 can avoid collision with obstacles during movement. When the sub-machine AGV trolley 7 moves, if the anti-collision sensor 8 detects an obstacle in front, the signal can be fed back to the sub-machine control cabinet 5 to control the AGV trolley 7 to move away from the obstacle through the sub-machine integrated remote control 6.

[0025] The multi-axis robotic arm 9 is a six-axis robotic arm, which has high flexibility and can perform complex movements.

[0026] A protective net 2 is arranged at the top edge of the mother machine AGV trolley 1, and the protective net 2 protects the welding power source 4 and the sub-machine control cabinet 5. A mother machine remote control 3 is mounted on the protective net 2. In this embodiment, the mother machine remote control 3 is a handheld remote control for controlling the movement of the mother machine AGV trolley.

[0027] The sub-machine control cabinet 5 is electrically connected to the welding power supply 4; the sub-machine control cabinet 5 is connected to a cable 12, and the sub-machine control cabinet 5 is electrically connected to the sub-machine AGV trolley 7, the multi-axis robotic arm 9 and the wire feeder 11 through the cable 12. In this embodiment, the sub-machine AGV trolley 7, the multi-axis robotic arm 9 and the wire feeder 11 are controlled through the cooperation of the sub-machine control cabinet 5 and the sub-machine integrated remote control 6.

[0028] The working principle of the utility model is as follows: first, the sub-machine AGV trolley 7 is remotely controlled by the sub-machine integrated remote controller 6 to move to the vicinity of the structural part to be welded, and the mother machine AGV trolley 1 is driven to the vicinity of the structural part to be welded by the mother machine remote controller 3; then, the sub-machine AGV trolley 7 is remotely controlled by the sub-machine integrated remote controller 6 to continue to go deep into the specific weld position of the structural part to be welded, and the wire feeder 11 and the multi-axis robot arm 9 are started by the sub-machine integrated remote controller 6, and the welding power supply 4 is used to power the welding gun 10, and the multi-axis robot arm 9 is used to move the welding gun 10 to the weld position, and then the weld is intermittently welded and skipped according to the welding sequence requirements.

[0029] The embodiments described above are only preferred embodiments of the utility model and do not limit the scope of implementation of the utility model. Therefore, all equivalent changes or modifications made according to the technical solutions described in the patent scope of the utility model should be included in the scope of the patent application of the utility model.

Claims

1. A mobile welding robot of a mother-and-child type, characterized in that: The invention comprises a submachine and a main machine, wherein the submachine comprises a submachine AGV trolley (7), a multi-axis mechanical arm (9) and a wire feeder (11), wherein the multi-axis mechanical arm (9) and the wire feeder (11) are both arranged on the submachine AGV trolley (7), and a welding gun (10) is fixedly arranged at the upper end of the multi-axis mechanical arm (9); The mother machine comprises a mother machine AGV trolley (1); a welding power source (4) and a sub-machine control cabinet (5) are arranged on the top of the mother machine AGV trolley (1); a sub-machine integrated remote controller (6) is arranged on one side of the sub-machine control cabinet (5); and the sub-machine integrated remote controller (6) is electrically connected to the sub-machine control cabinet (5).

2. The mobile welding robot of the master-submachine type according to claim 1, characterized in that: Anti-collision sensors (8) are provided on both sides of the slave machine AGV trolley (7), and the anti-collision sensors (8) are electrically connected to the slave machine control cabinet (5).

3. The mobile welding robot of the master-submachine type according to claim 1, characterized in that: The multi-axis robotic arm (9) is a six-axis robotic arm.

4. The mobile welding robot of the master-submachine type according to claim 1, characterized in that: A protective net (2) is provided at the top edge of the master machine AGV trolley (1), and a master machine remote controller (3) is clamped on the protective net (2).

5. The mobile welding robot of the master-submachine type according to claim 1, characterized in that: The sub-machine control cabinet (5) is electrically connected to a welding power source (4); the sub-machine control cabinet (5) is connected to a cable (12); and the sub-machine control cabinet (5) is electrically connected to a sub-machine AGV trolley (7), a multi-axis mechanical arm (9) and a wire feeder (11) via the cable (12).

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