A biomimetic welding robot

Abstract

The utility model discloses a kind of bionic welding robots, specifically related to welding equipment technical field, including main body, controller and be used for walking mechanism of ground movement, main body includes head, torso, two arms and two support legs, head is connected with the top surface of torso, two arms are respectively connected by first rotating mechanism with the both sides rotation of torso upper portion, first rotating mechanism is used to drive arm relatively torso rotates back and forth, the end of two arms away from torso can be connected with argon arc welding device, weld flat mouth device or welding expansion pipe device disassembly, one end of two support legs is respectively connected by second rotating mechanism with the both sides rotation of torso lower portion, second rotating mechanism is used to drive support leg relatively torso rotates back and forth, the other end of two support legs is connected with walking mechanism, first rotating mechanism, second rotating mechanism and walking mechanism are connected with controller signal.The utility model can expand working range, improve multifunctionality and operation flexibility.

Description

Technical Field

[0001] This utility model relates to the field of welding equipment technology, and in particular to a biomimetic welding robot. Background Technology

[0002] Welding of steel structures is a crucial process in steel processing, but due to its complex shapes, diverse nodes, and high welding requirements, traditional welding techniques face challenges such as low efficiency and difficulty in quality control. Current welding robots lack flexibility, making it difficult to adapt to the diverse needs of steel structures. Furthermore, the industry suffers from shortcomings such as small-scale production, non-standardization, insufficient process support, and a shortage of welders, hindering the development of intelligent welding. Existing welding robots (mostly robotic arm structures) rely on ground tracks to move to different welding positions when welding large workpieces, limiting their movement paths and making them only suitable for regularly shaped workpieces, thus hindering flexible welding. Moreover, the front-end mechanisms of existing welding equipment's robotic arms cannot be equipped with different mechanisms to perform different tasks, resulting in insufficient flexibility. They can only adapt to single tasks and cannot accommodate diverse work assignments, limiting their working range. Utility Model Content

[0003] The purpose of this invention is to provide a biomimetic welding robot to solve the problems existing in the prior art, thereby expanding the working range and improving multifunctionality and operational flexibility.

[0004] To achieve the above objectives, this utility model provides the following solution:

[0005] This utility model provides a biomimetic welding robot, including a main body, a controller, and a walking mechanism for moving on the ground. The main body includes a head, a torso, two arms, and two supporting legs. The head is connected to the top surface of the torso. The two arms are rotatably connected to the upper sides of the torso via a first rotating mechanism. The first rotating mechanism drives the arms to rotate back and forth relative to the torso. The ends of the two arms away from the torso can be detachably connected to an argon arc welding device, a weld seam flattening device, or a welding tube expansion device. One end of each of the two supporting legs is rotatably connected to the lower sides of the torso via a second rotating mechanism. The second rotating mechanism drives the supporting legs to rotate back and forth relative to the torso. The other ends of the two supporting legs are connected to the walking mechanism. The first rotating mechanism, the second rotating mechanism, and the walking mechanism are all signal-connected to the controller.

[0006] Preferably, each arm includes an upper arm, a middle arm, and a lower arm. One end of the upper arm is rotatably connected to the torso via a first rotating mechanism. The other end of the upper arm is rotatably connected to one end of the middle arm via a third rotating mechanism. The third rotating mechanism is used to drive the middle arm to rotate left and right relative to the upper arm. The other end of the middle arm is rotatably connected to one end of the lower arm via a fourth rotating mechanism. The fourth rotating mechanism is used to drive the lower arm to rotate left and right relative to the middle arm. The other end of the lower arm is used to detachably connect to an argon arc welding device, a weld seam flat-end device, or a welding tube expansion device. Both the third and fourth rotating mechanisms are signal-connected to the controller.

[0007] Preferably, each of the supporting legs includes an upper leg, a lower leg, and a base. One end of the upper leg is rotatably connected to the torso via a second rotating mechanism, and the other end of the upper leg is rotatably connected to one end of the lower leg via a fifth rotating mechanism. The fifth rotating mechanism is used to drive the lower leg to rotate back and forth relative to the upper leg. The other end of the lower leg is rotatably connected to one end of the base. The other end of the base is connected to the walking mechanism via a sixth rotating mechanism. The sixth rotating mechanism is used to drive the walking mechanism to rotate left and right relative to the base. Both the fifth and sixth rotating mechanisms are signal-connected to the controller.

[0008] Preferably, the torso includes an upper torso and a lower torso. The upper torso is rotatably connected to the lower torso via a seventh rotating mechanism. The seventh rotating mechanism is used to drive the upper torso to rotate left and right relative to the lower torso. The arms and the head are connected to the upper torso, and the supporting legs are connected to the lower torso. The seventh rotating mechanism is signal-connected to the controller.

