An obstacle-crossing welding robot

Abstract

This application discloses an obstacle-crossing welding robot, which includes a frame and a controller, a path guidance device, a flexible robotic arm, an obstacle-crossing wheel mechanism, and a welding machine mounted on the frame. The path guidance device, the flexible robotic arm, the obstacle-crossing wheel mechanism, and the welding machine are respectively connected to the controller via wiring. At least two pairs of obstacle-crossing wheel mechanisms are arranged from front to back on both sides of the bottom of the frame. Each obstacle-crossing wheel mechanism includes an outer shell connected to the bottom of the frame. A first telescopic device is vertically arranged at both ends of the inner side of the outer shell. Each first telescopic device includes a telescopic rod, and a wheel is provided at the bottom end of the telescopic rod. A welding torch is provided at the end of the flexible robotic arm, and the welding torch is connected to the welding machine. The obstacle-crossing welding robot provided by this application can move independently within grid plates, etc., and can automatically identify and cross grid plates, and automatically identify, track, and weld each weld seam of the partition.

Description

Technical Field

[0001] This application relates to the field of welding equipment technology, specifically to an obstacle-crossing welding robot. Background Technology

[0002] Currently, in various welding fields, such as automobile manufacturing (body panels), construction machinery (box structures), aerospace (cabinet panels), and shipbuilding and port machinery (grid panels), when obstacles such as stiffeners, bosses, and complex structural boundaries exist on-site, the welding process often requires the welding equipment to traverse these obstacles to complete the welding. Existing solutions typically include the following:

[0003] (1) Rail-mounted welding robot solution. This solution uses a ground rail + six-axis robotic arm for welding, which is the most common method. Its welding performance is stable, but it has no obstacle crossing ability, has strict requirements for the installation site, and requires manual movement and reinstallation of the rail after welding a single area. The degree of automation is extremely low.

[0004] (2) AGV + six-axis robotic arm solution. With this solution, the robot can only weld the edges of the workpiece, has no obstacle crossing function, cannot weld the internal area of ​​the workpiece, the welding range is limited, and the equipment cost is high.

[0005] (3) Solution using a six-axis robotic arm and magnetic base. This solution involves manually moving the six-axis robotic arm to a designated location. After welding is completed within the reach of the robotic arm, it is necessary to manually move the six-axis robotic arm to a new welding area. This severely limits the working range, results in a small processing area per operation, and is inconvenient to move, requiring a large amount of manpower.

[0006] (4) Manual welding solution. In the manufacturing fields of nuclear power, shipbuilding, aerospace, etc., the welding environment is complex and dangerous. Manual operation is not only difficult, but it is also difficult to ensure the consistency of welding quality and there are also safety hazards. Utility Model Content

[0007] To address the problems existing in the above-mentioned background technology, this application provides an obstacle-crossing welding robot, which effectively solves the problem of obstacle-crossing welding robots.

[0008] The technical solution to the technical problem solved in this application is as follows:

[0009] This application provides an obstacle-crossing welding robot, comprising a frame and a controller, a flexible robotic arm, an obstacle-crossing wheel mechanism, and a welding machine mounted on the frame. The flexible robotic arm, the obstacle-crossing wheel mechanism, and the welding machine are respectively connected to the controller via wiring. At least two pairs of obstacle-crossing wheel mechanisms are arranged from front to back on both sides of the bottom of the frame. Each obstacle-crossing wheel mechanism includes an outer shell connected to the bottom of the frame. A first telescopic device is vertically arranged at both ends of the inner side of the outer shell. Each first telescopic device includes a telescopic rod, and a wheel is provided at the bottom end of the telescopic rod. A welding torch is provided at the end of the flexible robotic arm, and the welding torch is connected to the welding machine. A path guiding device is also provided on the frame, and the path guiding device is connected to the controller via wiring.

