Movable welding robot workstation

Abstract

The utility model belongs to the field of welding robots, and particularly relates to a movable welding robot workstation which is characterized in that a plurality of parallel electric telescopic rods are arranged at the movable end of a multi-axis mechanical arm, and different types of welding guns are mounted at the ends, away from the multi-axis mechanical arm, of the electric telescopic rods; the electric telescopic rod provided with the welding gun of the corresponding type is controlled to drive the welding gun on the electric telescopic rod to stretch out forwards, the welding gun is driven by the multi-axis mechanical arm to carry out welding operation of the corresponding type along a welding seam, the movable welding robot workstation can carry out multiple welding modes such as electric arc welding, laser welding and plasma welding, and the working efficiency is improved. And different materials and welding requirements are met. In addition, the welding robot is arranged on the movable chassis, the movable chassis can drive the welding robot to move flexibly, the welding robot is not limited to a fixed station, the requirement of a complex welding scene can be met, and the flexibility and adaptability of welding operation are improved.

Description

Technical Field

[0001] The present application relates to the technical field of welding robots, and in particular to a mobile welding robot workstation. Background Art

[0002] With the increasing automation of industrial production, welding operations are increasingly being used in large structures, ships, high-rise buildings, and other fields. However, due to the often harsh welding environment, traditional welding poses significant health risks to welders. Welding quality is significantly affected by the welder's skill level and suffers from poor stability. Furthermore, traditional welding operations suffer from low efficiency, making them difficult to meet the demands of large-scale production.

[0003] In response to the problems existing in traditional welding operations, related technologies have also emerged to use welding robots to replace manual welding operations. However, current welding robots are usually only equipped with one welding gun and cannot switch between different welding modes according to welding needs. There are certain limitations in actual use. Utility Model Content

[0004] An embodiment of the present application provides a mobile welding robot workstation, which is used to solve the problem that existing welding robots are usually only equipped with one welding gun, cannot switch to different welding modes according to welding needs, and have certain limitations in actual use.

[0005] To achieve the above objectives, the present application provides a mobile welding robot workstation, comprising:

[0006] A mobile chassis, comprising a frame and two track modules respectively disposed on opposite sides of the frame and used to drive the frame to move; and

[0007] A welding robot includes a welding control system, a multi-axis robotic arm, multiple electric telescopic rods, and multiple welding guns of different types. The fixed end of the multi-axis robotic arm is arranged on the frame, the multiple electric telescopic rods are arranged at the movable end of the multi-axis robotic arm, and the multiple electric telescopic rods are parallel to each other. The multiple welding guns of different types are respectively arranged in a one-to-one correspondence at one end of the multiple electric telescopic rods away from the multi-axis robotic arm. The welding control system is electrically connected to the multi-axis robotic arm, the multiple electric telescopic rods, and the multiple welding guns of different types.

[0008] Optionally, the welding robot includes three electric telescopic rods and three welding guns of different types, and the three welding guns of different types are arc welding gun, laser welding gun and plasma welding gun respectively.

[0009] Optionally, the welding robot also includes a three-dimensional camera and a laser sensor electrically connected to the welding control system. The three-dimensional camera and the laser sensor are both arranged at the movable end of the multi-axis robotic arm through a mounting bracket. The welding control system uses the three-dimensional camera and the laser sensor to identify and locate the weld.

[0010] Optionally, the track module includes a wheel frame, a driving wheel, a driven wheel, a track and a drive motor, the wheel frame is connected to the vehicle frame, the driving wheel and the driven wheel are spaced apart on the wheel frame, the track is wound between the driving wheel and the driven wheel, and the drive motor is connected to the driving wheel to drive the driving wheel to rotate.

[0011] Optionally, the mobile chassis also includes a walking controller and a wireless receiving module electrically connected to the walking controller. The drive motors in the two track modules are electrically connected to the walking controller. The walking controller can receive control signals from the remote control platform through the wireless receiving module, thereby controlling the movement of the track module.

[0012] Optionally, laser radars for obstacle avoidance are further provided at the front and rear ends of the frame, and the laser radars are electrically connected to the walking controller.

