Inverter DC welding machine integrating robot and AGV vehicle

Abstract

The utility model discloses an inverter direct current welding machine of integrated robot and AGV dolly, including AGV dolly, inverter direct current welding machine main part, welding wire disc, gas protection wire feeder, multi -freedom degree robot, welding torch, cable storage subassembly, radar and control display module. AGV dolly can automatic navigation obstacle avoidance, and inverter direct current welding machine main part provides stable welding power supply, and gas protection wire feeder stable wire feeding, and multi -freedom degree robot accurate adjustment welding torch position posture, and radar senses the environment, and control display module is used for control monitoring. The equipment automation, intelligent degree is high, and mobile nimble, welding accurate, safe and stable operation, can effectively improve the welding efficiency and quality.

Description

Technical Field

[0001] This utility model relates to the field of welding equipment technology, specifically to an inverter DC welding machine that integrates robots and AGVs. Background Technology

[0002] In the field of industrial welding, traditional welding equipment has many limitations. Fixed welding equipment is stationary and requires manual handling of workpieces or the equipment itself, which is not only labor-intensive but also inefficient, making it difficult to meet the needs of large-scale production. While some mobile welding equipment possesses a degree of mobility, its bulky structure and insufficient maneuverability make it difficult to move freely in complex working environments. Furthermore, during the welding process, the adjustment of the welding torch relies heavily on manual operation, resulting in low precision and efficiency, failing to meet the requirements of high-precision welding. With the development of industrial automation and intelligence, higher demands are placed on the automation, intelligence, and flexibility of welding equipment. Existing welding equipment can no longer meet these needs, thus necessitating an improved welding system. Utility Model Content

[0003] In view of the problems and shortcomings of the existing technology, this utility model provides an inverter DC welding machine that integrates a robot and an AGV vehicle.

[0004] The technical solution of this utility model is as follows:

[0005] An inverter DC welding machine integrating a robot and an AGV (Automated Guided Vehicle) includes an AGV, an inverter DC welding machine body, a wire spool, a gas-operated wire feeder, a multi-degree-of-freedom robot, and radar.

[0006] The AGV includes a vehicle body, a drive wheel set, a driven wheel set, and a grounding device; the drive wheels of the drive wheel set are driven by a travel drive device to achieve movement, and the steering is controlled by a rotation drive device; the grounding device is fixed to one side of the vehicle body.

[0007] The main body of the inverter DC welding machine is fixedly installed on the body of the AGV trolley. The main body of the inverter DC welding machine uses silicon carbide high-frequency switches as frequency conversion devices.

[0008] The welding wire spool and gas-operated wire feeder are connected to the top of the inverter DC welding machine body. A multi-degree-of-freedom robot is mounted on the top of the inverter DC welding machine body, with a welding torch connected to its end. The radar is located on the inverter DC welding machine body.

[0009] The multi-degree-of-freedom robot employs a six-degree-of-freedom design, comprising six sequentially connected rotary joints (J1-J6) and connecting links (L1-L5) to each joint, forming a serially connected rotary joint robotic arm. This six-degree-of-freedom serially connected rotary joint robotic arm design enables the robot to possess high flexibility and a wide range of motion, allowing it to precisely reach various positions and postures within the workspace, meeting the demands of complex welding tasks and adapting to welding operations on workpieces of different shapes and sizes.

[0010] Furthermore, this inverter-DC welding machine integrating the robot and AGV also includes a control and display module, mounted on the main body of the inverter-DC welding machine, for controlling the multi-degree-of-freedom robot. This allows operators to intuitively control the multi-degree-of-freedom robot, monitor welding parameters and other information in real time, and precisely control various robot movements and welding processes through a simple user interface, improving operational convenience and work efficiency.

[0011] Furthermore, the inverter DC welding machine integrating the robot and AGV also includes a cable management component located at the rear of the AGV. This effectively organizes and stores the cables connected to the inverter DC welding machine and related equipment, preventing cables from becoming tangled or twisted during operation, reducing equipment malfunctions and safety hazards caused by cable issues, and making the overall equipment layout neater and more organized, facilitating equipment movement and operation.

[0012] The grounding device is threadedly connected to the lower part of the inverter DC welding machine body. Its angle is adjustable to maintain contact with the workpiece. The angle of the grounding device can be flexibly adjusted according to the shape and placement of different workpieces to ensure good contact at all times. This guarantees stable current transmission during welding, improves welding quality, and avoids welding defects and safety hazards caused by poor grounding.

[0013] The radar is installed at the front of the inverter DC welding machine body to detect surrounding environmental information in real time and feed the data back to the control system to enable the AGV (Automated Guided Vehicle) to avoid obstacles and navigate. The radar installed at the front of the inverter DC welding machine body can detect surrounding environmental information in real time and accurately, such as the position and distance of obstacles, and promptly feed this data back to the control system.