[0010] Furthermore, the frame is equipped with an electromagnetic fixing mechanism, which includes a U-shaped connecting pipe at the bottom of the frame. Two intermediate rods are vertically movably arranged inside the two sides of the U-shaped connecting pipe, and electromagnetic fixing devices are connected to the bottom ends of the two intermediate rods. A U-shaped connector is provided at the lower part of the two intermediate rods. A second telescopic device is vertically arranged between the middle of the U-shaped connector and the middle of the U-shaped connecting pipe. The second telescopic device and the electromagnetic fixing device are respectively connected to the controller via wiring.

[0011] Furthermore, both the first telescopic device and the second telescopic device are electric cylinders.

[0012] Furthermore, a linear module is arranged in the front and rear directions at the bottom of the frame. The linear module is connected to the controller via a line, and the flexible robotic arm is movably mounted on the linear module.

[0013] Furthermore, the end effector of the flexible robotic arm is equipped with a teach-free device, which is connected to the controller via a circuit.

[0014] Furthermore, a wheel drive device is provided at the bottom of the telescopic rod, the wheel drive device is connected to the controller via a line, and the wheel is connected to the output end of the wheel drive device.

[0015] Furthermore, the path guidance device is a depth stereo camera, with a protective cover on its outer side.

[0016] Furthermore, a wire feeder is provided on the frame, the wire feeder is connected to the welding torch, and the wire feeder is connected to the controller via a line.

[0017] Furthermore, a battery is provided on the rack, and the battery is connected to and provides power to all the electrical equipment installed on the rack.

[0018] Compared with existing technologies, the obstacle-crossing welding robot proposed in this application has the following advantages:

[0019] (1) The obstacle-crossing welding robot described in this application has a simple structure and is easy to manufacture and use. It achieves forward and backward movement through at least two pairs of obstacle-crossing wheel and foot mechanisms arranged from front to back on both sides of the bottom of the frame, that is, through 4 sets of a total of 8 first telescopic devices and wheels. When the welding robot encounters an obstacle in a welding site such as a grid plate, the controller controls the front and rear first telescopic devices of the obstacle-crossing wheel and foot mechanism to rise and fall alternately to cross the obstacle and support it, so that the obstacle-crossing welding robot can cross the obstacle.

[0020] (2) This application uses a path guidance device to sense the path and obstacles in front of the obstacle-crossing welding robot, and controls the corresponding obstacle-crossing wheel and foot mechanism to cross the obstacle by controlling the controller.

[0021] (3) By setting up an electromagnetic fixing mechanism, after the obstacle-crossing welding robot reaches the designated welding area, the second telescopic device drives the two electromagnetic fixing devices to fall and electromagnetically attract the base plate, fixing the obstacle-crossing welding robot in this position, which is convenient for welding needs. At the same time, the controller can control each wheel drive device to lock the wheels.

[0022] (4) By setting a linear module at the bottom of the frame, this application facilitates the linear movement of the flexible robotic arm, expands the welding range, and at the same time, the flexible welding arm can drive the welding gun and the teaching-free device to perform weld seam recognition, welding and position feedback within its movement range, accurately correct the movement and welding position posture of the obstacle-crossing welding robot, and drive the welding gun to perform welding.

[0023] (5) By mounting a battery on the frame, this application can supply power to various electrical devices on the frame and centrally install various devices on the frame, so that the obstacle-crossing welding robot has no external cables, moves flexibly, can move independently in the grid plate, automatically identify and cross the grid plate, and automatically identify, track and weld each weld seam of the partition plate, etc. Attached Figure Description

[0024] Figure 1 This is a structural schematic diagram of the obstacle-crossing welding robot described in this application;

[0025] Figure 2 This is a structural schematic diagram (bottom view) of the obstacle-crossing welding robot described in this application;

[0026] Figure 3 This is a side view of the obstacle-crossing welding robot described in this application;

[0027] Figure 4 yes Figure 3 Schematic diagram of the cross section along the AA direction;

[0028] Figure 5 This is a schematic diagram of the electromagnetic fixing device in this application;

