CN102489838A - Obstacle-crossing all-position automatic welding robot - Google Patents

Obstacle-crossing all-position automatic welding robot Download PDF

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Publication number
CN102489838A
CN102489838A CN2011104217112A CN201110421711A CN102489838A CN 102489838 A CN102489838 A CN 102489838A CN 2011104217112 A CN2011104217112 A CN 2011104217112A CN 201110421711 A CN201110421711 A CN 201110421711A CN 102489838 A CN102489838 A CN 102489838A
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China
Prior art keywords
welding
robot
vehicle frame
driving shaft
full
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CN2011104217112A
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Chinese (zh)
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CN102489838B (en
Inventor
陈善本
邓勇军
吴明辉
赵言正
陈华斌
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上海交通大学
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Priority to CN 201110421711 priority Critical patent/CN102489838B/en
Publication of CN102489838A publication Critical patent/CN102489838A/en
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Publication of CN102489838B publication Critical patent/CN102489838B/en

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Abstract

The invention discloses an obstacle-crossing all-position automatic welding robot, which comprises a robot moving system (400), a welding equipment system (300), an intelligent sensing system (500), a central control system (100) and a communication system (200), wherein the robot moving system (400) is used for moving the welding robot, the welding equipment system (300) is used for welding, the intelligent sensing system (500) is used for detecting information about obstacles in front of the welding robot, trailing the position of a welding workpiece and controlling welding quality in real time, the central control system (100) is used for controlling the robot moving system (400), the welding equipment system (300) and the intelligent sensing system (500), and the communication system (200) is used for realizing data communication of the robot moving system (400), the welding equipment system (300) and the intelligent sensing system (500) with the central control system (100). The obstacle-crossing all-position automatic welding robot is capable of automatically crossing obstacles and automatically travelling and welding in an all-position manner.

Description

The autonomous welding robot in the full position of obstacle detouring
Technical field
The present invention relates to a kind of welding robot, the autonomous welding robot in the full position of particularly a kind of obstacle detouring.
Background technology
Welding robot is a kind of automation equipment that can accomplish welding operation.Welding robot generally adopts the mechanical arm in a plurality of joints, moves with optional position and attitude in the realization working space.In the industry, welding robot generally adopts magnetic-type welding robot to hold the surface of welding work pieces, accomplishes weld task on the welding job surface then.Magnetic-type welding robot; General all is directly to contact or directly do not contact the magnetic of realizing with welding job with workpiece; To weld; For example Chinese patent publication number CN02079339A discloses a kind of oil storage tank surface Work robot, and this kind machine artificially contacts magnetic-type welding robot with welding job.Chinese patent publication number CN1739925 discloses a kind of non-contact magnetically adsorbed wall climbing robot, and this kind machine is not direct contact type magnetic robot artificially.
More than two kinds of robots, when there is barrier on the welding work pieces surface, all can not realize across obstacle welding, exist walking less than the dead angle, position; Welding gun handle sturcture free degree restriction welding job position and attitude, when running into the angle seam welding, welding gun can not move to the position while welding of welding work pieces, has the welding dead angle; In addition, more than two kinds of robot sensing's modes single, can not realize autonomous continuous welding work.
Summary of the invention
Technical problem to be solved by this invention is, overcomes above deficiency, provides the full position of a kind of obstacle detouring autonomous welding robot, independently to realize the weld job of the full position of obstacle detouring.
In order to solve the problems of the technologies described above, technical scheme of the present invention is: the autonomous welding robot in the full position of a kind of obstacle detouring comprises
The robot motion system comprises vehicle frame, is positioned at the mechanical arm of being made up of a plurality of joints of said vehicle frame top, is used to regulate interior optional position of working range and attitude; Be positioned at many groups driving shaft of said vehicle frame below; Every group of driving shaft is two and is located along the same line that the end near the vehicle frame outside of each driving shaft is connected with driving wheel, also slidely connects line slide rail between said each driving shaft and the vehicle frame; Said line slide rail is positioned at the inboard of said driving wheel; Said each driving shaft is connected with the drive motors that is used to control driving wheel, is provided with magnetic between said every group of driving shaft and the vehicle frame and attaches device, is used to adsorb the welding work pieces surface;
The welding equipment system, comprise welding machine, be connected with the welding machine circuit wire feeder, said wire feeder is installed on the first joint of mechanical arm; And the welding gun that is installed in a joint, said mechanical arm end, said wire feeder comprises the wire feeding cable that has welding wire; Said wire feeding cable is given welding gun along mechanical arm with welding wire, and the bottom of said welding machine is provided with water tank, is provided with water pump in the said water tank; Said water pump is connected with water pipe, and said water pipe is connected on the welding gun, is used to reduce the temperature of welding gun; Said welding machine gas circuit connects the gas cylinder that protective gas is housed, and said water tank, gas cylinder are installed on the accessory cart;
The intelligent sensing system; Comprise and be installed in welding gun forward-and-rearward ccd image sensor respectively; The crater image information that is used for tracking welding work pieces and welded seam area position thereof and gathers welding process is so that said robot motion system accurately locatees, and detects the molten bath shape characteristic in real time welding work pieces and welded seam area thereof; Be installed in the video camera of vehicle frame front upper, be used to gather the image information of the barrier of vehicle frame direction of advance, accurately detect the range information of vehicle frame and barrier, and the geometry of definite barrier; Be installed in the anterior range sensor of vehicle frame, be used for detecting roughly the range information of the barrier of vehicle frame and its direction of advance;
Central control system is used to control the action of said robot motion system, welding equipment system, intelligent sensing system;
Communication system is used to realize the data communication of said robot motion system, welding equipment system, intelligent sensing system and central control system.