[0014] The gas-operated wire feeder and the wire spool are connected to the top of the inverter DC welding machine body via a vertical bracket, and are positioned vertically. This makes the wire feeding path smoother, reduces bending and friction during the feeding process, and helps ensure that the wire is stably fed from the wire spool to the welding torch, thereby improving the stability of the welding process and the welding quality.

[0015] The AGV is equipped with a handle. This allows operators to manually push or control the movement of the AGV when needed, especially during equipment debugging, maintenance, or in special circumstances, enabling flexible operation.

[0016] The inverter DC welding machine has multiple wiring ports located at the lower rear of its main body. These ports include a ground terminal, a control line connector, and a welding torch wire terminal. The multiple wiring ports facilitate connection between the machine and other equipment. The ground terminal is used to connect to the ground wire to ensure electrical safety; the control line connector is used to connect to the control circuitry to enable the machine's control functions; and the welding torch wire terminal is used to connect the welding torch wire to ensure the welding torch operates normally.

[0017] The driving wheel and driven wheel of the drive wheel assembly and driven wheel assembly are magnetic wheels.

[0018] The beneficial effects of this utility model are:

[0019] Equipped with environmental sensing devices such as radar, AGVs can achieve automatic navigation and obstacle avoidance, accurately reaching the welding position without human intervention, thus improving the automation and intelligence level of the equipment.

[0020] Multi-degree-of-freedom robots can precisely adjust the spatial position and orientation of the welding torch to meet the welding needs of different shapes and positions, greatly improving the accuracy and adaptability of welding.

[0021] The gas-operated wire feeder stably and continuously delivers welding wire to the welding torch, ensuring a sufficient supply of welding wire during the welding process and improving welding efficiency and quality.

[0022] The grounding device ensures the electrical safety of the equipment, the cable storage component neatly stores the cables, avoiding the safety hazards caused by cable chaos, and the radar obstacle avoidance function further improves the safety of equipment operation.

[0023] The control display module provides operators with an intuitive interface, facilitating the setting of various parameters and monitoring of the equipment's status. The clutch control components and handle facilitate switching between automatic driving and manual handling modes, enhancing the equipment's practicality.

[0024] The inverter DC welding machine of this invention is small in size and light in weight, and is easy, quick and flexible to use. Attached Figure Description

[0025] Figure 1 An axonometric view from a first perspective of the embodiment;

[0026] Figure 2 Axonometric view from a second perspective of the embodiment;

[0027] Figure 3 for Figure 1 A close-up view of the middle drive wheel assembly;

[0028] Figure 4 for Figure 1 A magnified view of a multi-degree-of-freedom robot;

[0029] The components represented by the reference numerals in the diagram are:

[0030] 1. AGV trolley; 2. Inverter DC welding machine body; 3. Welding wire spool; 4. Gas-powered wire feeder; 5. Multi-degree-of-freedom robot; 6. Welding torch; 7. Cable storage assembly; 8. Radar; 9. Control and display module; 11. Drive wheel set; 12. Driven wheel set; 13. Grounding device; 14. Handle; 111. Rotary drive device. Detailed Implementation

[0031] The technical means adopted to achieve the intended purpose of this utility model will be further described below with reference to the accompanying drawings of the embodiments of this utility model.

[0032] Example

[0033] See Figure 1 and Figure 2 The inverter DC welding machine integrating the robot and AGV trolley 1 of this utility model includes an AGV trolley 1, an inverter DC welding machine body 2, a welding wire spool 3, a gas-powered wire feeder 4, a multi-degree-of-freedom robot 5, a welding torch 6, a cable storage assembly 7, a radar 8, and a control and display module 9.

[0034] The AGV trolley 1 serves as the mobile foundation of the entire equipment, comprising a trolley body, drive wheel set 11, driven wheel set 12, and grounding device 13. The drive wheels of the drive wheel set 11 are driven by a travel drive device to achieve movement, and steering is controlled by a rotary drive device 111. See [link / details]. Figure 3 The drive wheels are located on both sides of the vehicle body and connected to the rotary drive device 111 via a vertically arranged rotating shaft. Preferably, both the walking drive device and the rotary drive device 111 are direct-drive servo motors. The driven wheel set 12 includes two driven wheels located on both sides of the vehicle body and connected to the vehicle body via a horizontally arranged wheel axle. The grounding device 13 is threadedly connected to the lower part of the inverter DC welding machine body 2, and its angle is adjustable. Its function is to ensure that it always maintains good contact with the workpiece, thereby ensuring stable current transmission during welding, improving welding quality, and avoiding welding defects and safety hazards caused by poor grounding. Preferably, the drive wheels and driven wheels of the drive wheel set 11 and the driven wheel set 12 are magnetic wheels.

