Welding robot

Abstract

The utility model provides a welding robot which comprises a movable chassis capable of running on the ground, a mechanical arm installed on the movable chassis, a visual system installed on the mechanical arm and used for detecting welding seams, a welding gun installed at the tail end of the mechanical arm and a wire feeding mechanism for providing welding wires for the welding gun. The mechanical arm drives the welding gun to move so as to execute welding operation; connecting plates capable of extending out of the movable chassis are arranged on the periphery of the movable chassis, and supporting legs capable of being supported on the ground are connected to the connecting plates in a liftable mode. Through the arrangement of the connecting plate and the supporting feet, after the welding robot runs to a target position to be welded, the connecting plate extends outwards, the supporting feet descend to make contact with the ground, the stability of the movable chassis is improved, the movable chassis is prevented from shaking during welding, and the situation that the welding quality is affected by shaking of a mechanical arm is avoided; and when the ground of the target position is uneven, each supporting leg can be independently lifted, so that the device can adapt to the uneven ground.

Description

Technical Field

[0001] The utility model belongs to the field of welding robots, and in particular relates to a welding robot. Background Art

[0002] Welding robots are automated by installing welding guns on the robotic arm, which can greatly improve welding quality and welding efficiency, and are increasingly widely used. At present, most welding robots widely used in industrial sites are fixed welding robotic arms. The base cannot be moved and the arm length is limited, resulting in a limited working range, which cannot meet the requirements of on-site welding of large workpieces such as building steel structures. Long-distance welding robots not only need to be able to move autonomously and have high-precision multi-freedom robotic arms to achieve high-precision continuous long-distance welding, but also commonly used solutions include AGV+robotic arm, gantry truss+robotic arm, mobile slide rail+robotic arm, etc. Among them, the gantry truss+robotic arm solution requires high workshop modification costs, and the maximum welding length is limited by the truss length; the length of the welding machine of the mobile guide rail+robotic arm solution is limited by the length of the fixed guide rail, and the welding flexibility is poor; the AGV+robotic arm solution has high control accuracy requirements for the entire robot system, is suitable for welding of indefinite length, and has better flexibility.

[0003] The base of the fixed welding robot is fixed to the ground by anchor bolts, which can prevent the welding quality from being affected by the shaking of the base when the welding robot is working. A welding robot that can move on the ground, such as a mobile welding robot disclosed in CN202210744256.8 and CN201410814251.3, has a mechanical arm installed on a mobile chassis (or body) that can run on the ground. When the mechanical arm carries a welding gun for welding, if the ground at the target position is uneven, the mechanical arm may shake due to the instability of the body, thereby affecting the welding quality. Utility Model Content

[0004] The utility model aims to solve the technical problems existing in the prior art, and the purpose of the utility model is to provide a welding robot.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a welding robot, comprising a mobile chassis capable of running on the ground, a mechanical arm mounted on the mobile chassis, a visual system mounted on the mechanical arm for detecting welds, a welding gun mounted at the end of the mechanical arm, and a wire feeding mechanism for providing welding wire to the welding gun, wherein the mechanical arm drives the welding gun to move to perform welding operations; connecting plates capable of extending outside the mobile chassis are arranged around the mobile chassis, and legs capable of supporting the ground are liftably connected to the connecting plates.

[0006] The above technical solution, by setting a connecting plate and a supporting foot, after the welding robot runs to the target position to be welded, the connecting plate extends outward, so that the supporting foot descends and contacts the ground, thereby increasing the stability of the mobile chassis to prevent the mobile chassis from shaking during welding, and avoiding the shaking of the robotic arm affecting the welding quality; and when the ground at the target position is uneven, each supporting foot can be raised and lowered individually to adapt to the uneven ground.

[0007] In a preferred embodiment of the utility model, a telescopic driving member for driving the connecting plate to move laterally is provided in the mobile chassis, and by causing the connecting plate to move laterally, the connecting plate can be extended out of the mobile chassis or retracted into the mobile chassis; and / or a lifting driving member is installed in the connecting plate, and the support foot is fixedly connected to the lower end of the lifting driving member.

[0008] In the above technical solution, the telescopic driving member drives the connecting plate to move horizontally, and the lifting driving member drives the supporting leg to move vertically, which has a simple structure and reliable operation.

[0009] In a preferred embodiment of the present invention, the supporting feet are arranged in the connecting plate and can be hidden in the mobile chassis.

[0010] In the above technical solution, the supporting feet and the connecting plate are usually hidden together in the mobile chassis, which is more beautiful.

[0011] In a preferred embodiment of the present invention, the wire feeding mechanism includes a wire reel mounted on a mobile chassis, and a wire feeder mounted on a mechanical arm and connected to the wire reel for feeding welding wire to a welding gun.

[0012] In the above technical solution, the robotic arm drives the welding gun to perform welding operations, and the wire feeder runs and continuously supplies welding wire to the welding gun.