Further, said communication system comprises
The robot communication module is through the data communication of CAN bus protocol realization central control system and robot motion system;
The welding communication module is through the data communication of programmable logic controller (PLC) realization central control system and welding equipment system;
Data acquisition module comprises image pick-up card, data collecting card and router, and said image pick-up card is used for sending the image information that the ccd image sensor of said intelligent sensing system is gathered in real time to central control system; Said data collecting card is used for sending the range information that the ultrasonic distance sensor and the infrared ray range sensor of said intelligent sensing system are gathered said welding robot and barrier in real time to central control system; Said router is used for sending the image information of the barrier of the camera acquisition of said intelligent sensing system to central control system.
Further, said magnetic attaches device, comprises the magnet assemblies that is positioned at the driving shaft bottom, is provided with screw mechanism between said magnet assemblies and the vehicle frame, and said screw mechanism is used for the height between regulating magnet assembly and the ground.
Further, said magnetic attaches device, and also comprise the both sides that are fixed on each driving shaft length direction and be fixed on two sliding guides on the said magnet assemblies, and the spring that is linked in each sliding guide outside.
Further, said magnet assemblies comprises a yoke, and the polylith permanent magnet that is installed in said yoke bottom.
Further, said screw mechanism comprises the leading screw that is connected between magnet assemblies and the vehicle frame, is connected with first screw mandrel and second screw mandrel with said threads of lead screw, and said first screw mandrel is positioned at the top of leading screw, and said second screw mandrel is positioned at the bottom of leading screw.
Further, said range sensor is ultrasonic distance sensor and/or infrared ray range sensor.
Further, said protective gas is a carbon dioxide.
Further, be provided with direct current generator in the said accessory cart, be used to drive the walking of accessory cart.
Further, said driving shaft is a hollow tubular, and said drive motors is installed in the driving shaft of hollow tubular.
Compared with prior art, welding equipment of the present invention system by central control system through the data communication of communication system with the welding equipment system, the realization weld job;
After welding robot of the present invention starts; The image information of the welding work pieces that the ccd image sensor of intelligent sensing system is gathered in real time sends central control system to, and the image information and the range information of the barrier that video camera, range sensor are gathered in real time send central control system to; Craspedodrome, turning, across obstacle by central control system control robot kinematic system perhaps hold welding work pieces, move with the position of accomplishing the robot motion system.The drive motors of robot motion system, driving shaft, driving wheel are realized the straight line moving of robot motion system, realize the turning walking of robot motion system through the speed controlling to each driving wheel.When video camera, the range sensor of intelligent sensing system detects the place ahead barrier arranged, according to size, the shape of barrier, mention the height of driving shaft and driving wheel through line slide rail, realize the walking of across obstacle.When running into the non-horizontal surface weld job, during particularly vertical weld job, attach the surface that device holds welding work pieces through magnetic, cooperate the walking of drive motors control driving shaft and driving wheel again, move with the position of realizing non-horizontal surface.Therefore, the present invention do not exist welding robot move less than the position, dead angle, realized the walking of full position.Optional position and the attitude motion of mechanical arm in working space guaranteed the flexibility of welding posture and the getatability of complex part weld seam, realized the welding of full position.Mechanical arm collects the position and the shape of welding work pieces through the ccd image sensor of intelligent sensing system; Realization is to the location of the weld seam of welding work pieces; Behind the location; The welding gun of welding equipment system begins weld job is carried out in welding job, and central control system is carried out intellectuality welding control in the welding process.
In sum, welding robot of the present invention can be autonomous carries out across obstacle, autonomous carries out all-position walking and welding, and the main weld job that carries out.
Description of drawings
Fig. 1 is the frame structure sketch map of the embodiment of the invention;
Fig. 2 is the frame structure sketch map of the communication system of the embodiment of the invention;
Fig. 3 is the frame structure sketch map of data acquisition module of the communication system of the embodiment of the invention;
Fig. 4 is the perspective view of the robot motion system of the embodiment of the invention;
Fig. 5 is the right TV structure sketch map of the robot motion system of the embodiment of the invention;
Fig. 6 is the local enlarged diagram of I portion among Fig. 5;
Fig. 7 is the perspective view of the magnet assemblies of the embodiment of the invention;
Fig. 8 is the robot kinematic system walking of the embodiment of the invention and the sketch map of across obstacle;
Fig. 9 is the general structure sketch map of the embodiment of the invention.
