Movable robot laser scanning welding equipment

Abstract

The utility model discloses movable robot laser scanning welding equipment which comprises a robot welding system, a control system, a vehicle body, a walking mechanism, a battery, a hydraulic system and a cable winding drum. The robot welding system and the control system are fixed to the top of the vehicle body. A welding head of the robot welding system is provided with a welding seam scanning system; the hydraulic system and the battery are placed in the vehicle body, the cable reel is placed behind the vehicle body, and the walking mechanism is fixed to the bottom of the vehicle body. The walking mechanism comprises a fixing column, a bearing, a rotating disc, a motor I, a fixing frame, a connecting frame, walking wheels and a motor II. A flange is fixedly connected to the bottom of the fixing column, and a bearing is fixed to the bottom of the flange through a bolt. The walking direction is changed, transverse movement and longitudinal movement in any direction can be further achieved, the whole robot is more flexible, and workpieces of different shapes, sizes and positions can be welded; and stable operation of the vehicle body can be ensured.

Description

Technical Field

[0001] The utility model belongs to the technical field of mobile welding robots, in particular to a mobile robot laser scanning welding device. Background Art

[0002] Welding robots are usually fixedly installed in a specific work area and perform welding operations according to preset programs and trajectories. However, fixed-installed welding robots cannot flexibly adapt to workpieces of different shapes, sizes and positions. For complex welding tasks, the position of the workpiece needs to be frequently adjusted or reprogrammed.

[0003] After searching, the prior art publication number CN118342086A is an automated welding control system, which includes: an acquisition module, a judgment module and a processing module; its processing process has the following disadvantages: the fixedly installed welding robot cannot flexibly weld workpieces of different shapes, sizes and positions.

[0004] After searching, an industrial mobile welding robot with the prior art announcement number CN210172866U is found, which includes a manipulator welding actuator, which is arranged at one end of the front of the forearm, and a sleeve is arranged at one end of the back of the forearm, and an elbow tilting mechanism is arranged at the back of the sleeve, and a boom swinging mechanism is arranged at the bottom end of the elbow tilting mechanism, and the elbow tilting mechanism is connected to the forearm through a flange, and a chassis rotation mechanism is arranged at the bottom end of the boom swinging mechanism; its processing process has the following disadvantages: when passing through uneven roads, it is impossible to ensure the smooth operation of the vehicle body, which causes the welding robot to roll over, and some parts will be damaged by impact. Summary of the Invention

[0005] The purpose of the utility model is to overcome the shortcomings of the existing technology and provide a movable robot laser scanning welding equipment. The walking wheels in the walking mechanism rotate to change the walking direction, and further can realize lateral and longitudinal movement in any direction, making the overall structure more flexible and capable of quickly welding workpieces of different shapes, sizes and positions; it can ensure the smooth operation of the vehicle body.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] A mobile robot laser scanning welding equipment, including a robot welding system, a control system, a vehicle body, a walking mechanism, a battery, a hydraulic system, and a cable drum; the robot welding system and the control system are fixed on the top of the vehicle body, and the walking mechanism is fixed on the bottom of the vehicle body; a weld scanning system is provided at the welding head of the robot welding system, and the weld scanning system is a system independently developed by the applicant and is a prior art and will not be described in detail; the control system includes an operating unit, a signal receiving and conversion unit, and a teaching unit, which work together to control the operation of the robot welding system and the walking mechanism; the weld scanning system scans the weld and collects and processes the scanned image information, and then transmits the information to the user. Control system; the signal receiving and conversion unit is used to process and analyze various signals received and complete the human-computer interaction function; the teaching unit is used for data setting, equipment startup, and emergency stop operation; the hydraulic system and battery are placed inside the vehicle body to provide power and electricity for the equipment; the cable reel is placed at the rear of the vehicle body; first, the control system controls the walking mechanism to achieve walking, and stops when it reaches the position where welding is required. The data is set through the teaching unit, and the signal receiving and conversion unit provides services for the data setting. Then the weld scanning system scans the image for processing, and finally welding is performed according to the data set by the teaching unit and the information obtained by the image processing of the weld scanning system unit.