[0009] Preferably, each rotating mechanism is a rotary motor.

[0010] Preferably, the head is equipped with a visual detection device, which is signal-connected to the controller.

[0011] Preferably, the walking mechanism is a tracked walking mechanism.

[0012] Preferably, the tracked walking mechanism is equipped with a lidar for detecting obstacles around its perimeter, and the lidar is signal-connected to the controller.

[0013] The present invention achieves the following technical advantages over the prior art:

[0014] This invention provides a biomimetic welding robot with arms and supporting legs that rotate forward and backward with the torso, increasing the robot's flexibility and allowing it to easily adjust the angles of the arms and supporting legs in complex welding environments to reach welding points at different positions and angles. The supporting legs are connected to a walking mechanism, enabling the robot to move freely on the ground, expanding its working range and eliminating the need for frequent manual transport of the robot to different welding positions, thus improving work efficiency. The modular design allows for quick replacement of argon arc welding, weld seam flattening, or weld expansion devices on the arms, enabling the integration of multiple welding processes. The welding function modules at the front ends of both arms can be quickly replaced, allowing for flexible switching between argon arc welding, weld seam flattening, or weld expansion devices according to task requirements. Furthermore, the two arms can work collaboratively, simultaneously welding different parts of the workpiece, improving welding efficiency and making it suitable for complex industrial scenarios requiring multi-process connections or large-area welding. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 A schematic diagram of a biomimetic welding robot arm connected to an argon arc welding device;

[0017] Figure 2 A front view of a biomimetic welding robot arm connected to an argon arc welding device;

[0018] Figure 3 Side view of a biomimetic welding robot arm connected to an argon arc welding device;

[0019] Figure 4 A schematic diagram of the structure for connecting a welding expansion tube device to a biomimetic welding robot arm.

[0020] In the diagram: 1-Head; 2-Torso; 3-Arm; 4-Supporting Leg; 5-Walking Mechanism; 6-LiDAR; 7-First Rotating Mechanism; 8-Second Rotating Mechanism; 9-Upper Arm; 10-Middle Arm; 11-Lower Arm; 12-Third Rotating Mechanism; 13-Fourth Rotating Mechanism; 14-Upper Leg; 15-Lower Leg; 16-Base; 17-Fifth Rotating Mechanism; 18-Upper Torso; 19-Lower Torso; 20-Seventh Rotating Mechanism; 21-Vision Device; 22-Scanning Device; 23-Argon Arc Welding Device; 24-Welding Expansion Device. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] The purpose of this invention is to provide a biomimetic welding robot to solve the problems existing in the prior art, thereby expanding the working range and improving multifunctionality and operational flexibility.

[0023] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] This utility model provides a biomimetic welding robot, such as Figures 1-4As shown, the device includes a main body, a controller, and a walking mechanism 5 for moving on the ground. The main body includes a head 1, a torso 2, two arms 3, and two supporting legs 4. The head 1 is connected to the top surface of the torso 2. The two arms 3 are rotatably connected to the upper sides of the torso 2 via a first rotating mechanism 7. The first rotating mechanism 7 is used to drive the arms 3 to rotate back and forth relative to the torso 2. The ends of the two arms 3 away from the torso 2 can be detachably connected to an argon arc welding device 23, a weld seam flat end device, or a welding tube expansion device 24. One end of each of the two supporting legs 4 is rotatably connected to the lower sides of the torso 2 via a second rotating mechanism 8. The second rotating mechanism 8 is used to drive the supporting legs 4 to rotate back and forth relative to the torso 2. The other ends of the two supporting legs 4 are connected to the walking mechanism 5. The first rotating mechanism 7, the second rotating mechanism 8, and the walking mechanism 5 are all signal-connected to the controller. Arm 3 can rotate back and forth with torso 2 via first rotating mechanism 7, and support leg 4 can also rotate back and forth relative to torso 2 via second rotating mechanism 8, increasing the flexibility of the equipment. This allows it to easily adjust the angles of arm 3 and support leg 4 in complex welding environments, thereby reaching welding points at different positions and angles. Support leg 4 is connected to walking mechanism 5, enabling the robot to move freely on the ground, expanding its working range, eliminating the need for frequent manual transport of the robot to different welding positions, and improving work efficiency. Modular design allows arm 3 to quickly replace the argon arc welding device 23, weld seam flat end device, or welding tube expansion device 24, realizing the integration of multiple welding processes. The welding function modules can be quickly replaced at the front ends of both arms 3, allowing for flexible switching between argon arc welding device 23, weld seam flat end device, or welding tube expansion device according to task requirements. Furthermore, the two arms 3 can work collaboratively, simultaneously performing welding operations on different parts of the workpiece, improving welding efficiency and making it suitable for complex industrial scenarios requiring multi-process connections or large-area welding. It should be noted that the welding end-face device is used to trim tubes that extend a long distance from the plate surface, precisely control the length of the tube extending from the plate surface, and remove burrs from the tube ends to make the tube ends flat and smooth, meeting the process requirements of subsequent welding or assembly; the tube expansion device is used to expand the end of the tube after it is inserted into the tube sheet, causing it to undergo plastic deformation, thereby tightly fitting with the tube sheet hole to achieve the purpose of sealing and fixing.