Shown in the figure: 100, central control system, 200, communication system, 210, the robot communication module, 220, the welding communication module, 230, data acquisition communication module, 231, image pick-up card; 232, data collecting card, 233, router, 300, the welding equipment system, 301, welding machine, 302, wire feeder, 303, welding gun; 3020, wire feeding cable, 304, water tank, 305, water pipe, 306, gas cylinder, 307, accessory cart, 400, the robot motion system; 401, vehicle frame, 402, mechanical arm, 403, driving shaft, 404, driving wheel, 405, line slide rail, 406, drive motors; 410, magnet assemblies, 411, yoke, 412, permanent magnet, 420, screw mechanism, 421, leading screw; 422, first screw mandrel, 423, second screw mandrel, 430, sliding guide, 440, spring, 500, the intelligent sensing system; 501, ccd image sensor, 502, video camera, 503, range sensor, 5031, the ultrasonic distance sensor, 5032, the infrared ray range sensor.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described in detail:
Please refer to shown in Fig. 1-9, the autonomous welding robot in the full position of obstacle detouring of the present invention comprises central control system 100, communication system 200, welding equipment system 300, robot motion system 400, intelligent sensing system 500.
Please refer to Fig. 4 to 9, robot motion system 400 comprises vehicle frame 401; Be positioned at the mechanical arm of forming by a plurality of joints 402 of said vehicle frame 401 tops; Be used to regulate optional position and attitude in the working range, the optional position comprises the free degree position of X, Y, Z direction, attitude; Move by each joint of mechanical arm 402 and to produce, realize the full position of the movement locus of welding work pieces is moved; Be positioned at many groups driving shaft 403 of said vehicle frame 401 belows; Every group of driving shaft 403 is two and is located along the same line; The end near vehicle frame 401 outsides of each driving shaft 403 is connected with driving wheel 404; Also slidely connect line slide rail 405 between said each driving shaft 403 and the vehicle frame 401, said line slide rail 405 is positioned at the inboard of said driving wheel 404, and said each driving shaft 403 is connected with the drive motors 406 that is used to control driving wheel 404; Be provided with magnetic between said every group of driving shaft 403 and the vehicle frame 401 and attach device, be used to adsorb the welding work pieces surface.
The drive motors 406 of robot motion system 400, driving shaft 403, driving wheel 404 are realized the straight line moving of robot motion system 400, realize the turning walking of robot motion system 400 through the speed controlling to each driving wheel 404; When running into barrier, mention the height of driving shaft 403 and driving wheel 404 through line slide rail 405, realize the walking of across obstacle; When running into the non-horizontal surface weld job, during particularly vertical weld job, attach the surface that device holds welding work pieces through magnetic, cooperate the walking of drive motors 406 control driving shafts 403 and driving wheel 404 again, move with the position of realizing non-horizontal surface.Therefore, the present invention do not exist welding robot move less than the position, dead angle, realized the walking of full position.That is to say that drive motors 406, driving shaft 403, driving wheel 404, direct current slide rail 405, magnetic attach the movement locus that device has been realized the long distance of robot motion system.Wherein, long apart from movement locus, comprise the movement locus of straight line, turning, across obstacle.
Please refer to Fig. 4 to 7; Said magnetic attaches device; Comprise the magnet assemblies 410 that is positioned at driving shaft 403 bottoms, be provided with screw mechanism 420 between said magnet assemblies 410 and the vehicle frame 401, said screw mechanism 420 is used for the height between regulating magnet assembly 410 and the ground; Hence one can see that, and it is not contact with ground that magnetic of the present invention attaches device; Also comprise the both sides that are fixed on each driving shaft 403 length direction and be fixed on two sliding guides 430 on the said magnet assemblies 410, and the spring 440 that is linked in each sliding guide 430 outside.When mentioning magnet assemblies 410, spring 440 is compressed on the sliding guide 430, and the height distance between magnet assemblies 410 and the ground is higher at this moment; When putting down magnet assemblies 410, spring 440 keeps a lower height distance because resilient force stretches and applies downward elastic force to magnet assemblies 410 thereby make between magnet assemblies 410 and ground or the jig on sliding guide 430.Height through magnet assemblies 410 is regulated, and realizes that magnet assemblies 410 attaches ability with the magnetic of different welding job material.
Please refer to Fig. 7, said magnet assemblies 410 comprises a yoke 411, and the polylith permanent magnet 412 that is installed in said yoke 411 bottoms.
Please refer to Fig. 5 to 6; Said screw mechanism 420; Comprise the leading screw 421 that is connected between magnet assemblies 410 and the vehicle frame 401; Be threaded with said leading screw 421 first screw mandrel 422 and second screw mandrel 423, said first screw mandrel 422 is positioned at the top of leading screw 421, and said second screw mandrel 423 is positioned at the bottom of leading screw 421.Screw mechanism 420 moving upward and moving downward through leading screw 421, first screw mandrel 422, second screw mandrel 423, drives magnet assemblies 410 and upwards lifts or fall earthward.
