A flexible mobile collaborative robot welding system

Abstract

The utility model discloses a kind of flexible mobile collaborative robot welding systems, including mobile trolley, welding control unit, wire feeder and robot welding tool, mobile trolley has bearing frame;Welding control unit is installed on mobile trolley, wire feeder is detachably fixed on the bearing frame, and by welding control unit control operation, robot welding tool is controlled by welding control unit to operate, it includes the multi-axis robot of installation on the mobile trolley or welding control unit and the welding assembly of detachable installation in multi-axis robot end, robot, welding machine, wire feeder integrated in mobile platform in the utility model, robot and wire feeder can be quickly handled installation to work position, without fixed station, adapt to large workpiece sectional welding and multi-station switching, improve equipment utilization.

Description

Technical Field

[0001] This utility model relates to the field of welding automation equipment technology, specifically a flexible mobile collaborative robot welding system. Background Technology

[0002] In the field of welding automation equipment, traditional welding equipment generally suffers from the following technical bottlenecks:

[0003] Firstly, the fixed workstation layout severely restricts the adaptability of welding large workpieces. Conventional workbenches cannot meet the needs of multi-workstation collaborative operations, resulting in low equipment utilization and serious waste of space.

[0004] Secondly, the deployment of traditional split-type equipment requires complex mechanical installation and electrical debugging, with a deployment cycle of 2-3 days. There are communication delays and accuracy mismatches in the collaborative control between devices.

[0005] Third, welding operations in high-risk environments (such as high-temperature confined spaces and toxic gas environments) still rely on manual operation, resulting in a persistently high risk to personnel safety. Although existing technologies attempt to improve automation by adding visual sensors or modifying mechanical structures, problems such as incompatible hardware interfaces and fragmented control logic still exist between subsystems. This makes it difficult to achieve synergistic optimization of welding accuracy, mobility, and operational safety, especially in multi-variety, small-batch production, welding of large components, and operations in special environments, where efficiency and quality are difficult to meet requirements. Utility Model Content

[0006] Therefore, the purpose of this utility model is to provide a flexible mobile collaborative robot welding system to solve the problems mentioned in the background art. This utility model has the characteristics of flexibility, high precision and mobility, and solves the problems of fixed workstation limitation, high dependence on manual labor and complex deployment of traditional equipment, so as to achieve efficient welding in all scenarios.

[0007] Furthermore, this utility model provides a flexible mobile collaborative robot welding system with manual quick-change function.

[0008] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a flexible mobile collaborative robot welding system, including a mobile carriage, a welding control unit, a wire feeder, and a robot welding fixture. The mobile carriage has a support frame; the welding control unit is installed on the mobile carriage, the wire feeder is detachably fixed on the support frame and controlled by the welding control unit, and the robot welding fixture is controlled by the welding control unit. It includes a multi-axis robot installed on the mobile carriage or the welding control unit and a welding assembly detachably installed at the end of the multi-axis robot.

[0009] As a preferred embodiment of the flexible mobile collaborative robot welding system described in this utility model, the welding control unit includes a welding machine and an electrical cabinet. The electrical cabinet is electrically connected to the welding machine and the multi-axis robot, and controls the operation of the welding machine and the multi-axis robot. The welding machine is connected to the wire feeder and the welding assembly, providing power and control signals to the wire feeder, and forming a welding current loop with the welding torch of the welding assembly.

[0010] As a preferred embodiment of the flexible mobile collaborative robot welding system described in this utility model, the wire feeder has two fixed wheels on one side of its four bottom corners and two universal brake wheels on the other side. When the wire feeder is mounted on the support frame, the fixed wheels and universal brake wheels are lower than the top surface of the support frame, and the top end of the support frame has a blocking part.

[0011] As a preferred embodiment of the flexible mobile collaborative robot welding system described in this utility model, the wire feeder is provided with a bracket for mounting welding components.

[0012] As a preferred embodiment of the flexible mobile collaborative robot welding system described in this utility model, the multi-axis robot is installed using methods including magnetic attraction, snap-fit, screw connection, threaded connection, or vacuum adsorption connection. The multi-axis robot has a magnetic base at its bottom, which includes a support seat. The support seat has multiple outward extensions on its sides, and each outward extension is equipped with a magnetic controller.

[0013] As a preferred embodiment of the flexible mobile collaborative robot welding system described in this utility model, the end of the multi-axis robot has a first manual quick-change module, and the welding assembly has a second manual quick-change module that is detachably coupled to the first manual quick-change module.

[0014] In a preferred embodiment of the flexible mobile collaborative robot welding system described in this utility model, the welding component includes a connector, on which a welding torch and a line laser camera are mounted.

