Wall-climbing welding robot for thin-wall plates

Abstract

The utility model discloses a wall-climbing welding robot for a thin-wall plate, and relates to the field of welding robots. The welding robot comprises a machine frame, a driving module, a rolling module, a front protective cover, a rear protective cover, a welding gun moving module, a welding gun clamp and a welding gun body, a magnetic attraction wheel in the driving module provides adsorption force for supporting a machine body, and a driving motor provides driving force needed by operation of the machine body. A suspension spring in the rolling module is extruded by the adsorption force to automatically adjust the misalignment of the welding seam. A visual camera in the welding gun clamp detects an included angle between a laser line and a welding seam, the rotating speed of a driving motor can be controlled to correct a vehicle body, and meanwhile longitudinal and transverse distance matching of the welding gun and the welding seam can be automatically completed. And the welding robot body adopts a lightweight design, so that the load and deformation of the thin-wall plate are reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to welding robot field, especially a kind of wall climbing welding robot for thin-walled plate. BACKGROUND

[0002] Traditional thin-walled plate needs person to first manually spot welding on weld, then carries out overall welding, time-consuming and laborious, while the toxic gas generated in welding process produces serious harm to worker's body. Since thin-walled plate has the characteristics of easy bending deformation, most of the existing wall climbing welding robots are large in size, heavy in weight, not flexible in steering, and the visual system is usually far away from welding gun, which has adverse effects on welding precision and efficiency.

[0003] In addition, thin-walled plate weld usually not only has up and down gap, but also may have front and back misalignment, which affects the overall quality of welding. CONTENT OF UTILITY MODEL

[0004] In order to solve the problems of easy bending deformation of thin-walled plate, limited visual detection precision, misalignment of thin-walled plate and low welding precision and efficiency, the utility model provides a wall climbing welding robot for thin-walled plate, which adjusts misalignment by suspension rolling method, and completes weld feature collection and welding operation by integrated clamp.

[0005] The utility model solves technical scheme adopted for its technical problems: a wall climbing welding robot for thin-walled plate, a wall climbing welding robot for thin-walled pipe plate, including frame, drive module, rolling module, front protective cover, rear protective cover, welding gun moving module, welding gun clamp, welding gun, the frame bottom is fixed with drive module;The rolling module is fixed in the center position of frame bottom;The front protective cover and rear protective cover are hinged with frame respectively;The welding gun moving module is fixed with the support extended from frame;The rear side of welding gun clamp is connected with welding gun moving module, the front side of fixture is sleeved with welding gun, and the movement of welding gun body is limited by fastening fixture through bolt.

[0006] The wall climbing welding robot for thin-walled pipe plate is characterized in that the drive module includes magnetic wheel, drive motor, fixed angle iron, motor base and connecting shaft. The fixed angle iron is fixed with the bottom of frame, and the motor base is fixed on the inner side of rib. The drive motor is threadedly connected with the motor base, and the extended shaft sleeve is connected with one side of coupling. The other side of coupling is connected with connecting shaft, and the shaft is connected with magnetic wheel through key and flange.

[0007] The wall climbing welding robot for thin-walled pipe plate is characterized in that the rolling module includes spring suspension and round roller. The upper side of spring suspension is threadedly connected with the bottom of frame, and the lower side is threadedly connected with both sides of round roller. The number of spring suspension can be adjusted according to the length of round roller.

[0008] The wall-climbing welding robot for thin-walled pipe plate is characterized in that the welding gun moving module comprises a transverse module and a longitudinal module, the transverse module is fixed through the foot with the support extended from the frame, and the longitudinal module is threadedly connected with the transverse module through a module connecting sheet.

[0009] The wall-climbing welding robot for thin-walled pipe plate is characterized in that the welding gun clamp comprises a welding gun clamp, a visual camera, a laser and a light source.

[0010] The wall-climbing welding robot has the advantages that the wall-climbing welding robot is designed in a frame type, greatly reduces the self weight, and effectively reduces the pressure of the machine body weight on the plate. BRIEF DESCRIPTION OF DRAWINGS

[0011] The utility model will be further described below in combination with the drawings and embodiments.

[0012] Figure 1 It is structural drawing of the utility model;

[0013] Figure 2 It is drive module schematic diagram;

[0014] Figure 3 It is clamp bottom view;

[0015] Figure 4 It is welding execution module schematic diagram;

[0016] In the drawing: 1. frame;21. magnetic attraction wheel;22. drive motor;23. fixed angle iron;24. motor base;25. coupling;26. connecting shaft;31. spring suspension;32. round roller;4. front protective cover;5. rear protective cover;6. transverse module;61. module connecting sheet;7. longitudinal module;8. welding gun clamp;81. visual camera;82. laser;83. light source;9. welding gun body;10. hinge. DETAILED DESCRIPTION

[0017] The utility model will be further described below in combination with the drawings and embodiments.