[0013] In a preferred embodiment of the present invention, a distance sensor corresponding to the support leg is also installed on the connecting plate, the signal output end of the distance sensor is connected to the distance input end of the control system, the descending control end of the control system is connected to the lifting and lowering enabling end of the support leg, and the control system controls the descending distance of the support leg according to the distance between the support leg and the ground.

[0014] The above technical solution sets a distance sensor to measure the distance between the corresponding support leg and the ground, so as to determine the distance the support leg is lowered. There is no need for workers to observe the ground conditions on site and manually raise and lower the support leg, and the support leg can be automatically raised and lowered to support the ground.

[0015] In another preferred embodiment of the utility model, an ultrasonic flaw detector for monitoring the welding quality of the weld is also provided on the robot arm, and a signal output end of the ultrasonic flaw detector is connected to the control system.

[0016] The above technical solution monitors the welding quality in real time by setting up an ultrasonic flaw detector to ensure the quality of the welding.

[0017] In another preferred embodiment of the present invention, an outer shell body is fixedly connected to the mobile chassis, and the base of the robot arm is fixedly installed in the outer shell body.

[0018] The above technical solution, by providing an outer shell box, can install some accessories therein, which is more beautiful.

[0019] In another preferred embodiment of the present invention, a touch screen connected to the control system is provided on the top of the outer shell.

[0020] The above technical solution improves the user experience by operating and viewing the welding status through the touch display screen.

[0021] In another preferred embodiment of the present invention, a counterweight is further provided in the outer casing.

[0022] The above technical solution, by providing a counterweight block, can prevent the mobile chassis from tipping over when the robot arm moves, thereby improving the stability of the mobile chassis.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0025] Figure 1 The figure is a schematic diagram of the appearance structure of a mobile welding robot in an embodiment.

[0026] Figure 2 It is an exploded view of a mobile welding robot of an embodiment.

[0027] Figure 3 Schematic diagram of the support legs extending out of the mobile chassis in the embodiment.

[0028] The figure marks in the drawings of the specification include: mobile chassis 1, connecting plate 11, support leg 12, telescopic drive member 13, lifting drive member 14, distance sensor 15, robotic arm 2, base 21, welding gun 3, visual system 4, wire reel 51, wire feeder 52, control system 6, touch display screen 61, outer shell box 7, ultrasonic flaw detector 8, counterweight block 9. DETAILED DESCRIPTION

[0029] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0030] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "vertical", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0031] In the description of the present utility model, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection of two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0032] The utility model provides a welding robot, such as Figure 1-Figure 3 As shown, in a preferred embodiment, the welding robot includes a mobile chassis 1 capable of running on the ground, a mechanical arm 2 mounted on the mobile chassis 1, a visual system 4 for detecting welds mounted on the mechanical arm 2, a welding gun 3 mounted at the end of the mechanical arm 2, and a wire feeding mechanism for providing welding wire to the welding gun 3. The mechanical arm 2 drives the welding gun 3 to move to perform welding operations. The mobile chassis 1 can adopt the AGV chassis in the prior art, which is the prior art, and its structure and principle are not described in detail here. The mobile chassis 1 of the utility model is also provided with a connecting plate 11 that can extend out of the mobile chassis 1, and the connecting plate 11 is connected to a leg 12 that can be supported on the ground and can be lifted and lowered.

[0033] After the welding robot moves to the target position to be welded via the mobile chassis 1, the connecting plates 11 on all sides extend outward, so that all the legs 12 are lowered and contact the ground, increasing the stability of the mobile chassis 1 to prevent the mobile chassis 1 from shaking during welding, and to prevent the shaking of the robot arm 2 from affecting the welding quality. In particular, when the ground at the target position is uneven, the legs 12 can be raised and lowered to adapt to the uneven ground.

[0034] In the utility model, the wire feeding mechanism includes a wire reel 51 installed on a mobile chassis 1, and a wire feeder 52 installed on a robotic arm 2 and connected to the wire reel 51 for feeding welding wire to a welding gun 3. The robotic arm 2 drives the welding gun 3 to perform welding operations. At this time, the wire feeder 52 runs and continuously supplies welding wire to the welding gun 3.

[0035] In the present invention, the visual system 4 includes a 3D visual camera, which is used to find and locate the weld. This is a prior art and is not an innovation of the present invention, so it will not be described in detail here.

[0036] like Figure 3 As shown, in the present invention, a telescopic driving member 13 for driving the connecting plate 11 to move laterally is provided in the mobile chassis 1. The telescopic driving member 13 is a telescopic electric cylinder or a pneumatic cylinder. The connecting plate 11 is fixedly connected to the outer end of the telescopic driving member 13. By making the connecting plate 11 move laterally, the connecting plate 11 can be extended to the outside of the mobile chassis 1 or retracted into the mobile chassis 1. A lifting driving member 14 is installed in the connecting plate 11. The lifting driving member 14 is a telescopic electric cylinder or a pneumatic cylinder. The support leg 12 is fixedly connected to the lower end of the lifting driving member 14. The support leg 12 can be raised or lowered by the lifting driving member 14. Preferably, the support leg 12 and the lifting driving member 14 are provided in the connecting plate 11. When the connecting plate 11 is retracted into the mobile chassis 1, the support leg 12 can be hidden in the mobile chassis 1.