[0015] As a preferred embodiment of the flexible mobile collaborative robot welding system described in this utility model, it further includes an operation panel disposed on the side of the support frame, the operation panel interacting with the electrical cabinet.

[0016] As a preferred embodiment of the flexible mobile collaborative robot welding system described in this utility model, the first manual quick-change module includes a connecting seat, a slot circumferentially formed on the connecting seat, a blocking and limiting groove communicating with the slot, and a locking bolt disposed on the outer wall of the connecting seat.

[0017] The second manual quick-change module includes an outer ring seat, an inner ring seat rotatably connected to the inner ring of the outer ring seat, and a protrusion arranged circumferentially on the outer ring seat and engaging with a slot.

[0018] As a preferred embodiment of the flexible mobile collaborative robot welding system described in this utility model, it further includes an argon cylinder mounted on the mobile trolley and located at the rear of the support frame.

[0019] Compared with the prior art, the beneficial effects of this utility model are:

[0020] 1. This utility model integrates a robot, welding machine, and wire feeder onto a mobile platform. The robot and wire feeder can be quickly transported and installed to the work position without the need for a fixed workstation. This adapts to segmented welding of large workpieces and multi-workstation switching, improving equipment utilization by over 40%. This utility model adopts a modular design concept, enabling rapid assembly and disassembly. It can complete equipment deployment and debugging in a short time, significantly shortening the project implementation cycle and improving production efficiency. The magnetic base and wheel design facilitate rapid transport and deployment. The magnetic base firmly adheres to the metal work surface, ensuring the stability of the welding process. The wheel design (i.e., a mobile cart) facilitates rapid movement and transport within the work area. Operators can easily move the welding cart unit (i.e., the flexible mobile collaborative robot welding system) to the required welding position. The wire feeder module in Embodiment 2 of this utility model has fixed wheels and omnidirectional brake wheels. The modular wire feeder is mounted on a support frame, similarly facilitating transport and deployment. The multi-axis robot in this invention has a working radius of 10 meters with a moving trolley as the center, which greatly expands the welding range and frees it from the constraints of a fixed workstation. It can weld large workpieces or multiple workpieces, improving the continuity and efficiency of production.

[0021] 2. The installation method of the multi-axis robot of this utility model takes into account both mobility and welding stability, and does not require additional fixing fixtures.

[0022] 3. This utility model is designed for flexible deployment and is specifically designed to solve welding needs in all scenarios. It breaks through the limitations of traditional fixed workstations and can operate flexibly in various complex working environments to meet the diverse welding requirements of different customers.

[0023] 4. This utility model has the function of safe collaboration, which is a safe human-machine collaboration mode. It does not require the setting of safety fences, supports remote control in high-risk environments, protects the safety of operators, and at the same time ensures industrial-grade high-precision welding, achieving dual protection of safety and efficiency.

[0024] 5. The robot and wire feeder can be quickly transported and installed to the work position. The robot welding fixture is manually dragged and taught. The line laser camera scans the workpiece surface to generate three-dimensional coordinate data of the weld. The welding system can automatically identify the weld features and perform welding. Ordinary operators can operate the system, reducing the degree of reliance on manual labor.

[0025] 6. The application scenarios of this utility model are listed below:

[0026] I. Welding of Large Structural Components (e.g., ship sections / bridge trusses): In ship section welding, this invention, with its flexible deployment and high-precision welding capabilities, can efficiently and effectively weld complex welds on large ship sections, reducing the workload and labor intensity of manual welding, improving welding quality and production efficiency, and shortening the shipbuilding cycle. In bridge truss welding, it enables precise welding of various bridge truss members, ensuring the strength and stability of the bridge structure.

[0027] II. Multi-variety small-batch production: For enterprises engaged in multi-variety small-batch production, the modular design and rapid teaching function of this utility model enable them to quickly switch welding tasks for different products, realize rapid changeover production from one product to another, and meet the enterprise's needs for production flexibility and efficiency.

[0028] III. Operation in Confined Spaces: When operating in confined spaces, the multi-axis robot's flexible joints and compact body demonstrate excellent flexibility, allowing the mobile carriage to easily enter narrow spaces for welding workpieces. By demonstrating the robot's working posture in confined spaces, its adaptability and advantages in special working environments are showcased, solving the problem that traditional welding equipment cannot enter confined spaces.

