Movable and portable magnetic type robot device for welding crane structural parts

Abstract

The utility model discloses a mobile portable magnetic type robot device for welding crane structural parts, which is characterized in that a welding robot, a digital welding machine and a welding robot horizontal moving mechanism are arranged on a mobile platform, and a wire reel is sleeved on the digital welding machine through a wire reel positioning shaft; a welding wire wound on the wire reel is connected with the digital welding gun through a digital wire feeder; the welding robot horizontal moving mechanism comprises a sliding rail and rotary moving rails at the two ends of the sliding rail. A magnetic attraction base platform is slidably connected to the upper portion of the sliding rail. A welding robot is arranged on the magnetic attraction base platform and comprises a six-axis collaborative robot, an arc voltage tracking module, an intelligent control system and a communication module, the six-axis collaborative robot is fixedly installed on a three-position type permanent magnet base, and the three-position type permanent magnet base is connected with the magnetic attraction base platform through a rapid positioning module. The tail end of the six-axis collaborative robot is fixedly connected with a digital welding gun through a welding gun clamp, and the digital welding gun is electrically connected with the digital welding machine. And the welding action is completed through multi-unit collaborative operation.

Description

Technical Field

[0001] The utility model belongs to the technical field of crane welding, and in particular relates to a mobile and portable magnetic suction robot device used for welding crane structural parts. Background Art

[0002] In the welding operation of crane structural parts, the traditional practice is to use manual welding. Manual welding operation requires high skill level of operators, especially for special welds (multi-layer multi-pass welding, vertical welding, etc.), the welding quality is not easy to control. The environment, tools and the mentality of the operators on the day will affect the welding quality. In order to ensure the stability of welding quality, reduce the bottleneck of welding construction skills and improve the overall operation efficiency, a mobile and portable magnetic suction robot device for crane structural parts welding is designed. Summary of the invention

[0003] In order to ensure the stability of welding quality, reduce the bottleneck of welding operation construction skills and improve the overall operation efficiency, the utility model provides a mobile and portable magnetic suction robot device for welding crane structural parts.

[0004] The purpose of the utility model is achieved in the following way: a mobile and portable magnetic suction robot device for welding crane structural parts comprises a mobile platform, a welding robot, a digital welding machine and a horizontal moving mechanism of the welding robot are arranged on the mobile platform, the digital welding machine is arranged at the rear side of one end of the mobile platform, a welding wire reel positioning shaft is arranged on the side plate of the digital welding machine, a welding wire reel is sleeved on the welding wire reel positioning shaft, an anti-slip baffle is arranged at the end of the welding wire reel positioning shaft, an anti-sliding baffle is arranged between the welding wire reel positioning shaft and the welding wire reel, a positioning bottom bracket is also arranged below the welding wire reel, the positioning bottom bracket is fixed on the side plate of the digital welding machine, a digital wire feeder is arranged on the side of the welding wire reel, the digital wire feeder is arranged on an integrated bracket, the integrated bracket is fixedly mounted on the mobile platform, the welding wire wound on the welding wire reel is connected to the digital welding gun through the digital wire feeder; the horizontal moving mechanism of the welding robot comprises a slide rail, a rotating movable rail is connected to each end of the slide rail, the rotating movable rail is fixedly arranged on the rotating platform, the rotating platform is hinged to the mobile platform, a support leg is arranged on the lower surface of the rotating platform, and a support leg is arranged on the slide rail. The magnetic base platform is connected by sliding in a square. A welding robot is arranged on the magnetic base platform, and the welding robot includes a six-axis collaborative robot, an arc voltage tracking module, an intelligent control system and a communication module. The six-axis collaborative robot is fixedly installed on the three-dimensional permanent magnet base, and the three-dimensional permanent magnet base is connected to the magnetic base platform through a quick positioning module. The end of the six-axis collaborative robot is fixedly connected to the digital welding gun through a welding gun fixture, and the digital welding gun is electrically connected to the digital welding machine. The intelligent control system and the communication module are arranged side by side below the integrated bracket, and an arc voltage tracking module is arranged above the intelligent control system. The arc voltage tracking module includes a first controller and a piezoelectric sensor arranged at the power output of the digital welding machine, the piezoelectric sensor is connected to the first controller, the intelligent control system includes a second controller and a piezoelectric sensor arranged at the joint of the six-axis collaborative robot, and a visual sensor arranged on the mechanical arm of the six-axis collaborative robot. The piezoelectric sensor and the visual sensor are communicatively connected to the second controller, and the second controller is communicatively connected to the external device through the communication module.