[0013] Optionally, the welding control system has a wireless receiving unit, and the welding control system can receive control signals from the remote control platform through the wireless receiving unit, thereby controlling the movement of the multi-axis robotic arm, the electric telescopic rod and the welding gun to achieve welding operations.

[0014] Optionally, the multi-axis robotic arm includes a six-axis robotic arm.

[0015] The mobile welding robot workstation provided by the present application has the following beneficial effects: Compared with the prior art, the mobile welding robot workstation of the present application is provided with multiple mutually parallel electric telescopic rods on the movable end of the multi-axis manipulator, and each electric telescopic rod is installed with a different type of welding gun on the end away from the multi-axis manipulator. When it is necessary to switch the welding mode, the electric telescopic rod installed with the corresponding type of welding gun is controlled to drive the welding gun on it to extend forward, and the multi-axis manipulator drives the welding gun along the weld to perform the corresponding type of welding operation. The mobile welding robot workstation can perform multiple welding modes, such as arc welding, laser welding, plasma welding, etc., to adapt to different materials and welding requirements. In addition, by placing the welding robot on a mobile chassis, the mobile chassis can be used to drive the welding robot to move flexibly, not limited to a fixed workstation, and can meet the needs of complex welding scenarios, thereby improving the flexibility and adaptability of welding operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] in:

[0018] Figure 1 is a schematic diagram of a mobile welding robot workstation according to an embodiment of the present application;

[0019] Figure 2 yes Figure 1 A side view of the mobile welding robot workstation shown;

[0020] Figure 3 1 is a top view of a mobile chassis in a mobile welding robot workstation according to an embodiment of the present application;

[0021] Figure 4 1 is a side view of a track module in a mobile chassis according to an embodiment of the present application;

[0022] Figure 5 This is a block diagram of the remote control principle of a mobile welding robot workstation shown in an embodiment of the present application.

[0023] Description of main component symbols:

[0024] 100, mobile chassis; 110, frame; 120, track module; 121, wheel frame; 122, driving wheel; 123, driven wheel; 124, track; 130, travel controller;

[0025] 200. Welding robot; 210. Welding control system; 220. Multi-axis robotic arm; 230. Electric telescopic rod; 240. Welding gun. DETAILED DESCRIPTION

[0026] To facilitate understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application may be implemented in many other forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present application.

[0027] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0028] It should be understood that the terms "length," "width," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," and the like, indicating positions or location relationships, are based on the positions or location relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting this application. In the description of this application, "plurality" means two or more, unless otherwise expressly and specifically defined.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0030] It should also be noted that, in the embodiments of the present application, the same figure mark represents the same component or the same part. For the same parts in the embodiments of the present application, the figure may only mark one of the parts or components as an example. It should be understood that the figure mark also applies to other identical parts or components.

[0031] The embodiment of the present application provides a mobile welding robot workstation, such as Figure 1-Figure 2 As shown, the mobile welding robot workstation includes a mobile chassis 100 and a welding robot 200. The mobile chassis 100 includes a frame 110 and two track modules 120 respectively disposed on opposite sides of the frame 110 and used to drive the frame 110 to move. The welding robot 200 includes a welding control system 210, a multi-axis robotic arm 220, multiple electric telescopic rods 230 and multiple welding guns 240 of different types. The fixed end of the multi-axis robotic arm 220 is set on the frame 110. The multi-axis robotic arm 220 has multiple degrees of freedom and can achieve multiple welding postures. Multiple electric telescopic rods 230 are set at the movable end of the multi-axis robotic arm 220, and the multiple electric telescopic rods 230 are parallel to each other. Multiple welding guns 240 of different types are respectively arranged one by one at one end of the multiple electric telescopic rods 230 away from the multi-axis robotic arm 220. The welding control system 210 is electrically connected to the multi-axis robotic arm 220, the multiple electric telescopic rods 230 and the multiple welding guns 240 of different types. It can be understood that the welding control system 210 can adjust the welding process parameters according to different welding requirements.