[0008] The walking mechanism includes a fixed column, a bearing, a turntable, a motor I, a fixed frame, a connecting frame, a walking wheel, a motor II, a coding gear, and an angle encoder; the fixed column is fixed to the vehicle body by bolts, the bottom of the fixed column is fixedly connected to a flange, the bearing is fixed to the bottom of the flange by bolts, and a gear ring is provided on the outer wall of the bearing; the turntable is located below the gear ring, and the turntable is rotatably connected to the bearing; the motor I is fixed to the bottom of the turntable, the output shaft passes through the turntable, and a gear is provided on the output shaft, and the gear and the gear ring are meshed and connected; the fixed frame is fixed to the bottom of the turntable, and one end of the connecting frame is rotatably connected to the fixed frame through a rotating shaft; the walking wheel is rotatably connected to the connecting frame, the motor II is fixed to the connecting frame, and the output end is connected to the walking wheel; the angle encoder is fixed on the turntable, and the coding gear The wheel is located above the turntable and is connected to the angle encoder; the encoding gear is meshed with the gear ring; the model of the angle encoder is HN25A, which can be purchased on the market or customized privately; Motor II provides power to drive the travel wheel to rotate, and the travel wheel drives the entire device to move; Motor I provides power to drive the gear to rotate, so that the gear moves along the gear ring, the gear drives the turntable to rotate along the bearing, and the turntable drives the travel wheel to rotate, thereby changing the travel direction; it can achieve lateral and longitudinal movement in any direction, making the overall more flexible and capable of quickly welding workpieces of different shapes, sizes and positions; the rotation of the turntable drives the encoding gear to move along the gear ring and rotate at the same time, and the rotation of the encoding gear can enable the angle encoder to monitor the steering angle.

[0009] A shock absorbing mechanism is connected between the turntable and the connecting frame; the shock absorbing mechanism includes a spring I and a damper I connecting block; the connecting block is provided with two groups, which are respectively connected to the bottom of the turntable and the end of the connecting frame away from the fixed frame through a rotating shaft; the spring I is fixed on the connecting block, and the damper I is fixed on the connecting block inside the spring I; when the running wheel passes through an uneven road surface, the spring I drives the connecting frame to rotate around the rotating shaft connected to the fixed frame through the connecting block, thereby adjusting the height of the running wheel, and performing appropriate shock absorption and buffering through the damper I, thereby ensuring the smooth operation of the vehicle body.

[0010] The bottom of the vehicle body is provided with hydraulic legs, and the hydraulic system is connected to the hydraulic legs in the equipment through hydraulic pipes and provides power to them; when the vehicle moves to the welding position and stops, the hydraulic legs are raised to fix the entire device for welding.

[0011] The side wall of the vehicle body is provided with a ranging radar to prevent collision during movement.

[0012] A load-bearing mechanism is provided on the vehicle body on one side of the walking mechanism, and the load-bearing mechanism includes a mounting seat, a rotating shaft, a mounting frame, a connecting rod, a load-bearing wheel, and a spring II; the mounting seat is fixed to the vehicle body on one side of the walking mechanism; the rotating shaft is rotatably connected to the bottom of the mounting seat, and the mounting frame is connected to the end of the rotating shaft away from the mounting seat. A pair of connecting rods are provided, which are rotatably connected to both sides of the mounting frame through the rotating shaft, and the load-bearing wheel is rotatably connected between the connecting rods; one end of the spring II is connected to the rotating shaft between the load-bearing wheel and the connecting rod through the connecting seat, and the other end is connected to the mounting frame; a damper II is connected inside the spring II; the load-bearing wheel moves with the walking mechanism, can support the vehicle body, reduce the pressure on the walking wheel, increase the service life of the walking wheel, and ensure the normal travel of the vehicle body; the rotating shaft can make the load-bearing wheel follow the walking mechanism to adjust the direction, thereby changing the walking direction; the shock absorption effect can be achieved through the spring II and the damper II.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1) Motor II provides power to drive the travel wheel to rotate, and the travel wheel drives the entire device to move; Motor I provides power to drive the gear to rotate, so that the gear moves along the gear ring, and the gear drives the turntable to rotate along the bearing, and the turntable drives the travel wheel to rotate, thereby changing the travel direction; it can achieve horizontal and vertical movement in any direction, making the whole more flexible and able to quickly weld workpieces of different shapes, sizes and positions; the rotation of the turntable drives the encoding gear to move along the gear ring and rotate at the same time. The rotation of the encoding gear enables the angle encoder to monitor the steering angle;

[0015] 2) When the traveling wheel passes over an uneven road surface, the spring I drives the connecting frame to rotate around the rotating shaft connected to the fixed frame through the connecting block, thereby adjusting the height of the traveling wheel and providing appropriate shock absorption and buffering through the damper I, thereby ensuring the smooth operation of the vehicle body.

