Mobile welding collaborative robot with lifting base

Abstract

The utility model relates to welding collaborative robot technical field, concretely is mobile type welding collaborative robot with lifting base. Including robot dolly, robot dolly includes frame, sets up the leveling mechanism and lifting mechanism on the frame, is equipped with the magnetic attraction base on the lifting mechanism, is equipped with welding collaborative robot on the magnetic attraction base, the lifting mechanism includes the fixed sleeve of frame, the inner sleeve of sleeve setting in fixed sleeve, is equipped with the sliding slot on the frame of fixed sleeve both sides, is equipped with the slide strip on the both sides of inner sleeve top, and the slide strip is located in the sliding slot, the lifting base of this application can be applicable to steel structure deck multiple position welding, can satisfy various welding height and position demand lifting base can be fixed on the steel structure deck, can satisfy steel structure deck multiple position quick deployment welding requirement. When welding collaborative robot moves in the deck piece different welding area, does not need to move the integrated module dolly of heavy weight, and the operation is more light and simple.

Description

Technical Field

[0001] This utility model relates to the field of welding collaborative robot technology, specifically a mobile welding collaborative robot with a lifting base. Background Technology

[0002] Currently, manual welding is the primary method used in the welding of offshore steel structures. Traditional manual welding methods have many drawbacks, such as labor shortages, numerous welding defects, difficulty in personnel training, cumbersome welding operations, low work efficiency, and safety hazards related to electrical work. However, with the application and development of collaborative robots across various industries, a feasible solution has been provided to improve the production efficiency, construction quality, and safety of offshore steel structure welding. However, existing collaborative welding robots often struggle to be quickly deployed in different welding scenarios within offshore steel structures. The reachability of the robotic arms is often insufficient, easily reaching collision points and singularities during actual use, causing the robotic arms to malfunction and hindering the welding process. This affects the flexibility, adaptability, and effectiveness of the collaborative welding robots. Therefore, there is an urgent need for a mobile collaborative welding robot with a lifting base to enable wider application of collaborative welding robots in the offshore welding field. Summary of the Invention

[0003] In view of the above situation and to overcome the defects of the prior art, this utility model provides a mobile welding collaborative robot with a lifting base to solve the problems involved in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a mobile welding collaborative robot with a lifting base, comprising a robot car, the robot car comprising a frame, a leveling mechanism and a lifting mechanism disposed on the frame, a magnetic base disposed on the lifting mechanism, and a welding collaborative robot disposed on the magnetic base.

[0005] The lifting mechanism includes an outer sleeve fixed to the frame, an inner sleeve fitted inside the outer sleeve, grooves on both sides of the frame of the outer sleeve, and slide bars on both sides of the top of the inner sleeve, with the slide bars located in the grooves.

[0006] The slide groove is provided with bolt holes, and the slide bar is provided with elongated holes. The bolt holes and elongated holes are fixed together by bolts.

[0007] Furthermore, the leveling mechanism is provided in multiple parts, evenly distributed around the periphery of the bracket, including a support plate fixed to the frame, a threaded hole on the support plate, a support rod inside the threaded hole, a support foot at the bottom of the support rod, and a handle at the top of the support rod.

[0008] Furthermore, the frame is also equipped with swivel casters and a wire feeding mechanism;

[0009] The wire feeding mechanism includes a reel and welding wire mounted on the reel. The wire feeding mechanism is used to feed welding wire to the welding collaborative robot.

[0010] Furthermore, it also includes an integrated modular vehicle that is connected to the robotic vehicle via cables and air belts.

[0011] Furthermore, the integrated module trolley is equipped with unidirectional load-bearing wheels, a welding machine, and a control cabinet.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] This application's lifting base is suitable for multi-position welding on steel structure decks, meeting various welding height and position requirements. The lifting base can be fixed on the steel structure deck, satisfying the requirements for rapid deployment welding in multiple positions on steel structure decks. The integrated modular trolley can be placed near the deck panel. The welding collaborative robot trolley is connected to the integrated trolley via cables and air hoses, allowing the welding collaborative robot to move between different welding areas within the deck panel without needing to move the heavy integrated modular trolley, making operation more convenient and simple. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the robot car according to an embodiment of the present invention;

[0015] Figure 2 This is a three-dimensional structural diagram of the integrated module trolley according to an embodiment of the present utility model;

[0016] Figure 3 This is a schematic diagram of the leveling mechanism and lifting mechanism in an embodiment of the present invention;

[0017] In the picture:

[0018] Frame 1, leveling mechanism 2, support plate 21, support rod 23, support foot 24, handle 25, lifting mechanism 3, outer sleeve 31, inner sleeve 32, slide groove 33, slide bar 34, bolt 35, magnetic base 4, welding collaborative robot 5, universal caster 6, wire feeding mechanism 7, one-way load-bearing wheel 8, welding machine 9, control cabinet 10. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0020] Example:

[0021] Depend on Figure 1-3 As shown, a mobile welding collaborative robot with a lifting base includes a robot car, which includes a frame 1, a leveling mechanism 2 and a lifting mechanism 3 on the frame 1, a magnetic base 4 on the lifting mechanism 3, and a welding collaborative robot 5 on the magnetic base 4.