[0035] The main body 2 of the inverter DC welding machine is fixedly mounted on the body of the AGV trolley 1 and is the core energy supply component for welding operations. It uses a silicon carbide high-frequency switch as the frequency converter, which has advantages such as high switching frequency, low loss, and high temperature resistance. This allows it to efficiently convert the input electrical energy into DC power suitable for welding, providing a stable power supply for the welding process and improving the overall efficiency and performance stability of the equipment. The main body of the inverter DC welding machine is based on existing technology and includes an input rectifier and filter unit, an inverter unit, a secondary rectifier and output unit, a control system, a heat dissipation system, and protection circuits, which will not be described in detail here.

[0036] The gas-operated wire feeder 4 and the wire reel 3 are connected to the top of the inverter DC welding machine body 2 via a vertical bracket, and are positioned vertically above each other. The wire reel 3 stores the welding wire, while the gas-operated wire feeder 4 is responsible for stably and continuously feeding the welding wire from the reel 3 to the welding torch 6, ensuring a sufficient supply of welding wire during the welding process and guaranteeing high-quality welding. This makes the wire feeding path smoother, reduces bending and friction during the feeding process, helps ensure stable wire feeding, and improves the stability and quality of the welding process. At the same time, this compact layout saves space and makes the overall structure more rational.

[0037] A multi-degree-of-freedom robot 5 is mounted on one side of the main body 2 of the inverter DC welding machine, with a welding torch 6 connected to its end. The multi-degree-of-freedom robot 5 has multiple joints that can move flexibly, enabling precise adjustment of the spatial position and posture of the welding torch 6 to meet the needs of different welding positions and angles, making welding operations more flexible and precise.

[0038] Furthermore, the multi-DOF robot 5 preferably adopts a six-DOF robot, see [link to relevant documentation]. Figure 4 The multi-degree-of-freedom robot comprises six sequentially connected rotary joints J1-J6 and links L1-L5 connecting each joint, forming a serially connected rotary joint robotic arm. The specific structure is as follows:

[0039] The base joint J1 is fixed to the top of the inverter DC welding machine body 2, enabling rotational movement around a vertical axis. The shoulder joint J2 connects the base to the first link L1, enabling pitching movement around a horizontal axis. The elbow joint J3 connects the first link L1 and the second link L2, enabling pitching movement around an axis parallel to J2. Wrist joints J4-J6: J4 rotates and connects the third link L3 and the fourth link L4, enabling rotational movement around an axis parallel to J3. The third link L3 is a right-angle bent link, with both straight segments perpendicular to the second link L2. J5 connects the fourth link L4 and the fifth link L5, enabling oscillation perpendicular to the J4 axis. J6 rotates at its end, connecting the fifth link L5 and the welding torch 6 clamp, enabling rotation around the welding torch 6 mounting axis.

[0040] See Figure 1 The cable storage component 7 is located at the rear of the AGV trolley 1. Its main function is to store the equipment's cables in an orderly manner, preventing them from becoming tangled and messy during use, ensuring the stability and safety of the equipment's operation, and making the equipment's appearance neater.

[0041] See Figure 2 The radar 8 and the control and display module 9 are located at the front of the inverter DC welding machine body 2. As an environmental sensing device, the radar 8 can detect surrounding environmental information in real time, such as the position and distance of obstacles, and feed this data back to the control system to provide a basis for obstacle avoidance and navigation of the AGV 1.

[0042] The control and display module 9 is used to control the multi-degree-of-freedom robot 5. It allows operators to intuitively control the multi-degree-of-freedom robot 5, monitor the robot's welding parameters and other information in real time, and achieve precise control of various robot movements and welding processes through a simple operating interface, thereby improving the convenience of operation and work efficiency.

[0043] After the equipment is started, radar 8 begins to detect the surrounding environment in real time and transmits the data to the control system. Based on the information fed back by radar 8, the control system plans the travel path of the AGV trolley 1, enabling it to safely and accurately reach the welding position. During travel, if obstacles are encountered, the control system will adjust the travel path in a timely manner based on the data from radar 8, achieving obstacle avoidance.

[0044] Once the AGV trolley 1 reaches the welding position, the inverter DC welding machine body 2 begins operation, converting the input electrical energy into DC power suitable for welding. Simultaneously, the gas-operated wire feeder 4 starts, stably delivering the welding wire from the wire spool 3 to the welding torch 6. The multi-degree-of-freedom robot 5 precisely adjusts the spatial position and orientation of the welding torch 6 according to the preset welding program or operator settings, aligning it with the welding area.

[0045] Operators can adjust welding parameters in real time, such as current, voltage, and wire feed speed, through the control display module 9 to meet different welding needs. During the welding process, the grounding device 13 ensures the electrical safety of the equipment, and the cable storage assembly 7 ensures the orderly arrangement of cables and avoids cable interference with the welding process.