As preferred implementation, said driving shaft 403 is a hollow tubular, and said drive motors 406 is installed in the driving shaft 403 of hollow tubular.This kind structure can make the structure of robot motion system 400 compact more.
Please refer to Fig. 9; Welding equipment system 300; Comprise welding machine 301, be connected with welding machine 301 circuit wire feeder 302, said wire feeder 302 is installed on the first joint of mechanical arm 402, and the welding gun 303 that is installed in a joint, said mechanical arm 402 end; Through each joint motions of mechanical arm 402, realize that welding gun 303 tops put the motion of the point of welding work pieces, straight line, circle; That is to say that mechanical arm 402 drives welding gun 303 and realized short-range movement locus; Wherein, the small distance movement track is meant that welding gun 303 tops put the motion of the point of welding work pieces, straight line, circle.Said wire feeder 302; Comprise the wire feeding cable 3020 that has welding wire, said wire feeding cable 3020 is given welding gun 303 along mechanical arm 402 with welding wire, and the bottom of said welding machine 301 is provided with water tank 304; Be provided with water pump in the said water tank 304; Said water pump is connected with water pipe, and said water pipe is connected on the welding gun 303, reduces the temperature of welding gun 303 through the water circulation; Said welding machine 301 gas circuits connect the gas cylinder 306 that protective gas such as carbon dioxide are housed, and said water tank 304, gas cylinder 306 are installed on the accessory cart 307.
Wherein, said protective gas can be carbon dioxide, also can be other GPF (General Protection False gas in the welding technology field.
As preferred implementation, can be provided with direct current generator in the said accessory cart 307, be used to drive the walking of accessory cart 307; Said accessory cart 307 also can be pulled through rope by robot motion system 400 and realize walking.What need special instruction is that when robot motion system 400 walked at non-horizontal surface, accessory cart 307 still was in the walking of horizontal plane, as long as the rope long enough of accessory cart 307 and robot motion system 400.
Please refer to Fig. 9; Intelligent sensing system 500; Comprise and be installed in welding gun 303 forward-and-rearward ccd image sensors 501 respectively; The crater image information that is used for tracking welding work pieces and welded seam area position thereof and gathers welding process is so that said 400 pairs of welding work pieces of robot motion system and welded seam area is accurately located, and detect the molten bath shape characteristic in real time; Be installed in the video camera 502 of vehicle frame 401 front upper, be used to gather the image information of the barrier of vehicle frame 401 directions of advance, accurately detect the range information of vehicle frame 401 and barrier, and the geometry of definite barrier; Be installed in the anterior range sensor 503 of vehicle frame 401, be used for detecting roughly the range information of vehicle frame 401 and the barrier of its direction of advance.
Video camera 502 and range sensor 503 all can detect the range information of vehicle frame 401 and the barrier in its place ahead, and different is, range sensor 503 is used for rough detection, and video camera 502 is used for accurate detection.Video camera 502 adopts stereovision technique, measures the principle range finding of the depth of field based on binocular parallax; Range sensor 503 is rough measure distances, and this distance gets into the distance in video camera 502 visuals field in order to calculate barrier, thereby prior notice robot motion system 400 slows down.
Wherein, said range sensor 503 is ultrasonic distance sensor 5031 and/or infrared ray range sensor 5032.This embodiment is arranged at infrared ray range sensor 5032 below of ultrasonic distance sensor 5031.Because the device physics characteristics determined, the distance that ultrasonic distance sensor 5031 is gathered than infrared ray range sensor 5032 is long.That is to say that what infrared ray range sensor 5032 detected lacks apart from length than what ultrasonic distance sensor 5031 detected apart from length.Therefore, ultrasonic distance sensor 5031 is applicable to the detection of long-distance barrier thing, and infrared ray range sensor 5032 is applicable to the closely detection of barrier.
Central control system 100 is used to control the action of said robot motion system 400, welding equipment system 300, intelligent sensing system 500.
Said central control system 100 comprises robot control module, the steady control module of complicated track, active obstacle module, welding equipment control module, arc-welding bag module, intelligent welding module.