[0029] Figure 6 This is a control diagram of the controller and each controlled device in this application;

[0030] Figure 7 This is a schematic diagram of the obstacle-crossing welding robot described in this application applied to a grating plate;

[0031] In the diagram: 1. Battery; 2. Controller; 3. Path guidance device; 4. Flexible robotic arm; 5. Electromagnetic fixing mechanism; 51. U-shaped connecting pipe; 52. Intermediate rod; 53. U-shaped connector; 54. Electromagnetic fixing device; 55. Second telescopic device; 6. Obstacle-crossing wheel mechanism; 61. Outer shell; 62. Telescopic rod; 63. Wheel; 64. Wheel drive device; 65. First telescopic device; 7. Welding machine; 8. Wire feeder; 9. Frame; 10. Welding torch; 11. No-teach device; 12. Protective cover; 13. Linear module; 15. Grating plate. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those skilled in the art to which this disclosure pertains. The terms "upper," "lower," "left," "right," "front," and "back" used in the specification and claims of this patent application are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship also changes accordingly. Words such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Anything not detailed in this application is common knowledge to those skilled in the art.

[0033] like Figure 1-7 As shown, this application provides an obstacle-crossing welding robot, which includes a rectangular frame 9 and obstacle-crossing wheel and foot mechanisms 6 respectively disposed at the four corners of the bottom of the frame 9. The frame 9 is used to carry various equipment, and the obstacle-crossing wheel and foot mechanisms 6 are used for the walking and obstacle-crossing actions of the entire obstacle-crossing welding robot.

[0034] The upper surface of the frame 9 is equipped with a controller 2 and a welding machine 7, while the lower surface is equipped with a flexible robotic arm 4. A welding torch 10 is attached to the end of the flexible robotic arm 4 and is connected to the welding machine 7. The controller 2 controls the movement and welding actions of the entire obstacle-crossing welding robot. The flexible robotic arm 4, the obstacle-crossing wheel mechanism 6, and the welding machine 7 are connected to the controller 2 via wiring. The controller 2 controls the obstacle-crossing wheel mechanism 6 to cross obstacles and controls the flexible robotic arm 4 and the welding machine 7 to weld the workpiece. The flexible robotic arm 4 is an existing device that can identify and weld welds within the robot's movement range, while simultaneously providing position feedback to precisely correct the robot's movement and welding posture.

[0035] A path guidance device 3 is also provided on the front side of the frame 9, and the path guidance device 3 is connected to the controller 2 via a line. The path guidance device 3 can preferably be a depth stereo camera, and a protective cover 12 is provided on its outside. The path guidance device 3 can sense the path on the front side of the obstacle-crossing welding robot and link with each obstacle-crossing wheel and foot mechanism 6 to achieve obstacle crossing.

[0036] Each obstacle-crossing wheel-foot mechanism 6 includes an outer shell 61 connected to the bottom of the frame 9. A first telescopic device 65 is vertically arranged at both ends of the inner side of the outer shell 61. Each first telescopic device 65 includes a telescopic rod 62, with a wheel 63 at the bottom end of the telescopic rod 62. When the obstacle-crossing welding robot encounters an obstacle during its movement, the telescopic rod 62 of the first telescopic device 65 on the front side of the obstacle-crossing wheel-foot mechanism 6 first raises the wheel 63, relying on the rear wheel 63 for support, and then continues to move forward. After the front wheel 63 crosses the obstacle, the telescopic rod 62 of the first telescopic device 65 on the front side descends and is supported by the wheel 63 on that side. Then, the telescopic rod 62 of the rear first telescopic device 65 rises, thereby enabling the obstacle-crossing wheel-foot mechanism 6 to cross the obstacle.

[0037] To drive the wheels 63, in a preferred embodiment, a wheel drive device 64 is provided at the bottom of the telescopic rod 62. The wheel drive device 64 is connected to the controller 2 via a line. The wheels 63 are connected to the output end of the wheel drive device 64. The controller 2 controls the operation of each wheel drive device 64.