[0022] The lifting mechanism 3 includes an outer sleeve 31 fixed to the frame 1, and an inner sleeve 32 fitted inside the outer sleeve 31. The frame 1 on both sides of the outer sleeve 31 has grooves 33, and the top of the inner sleeve 32 has sliding strips 34 on both sides, which are located within the grooves 33. Bolt holes are provided in the grooves 33, and elongated holes are provided in the sliding strips 34. The bolt holes and elongated holes are fixed together by bolts 35. Offshore steel structure decks are unique, generally large in size, with limited space between decks, making it extremely difficult for workers to enter and weld in some areas. Using a lifting mechanism allows the robotic arm to rise and fall according to different scenarios, thereby improving the robotic arm's accessibility to different deck heights and increasing the welding height of the welding robot. Using a lifting base helps the welding collaborative robot achieve welding at different locations on the steel structure deck. When facing a large deck, the lifting base raises the robotic arm, with the welding torch pointing upwards, thus enabling the welding collaborative robot to weld the upper deck. When facing a smaller deck, the lifting base lowers the robotic arm, with the welding torch pointing downwards, thus enabling the welding collaborative robot to weld the lower deck.

[0023] Multiple leveling mechanisms 2 are evenly distributed around the perimeter of the support frame 1. Each mechanism includes a support plate 21 fixed to the frame 1. The support plate 21 has threaded holes, and a support rod 23 is installed within these holes. The support rod 23 has a support foot 24 at its bottom and a handle 25 at its top. The leveling mechanisms 2 are primarily used to raise and level the trolley when it moves to the welding machine position, thereby ensuring the stability of the robotic arm during welding.

[0024] The frame 1 is also equipped with omnidirectional casters 6 and a wire feeding mechanism 7. The omnidirectional casters 6 can help the robot move in multiple directions, and the wheels are equipped with a quick-clamp locking device. When the welding collaborative robot trolley moves to the welding position, the quick-clamp locking device can help fix the trolley. The wire feeding mechanism 7 includes a winding wheel and welding wire on the winding wheel. The wire feeding mechanism is used to feed welding wire to the welding collaborative robot 5.

[0025] It also includes an integrated modular vehicle connected to the robotic vehicle via cables and air hoses. The integrated modular vehicle is equipped with unidirectional load-bearing wheels 8, a welding machine 9, and a control cabinet 10. The integrated modular vehicle is placed near the deck, and the welding collaborative robot vehicle is connected to the integrated vehicle via cables and air hoses. This eliminates the need for the welding collaborative robot to move the heavy integrated modular vehicle while welding the deck, making it easier and more convenient for the welding collaborative robot to move between different decks. Furthermore, placing the welding machine, control cabinet, etc., separately within the integrated modular vehicle reduces the height of the welding collaborative robot vehicle to approximately 1.3 meters, allowing for more free movement in the confined space below deck.

[0026] After assembling the non-standard deck panels, manual work is performed to prepare the base, clean the root, and clean the welding surface near the weld joint. The welding surface is preheated to meet pre-welding requirements and ensure a defect-free weld. The integrated modular trolley is moved to a location near the deck panels that will not interfere with construction. The magnetic base of the welding collaborative robot trolley is fixed to its worktable. The trolley is then pushed to the welding area, and the swivel casters are locked using quick-clamping clamps. The lifting mechanism is raised, lifting the collaborative robot to the welding position. The leveling mechanism then raises the welding collaborative robot trolley, ensuring the entire system is level for easy welding.

[0027] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mobile welding collaborative robot with a lifting base, characterized in that: The robot includes a frame, a leveling mechanism and a lifting mechanism on the frame, a magnetic base on the lifting mechanism, and a welding collaborative robot on the magnetic base. The lifting mechanism includes an outer sleeve fixed to the frame, an inner sleeve fitted inside the outer sleeve, grooves on both sides of the frame of the outer sleeve, and slide bars on both sides of the top of the inner sleeve, with the slide bars located in the grooves. The slide groove is provided with bolt holes, and the slide bar is provided with elongated holes. The bolt holes and elongated holes are fixed together by bolts.

2. The mobile welding collaborative robot with a lifting base according to claim 1, characterized in that: The leveling mechanism has multiple components, evenly distributed around the support frame, including a support plate fixed to the frame, a threaded hole on the support plate, a support rod inside the threaded hole, a support foot at the bottom of the support rod, and a handle at the top of the support rod.

3. The mobile welding collaborative robot with a lifting base according to claim 1, characterized in that: The frame is also equipped with swivel casters and a wire feeding mechanism; The wire feeding mechanism includes a reel and welding wire mounted on the reel. The wire feeding mechanism is used to feed welding wire to the welding collaborative robot.

4. The mobile welding collaborative robot with a lifting base according to claim 1, characterized in that: It also includes integrated modular vehicles that are connected to the robot vehicle via cables and air belts.

5. The mobile welding collaborative robot with a lifting base according to claim 4, characterized in that: The integrated module trolley is equipped with one-way load-bearing wheels, a welding machine, and a control cabinet.

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