[0005] The rapid positioning module includes three limit pins arranged on the magnetic base platform and three pin holes arranged below the three-position permanent magnetic base, and the limit pins and the pin holes match each other.

[0006] The external devices include a host computer, a PLC and / or a control panel.

[0007] Compared with the prior art, the utility model discloses a mobile portable magnetic robot device for welding crane structural parts, which replaces the traditional handheld welding equipment. The highly integrated operation module reduces the welding skill level requirements of the operator, so that a trained operator can achieve the welding quality of many years of welding experience. The digital welding gun can be removed from the mobile platform, adsorbed near the weld to be operated through the three-dimensional permanent magnetic base, and the welding operation can be carried out nearby. The crane structural parts can be welded flat, vertically, and overhead, which greatly reduces the difficulty of welding crane structural parts. The three-dimensional permanent magnetic base can also be adsorbed on the magnetic base platform on the mobile platform. The digital welding gun, the three-dimensional permanent magnetic base and the magnetic base platform slide on the mobile platform, which is suitable for the working scene where the space of the welding area to be operated is limited and there is no adsorption space for the three-dimensional permanent magnetic base. It can complete the fixing of various welding positions of the working surface, ensure welding accessibility, and enrich the working conditions. The sliding rail and the rotating movable rail are set on the mobile platform to broaden the working range of the digital welding gun. The welding robot composed of a welding gun, a six-axis collaborative robot and a three-dimensional permanent magnetic base performs welding operations directly on the mobile platform, which reduces the position adjustment time of the welding robot and improves work efficiency. In addition, the mobile platform can realize the movement and interlacing of multiple workpieces and workstations, so that operators can easily handle the welding requirements of various types of structures. Through the promotion and use of intelligent and digital equipment, production efficiency and product welding quality can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a structural schematic diagram of the utility model.

[0009] Figure 2 yes Figure 1 Sectional view at point A.

[0010] In the figure: 1. Mobile platform, 2. Digital welding machine, 3. Wire reel, 4. Wire reel positioning axis, 5. Anti-switching pinning, 6. Anti-drop baffle, 7. Positioning base, 8. Integrated bracket, 9. Digital wire feeder, 10. Arc voltage tracking module, 11. Intelligent control system, 12. Communication module, 13. Six-axis collaborative robot, 14. Welding gun fixture, 15. Digital welding gun, 16. Three-position permanent magnetic base, 17. Permanent magnetic starting handle, 18. Quick positioning module, 19. Legs, 20. Rotating mobile track, 21. Magnetic base platform, 22. Slide rail, 23. Rotating platform. DETAILED DESCRIPTION

[0011] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention, and are not used to limit the scope of the present invention. After reading the contents of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the present invention.