Wherein, the robot control module is used to control the walking of robot kinematic system 400 and the movement locus of mechanical arm 402;
Wherein, The steady control module of complicated track; To different weld task best path of welding is set; Through said robot control module control the movement locus (trajectory planning the during welding of the welding when being included in obstacle detouring and angle welding) of the mechanical arm 402 of robot kinematic system 400 so that be installed in welding gun 303 on the mechanical arm 402 according to the steady orderly capable weld job of the best path of welding that is provided with;
Wherein, the active obstacle module according to the video camera 502 of intelligent sensing system 500, the obstacle information that range sensor 503 transmits, is controlled robot kinematic system 400 through said robot control module, to realize independently across obstacle stably;
Wherein, the welding equipment control module is set welding conditions such as welding current, voltage, pulse width, is used for regulating welding equipment system's 300 technological parameters and reading the welding equipment system running state according to different weld task;
Wherein, arc-welding bag module stores the welding procedure knowledge base, and the image information of the welding work pieces of gathering according to ccd image sensor 501 confirms that weld task or man-machine interaction choose the weldment model, output welding action sequence and welding condition; That is to say that arc-welding bag module provides corresponding technological specification to different weld task;
Wherein, intelligent welding module transmits the overall process of the image information control welding of returning according to the ccd image sensor 501 of intelligent sensing system.It comprises information sensing, modeling and the Based Intelligent Control from master program, robot motion's TRAJECTORY CONTROL, welding process of weld task.Wherein information sensing comprises that weld start position identification, the preceding autonomous guiding of weldering, weld seam real-time tracking, molten bath behavioral characteristics obtain, appearance of weld is predicted and control, uses image processing techniques such as template matches, grey level histogram conversion, automatic threshold are cut apart, edge extracting, Hough transformation.
Please refer to Fig. 2 to 3, said communication system 200 is used to realize the data communication of said central control system 100, welding equipment system 300, intelligent sensing system 500 and robot motion system 400.Wherein, said communication system 200 comprises
Robot communication module 210 is through the data communication of CAN bus protocol realization central control system 100 with robot motion system 400;
Welding communication module 220 is through the data communication of programmable logic controller (PLC) PLC realization central control system 100 with welding equipment system 300;
Data acquisition module 230; Comprise image pick-up card 231, data collecting card 232 and router two 33; Said image pick-up card 231 is used for sending the image informations that the ccd image sensor 501 of said intelligent sensing system 500 is gathered in real time to central control system 100; Said data collecting card 232 is used for sending the range informations that the ultrasonic distance sensor 5031 of said intelligent sensing system 500 and infrared ray range sensor 5032 are gathered said welding robots and barrier in real time to central control system 100; Said router two 33, the image information of the barrier that is used for the video camera 502 of said intelligent sensing system 500 is gathered sends central control system 100 to.Said image pick-up card 231, data collecting card 232 and router two 33 can be the interface of pci interface or other form.
Operation principle of the present invention is: welding robot is positioned on the jig; Central control system 100 is as the host computer of welding robot; Robot motion system 400, welding equipment system 300, intelligent sensing system 500 are as the slave computer of welding robot; Form the MS master-slave control model through data communication system 200; After robot starts; Video camera 502 is started working; And analyze macroscopical scene information by intelligent sensing system 500, do the action of craspedodromes, turning by central control system 100 control robot kinematic systems 400, when video camera 502 detect barrier and disturbance of analysis thing shape, length, highly, after the width size; Deceleration control is done by 100 pairs of robot motion systems 400 of central control system; Ultrasonic distance sensor 5031 start working and detection machine people kinematic system 400 and barrier between distance and position as the initial survey distance, robot motion system 400 continues to be forwarded to the half the of initial survey distance, infrared ray range sensor 5032 is started working and the range information and the positional information of detection and barrier; Barrier and range information and the positional information between the robot motion system 400 that central control system 100 is measured according to infrared ray range sensor 5032, and the shape size of the barrier that obtains according to video camera 502 is called the robot control module and is located main obstacle detouring module 103 and realize that across obstacles walk; Industrial CCD imageing sensor 501 obtains topography's information; When detecting welding work pieces, main control computer central control system 100 is analyzed workpiece type and size, calls arc-welding bag module and calculates technological parameter; Call the steady control module of complicated track and formulate motion scheme; Call intelligent welding module and realize guiding before the weldering, set welding equipment system 300 relevant parameters, robot motion system 400 and welding equipment system 300 begin the starting the arc under main control computer central control system 100 is coordinated; Call intelligent welding module in the welding process welding process is carried out intellectuality control, comprise that weld joint tracking, welding parameter are adjusted in real time, welding posture adjustment etc.
This embodiment carries out modular division to welding robot, and functional structure is clear simple; Welding robot can realize climbing the walking of wall, obstacle detouring and turning, possesses the welding function of the long distance in full position; Climb wall, mainly rely on magnetic to attach device and cooperate the walking of driving wheel to realize; Obstacle detouring mainly relies on line slide rail 405 to lift the walking of driving shaft 403 and driving wheel 404 realization across obstacles; Turning is that speed difference is realized between about 404 two wheels of every group of driving wheel of dependence.Arc-welding bag module can provide abundant welding procedure knowledge base, and the steady control module of track can reduce the influence of kinematic error to welding quality; Each module of communication system 200 adopts general interface protocol, makes things convenient for secondary development, and real-time is good; Intelligent sensing system 500 adopts the multiple sensors assembled scheme, realize collection and the collection of welding job and the tracking of welding back weld seam of barrier, and sensor can obtain information, the requirement that satisfied autonomous welding and working environment detect in real time; Achievements such as the workpiece identification of intelligent welding field, autonomous guiding, weld joint tracking, Penetration control that welding robot is integrated have broad field of application; Can satisfy the non-structure space welding of main equipment demand; Welding robot intellectuality and independence ability have been improved; For the intelligent control research of mobile robot's welding process provides a kind of reliable experiment porch; The special mobile welding robot that is applicable to special occasions for exploitation provides reference, and the application facet in the Automation of Welding field has important function in the expansion robot.