[0016] 3) The load-bearing wheels move with the traveling mechanism, which can support the vehicle body, reduce the pressure on the traveling wheels, increase the service life of the traveling wheels, and ensure the normal movement of the vehicle body; the load-bearing wheels can follow the traveling mechanism to adjust the direction by rotating the shaft, thereby changing the traveling direction; the shock absorption effect can be achieved through the spring II and damper II. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Attachment Figure 1 This is a schematic diagram of the internal structure of a vehicle body of a mobile robot laser scanning welding device of the utility model;

[0018] Attachment Figure 2 This is a schematic diagram of the local structure of a vehicle body in a mobile robot laser scanning welding device of the utility model;

[0019] Attachment Figure 3 This is a structural diagram of the walking mechanism of a mobile robot laser scanning welding device of the utility model;

[0020] Attachment Figure 4 This is a structural diagram of a load-bearing mechanism in a mobile robot laser scanning welding device of the utility model;

[0021] Attachment Figure 5 This is a schematic diagram of the structure of a mobile robot laser scanning welding equipment Figure 1 ;

[0022] Attachment Figure 6 This is a schematic diagram of the structure of a mobile robot laser scanning welding equipment Figure 2 ;

[0023] In the figure: 1. Robot welding system; 2. Control system; 3. Vehicle body; 4. Traveling mechanism; 401. Fixed column; 4011. Flange; 402. Bearing; 4021. Gear ring; 403. Turntable; 404. Motor I; 4041. Gear; 405. Fixed frame; 406. Connecting frame; 407. Traveling wheel; 408. Motor II; 409. Shock absorption mechanism; 4091. Spring I; 4092. Damper I; 4093. Connecting block; 410. Encoding gear; 411. Angle encoder; 5. Load-bearing mechanism; 501. Mounting seat; 502. Rotating shaft; 503. Mounting frame; 504. Connecting rod; 505. Load-bearing wheel; 506. Spring II; 507. Damper II; 6. Hydraulic support leg; 7. Battery; 8. Hydraulic system; 9. Cable reel; 11. Ranging radar; 12. Weld scanning system. DETAILED DESCRIPTION

[0024] To facilitate understanding by those skilled in the art, Figure 1-6 , the technical solution of the utility model is further described in detail.

[0025] A mobile robot laser scanning welding device includes a robot welding system 1, a control system 2, a vehicle body 3, a walking mechanism 4, a battery 7, a hydraulic system 8, and a cable reel 9; the robot welding system 1 and the control system 2 are fixed on the top of the vehicle body 3, and the walking mechanism 4 is fixed on the bottom of the vehicle body 3; a weld scanning system 12 is provided at the welding head of the robot welding system 1, and the weld scanning system 12 is a system independently developed by the applicant and is a prior art. The patent publication number of the technology is: CN118951508A, which will not be described in detail here; the control system 2 includes an operating unit, a signal receiving and conversion unit, and a teaching unit, which work together to control the robot welding system 1 and the walking mechanism 4 to work; the weld scanning system 12 scans the weld The scanned image information is collected and processed, and then the information is transmitted to the control system; the signal receiving and conversion unit is used to process and analyze various received signals and complete the human-computer interaction function; the teaching unit is used for data setting, equipment startup, and emergency stop operation; the hydraulic system 8 and battery 7 are placed inside the vehicle body 3 and provide power for the device, and the cable reel 9 is placed behind the vehicle body 3; first, the walking mechanism 4 is controlled by the control system 2 to achieve walking, and stops when it reaches the position where welding is required. Data setting is performed through the teaching unit, and the signal receiving and conversion unit provides services for data setting. Then the scanning unit scans the image for processing, and finally welding is performed according to the information obtained by image processing of the weld scanning system 12 according to the data set by the teaching unit.