[0029] IV. Replacement of Manual Labor in High-Risk Environments (High Temperature / Enclosed Scenarios): In high-risk environments such as high temperature and enclosed spaces, this invention can replace manual labor for welding operations, protecting the lives and health of operators. For example, in high-temperature steel smelting workshops or inside enclosed chemical containers, this invention can operate stably and complete welding tasks while avoiding the risks of manual labor in high-risk environments. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings and detailed embodiments. 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. Among them:

[0031] Figure 1This is a first-person view of the overall structure of a flexible mobile collaborative robot welding system according to this utility model.

[0032] Figure 2 This is a schematic diagram of the overall structure of a flexible mobile collaborative robot welding system from a second perspective, according to the present invention.

[0033] Figure 3 This is a schematic diagram of the wire feeder of a flexible mobile collaborative robot welding system according to this utility model;

[0034] Figure 4 This is a structural schematic diagram of a multi-axis robot for a flexible mobile collaborative robot welding system according to this utility model;

[0035] Figure 5 This is a schematic diagram of the welding components of a flexible mobile collaborative robot welding system according to the present invention;

[0036] Figure 6 This is a schematic diagram of the structure of the first manual quick-change module of a flexible mobile collaborative robot welding system according to this utility model;

[0037] Figure 7 This is a structural schematic diagram of the second manual quick-change module of a flexible mobile collaborative robot welding system according to this utility model;

[0038] Figure 8 This is a schematic diagram of the assembly structure of the first manual quick-change module and the second manual quick-change module of a flexible mobile collaborative robot welding system according to this utility model. Detailed Implementation

[0039] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0040] Example 1

[0041] like Figure 1 and Figure 2As shown, this utility model provides a flexible mobile collaborative robot welding system, including a mobile carriage 1, a welding control unit 2, a wire feeder 3 (model WF22-50PW-D7D / WF25i, wire feeding speed adjustable from 0-25m / min, IP65 protection rating, compatible with 0.8-1.6mm carbon steel, stainless steel, and aluminum alloy welding wire) and a robot welding fixture 4. The mobile carriage 1 has a support frame 11 for supporting the wire feeder 3, allowing the wire feeder 3 to be quickly transported on the mobile carriage 1 when not in use, and also allowing the wire feeder 3 to be quickly removed from the mobile carriage 1 when in use. The welding control unit 2 is installed on the mobile carriage 1, and the wire feeder 3 is detachably fixed to the support frame 11 and controlled by the welding control unit 2. The robot welding fixture 4 is controlled by the welding control unit 2. In this embodiment, the welding control unit 2 includes a welding machine 21 (the welding machine is a digital welding machine (Megmeet DEX2)). 500MPR / Fonds TPS500i): Supports CMT, pulse, DC and other welding processes, 0.5ms high-speed current control, spatter reduction of 20%+) and electrical cabinet 22 (industrial computer + remote control tablet: integrated with IungoRP software, enabling remote adjustment of welding parameters (such as current, voltage, wire feed speed) via Windows tablet, supporting real-time data monitoring). Electrical cabinet 22 is electrically connected to welding machine 21 and multi-axis robot 41 (the multi-axis robot is a six-axis robot of model JAKA Zu7 / UR7e), controlling the operation of welding machine 21 and multi-axis robot 41. Welding machine 21 is connected to wire feeder 3 and welding assembly 42, providing power and control signals to wire feeder 3, and forming a welding current loop with the welding torch of welding assembly 42. The robot welding fixture 4 includes multi-axis robot 41 mounted on mobile carriage 1 or welding control unit 2 and welding assembly 42 detachably mounted at the end of multi-axis robot 41. The mounting is preferably magnetic, but other flexible detachable methods are also possible. The installation and removal methods include snap-fit, screw connection, threaded connection, vacuum adsorption connection, etc., which will not be described in detail here. This allows the robot welding fixture 4 to be quickly moved from the mobile cart 1 to the vicinity of the welding point during use. In summary, during use, the wire feeder 3 and the robot welding fixture 4 can be quickly moved from the mobile cart 1 to the vicinity of the welding point manually. The robot welding fixture 4 is magnetically fixed, and the wire feeder 3 can be placed on the ground to perform welding operations without the need for a fixed workstation. This is suitable for segmented welding of large workpieces and multi-workstation switching, thereby improving equipment utilization.

[0042] Example 2

[0043] like Figures 1-3As shown, to further supplement the above embodiment, the bottom of the wire feeder 3 is provided with two fixed wheels 31 on one side of the four corners and two universal brake wheels 32 (supporting 360° free movement) on the other side. When the wire feeder 3 is mounted on the support frame 11, the fixed wheels 31 and universal brake wheels 32 are lower than the top surface of the support frame 11, so that the fixed wheels 31 and universal brake wheels 32 can block the left and right sides of the wire feeder 3 to prevent the wire feeder 3 from slipping off the left and right sides of the support frame 11. The top end of the support frame 11 has a blocking part 11a, which can prevent the wire feeder 3 from slipping off the front end of the support frame 11. In addition, the moving trolley 1 is also provided with an argon cylinder 6 located at the rear of the support frame 11 to block the rear end of the wire feeder 3 and prevent the wire feeder 3 from slipping off the rear end of the support frame 11, thus ensuring the stability of the wire feeder 3 on the support frame 11.