[0046] After welding is completed, the AGV 1 can automatically travel to the next welding position according to preset instructions, or return to the initial position to wait for the next task. The entire equipment achieves automation, intelligence, and high efficiency in welding operations through the coordinated work of its various components.

[0047] See Figure 1Preferably, the gas-operated wire feeder 4 and the wire reel 3 are connected to the top of the inverter DC welding machine body 2 via a vertical bracket, and the gas-operated wire feeder 4 and the wire reel 3 are arranged vertically. This arrangement makes the wire feeding path smoother, reduces the bending and friction of the wire during the feeding process, and helps to ensure that the wire is stably fed from the wire reel 3 to the welding torch 6, thereby improving the stability of the welding process and the welding quality.

[0048] See Figure 1 and Figure 2 The AGV trolley 1 is equipped with a handle 14. The handle 14 is located at both the front and rear ends of the trolley body. This allows operators to manually push or control the movement of the AGV trolley 1 when needed, especially during equipment debugging, maintenance, or in special circumstances, enabling flexible operation.

[0049] The inverter DC welding machine body 2 has a welding machine control panel at the rear for setting the operation of the welding machine body. Below the control panel are multiple wiring ports, including a ground terminal, a control line connector, and a welding torch wire terminal. These multiple wiring ports facilitate connection of the equipment to other devices. The ground terminal is used to connect to the ground wire to ensure electrical safety; the control line connector is used to connect the control circuit to realize the equipment's control functions; and the welding torch wire terminal is used to connect the welding torch wire to ensure the normal operation of the welding torch 6.

Claims

1. An inverter-DC welding machine integrating a robot and an AGV (Automated Guided Vehicle), characterized in that, include: AGV (1) includes a vehicle body, a drive wheel set (11), a driven wheel set (12) and a grounding device (13); the drive wheels of the drive wheel set (11) are driven by a walking drive device to achieve movement, and the steering is controlled by a rotation drive device; the grounding device (13) is fixed to one side of the vehicle body. The main body (2) of the inverter DC welding machine is fixedly installed on the body of the AGV trolley (1). The main body (2) of the inverter DC welding machine uses silicon carbide high-frequency switch as the frequency conversion device. The welding wire spool (3) and the gas-powered wire feeder (4) are connected to the top of the inverter DC welding machine body (2); A multi-degree-of-freedom robot (5) is installed on top of the inverter DC welding machine body (2), and a welding torch (6) is connected to its end. Radar (8) is mounted on the main body (2) of the inverter DC welding machine.

2. The inverter DC welding machine integrating a robot and an AGV vehicle according to claim 1, characterized in that, The multi-degree-of-freedom robot is a six-degree-of-freedom robot, which includes six rotary joints connected in series and links connecting each joint, and its configuration is a serial rotary joint robotic arm.

3. The inverter DC welding machine integrating a robot and an AGV vehicle according to claim 1 or 2, characterized in that, It also includes a control display module (9), which is set on the main body (2) of the inverter DC welding machine and is used to control the multi-degree-of-freedom robot (5).

4. The inverter DC welding machine integrating a robot and an AGV vehicle according to claim 1, characterized in that, It also includes a cable storage assembly (7), which is located behind the AGV trolley (1).

5. The inverter DC welding machine integrating a robot and an AGV as described in claim 1, characterized in that, The grounding device (13) is connected to the lower part of the inverter DC welding machine body (2) by a thread, and the angle is adjustable.

6. The inverter DC welding machine integrating a robot and an AGV vehicle according to claim 1, characterized in that, The radar (8) is located at the front of the inverter DC welding machine body (2) to detect the surrounding environment information in real time and feed the data back to the control system so as to realize the obstacle avoidance and navigation of the AGV vehicle (1).

7. The inverter DC welding machine integrating a robot and an AGV vehicle according to claim 1, characterized in that, The gas-powered wire feeder (4) and the wire spool (3) are connected to the top of the main body (2) of the inverter DC welding machine via a vertical bracket, and the gas-powered wire feeder (4) and the wire spool (3) are arranged vertically.

8. The inverter DC welding machine integrating a robot and an AGV vehicle according to claim 1, characterized in that, The AGV (1) is equipped with a handle (16).

9. The inverter DC welding machine according to claim 1, characterized in that, The inverter DC welding machine body (2) has multiple wiring ports at the lower rear. The wiring ports include ground wire terminals, control line sockets, and welding gun wire terminals.

10. The inverter DC welding machine integrating a robot and an AGV vehicle according to claim 1, characterized in that, The driving wheel and driven wheel of the drive wheel assembly (11) and driven wheel assembly (12) are magnetic wheels.

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