[0018] Embodiment 1:

[0019] Please refer to Figures 1-3 , the thin-walled plate-oriented wall climbing welding robot comprises a rack 1, a driving module, a rolling module, a front protective cover 4, a rear protective cover 5, a welding gun moving module, a welding gun clamp 8 and a welding gun 9. The magnetic wheel 21 in the driving module provides adsorption force for the vehicle body, and the spring suspension 31 is extruded to adjust the round roller 32 to the weld gap. The driving motor 22 in the driving module is fixed with the motor seat 24, the driving motor 22 extends the shaft and is sleeved with the shaft coupling 25, the other side of the shaft coupling 25 is sleeved with the connecting shaft 26, and the connecting shaft 26 is connected with the magnetic wheel 21 through the key and the flange.

[0020] Please refer to Figure 2 , preferably, the shaft diameter of the connecting shaft 26 and the driving motor 22 can be adjusted arbitrarily, and the shaft diameter of the connecting shaft is the same as the hole diameter of the magnetic wheel.

[0021] Please refer to Figure 1 , preferably, the spring suspension 31 in the rolling module has a height difference with the magnetic wheel 21, and the difference can be adjusted arbitrarily according to the size of the gap.

[0022] Example 2

[0023] Please refer to Figure 1 and Figure 3 , the thin-walled plate-oriented wall climbing welding robot needs to identify the included angle between the line laser emitted by the laser 82 and the weld through the visual camera 81 in the welding gun clamp 8 during work, send the vehicle body travel error information to the main controller in the front protective cover 4, adjust the driving motor 22 through the main controller, and control the body pose.

[0024] Please refer to Figure 3 , preferably, the line laser projected by the laser 82 is perpendicular to the center line of the visual camera 81.

[0025] Example 3

[0026] Please refer to Figure 4 , the thin-walled plate-oriented wall climbing welding robot needs to identify the distance information between the welding gun body 9 and the weld through the visual camera 81, and control the longitudinal module 7 to match the welding gun body 9 with the weld longitudinally. The vertical distance between the visual camera 81 and the welding gun body 9 and the included angle between the line laser and the weld can control the transverse module 6 to move to the corresponding position, so that the welding gun body 9 is matched with the weld transversely.

[0027] Please refer to Figure 4 , preferably, the transverse module 6 and the longitudinal module 7 are connected through the module connecting piece 61 by screw connection.

[0028] The above merely describes preferred embodiments of the present application, and is not intended to limit the scope of protection of the present application. Within the technical scheme conception and principles of the present application, equivalent replacement of some structural features, reasonable adjustment of technical details, or extension improvement based on the same innovative conception, should all be considered to fall within the protection scope defined by the claims of the present application.

Claims

1. A thin-walled plate-oriented wall climbing welding robot, comprising a rack (1), a driving module, a rolling module, a front protective cover (4), a rear protective cover (5), a welding gun moving module, a welding gun clamp (8), and a welding gun body (9), characterized in that, the bottom of the rack (1) is fixed with the driving module; the rolling module is fixed at the center position of the bottom of the rack (1); the front protective cover (4) and the rear protective cover (5) are respectively hinged to the rack (1) through hinges (10); the welding gun moving module is fixed with the support extending from the rack (1); the rear side of the welding gun clamp (8) is connected with the welding gun moving module, and the front side of the clamp is sleeved with the welding gun body (9) and fastened with bolts to limit the movement of the welding gun body (9).

2. The thin-walled sheet oriented wall climbing welding robot of claim 1, wherein The driving module comprises a magnetic wheel (21), a driving motor (22), a fixed angle iron (23), a motor seat (24), a coupling (25), and a connecting shaft (26); the fixed angle iron (23) is fixed with the bottom of the rack (1), and the motor seat (24) is fixed inside the rib; the driving motor (22) is threadedly connected with the motor seat (24), and the extending shaft sleeve is sleeved with one side of the coupling (25); the other side of the coupling (25) is sleeved with the connecting shaft (26) and connected with the magnetic wheel (21) through a key and a flange.

3. The thin-gauge sheet metal oriented wall climbing welding robotic machine of claim 1, wherein The rolling module comprises a spring suspension (31) and a round roller (32); the upper side of the spring suspension (31) is threadedly connected with the bottom of the rack (1), and the lower side is threadedly connected with the round roller (32) on both sides.

4. The thin-gauge sheet metal oriented wall climbing welding robotic machine of claim 1, wherein The welding gun moving module comprises a transverse module (6) and a longitudinal module (7); the transverse module (6) is fixed with the support extending from the rack (1) through a foot; and the longitudinal module (7) is threadedly connected with the transverse module (6) through a connecting sheet.

5. The thin-gauge sheet metal oriented wall climbing welding robotic machine of claim 1, wherein The welding gun clamp (8) comprises a welding gun clamp (8), a visual camera (81), a laser (82), and a light source (83); the visual camera (81) is placed in the camera groove of the welding gun clamp (8) and fixed through threads; the laser (82) is obliquely inserted into the round hole of the welding gun clamp (8) and fixed through threads; and the light source (83) is inserted through a notch opened at the top of the welding gun clamp (8) and fixed through threads.

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