[0044] Example 3

[0045] like Figures 1-5 As shown, further supplementing the above embodiment, the multi-axis robot 41 has a magnetic base 41a at its bottom (a powerful magnetic chuck with a suction force of 750 kg, capable of quickly adsorbing onto a metal working surface (adsorption / removal time ≤ 30 seconds), ensuring welding stability). The magnetic base 41a includes a support 41a-1, with multiple outward extensions on the side of the support 41a-1. Each outward extension is equipped with a magnetic controller 41a-2 (a CB250 model). When magnetic fixation is required, press the button on the magnetic controller 41a-2 and rotate it clockwise to generate magnetic force for fixation. When separation is required, press the button on the magnetic controller 41a-2 and rotate it counterclockwise to disconnect. Magnetic force is used for handling, facilitating the transport and fixation of the multi-axis robot 41. Additionally, the end effector of the multi-axis robot 41 has a first manual quick-change module 41b, and the welding assembly 42 has a second manual quick-change module 42a that detachably engages with the first manual quick-change module 41b, facilitating the assembly and separation of the welding assembly 42 and the multi-axis robot 41. The welding assembly 42 includes a connector 42b, on which a welding torch 42c and a line laser camera 42d (model: Tadis RM134) are mounted. The line laser camera 42d uses a 134-line scanning frequency, with a Z-axis working range of 100-500mm and an X-axis measurement range of 70-280mm, acquiring real-time three-dimensional contour data of the weld seam. This embodiment uses manual drag-and-drop scanning with a line laser, enabling rapid and accurate acquisition of the contour information of the welded workpiece.

[0046] Combination Figures 1-5The flexible mobile collaborative robot welding system of this embodiment is used as follows: When in use, the robot welding fixture 4 and wire feeder 3 can be manually moved to the vicinity of the welding point. The robot welding fixture 4 is magnetically fixed, the wire feeder 3 is placed on the ground, and then the welding component 42 is manually dragged for teaching. The line laser camera 42d scans the surface of the workpiece to generate three-dimensional coordinate data of the weld. Then the welding control unit 2 automatically identifies the weld features and performs welding.

[0047] Preferably, in this embodiment, the wire feeder 3 is provided with a bracket 33 for mounting the welding assembly 42. When the welding assembly 42 is separated from the multi-axis robot 41, the welding assembly 42 can be mounted without occupying additional storage space. The operation panel 5 on the side of the support frame 11 interacts with the electrical cabinet 22, which facilitates the manual operation of the welding control unit 2 by the staff.

[0048] In this embodiment, the flexible mobile collaborative robot, namely the multi-axis robot 41, has a load capacity of 7-7.5kg, a repeatability of ±0.02-±0.03mm, a 6-axis flexible joint design, and a lightweight welding torch (22° tilt angle) installed at the end, which can adapt to complex spatial posture adjustments.

[0049] Example 4

[0050] like Figures 6-8 As shown, in further supplementation to the above embodiment, the first manual quick-change module 41b includes a connecting seat 41b-1, a slot 41b-2 circumferentially formed on the connecting seat 41b-1, a blocking and limiting groove 41b-3 communicating with the slot 41b-2, and a locking bolt 41b-4 disposed on the outer side wall of the connecting seat 41b-1.

[0051] The second manual quick-change module 42a includes an outer ring seat 42a-1, an inner ring seat 42a-2 rotatably connected to the inner ring of the outer ring seat 42a-1, and a protrusion 42a-3 circumferentially disposed on the outer ring seat 42a-1 and cooperating with the slot 41b-2.