In sum, welding robot of the present invention can be realized walking and the welding of across obstacle, full position, autonomous weld job.

Claims (10)

1. the autonomous welding robot in the full position of obstacle detouring is characterized in that: comprise
Robot motion system (400) comprises vehicle frame (401), is positioned at the mechanical arm of being made up of a plurality of joints (402) of said vehicle frame (401) top, is used to regulate interior optional position of working range and attitude; Be positioned at many groups driving shaft (403) of said vehicle frame (401) below; Every group of driving shaft (403) is two and is located along the same line; The end near vehicle frame (401) outside of each driving shaft (403) is connected with driving wheel (404); Also slidely connect line slide rail (405) between said each driving shaft (403) and the vehicle frame (401), said line slide rail (405) is positioned at the inboard of said driving wheel (404), and said each driving shaft (403) is connected with the drive motors (406) that is used to control driving wheel (404); Be provided with magnetic between said every group of driving shaft (403) and the vehicle frame (401) and attach device, be used to adsorb the welding work pieces surface;
Welding equipment system (300), comprise welding machine (301), be connected with welding machine (301) circuit wire feeder (302), said wire feeder (302) is installed on the first joint of mechanical arm (402); And the welding gun (303) that is installed in a joint, said mechanical arm (402) end, said wire feeder (302) comprises the wire feeding cable (3020) that has welding wire; Said wire feeding cable (3020) is given welding gun (303) along mechanical arm (402) with welding wire; The bottom of said welding machine (301) is provided with water tank (304), and said water tank is provided with water pump in (304), and said water pump is connected with water pipe; Said water pipe is connected on the welding gun (303); Through the temperature of water circulation reduction welding gun (303), said welding machine (301) gas circuit connects the gas cylinder (306) that protective gas is housed, and said water tank (304), gas cylinder (306) are installed on the accessory cart (307);
Intelligent sensing system (500); Comprise and be installed in welding gun (303) forward-and-rearward ccd image sensor (501) respectively; The crater image information that is used for tracking welding work pieces and welded seam area position thereof and gathers welding process is so that the shape characteristic in molten bath is accurately located, detects in real time by said robot motion system (400) to welding work pieces and welded seam area thereof; Be installed in the video camera (502) of vehicle frame (401) front upper, be used to gather the image information of the barrier of vehicle frame (401) direction of advance, accurately detect the range information of vehicle frame (401) and barrier, and the geometry of definite barrier; Be installed in the anterior range sensor (503) of vehicle frame (401), be used for detecting roughly the range information of vehicle frame (401) and the barrier of its direction of advance;
Central control system (100) is used to control the action of said robot motion system (400), welding equipment system (300), intelligent sensing system (500);
Communication system (200) is used to realize the data communication between said robot motion system (400), welding equipment system (300), intelligent sensing system (500) and the central control system (100).
2. the autonomous welding robot in the full position of obstacle detouring according to claim 1; It is characterized in that: said magnetic attaches device; Comprise the magnet assemblies (410) that is positioned at driving shaft (403) bottom; Be provided with screw mechanism (420) between said magnet assemblies (410) and the vehicle frame (401), said screw mechanism (420) is used for the height between regulating magnet assembly (410) and the ground.
3. the autonomous welding robot in the full position of obstacle detouring according to claim 2; It is characterized in that: said magnetic attaches device; Also comprise the both sides that are fixed on each driving shaft (403) length direction and be fixed on two sliding guides (430) on the said magnet assemblies (410), and the spring (440) that is linked in each sliding guide (430) outside.
4. according to the autonomous welding robot of claim 2 or the full position of 3 described obstacle detourings, it is characterized in that: said magnet assemblies (410), comprise a yoke (411), and the polylith permanent magnet (412) that is installed in said yoke (411) bottom.
5. the autonomous welding robot in the full position of obstacle detouring according to claim 4; It is characterized in that: said screw mechanism (420); Comprise the leading screw (421) that is connected between magnet assemblies (410) and the vehicle frame (401); Be threaded with said leading screw (421) first screw mandrel (422) and second screw mandrel (423), said first screw mandrel (422) is positioned at the top of leading screw (421), and said second screw mandrel (423) is positioned at the bottom of leading screw (421).
6. the autonomous welding robot in the full position of obstacle detouring according to claim 1 is characterized in that: said range sensor (503) is ultrasonic distance sensor (5031) and/or infrared ray range sensor (5032).
7. the autonomous welding robot in the full position of obstacle detouring according to claim 1 is characterized in that: said protective gas is a carbon dioxide.
8. the autonomous welding robot in the full position of obstacle detouring according to claim 1 is characterized in that: said accessory cart is provided with direct current generator in (307), is used to drive the walking of accessory cart (307).