[0032] The multi-axis robotic arm 220 may be a six-axis robotic arm, but may also be a five-axis or seven-axis robotic arm.

[0033] It is understandable that, under normal conditions, each electric telescopic rod 230 is in a retracted state. For example, Figure 1 As shown, when it is necessary to use the welding gun 240 located on the middle electric telescopic rod 230 for welding operations, the welding control system 210 controls the middle electric telescopic rod 230 to drive the welding gun 240 at its front end to extend forward, so as to prevent the remaining welding guns 240 from affecting the welding work of the welding gun 240.

[0034] In an embodiment of the present application, the mobile welding robot workstation is equipped with multiple parallel electric telescopic rods 230 on the movable end of the multi-axis robotic arm 220, and a different type of welding gun 240 is installed on the end of each electric telescopic rod 230 away from the multi-axis robotic arm 220. When it is necessary to switch the welding mode, the electric telescopic rod 230 equipped with the corresponding type of welding gun 240 is controlled to drive the welding gun 240 thereon to extend forward, and the multi-axis robotic arm 220 drives the welding gun 240 to perform the corresponding type of welding operation along the weld seam. The mobile welding robot workstation is equipped with different types of welding guns 240 and can perform multiple welding modes, such as arc welding, laser welding, plasma welding, etc., to adapt to different materials and welding requirements.

[0035] Furthermore, by placing welding robot 200 on mobile chassis 100, it can be driven flexibly by the chassis 100, allowing it to move freely without being confined to a fixed workstation, thus meeting the needs of complex welding scenarios. Track module 120 enables the mobile welding robot workstation to adapt to various complex terrains, such as mountains and muddy ground, and is also suitable for welding various long components and different workstations, improving the equipment's mobility and adaptability, enabling a single machine to serve multiple workstations.

[0036] In one embodiment, if Figure 1 As shown, the welding robot 200 includes three electric telescopic rods 230 and three welding guns 240 of different types. The three welding guns 240 of different types are arc welding guns, laser welding guns and plasma welding guns.

[0037] Specifically, the three electric telescopic rods 230 may have the same specifications, and the three electric telescopic rods 230 may be arranged linearly and spaced apart on the movable end of the multi-axis robotic arm 220 or in a ring-shaped arrangement, which is not specifically limited.

[0038] It can be understood that the frame 110 of the mobile chassis 100 is equipped with welding machines compatible with different types of welding guns 240. Taking laser welding as an example, the frame 110 of the mobile chassis 100 is equipped with supporting equipment such as a power supply and a laser corresponding to the laser welding gun.

[0039] In one embodiment, the welding robot 200 also includes a three-dimensional camera (not shown in the figure) and a laser sensor (not shown in the figure) electrically connected to the welding control system 210. The three-dimensional camera and the laser sensor are both set at the movable end of the multi-axis robotic arm 220 through a mounting bracket. It can be understood that the three-dimensional camera and the laser sensor are equivalent to the eyes of the welding robot 200, and the welding control system 210 uses the three-dimensional camera and the laser sensor to identify and locate the weld.

[0040] Specifically, the welding control system 210 is loaded with multimodal vision software, which can quickly establish a scanning trajectory model of the workpiece, and then accurately scan the weld through a laser sensor to find the welding trajectory.

[0041] In one embodiment, if Figure 3-Figure 4 As shown, the track module 120 includes a wheel frame 121, a driving wheel 122, a driven wheel 123, a track 124 and a drive motor (not shown in the figure). The wheel frame 121 is connected to the frame 110, and the driving wheel 122 and the driven wheel 123 are arranged at intervals on the wheel frame 121. There are multiple driven wheels 123, which mainly serve to carry the track 124. The track 124 is wound between the driving wheel 122 and the driven wheel 123, and the drive motor is connected to the driving wheel 122 to drive the driving wheel 122 to rotate.

[0042] Further, combined with Figure 1-Figure 2 and Figure 5 As shown, the mobile chassis 100 also includes a walking controller 130 and a wireless receiving module electrically connected to the walking controller 130. The driving motors in the two track modules 120 are both electrically connected to the walking controller 130. The walking controller 130 can receive the control signal of the remote control platform through the wireless receiving module, and then control the movement of the track module 120 (forward, backward, turning, etc.).