[0012] like Figure 1 As shown, a mobile portable magnetic suction robot device for welding crane structural parts includes a mobile platform 1, a handrail is arranged on the upper part of the mobile platform 1, and a moving wheel is arranged on the lower surface. A welding robot, a digital welding machine 2 and a horizontal moving mechanism of the welding robot are arranged on the mobile platform 1. The digital welding machine 2 is arranged at the rear side of one end of the mobile platform 1. A welding wire reel positioning shaft 4 is arranged on the side plate of the digital welding machine 2. A welding wire reel 3 is sleeved on the welding wire reel positioning shaft 4. An anti-slip baffle 6 is arranged at the end of the welding wire reel positioning shaft 4. An anti-channeling pin 5 is arranged between the welding wire reel positioning shaft 4 and the welding wire reel 3. A welding wire reel 3 is also arranged below the welding wire reel 3. A positioning base 7 is fixed on the side plate of the digital welding machine 2. A digital wire feeder 9 is arranged on the side of the welding wire reel 3. The digital wire feeder 9 is arranged on an integrated bracket 8. The integrated bracket 8 is fixedly installed on the mobile platform 1. The welding wire wound on the welding wire reel 3 is connected to the digital welding gun 15 through the digital wire feeder 9. The horizontal moving mechanism of the welding robot includes a slide rail 22. Each end of the slide rail 22 is connected to a rotating moving track 20. The rotating moving track 20 is fixedly arranged on a rotating platform 23. The rotating platform 23 is hinged to the mobile platform 1. A support leg 19 is arranged on the lower surface of the rotating platform 23. A magnetic base platform 21 is slidably connected above the rail 22; a welding robot is arranged on the magnetic base platform 21, the welding robot comprises a six-axis collaborative robot 13, an arc voltage tracking module 10, an intelligent control system 11 and a communication module 12, the six-axis collaborative robot 13 is fixedly mounted on a three-dimensional permanent magnetic base 16, the three-dimensional permanent magnetic base 16 is connected to the magnetic base platform 21 via a quick positioning module 18, the end of the six-axis collaborative robot 13 is fixedly connected to a digital welding gun 15 via a welding gun fixture 14, the digital welding gun 15 is electrically connected to the digital welding machine 2, the intelligent control system 11 and the communication module 12 are arranged side by side below the integrated bracket 8, an arc voltage tracking module 10 is arranged above the intelligent control system 11, the arc voltage tracking module 10 comprises a first controller and a piezoelectric sensor arranged at the power output of the digital welding machine 2, the piezoelectric sensor is connected to the first controller, the intelligent control system 11 comprises a second controller and a piezoelectric sensor arranged at the joint of the six-axis collaborative robot, a visual sensor arranged on the mechanical arm of the six-axis collaborative robot, the piezoelectric sensor and the visual sensor are communicatively connected to the second controller, and the second controller is communicatively connected to an external device via the communication module 12.

[0013] The rapid positioning module 18 includes three limit pins arranged on the magnetic base platform 21 and three pin holes arranged below the three-position permanent magnetic base 16, and the limit pins and the pin holes cooperate with each other. The three pin holes are respectively arranged below the three adsorption positions of the three-position permanent magnetic base 16, and the three limit pins correspond to the positions of the three pin holes.

[0014] The arc voltage tracking module 10 has the main function of real-time monitoring and controlling the arc voltage during the welding process. The arc voltage tracking module 10 includes a first controller and a piezoelectric sensor arranged at the power output of the digital welding machine 2. The piezoelectric sensor is connected to the first controller. The piezoelectric sensor continuously collects arc voltage data and feeds these data back to the first controller. When the arc length changes due to factors such as the uneven surface of the weldment and the change in welding speed, which in turn causes the arc voltage to change, the arc voltage tracking module 10 will quickly adjust the height of the welding gun according to the preset parameters and algorithms, so that the arc length and arc voltage remain in a suitable range, thereby ensuring the stability of the welding quality. For example, when automatically welding a undulating weld, the arc voltage tracking module can sense the arc voltage changes in time, allowing the welding gun to rise and fall with the height of the weld, just like a pair of sharp eyes and flexible hands, so that the welding process proceeds smoothly.

[0015] The welding robot includes an intelligent control system 11 and a six-axis collaborative robot 13. The intelligent control system 11 includes a second controller and a piezoelectric sensor arranged at the joint of the six-axis collaborative robot and a visual sensor arranged on the mechanical arm. The piezoelectric sensor and the visual sensor are connected to the second controller in communication. The visual sensor senses a lot of information such as the welding environment, the welding position between the welding base material and the surface flatness of the base material, just like the five senses of the welding robot. The second controller is like the brain, responsible for processing various information fed back by the piezoelectric sensor and the visual sensor and issuing instructions, such as controlling the start of the drive motor at the joint of the six-axis collaborative robot 13, driving the mechanical arm and welding gun of the welding robot to move accurately according to the instructions.