[0038] To ensure the stability of the obstacle-crossing welding robot during welding, as a preferred embodiment, an electromagnetic fixing mechanism 5 can be provided on the front or rear side of the frame 9. The electromagnetic fixing mechanism 5 includes a U-shaped connecting pipe 51 located at the bottom of the frame 9. Intermediate rods 52 are vertically movably arranged inside the two pipes on both sides of the U-shaped connecting pipe 51. Electromagnetic fixing devices 54 are connected to the bottom ends of the two intermediate rods 52 respectively. A U-shaped connector 53 is provided at the lower part of the two intermediate rods 52. A second telescopic device 55 is vertically arranged between the middle of the U-shaped connector 53 and the middle of the U-shaped connecting pipe 51. The second telescopic device 55 and the electromagnetic fixing devices 54 are respectively connected to the controller 2 through lines. When the obstacle-crossing welding robot reaches the designated welding area, the controller 2 controls the second telescopic device 55 of the electromagnetic fixing mechanism 5 to drive the U-shaped connector 53 to drive the two electromagnetic fixing devices 54 to fall down. Then, they are electromagnetically attracted to the bottom plate, fixing the obstacle-crossing welding robot in this position. Then, the flexible robotic arm 4 is controlled to drive the welding gun to perform welding.

[0039] In a preferred embodiment, both the first telescopic device 65 and the second telescopic device 55 are preferably electric cylinders, and are linked and controlled by a controller to provide stable support, obstacle crossing, and fixation for the obstacle-crossing welding robot.

[0040] In a preferred embodiment, a linear module 13 is arranged at the bottom of the frame 9 in a front-to-back direction. The linear module 13 is connected to the controller 2 via a line. The flexible robotic arm 4 is movably arranged on the linear module 13. By setting the linear module 13, the welding range of the obstacle-crossing welding robot can be effectively expanded.

[0041] As a preferred embodiment, the end of the flexible robotic arm 4 may also be provided with a teach-free device 11. The teach-free device 11 is connected to the controller 2 via a line and can perform teach-free welding on the workpiece to be welded.

[0042] In a preferred embodiment, a wire feeder 8 is provided on the frame 9. The wire feeder 8 is connected to the welding torch 10 and is connected to the controller 2 via a line.

[0043] In a preferred embodiment, the frame 9 is also equipped with a battery 1, which is connected to and provides power to the controller 2, path guidance device 3, flexible robotic arm 4, electromagnetic fixing mechanism 5, obstacle-crossing wheel mechanism 6, welding machine 7, wire feeder 8, teaching-free device 11, linear template 13 and other equipment on the frame 9. This makes the entire obstacle-crossing welding robot free of external cables, flexible in movement, and able to move independently within a grid plate.

[0044] like Figure 7As shown, when the obstacle-crossing welding robot is welding on the grating plate 15, the path guidance device 3 senses the path ahead and transmits the signal to the controller 2. The controller 2 then controls the wheel drive devices 64 of each obstacle-crossing wheel mechanism 6 to drive the wheels 63 to achieve forward and backward movement. When an obstacle (such as a boss, rib, etc.) is encountered, the path guidance device 3 senses it and, through the controller 2, links each obstacle-crossing wheel mechanism 6 at the obstacle, controlling the telescopic rod 62 of the first telescopic device 65 on the front side to lift the wheel 63 at its bottom. The wheels 63 at the bottom of the telescopic rod 62 of the first telescopic device 65 on the rear side, as well as the wheels 63 of other obstacle-crossing wheel and foot mechanisms 6, are supported and move forward. After the front wheel 63 crosses the obstacle, the telescopic rod 62 of the first telescopic device 65 on the front side is controlled to drive the bottom wheel 63 to fall and support it. Then, the telescopic rod 62 of the first telescopic device 65 on the rear side is controlled to drive the bottom wheel 63 to lift up. The wheels 63 continue to move forward, so that the rear wheel 63 crosses the obstacle. The obstacle-crossing action of other obstacle-crossing wheel and foot mechanisms 6 is completed in the same way. When the obstacle-crossing welding robot reaches the designated welding area, the controller 2 controls the second telescopic device 55 of the electromagnetic fixing mechanism 5 to drive the U-shaped connector 53 to bring down the two electromagnetic fixing devices 54 and electromagnetically attract them to the grid plate 15, fixing the obstacle-crossing welding robot in that position. At the same time, the wheel drive devices 64 lock each wheel 63. Then, the flexible robotic arm 4 is controlled to drive the welding torch and the teachless device to identify and weld the weld seam within its range of motion, while providing position feedback and accurately correcting the movement and welding posture of the obstacle-crossing welding robot.