[0037] The connecting plate 11 is made of high-strength steel, and the telescopic drive member 13 and the lifting drive member 14 also use telescopic electric cylinders or air cylinders with high reliability to ensure the stability of the mobile chassis 1 when the connecting plate 11 is extended and the support legs 12 touch the bottom.

[0038] like Figure 3 As shown, in another preferred embodiment, a distance sensor 15 corresponding to the support leg 12 is also installed on the connecting plate 11, and the signal output end of the distance sensor 15 is connected to the distance input end of the control system 6, and the descending control end of the control system 6 is connected to the lifting and lowering enabling end of the support leg 12 (that is, the enabling end of the lifting drive 14). The control system 6 controls the descending distance of the support leg 12 according to the distance between the support leg 12 and the ground to ensure that each support leg 12 can just contact the ground. The specific method of the control system 6 receiving the input signal and controlling the lifting drive 14 to adjust the distance of the support leg 12 can adopt the existing technology, such as the control method of the lifting mechanism adopted in CN201910028587.X.

[0039] like Figure 1 and Figure 2As shown, in another preferred embodiment, the robot arm 2 is further provided with an ultrasonic flaw detector 8 for monitoring the welding quality of the weld, and the signal output end of the ultrasonic flaw detector 8 is connected to the control system 6. The welding quality of the weld is obtained by the ultrasonic flaw detector 8, and for the position where the welding quality is unqualified, the robot arm 2 carries the welding gun 3 for re-welding to ensure the welding quality.

[0040] like Figure 1 and Figure 2 As shown, in another preferred embodiment, a housing 7 is fixedly connected to the mobile chassis 1, a base 21 of the robot 2 is fixedly installed in the housing 7, and a control system 6 and a wire reel 51 are respectively installed on both sides of the base 21 in the housing 7. Preferably, a counterweight 9 is also provided in the housing 7 to prevent the mobile chassis 1 from tipping over when the robot 2 moves, thereby improving the stability of the mobile chassis 1. Further preferably, a touch screen 61 connected to the control system 6 is provided on the top of the housing 7, and the welding status can be operated and viewed through the touch screen 61.

[0041] In the description of this specification, the description with reference to the terms "preferred embodiment", "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0042] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A welding robot, characterized in that: It includes a mobile chassis capable of running on the ground, a mechanical arm mounted on the mobile chassis, a visual system mounted on the mechanical arm for detecting welds, a welding gun mounted at the end of the mechanical arm, and a wire feeding mechanism for providing welding wire to the welding gun, wherein the mechanical arm drives the welding gun to move to perform welding operations; The mobile chassis is provided with connecting plates that can be extended out of the mobile chassis around the periphery, and the connecting plates are liftably connected with supporting feet that can be supported on the ground.

2. A welding robot according to claim 1, characterized in that: A telescopic driving member for driving the connecting plate to move laterally is provided in the mobile chassis, and the connecting plate can be extended out of the mobile chassis or retracted into the mobile chassis by causing the connecting plate to move laterally; A lifting drive member is installed in the and / or connecting plate, and the support leg is fixedly connected to the lower end of the lifting drive member.

3. A welding robot according to claim 1, characterized in that: The supporting feet are arranged in the connecting plate and can be hidden in the mobile chassis.

4. A welding robot according to claim 1, characterized in that: The wire feeding mechanism comprises a wire reel mounted on a mobile chassis, and a wire feeder mounted on a mechanical arm and connected to the wire reel and used for feeding welding wire to the welding gun.

5. A welding robot according to any one of claims 1 to 4, characterized in that: A distance sensor corresponding to the support foot is also installed on the connecting plate. The signal output end of the distance sensor is connected to the distance input end of the control system. The descending control end of the control system is connected to the lifting and lowering enabling end of the support foot. The control system controls the descending distance of the support foot according to the distance between the support foot and the ground.

6. A welding robot according to any one of claims 1 to 4, characterized in that: The mechanical arm is also provided with an ultrasonic flaw detector for monitoring the welding quality of the weld, and the signal output end of the ultrasonic flaw detector is connected to the control system.

7. A welding robot according to any one of claims 1 to 4, characterized in that: The mobile chassis is fixedly connected with an outer shell body, and the base of the mechanical arm is fixedly installed in the outer shell body.

8. A welding robot according to claim 7, characterized in that: A touch display screen connected to the control system is provided on the top of the housing.

9. A welding robot according to claim 7, characterized in that: A counterweight is also provided in the outer shell box.

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