[0043] The welding control system 210 has a wireless receiving unit, which can receive control signals from the remote control platform through the wireless receiving unit, and then control the movements of the multi-axis robot arm 220, the electric telescopic rod 230 and the welding gun 240 to achieve welding operations.

[0044] Through the above settings, remote control of the mobile welding robot workstation can be realized. The operator can control the robot to move and weld in a safe and comfortable environment, which greatly improves the convenience and safety of operation.

[0045] Remote control reduces direct contact between operators and the welding environment, significantly reducing safety risks. Combined with visual technology, there's no need to import workpiece drawings or manually program and teach, significantly improving welding efficiency.

[0046] 5G communication technology can also be used for remote control to improve data transmission speed and stability and achieve more efficient remote control.

[0047] In a specific embodiment, laser radars (not shown) for obstacle avoidance are further provided at the front and rear ends of the frame 110 (i.e., the front and rear ends in the direction of motion of the mobile chassis 100). The laser radars are electrically connected to the travel controller 130. This configuration improves the obstacle avoidance capability of the mobile welding robot workstation in complex environments.

[0048] It should be noted that the electrical components / electrical elements and control methods in the embodiments of the present application are all prior arts.

[0049] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0050] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A mobile welding robot workstation, characterized in that: include: The mobile chassis comprises a frame and two crawler modules respectively arranged on opposite sides of the frame and used to drive the frame to move; as well as A welding robot includes a welding control system, a multi-axis robotic arm, multiple electric telescopic rods, and multiple welding guns of different types. The fixed end of the multi-axis robotic arm is arranged on the frame, the multiple electric telescopic rods are arranged at the movable end of the multi-axis robotic arm, and the multiple electric telescopic rods are parallel to each other. The multiple welding guns of different types are respectively arranged in a one-to-one correspondence at one end of the multiple electric telescopic rods away from the multi-axis robotic arm. The welding control system is electrically connected to the multi-axis robotic arm, the multiple electric telescopic rods, and the multiple welding guns of different types.

2. The mobile welding robot workstation according to claim 1, characterized in that: The welding robot comprises three electric telescopic rods and three welding guns of different types, wherein the three welding guns of different types are arc welding guns, laser welding guns and plasma welding guns.

3. The mobile welding robot workstation according to claim 1, characterized in that: The welding robot also includes a three-dimensional camera and a laser sensor electrically connected to the welding control system. The three-dimensional camera and the laser sensor are both arranged on the movable end of the multi-axis robotic arm through a mounting bracket. The welding control system uses the three-dimensional camera and the laser sensor to identify and locate the weld.

4. The mobile welding robot workstation according to claim 1, characterized in that: The track module includes a wheel frame, a driving wheel, a driven wheel, a track and a drive motor. The wheel frame is connected to the vehicle frame, the driving wheel and the driven wheel are arranged on the wheel frame at intervals, the track is wound between the driving wheel and the driven wheel, and the drive motor is connected to the driving wheel to drive the driving wheel to rotate.

5. The mobile welding robot workstation according to claim 4, characterized in that: The mobile chassis also includes a walking controller and a wireless receiving module electrically connected to the walking controller. The driving motors in the two track modules are both electrically connected to the walking controller. The walking controller can receive control signals from the remote control platform through the wireless receiving module, thereby controlling the movement of the track module.

6. The mobile welding robot workstation according to claim 5, characterized in that: Laser radars for obstacle avoidance are also provided at the front and rear ends of the frame, and the laser radars are electrically connected to the walking controller.

7. The mobile welding robot workstation according to claim 1, characterized in that: The welding control system has a wireless receiving unit, and the welding control system can receive control signals from a remote control platform through the wireless receiving unit, thereby controlling the movements of the multi-axis robotic arm, the electric telescopic rod, and the welding gun to achieve welding operations.

8. The mobile welding robot workstation according to claim 1, characterized in that: The multi-axis robotic arm includes a six-axis robotic arm.

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