[0016] The welding robot also includes a communication module 12, and the second controller is connected to the external device through the communication module 12. The external device can be an automation device such as a host computer, a PLC (programmable logic controller), and a control panel. For example, the connection with the host computer can receive complex welding task instructions, process parameter settings, etc.; the connection with the PLC can work together with the surrounding fixtures, material transmission systems, etc. to achieve the automation connection of the entire production process.

[0017] In the welding automation production line, when the visual sensor detects that the weldment is in place, it transmits a signal to the second controller, which controls the welding robot to start the welding program. At the same time, the status information of the welding process, such as arc voltage, current, welding progress, etc., can be transmitted to external devices, such as a control tablet, through the communication module 12, for real-time monitoring and management.

[0018] The mobile platform 1 is provided with handrails on the upper part and moving wheels on the lower surface. The handrails are manually pushed to transfer the welding robot and other equipment on the mobile platform to the working area. The mobile platform 1 serves as a mobile load terminal of the welding robot and supports the convenient transportation of the device.

[0019] The movable platform 1 is provided with a slide rail 22 and a rotary movable rail 20 , which widens the working stroke of the digital welding gun 15 .

[0020] The legs 19 are threadedly connected to the rotating platform 23 for easy disassembly. When the mobile platform moves, the legs 19 are removed from the rotating platform 23 for easy movement. Bolts and screws with large end areas can meet the needs.

[0021] The anti-channeling pin 5, the anti-drop baffle 6 and the positioning base 7 are all arranged to prevent the wire reel 3 from falling off the wire reel positioning shaft 4 when the wire is rotated for wire feeding, thereby reducing potential safety hazards.

[0022] The magnetic position of the three-dimensional permanent magnetic base 16 on the magnetic base platform 21 is determined by the rapid positioning module 18. The rapid positioning module 18 uses a three-point positioning method and magnetic adsorption clamping to achieve rapid assembly positioning of the robot, saving adjustment time and ensuring welding accuracy.

[0023] A permanent magnet starting handle 17 is provided on the three-position permanent magnet base 16. When the permanent magnet starting handle 17 is turned, the three-position permanent magnet base 16 adsorbs the magnetic base platform 21. When the permanent magnet starting handle 17 is turned in the opposite direction, the magnetism of the three-position permanent magnet base 16 decreases until it disappears, and the three-position permanent magnet base 16 loses its adsorption force on the magnetic base platform 21, making it convenient to remove the magnetic robot from the magnetic base platform 21.

[0024] Working process:

[0025] The portable magnetic robot device for crane structural welding is quickly moved to the working area with the help of the mobile platform 1. The operator carries the three-dimensional permanent magnetic base 16, the six-axis collaborative robot 13 and the digital welding gun 15 together to the vicinity of the working weld and fixes them with the three-dimensional permanent magnetic base 16. The weight of the whole machine is about 16 kg. The three-dimensional permanent magnetic base 16 can ensure that the robot body can achieve various positioning postures such as vertical, horizontal, and inverted. After the three-dimensional permanent magnetic base 16 is adsorbed and stabilized, the operator starts the welding robot through the communication module 12 on the external device (such as the control tablet). The arc starting point, arc ending point and safety point are set during the dragging process through the dragging action mode of the welding robot. Then, the welding robot takes itself as the core coordinate system and automatically plans the working path according to the read points, so that the robot can perfectly achieve the expected welding angle and posture. According to the weld properties of the crane structural parts, the operating staff selects the welding data package that is compatible with the working path on the control tablet to complete the welding operation in collaboration.

[0026] In order to enable the robot to record and read points without being separated from the control tablet, a remote control button is set at the end of the welding robot's arm.