[0026] The walking mechanism 4 includes a fixed column 401, a bearing 402, a turntable 403, a motor I 404, a fixed frame 405, a connecting frame 406, a walking wheel 407, a motor II 408, an encoding gear 410, and an angle encoder 411; the fixed column 401 is fixed to the vehicle body 3 by bolts, a flange 4011 is fixedly connected to the bottom of the fixed column 401, the bearing 402 is fixedly connected to the bottom of the flange 4011 by bolts, and a gear ring 4021 is provided on the outer wall of the bearing 402; the turntable 403 is located on the gear ring Below 4021, the turntable 403 is rotatably connected to the bearing; the motor I 404 is fixed to the bottom of the turntable 403, and the output shaft passes through the turntable 403, and a gear 4041 is provided on the output shaft, and the gear 4041 is meshed with the gear ring 4021; the fixed frame 405 is fixed to the bottom of the turntable 403, and one end of the connecting frame 406 is rotatably connected to the fixed frame 405 through the rotating shaft; the walking wheel 407 is rotatably connected to the connecting frame 406, and the motor II 408 is fixed to the connecting frame 406, and the output end is connected to the walking wheel 407 connection; the angle encoder 411 is fixed on the turntable 403, the encoding gear 410 is located above the turntable 403 and is connected to the angle encoder 411; the encoding gear 410 is meshed with the gear ring 4021; the model of the angle encoder 411 is HN25A, which can be purchased on the market or customized; the motor II 408 provides power to drive the walking wheel 407 to rotate, and the walking wheel 407 drives the entire device to move; the motor I 404 provides power to drive the gear 4041 to rotate, so that the gear 4041 moves along the gear ring 4021, the gear 4041 drives the turntable 403 to rotate along the bearing 402, and the turntable 403 drives the walking wheel 407 to rotate, thereby changing the walking direction; it can achieve horizontal and vertical movement in any direction, making the overall more flexible and capable of quickly welding workpieces of different shapes, sizes and positions; the rotation of the turntable 403 drives the encoding gear 410 to move along the gear ring 4021 and rotate at the same time, and the rotation of the encoding gear 410 can enable the angle encoder 411 to monitor the steering angle.

[0027] A shock absorbing mechanism 409 is connected between the turntable 403 and the connecting frame 406; the shock absorbing mechanism 409 includes a spring I 4091, a damper I 4092, and a connecting block 4093; the connecting block 4093 has two groups of springs I 4091 and a damper I 4092, which are respectively connected to the bottom of the turntable 403 and the end of the connecting frame 406 away from the fixed frame 405 through a rotating shaft; the spring I 4091 is fixed on the connecting block 4093, and the damper I 4092 is fixed on the connecting block 4093 inside the spring I 4091; when the running wheel 407 passes through an uneven road surface, the spring I 4091 drives the connecting frame 406 to rotate around the rotating shaft connected to the fixed frame 405 through the connecting block 4093, thereby adjusting the height of the running wheel 407, and performing appropriate shock absorption and buffering through the damper I 4092, thereby ensuring the smooth operation of the vehicle body 3.

[0028] The bottom of the vehicle body 3 is provided with hydraulic legs 6, and the hydraulic system 8 is connected to the hydraulic legs 6 through hydraulic pipes and provides power to the hydraulic legs 6; when the vehicle stops at the welding position, the hydraulic legs 6 are raised to fix the entire device for welding.

[0029] A number of ranging radars 11 are provided on the side walls of the vehicle body 3 to prevent collisions during movement.

[0030] A load-bearing mechanism is provided on the vehicle body on one side of the walking mechanism; the load-bearing mechanism 5 includes a mounting seat 501, a rotating shaft 502, a mounting frame 503, a connecting rod 504, a load-bearing wheel 505, and a spring II 506; the mounting seat 501 is fixed to the vehicle body 3 on one side of the walking mechanism 4; the rotating shaft 502 is rotatably connected to the bottom of the mounting seat 501, the mounting frame 503 is connected to one end of the rotating shaft 502 away from the mounting seat 501, a pair of connecting rods 504 are provided, which are rotatably connected to both sides of the mounting frame 503 through the rotating shaft, and the load-bearing wheel 505 is rotatably connected between the connecting rods 504; one end of the spring II 506 It is connected to the rotating shaft between the load-bearing wheel 505 and the connecting rod 504 through a connecting seat, and the other end is connected to the mounting frame 503; the damper II 507 is connected inside the spring II 506; the load-bearing wheel 505 moves with the traveling mechanism 4, can support the vehicle body 3, reduce the pressure on the traveling wheel 407, increase the service life of the traveling wheel 407, and ensure the normal travel of the vehicle body 3; the load-bearing wheel 505 can follow the traveling mechanism 4 to adjust the direction through the rotating shaft 502, thereby changing the traveling direction; the shock absorption effect can be achieved through the spring II 506 and the damper II 507.

[0031] A movable robot laser scanning welding device has the following working process: first, motor II 408 provides power to drive the walking wheel 407 to rotate, and the walking wheel 407 drives the entire device to move; motor I 404 provides power to drive the gear 4041 to rotate, so that the gear 4041 moves along the gear ring 4021, and the gear 4041 drives the turntable 403 to rotate along the bearing 402, and the turntable 403 drives the walking wheel 407 to rotate, thereby changing the walking direction; it can achieve lateral and longitudinal movement in any direction, making the overall device more flexible; the rotation of the turntable 403 drives the encoding gear 410 to move along the gear ring 4021 and rotate at the same time, and the rotation of the encoding gear 410 can enable the angle encoder 411 to monitor the steering angle, and when it moves to the position where welding is required, it stops, and data is set by the teaching unit, and the signal receiving and conversion unit provides services for the data setting, and then the scanning unit scans the image for processing, and finally, according to the data set by the teaching unit, the information obtained by the weld scanning system 12 image processing is combined and welded through the robot welding system 1.