[0052] When connecting the first manual quick-change module 41b and the second manual quick-change module 42a, insert the protrusion 42a-3 into the slot 41b-2, then rotate the outer ring seat 42a-1 counterclockwise to lock the protrusion 42a-3 into the blocking and limiting groove 41b-3. Then rotate the locking bolt 41b-4 clockwise to abut against the protrusion 42a-3 in the blocking and limiting groove 41b-3, further securing the protrusion 42a-3. When it is necessary to separate the first manual quick-change module 41b and the second manual quick-change module 42a, simply rotate the locking bolt 41b-4 counterclockwise first, and then rotate the outer ring seat 42a-1 clockwise. The first manual quick-change module 41b and the second manual quick-change module 42a can be separated, and the welding assembly 42 can be removed and placed on the wire feeder 3. This allows the multi-axis robot 41 to be moved first, followed by the wire feeder 3 and the welding assembly 42. After magnetic attraction, the welding assembly 42 can be installed for welding. This is convenient for single-person handling in places where the mobile cart 1 is difficult to move, when it is necessary to move the robot welding fixture 4 and the wire feeder 3 to a designated welding position. Otherwise, if the welding gun 42c is directly fixed to the end of the multi-axis robot 41, the gun cable is more than 2 meters long (the gun cable is the connecting cable from the wire feeder to the welding gun). The multi-axis robot 41 and the wire feeder 3 must be moved at the same time, otherwise the gun cable will be pulled.

[0053] Therefore, the flexible mobile collaborative robot welding system of this embodiment is suitable for welding metal components in all scenarios, especially for welding operations of large structural parts, multi-variety small batch workpieces and narrow / high-risk environments.

[0054] Although the present invention has been described above with reference to embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the features in the embodiments disclosed in this invention can be combined with each other in any way. The lack of an exhaustive description of these combinations in this specification is merely for the sake of brevity and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A flexible mobile collaborative robot welding system, characterized in that, include: A mobile trolley (1) has a support frame (11); Welding control unit (2) is installed on the mobile trolley (1); The wire feeder (3) is detachably fixed on the support frame (11) and is controlled by the welding control unit (2); The robotic welding fixture (4) is controlled by the welding control unit (2), which includes a multi-axis robot (41) mounted on the mobile trolley (1) or the welding control unit (2) and a welding assembly (42) detachably mounted on the end of the multi-axis robot (41).

2. The flexible mobile collaborative robot welding system according to claim 1, characterized in that, The welding control unit (2) includes a welding machine (21) and an electrical cabinet (22). The electrical cabinet (22) is electrically connected to the welding machine (21) and the multi-axis robot (41) and controls the operation of the welding machine (21) and the multi-axis robot (41). The welding machine (21) is connected to the wire feeder (3) and the welding assembly (42) and provides power and control signals to the wire feeder (3) and forms a welding current loop with the welding torch of the welding assembly (42).

3. The flexible mobile collaborative robot welding system according to claim 1, characterized in that, Two fixed wheels (31) are provided on one side of the bottom four corners of the wire feeder (3), and two universal brake wheels (32) are provided on the other side. When the wire feeder (3) is mounted on the support frame (11), the fixed wheels (31) and the universal brake wheels (32) are lower than the top surface of the support frame (11). The top end of the support frame (11) has a blocking part (11a).

4. The flexible mobile collaborative robot welding system according to claim 1, characterized in that, The wire feeder (3) is equipped with a bracket (33) for mounting the welding assembly (42).

5. The flexible mobile collaborative robot welding system according to claim 1, characterized in that, The installation methods of the multi-axis robot (41) include magnetic attraction, snap-fit, screw connection, threaded connection or vacuum adsorption connection.

6. The flexible mobile collaborative robot welding system according to claim 1, characterized in that, The end of the multi-axis robot (41) has a first manual quick-change module (41b), and the welding assembly (42) has a second manual quick-change module (42a) that is detachably coupled to the first manual quick-change module (41b).

7. The flexible mobile collaborative robot welding system according to claim 1, characterized in that, The welding assembly (42) includes a connector (42b) on which a welding torch (42c) and a line laser camera (42d) are mounted.

8. A flexible mobile collaborative robot welding system according to claim 2, characterized in that, It also includes an operation panel (5) located on the side of the support frame (11), which interacts with the electrical cabinet (22).

9. A flexible mobile collaborative robot welding system according to claim 6, characterized in that, The first manual quick-change module (41b) includes a connecting seat (41b-1), a slot (41b-2) circumferentially formed on the connecting seat (41b-1), a blocking and limiting groove (41b-3) communicating with the slot (41b-2), and a locking bolt (41b-4) provided on the outer side wall of the connecting seat (41b-1); The second manual quick-change module (42a) includes an outer ring seat (42a-1), an inner ring seat (42a-2) rotatably connected to the inner ring of the outer ring seat (42a-1), and a protrusion (42a-3) circumferentially arranged on the outer ring seat (42a-1) and cooperating with the slot (41b-2).

10. A flexible mobile collaborative robot welding system according to claim 1, characterized in that, It also includes an argon cylinder (6) mounted on the mobile trolley (1) and located at the rear of the support frame (11).

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