9. according to the autonomous welding robot in the full position of the said obstacle detouring of claim 1, it is characterized in that: said communication system (200) comprises
Robot communication module (210) is through the data communication of CAN bus protocol realization central control system (100) with robot motion system (400);
Welding communication module (220) is through the data communication of programmable logic controller (PLC) realization central control system (100) with welding equipment system (300);
Data acquisition module (230); Comprise image pick-up card (231), data collecting card (232) and router (233); Said image pick-up card (231) is used for sending the image information that the ccd image sensor (501) of said intelligent sensing system (500) is gathered in real time to central control system (100); Said data collecting card (232) is used for sending the range information that the ultrasonic distance sensor (5031) and the infrared ray range sensor (5032) of said intelligent sensing system (500) are gathered said welding robot and barrier in real time to central control system (100); Said router (233), the image information of the barrier that is used for the video camera (502) of said intelligent sensing system (500) is gathered sends central control system (100) to.
10. the autonomous welding robot in the full position of obstacle detouring according to claim 1 is characterized in that: said driving shaft (403) is a hollow tubular, and said drive motors (406) is installed in the driving shaft (403) of hollow tubular.
CN 201110421711 2011-12-15 2011-12-15 Obstacle-crossing all-position automatic welding robot CN102489838B (en)

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CN104668737A (en) * 2013-11-29 2015-06-03 成都焊研科技有限责任公司 Creeping type welding robot
CN104668823A (en) * 2013-11-29 2015-06-03 成都焊研科技有限责任公司 Creeping type welding robot system
CN104765367A (en) * 2014-11-27 2015-07-08 祝爱莲 Service robot achieving intelligent obstacle surmounting
CN104808664A (en) * 2014-11-27 2015-07-29 王俊芝 Method for realizing intelligent obstacle crossing
CN105618930A (en) * 2016-03-18 2016-06-01 南京越辰智能科技有限公司 Movable field pipeline laser repairing device
CN105904133A (en) * 2016-07-06 2016-08-31 苏州睿牛机器人技术有限公司 Vehicle-mounted parallel welding robot system
CN105935830A (en) * 2016-06-14 2016-09-14 惠州市铠屹精密机械有限公司 Intelligent welding system and welding method thereof
CN105935833A (en) * 2016-06-14 2016-09-14 惠州市铠屹精密机械有限公司 Portable small welding robot
CN106002023A (en) * 2016-06-12 2016-10-12 舟山利远机械有限公司 Intelligent visual tracking, welding and creeping trolley
CN106002024A (en) * 2016-07-06 2016-10-12 苏州睿牛机器人技术有限公司 Vehicle-mounted parallel welding robot system
CN106444638A (en) * 2016-07-26 2017-02-22 南京国际船舶设备配件有限公司 Marine low-speed machine air valve welding robot work station control system
CN106735750A (en) * 2017-02-23 2017-05-31 湘潭大学 A kind of angle welding automatic tracking method based on ultrasound phase-control array sensor
WO2017139911A1 (en) * 2016-02-15 2017-08-24 叶成源 Welding system based on manipulator and measuring arm and welding method therefor
CN107457512A (en) * 2017-10-06 2017-12-12 南京中高知识产权股份有限公司 Remote controlled magnetic-type welding robot and its method of work
CN107570930A (en) * 2017-10-29 2018-01-12 南京中高知识产权股份有限公司 Intelligent mobile welding robot
CN107570924A (en) * 2017-10-31 2018-01-12 南京中高知识产权股份有限公司 Intelligent welding system and its method of work suitable for cluster cooperation
CN107598437A (en) * 2017-10-29 2018-01-19 南京中高知识产权股份有限公司 Welding robot with visual performance
CN107685208A (en) * 2017-10-06 2018-02-13 南京中高知识产权股份有限公司 Universal detachable magnetic welding robot and its method of work
CN107695570A (en) * 2017-10-06 2018-02-16 南京中高知识产权股份有限公司 Suitable for the magnetic welding robot and its method of work long lasting for work
CN107717273A (en) * 2017-10-31 2018-02-23 南京中高知识产权股份有限公司 Welding system and its method of work with intelligent addressing
CN107738047A (en) * 2017-10-31 2018-02-27 南京中高知识产权股份有限公司 Welding system and its method of work suitable for multirobot efficient collaboration, both
CN108015456A (en) * 2017-11-28 2018-05-11 钟祥长富精密电子科技有限公司 A kind of welding robot
CN108145348A (en) * 2018-01-06 2018-06-12 佛山市三盟新能源有限公司 A kind of automatic welding machine people
CN110711031A (en) * 2019-10-31 2020-01-21 武汉联影智融医疗科技有限公司 Surgical navigation system, coordinate system registration system, method, device, and medium