[0032] In summary, electronic or electrical components including but not limited to motor I, motor II, angle encoder, battery, ranging radar, etc. are components in the prior art, obtained through private customization or purchase, and the electrical connections between the components are conventional circuit connections or electrical connections in the prior art, and are not within the scope of protection of the present utility model.

[0033] The above content is merely an example and explanation of the structure of the present utility model. Technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the utility model or exceed the scope defined by the claims, they should all fall within the scope of protection of the present utility model.

Claims

1. A mobile robot laser scanning welding device, comprising a robot welding system, a control system, a body, a walking mechanism, a battery, a hydraulic system, and a cable reel; characterized in that The robotic welding system and control system are fixed on the top of the vehicle body, and the traveling mechanism is fixed on the bottom of the vehicle body. The welding head of the robotic welding system is equipped with a weld scanning system. The control system includes an operating unit, a signal receiving and conversion unit, and a teaching unit, which work together to control the operation of the robotic welding system and the traveling mechanism. The weld scanning system scans the weld and collects and processes the scanned image information, and then transmits the information to the control system. The signal receiving and conversion unit is used to process and analyze various received signals and complete the human-computer interaction function. The teaching unit is used for data setting, equipment startup, and emergency stop operations. The hydraulic system and battery are placed inside the vehicle body; the cable reel is placed at the rear of the vehicle body. The walking mechanism includes a fixed column, a bearing, a turntable, a motor I, a fixed frame, a connecting frame, a walking wheel, a motor II, a coding gear, and an angle encoder; the fixed column is fixed to the vehicle body by bolts, and a flange is fixedly connected to the bottom of the fixed column. The bearing is fixed to the bottom of the flange by bolts, and a gear ring is provided on the outer wall of the bearing; the turntable is located below the gear ring, and the turntable is rotatably connected to the bearing; motor I is fixed to the bottom of the turntable, the output shaft passes through the turntable, and a gear is provided on the output shaft, and the gear and the gear ring are meshed and connected; the fixed frame is fixed to the bottom of the turntable, and one end of the connecting frame is rotatably connected to the fixed frame through a rotating shaft; the walking wheel is rotatably connected to the connecting frame, and motor II is fixed to the connecting frame, and the output end is connected to the walking wheel; the angle encoder is fixed on the turntable, and the coding gear is located above the turntable and connected to the angle encoder; the coding gear is meshed and connected to the gear ring.

2. The mobile robot laser scanning welding equipment according to claim 1, characterized in that A shock absorbing mechanism is connected between the turntable and the connecting frame; the shock absorbing mechanism includes a spring I and a damper I connecting block; the connecting block is provided with two groups, which are respectively connected to the bottom of the turntable and the end of the connecting frame away from the fixed frame through a rotating shaft; the spring I is fixed on the connecting block, and the damper I is fixed on the connecting block inside the spring I.

3. The mobile robot laser scanning welding equipment according to claim 1, characterized in that Hydraulic outriggers are provided at the bottom of the vehicle body; the hydraulic system is connected to the hydraulic outriggers through hydraulic pipes.

4. The mobile robot laser scanning welding equipment according to claim 1, characterized in that There is a ranging radar on the side wall of the vehicle.

5. The mobile robot laser scanning welding equipment according to claim 1, characterized in that A load-bearing mechanism is provided on the vehicle body on one side of the traveling mechanism, and the load-bearing mechanism includes a mounting seat, a rotating shaft, a mounting frame, a connecting rod, a load-bearing wheel, and a spring II; the mounting seat is fixed on the vehicle body on one side of the traveling mechanism; the rotating shaft is rotatably connected to the bottom of the mounting seat, the mounting frame is connected to the end of the rotating shaft away from the mounting seat, a pair of connecting rods are provided, which are rotatably connected to both sides of the mounting frame through the rotating shaft, and the load-bearing wheel is rotatably connected between the connecting rods; one end of the spring II is connected to the rotating shaft between the load-bearing wheel and the connecting rod through the connecting seat, and the other end is connected to the mounting frame; a damper I is connected inside the spring II.

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