[0025] In a further preferred embodiment of this utility model, each arm 3 includes an upper arm 9, a middle arm 10, and a lower arm 11. One end of the upper arm 9 is rotatably connected to the torso 2 via a first rotating mechanism 7, and the other end of the upper arm 9 is rotatably connected to one end of the middle arm 10 via a third rotating mechanism 12. The third rotating mechanism 12 is used to drive the middle arm 10 to rotate left and right relative to the upper arm 9. The other end of the middle arm 10 is rotatably connected to one end of the lower arm 11 via a fourth rotating mechanism 13. The fourth rotating mechanism 13 is used to drive the lower arm 11 to rotate left and right relative to the middle arm 10. The other end of the lower arm 11 is used to detachably connect to the argon arc welding device 23, the weld seam flat end device, or the welding tube expansion device 24. Both the third rotating mechanism 12 and the fourth rotating mechanism 13 are connected to the controller signal. Arm 3 adopts a three-segment structure design consisting of upper arm 9, middle arm 10, and lower arm 11. The upper arm 9 is driven to rotate back and forth relative to the torso 2 by the first rotating mechanism 7. The middle arm 10 is driven to rotate left and right relative to the upper arm 9 by the third rotating mechanism 12. The lower arm 11 is driven to rotate left and right relative to the middle arm 10 by the fourth rotating mechanism 13. This constructs a "shoulder-elbow-wrist" multi-joint linkage system for humanoid arm 3, which can achieve more complex spatial motion trajectories and accurately cover welding points at different angles and positions of the workpiece. Especially for workpieces with complex structures and varied weld seam directions, the flexibility of multi-joint coordinated movement can easily meet welding needs in three-dimensional space. Compared with traditional structures, it significantly expands the working range and shows stronger adaptability and operation capabilities in complex working conditions.

[0026] In a further preferred embodiment of this utility model, each supporting leg 4 includes an upper leg 14, a lower leg 15, and a base 16. One end of the upper leg 14 is rotatably connected to the torso 2 via a second rotating mechanism 8, and the other end of the upper leg 14 is rotatably connected to one end of the lower leg 15 via a fifth rotating mechanism 17. The fifth rotating mechanism 17 is used to drive the lower leg 15 to rotate back and forth relative to the upper leg 14. The other end of the lower leg 15 is rotatably connected to one end of the base 16, and the other end of the base 16 is connected to the walking mechanism 5 via a sixth rotating mechanism. The sixth rotating mechanism is used to drive the walking mechanism 5 to rotate left and right relative to the base. Both the fifth rotating mechanism 17 and the sixth rotating mechanism are signal-connected to the controller. The supporting leg 4 adopts a three-section modular architecture of the upper leg 14, the lower leg 15, and the base 16. The second rotating mechanism 8 drives the upper leg 14 to swing flexibly back and forth relative to the torso 2, and the fifth rotating mechanism 17 drives the lower leg 15 to adaptively adjust back and forth relative to the upper leg 14, forming a "hip-knee" linkage mechanism similar to that of an animal's leg joint. This design allows support leg 4 to adjust at multiple angles according to ground undulations, slopes, or uneven terrain, ensuring the robot maintains a stable supporting posture during movement or welding. For example, on uneven ground or inclined steel plates at a construction site, support leg 4 can compensate for height differences through joint linkage, preventing the robot from swaying or tipping over. The sixth rotating mechanism enables the walking mechanism 5 to swing left and right in the horizontal plane. Combined with the drive system of the tracks themselves, the equipment can achieve flexible steering by adjusting the orientation and speed difference of the tracks on both sides, and even complete complex actions such as rotating in place and moving diagonally.

[0027] In a further preferred embodiment of this invention, the torso 2 includes an upper torso 18 and a lower torso 19. The upper torso 18 is rotatably connected to the lower torso 19 via a seventh rotating mechanism 20. The seventh rotating mechanism 20 drives the upper torso 18 to rotate left and right relative to the lower torso 19. The arms 3 and head 1 are connected to the upper torso 18, and the supporting legs 4 are connected to the lower torso 19. The seventh rotating mechanism 20 is signal-connected to the controller. The left and right rotation of the upper torso 18 relative to the lower torso 19 via the seventh rotating mechanism 20 allows the arms 3 and head 1 connected to the upper torso 18 to achieve a wider range of lateral swinging, breaking through the limitations of traditional fixed torsos. This allows the robot to adjust the lateral working position of the arms 3 without moving the entire robot body, thus expanding the working range.