[0027] The control tablet plays a huge role in the welding work of the welding robot. The control tablet can be used to conveniently operate and monitor the welding robot. In terms of operation, it can be programmed. The operator can intuitively set the movement path for the robot through the tablet. For example, in the welding scene, it is more convenient to accurately plan the movement trajectory of the welding gun than to program directly on the robot body. At the same time, various working parameters can be set, such as the working speed and strength of industrial robots. For service robots, various parameters such as language and service mode can also be set.

[0028] The above is only a preferred embodiment of the present invention. It should be pointed out that, for those skilled in the art, several changes and improvements can be made without departing from the overall concept of the present invention, and these should also be regarded as the protection scope of the present invention.

Claims

1. A portable magnetic robot device for welding crane structural parts, comprising a mobile platform (1), characterized in that: A welding robot, a digital welding machine (2) and a horizontal moving mechanism of the welding robot are arranged on the mobile platform (1). The digital welding machine (2) is arranged at the rear side of one end of the mobile platform (1). A welding wire reel positioning shaft (4) is arranged on the side plate of the digital welding machine (2). A welding wire reel (3) is sleeved on the welding wire reel positioning shaft (4). An anti-slip baffle (6) is arranged at the end of the welding wire reel positioning shaft (4). An anti-slip pin (5) is arranged between the welding wire reel positioning shaft (4) and the welding wire reel (3). A positioning base (7) is also arranged below the welding wire reel (3). The positioning base (7) is fixed on the side plate of the digital welding machine (2). A digital wire feeder (9) is arranged on the side of the welding wire reel (3). The digital wire feeder (9) is arranged on an integrated bracket (8), the integrated bracket (8) is fixedly mounted on a mobile platform (1), the welding wire wound on the welding wire reel (3) is connected to a digital welding gun (15) through the digital wire feeder (9); the horizontal moving mechanism of the welding robot comprises a slide rail (22), each end of the slide rail (22) is connected to a rotating movable track (20), the rotating movable track (20) is fixedly arranged on a rotating platform (23), the rotating platform (23) is hinged to the mobile platform (1), a support leg (19) is arranged on the lower surface of the rotating platform (23), and the upper part of the slide rail (22) is slidably connected to a magnetic base platform (21) A welding robot is arranged on the magnetic base platform (21), the welding robot comprising a six-axis collaborative robot (13), an arc voltage tracking module (10), an intelligent control system (11) and a communication module (12), the six-axis collaborative robot (13) is fixedly mounted on a three-dimensional permanent magnetic base (16), the three-dimensional permanent magnetic base (16) is connected to the magnetic base platform (21) via a rapid positioning module (18), the end of the six-axis collaborative robot (13) is fixedly connected to a digital welding gun (15) via a welding gun fixture (14), the digital welding gun (15) is electrically connected to the digital welding machine (2), and the integrated bracket (8) is arranged side by side below. An intelligent control system (11) and a communication module (12) are provided, an arc voltage tracking module (10) is provided above the intelligent control system (11), the arc voltage tracking module (10) comprises a first controller and a piezoelectric sensor provided at the power output of the digital welding machine (2), the piezoelectric sensor is connected to the first controller, the intelligent control system (11) comprises a second controller and a piezoelectric sensor provided at the joint of the six-axis collaborative robot, and a visual sensor provided on the mechanical arm of the six-axis collaborative robot, the piezoelectric sensor and the visual sensor are communicatively connected to the second controller, and the second controller is communicatively connected to an external device via the communication module (12).

2. A portable magnetic suction robot device for welding crane structural parts according to claim 1, characterized in that: The rapid positioning module (18) comprises three limit pins arranged on the magnetic base platform (21) and three pin holes arranged below the three-position permanent magnetic base (16), the limit pins and the pin holes matching each other.

3. A portable magnetic robot device for welding crane structural parts according to claim 1, characterized in that: The external devices include a host computer, a PLC and / or a control panel.

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