Claims

1. An obstacle-clearing welding robot, characterized by, The system includes a frame (9) and a controller (2), a path guide device (3), a flexible robotic arm (4), an obstacle-crossing wheel mechanism (6), and a welding machine (7) mounted on the frame (9). The path guide device (3), the flexible robotic arm (4), the obstacle-crossing wheel mechanism (6), and the welding machine (7) are connected to the controller (2) via wiring. At least two pairs of obstacle-crossing wheel mechanisms (6) are arranged from front to back on both sides of the bottom of the frame (9). Each obstacle-crossing wheel mechanism (6) includes an outer shell (61) connected to the bottom of the frame (9). A first telescopic device (65) is vertically arranged at both ends of the inner side of the outer shell (61). Each first telescopic device (65) includes a telescopic rod (62). A wheel (63) is arranged at the bottom end of the telescopic rod (62). A welding gun (10) is arranged at the end of the flexible robotic arm (4). The welding gun (10) is connected to the welding machine (7).

2. The obstacle climbing welding robot according to claim 1, wherein, An electromagnetic fixing mechanism (5) is provided on the frame (9). The electromagnetic fixing mechanism (5) includes a U-shaped connecting pipe (51) provided at the bottom of the frame (9). A middle rod (52) is vertically and movably arranged in the pipes on both sides of the U-shaped connecting pipe (51). An electromagnetic fixing device (54) is connected to the bottom of the two middle rods (52). A U-shaped connector (53) is provided at the bottom of the two middle rods (52). A second telescopic device (55) is vertically arranged between the middle of the U-shaped connector (53) and the middle of the U-shaped connecting pipe (51). The second telescopic device (55) and the electromagnetic fixing device (54) are respectively connected to the controller (2) through lines.

3. The obstacle climbing welding robot of claim 2, wherein, Both the first telescopic device (65) and the second telescopic device (55) are electric cylinders.

4. The obstacle climbing welding robot of claim 1, wherein, The frame (9) has a linear module (13) arranged in the front and back directions at the bottom. The linear module (13) is connected to the controller (2) through a line. The flexible robotic arm (4) is movably arranged on the linear module (13).

5. The obstacle climbing welding robot of claim 1, wherein, The flexible robotic arm (4) is also equipped with a teach-free device (11) at its end, which is connected to the controller (2) via a line.

6. The obstacle climbing welding robot of claim 1, wherein, The telescopic rod (62) is provided with a wheel drive device (64) at its bottom end. The wheel drive device (64) is connected to the controller (2) via a line. The wheel (63) is connected to the output end of the wheel drive device (64).

7. The obstacle climbing welding robot of claim 1, wherein, The path guidance device (3) is a depth stereo camera, and a protective cover (12) is provided on its outer side.

8. The obstacle climbing welding robot of claim 1, wherein, The frame (9) is equipped with a wire feeder (8), which is connected to the welding gun (10). The wire feeder (8) is connected to the controller (2) via a line.

9. The welding robot of any of claims 1-8, wherein, A battery (1) is provided on the frame (9), and the battery (1) is electrically connected to each electrical device installed on the frame (9) and provides power.

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