CN110900049A (en) * 2019-12-13 2020-03-24 武船重型工程股份有限公司 Welding method and welding system
WO2020224075A1 (en) * 2019-05-09 2020-11-12 广东博智林机器人有限公司 Spraying robot, control method, control apparatus, and computer readable storage medium

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Cited By (33)

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Publication number Priority date Publication date Assignee Title
CN104668737A (en) * 2013-11-29 2015-06-03 成都焊研科技有限责任公司 Creeping type welding robot
CN104668823A (en) * 2013-11-29 2015-06-03 成都焊研科技有限责任公司 Creeping type welding robot system
CN104765367A (en) * 2014-11-27 2015-07-08 祝爱莲 Service robot achieving intelligent obstacle surmounting
CN104808664A (en) * 2014-11-27 2015-07-29 王俊芝 Method for realizing intelligent obstacle crossing
WO2017139911A1 (en) * 2016-02-15 2017-08-24 叶成源 Welding system based on manipulator and measuring arm and welding method therefor
CN107848055A (en) * 2016-02-15 2018-03-27 叶成源 Welding system and its welding method based on manipulator and measuring arm
CN105618930A (en) * 2016-03-18 2016-06-01 南京越辰智能科技有限公司 Movable field pipeline laser repairing device
CN105618930B (en) * 2016-03-18 2017-12-22 南京越辰智能科技有限公司 A kind of field pipeline laser repair device of packaged type
CN106002023A (en) * 2016-06-12 2016-10-12 舟山利远机械有限公司 Intelligent visual tracking, welding and creeping trolley
CN106002023B (en) * 2016-06-12 2018-03-06 舟山宏正科技有限公司 Car is climbed in a kind of Intelligent vision tracking welding
CN105935833A (en) * 2016-06-14 2016-09-14 惠州市铠屹精密机械有限公司 Portable small welding robot
CN105935830A (en) * 2016-06-14 2016-09-14 惠州市铠屹精密机械有限公司 Intelligent welding system and welding method thereof
CN105935830B (en) * 2016-06-14 2018-06-26 惠州市铠屹精密机械有限公司 A kind of Intelligent welding system and its welding method
CN105904133A (en) * 2016-07-06 2016-08-31 苏州睿牛机器人技术有限公司 Vehicle-mounted parallel welding robot system
CN106002024A (en) * 2016-07-06 2016-10-12 苏州睿牛机器人技术有限公司 Vehicle-mounted parallel welding robot system
CN106444638A (en) * 2016-07-26 2017-02-22 南京国际船舶设备配件有限公司 Marine low-speed machine air valve welding robot work station control system
CN106444638B (en) * 2016-07-26 2018-12-04 南京国际船舶设备配件有限公司 A kind of marine low-speed machine air valve welding robot workstation control system
CN106735750A (en) * 2017-02-23 2017-05-31 湘潭大学 A kind of angle welding automatic tracking method based on ultrasound phase-control array sensor
CN106735750B (en) * 2017-02-23 2019-02-01 湘潭大学 A kind of fillet weld automatic tracking method based on composite ultrasonic phased-array transducer
CN107685208A (en) * 2017-10-06 2018-02-13 南京中高知识产权股份有限公司 Universal detachable magnetic welding robot and its method of work
CN107457512A (en) * 2017-10-06 2017-12-12 南京中高知识产权股份有限公司 Remote controlled magnetic-type welding robot and its method of work
CN107695570A (en) * 2017-10-06 2018-02-16 南京中高知识产权股份有限公司 Suitable for the magnetic welding robot and its method of work long lasting for work
CN107570930A (en) * 2017-10-29 2018-01-12 南京中高知识产权股份有限公司 Intelligent mobile welding robot
CN107598437A (en) * 2017-10-29 2018-01-19 南京中高知识产权股份有限公司 Welding robot with visual performance
CN107738047A (en) * 2017-10-31 2018-02-27 南京中高知识产权股份有限公司 Welding system and its method of work suitable for multirobot efficient collaboration, both
CN107738047B (en) * 2017-10-31 2019-05-10 南京中高知识产权股份有限公司 Welding system and its working method suitable for multirobot efficient collaboration, both
CN107717273A (en) * 2017-10-31 2018-02-23 南京中高知识产权股份有限公司 Welding system and its method of work with intelligent addressing
CN107570924A (en) * 2017-10-31 2018-01-12 南京中高知识产权股份有限公司 Intelligent welding system and its method of work suitable for cluster cooperation
CN108015456A (en) * 2017-11-28 2018-05-11 钟祥长富精密电子科技有限公司 A kind of welding robot
CN108145348A (en) * 2018-01-06 2018-06-12 佛山市三盟新能源有限公司 A kind of automatic welding machine people
WO2020224075A1 (en) * 2019-05-09 2020-11-12 广东博智林机器人有限公司 Spraying robot, control method, control apparatus, and computer readable storage medium
CN110711031A (en) * 2019-10-31 2020-01-21 武汉联影智融医疗科技有限公司 Surgical navigation system, coordinate system registration system, method, device, and medium
CN110900049A (en) * 2019-12-13 2020-03-24 武船重型工程股份有限公司 Welding method and welding system

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