[0028] In a further preferred embodiment of this utility model, each rotating mechanism is a rotary motor.

[0029] In a further preferred embodiment of this utility model, the head 1 is provided with a visual inspection device, which is connected to the controller via a signal. The visual inspection device includes a visual device 21 and a scanning device 22, which can identify and locate the welding position to ensure the accuracy of the welding.

[0030] In a further preferred embodiment of this utility model, the walking mechanism 5 is a tracked walking mechanism 5, which has the characteristics of high adaptability, strong load-bearing capacity, low vibration characteristics and long endurance, providing a stable and reliable mobile foundation for the biomimetic welding robot, enabling the robot to flexibly and efficiently complete welding tasks in complex industrial environments, and is especially suitable for scenarios with extremely high requirements for mobility and stability, such as outdoor unstructured sites and on-site installation of large equipment.

[0031] In a further preferred embodiment of this utility model, a laser radar 6 for detecting obstacles is provided around the tracked walking mechanism 5. This laser radar can quickly determine the position, size, and relative movement trend of obstacles, and automatically plan a detour path or pause movement to avoid collisions that could damage equipment or injure personnel.

[0032] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A biomimetic welding robot, characterized by: The device includes a main body, a controller, and a walking mechanism for ground movement. The main body includes a head, a torso, two arms, and two supporting legs. The head is connected to the top surface of the torso. The two arms are rotatably connected to the upper sides of the torso via a first rotating mechanism, which drives the arms to rotate back and forth relative to the torso. The ends of the two arms away from the torso can be detachably connected to an argon arc welding device, a weld seam flattening device, or a welding tube expansion device. One end of each of the two supporting legs is rotatably connected to the lower sides of the torso via a second rotating mechanism, which drives the supporting legs to rotate back and forth relative to the torso. The other ends of the two supporting legs are connected to the walking mechanism. The first rotating mechanism, the second rotating mechanism, and the walking mechanism are all signal-connected to the controller.

2. The bionic welding robot according to claim 1, characterized in that: Each arm includes an upper arm, a middle arm, and a lower arm. One end of the upper arm is rotatably connected to the torso via a first rotating mechanism. The other end of the upper arm is rotatably connected to one end of the middle arm via a third rotating mechanism. The third rotating mechanism is used to drive the middle arm to rotate left and right relative to the upper arm. The other end of the middle arm is rotatably connected to one end of the lower arm via a fourth rotating mechanism. The fourth rotating mechanism is used to drive the lower arm to rotate left and right relative to the middle arm. The other end of the lower arm is used to detachably connect to an argon arc welding device, a weld seam flat end device, or a welding tube expansion device. Both the third and fourth rotating mechanisms are signal-connected to the controller.

3. The bionic welding robot according to claim 2, characterized in that: Each of the supporting legs includes an upper leg, a lower leg, and a base. One end of the upper leg is rotatably connected to the torso via a second rotating mechanism, and the other end of the upper leg is rotatably connected to one end of the lower leg via a fifth rotating mechanism. The fifth rotating mechanism is used to drive the lower leg to rotate back and forth relative to the upper leg. The other end of the lower leg is rotatably connected to one end of the base. The other end of the base is connected to the walking mechanism via a sixth rotating mechanism. The sixth rotating mechanism is used to drive the walking mechanism to rotate left and right relative to the base. Both the fifth and sixth rotating mechanisms are signal-connected to the controller.

4. The biomimetic welding robot according to claim 3, characterized in that: The torso includes an upper torso and a lower torso. The upper torso is rotatably connected to the lower torso via a seventh rotating mechanism. The seventh rotating mechanism is used to drive the upper torso to rotate left and right relative to the lower torso. The arms and the head are both connected to the upper torso. The supporting legs are connected to the lower torso. The seventh rotating mechanism is signal-connected to the controller.

5. The bionic welding robot according to claim 4, characterized in that: Each rotating mechanism is a rotary motor.

6. The bionic welding robot of claim 1, wherein: The head is equipped with a visual detection device, which is signal-connected to the controller.

7. The bionic welding robot according to claim 1, characterized in that: The walking mechanism is a tracked walking mechanism.

8. The bionic welding robot according to claim 7, characterized in that: The tracked walking mechanism is equipped with lidar for detecting obstacles around its perimeter, and the lidar is connected to the controller via signal transmission.

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