CN107052518A - A kind of trackless welding robot - Google Patents
A kind of trackless welding robot Download PDFInfo
- Publication number
- CN107052518A CN107052518A CN201710114993.9A CN201710114993A CN107052518A CN 107052518 A CN107052518 A CN 107052518A CN 201710114993 A CN201710114993 A CN 201710114993A CN 107052518 A CN107052518 A CN 107052518A
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- Prior art keywords
- welding
- magnet
- robot
- wheel
- trackless
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- 238000003466 welding Methods 0.000 title claims abstract description 119
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000005476 soldering Methods 0.000 claims description 11
- 229910000831 Steel Inorganic materials 0.000 abstract description 6
- 239000010959 steel Substances 0.000 abstract description 6
- 238000003860 storage Methods 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 241000282326 Felis catus Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
- B23K9/0282—Seam welding; Backing means; Inserts for curved planar seams for welding tube sections
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of trackless welding robot, including for controlling welding main body (1) that welding acts and for adsorbing the drive device (2) on welding workpiece (8) surface, the welding main body (1) is arranged in drive device (2)；The drive device (2) includes bottom plate (2.1) and is distributed in the magnet-wheel case (2.2) of bottom plate (2.1) corner, the magnet-wheel case (2.2) to be provided with to be used to adsorb the magnet-wheel (2.3) on welding workpiece (8) surface.Robot can carry out weld job automatically in the large-scale cambered surface equipment such as Steel Spherical Tank, storage tank, hull, saved cost of labor, improved welding precision.
Description
Technical field
The present invention relates to soldering appliance technical field, and in particular to a kind of trackless welding robot.
Background technology
At present, there are a large amount of places using welding procedure in industrial production, the quality of welding determines the success or failure of production.
With the development of welding technique and robot technology, increasing industrial welding robot is applied, reduce manpower and
The consumption of material resources.In the production of some special industries, due to working environment and the particularity of production requirement, and volume, matter
Limitation in terms of amount, existing welding robot can only work in certain angular regions, for special angle
Conjunction can not carry out comprehensive welding, and which limits the use occasion of welding robot.Therefore, industrial welding robot is not also
It is widely used.
In the prior art, the large-scale cambered surface equipment such as Steel Spherical Tank, storage tank, hull is welded, is generally all to use people
It is that work mode is carried out, it is necessary to by instruments such as cat ladder, lifting ropes, observe by the naked eye, by micro-judgment welding surroundings, it is necessary to many
Name workman cooperation is completed, and requires high to the technical merit of Welder.Labor strength is big, and working environment is dangerous, severe, and
Welding precision is unstable.
In existing patent document, one entitled：A kind of multi-angle automatic welding is with robot (CN201420182766)
Patent document disclosed in welding robot, comprehensive rotation can be carried out with butt-welding fitting and welded.But because it uses working arm
Comprehensive welding is realized with the form of firm banking, generally requires to move welding workpiece, rotate, it is adaptable to volume compared with
Small welding workpiece.For large-scale welding workpiece, due to mobile inconvenience, this robot can not carry out welding work well
Industry.
In existing patent document, an another piece is entitled：A kind of case weld production equipment (CN201510540375.1)
Case weld production equipment disclosed in patent document, although cambered surface workpiece can be welded, but it is still to need workpiece
Transmission is moved, small-sized cambered surface welding workpiece is often only applicable to, it is impossible to the large-scale cambered surface such as Steel Spherical Tank, storage tank, hull
Equipment carries out weld job.
The content of the invention
It is an object of the invention to：Can not be large-scale to Steel Spherical Tank, storage tank, hull etc. for prior art weld robot
Cambered surface equipment carries out weld job, and when manually carrying out large-scale workpiece cambered surface weld job, generally requires using cat ladder, lifting rope etc.
Ascend a height power tool, workload is big, danger coefficient is high, the problem of welding precision is unstable there is provided a kind of trackless welding robot,
By the flexible guide rail of adjustable position, the control present apparatus carries out comprehensive arc in large-scale cambered surface welding workpiece apparent motion
Face weld job.
The technical solution adopted by the present invention is as follows：
A kind of trackless welding robot, including for controlling the welding main body of welding action and for adsorbing in welding workpiece
The drive device on surface, the welding main body is installed on the drive means；The drive device includes bottom plate and is distributed on bottom plate
Being provided with the magnet-wheel case of corner, the magnet-wheel case is used to adsorb the magnet-wheel on welding workpiece surface.
Preferably, the bottom plate is flexibly connected with left and right sides magnet-wheel case by linkage, the magnet-wheel case energy phase
Bottom plate is deflected, the magnet-wheel is driving wheel.
Preferably, the drive device also includes stepper motor and decelerator, the stepper motor is driven by decelerator
Dynamic magnet-wheel motion.
Preferably, the welding main body includes welding gun, welding gun folder, height adjusting mechanism, angle adjusting mechanism and transverse direction
Governor motion；The welding gun is fixed on welding gun folder, and the welding gun presss from both sides one end and the high high adjustment machine of control welding high and low position
Structure is connected, and described height adjusting mechanism one end is with controlling the angle adjusting mechanism of soldering angle to be connected, the angle adjusting mechanism
With controlling the lateral adjustment of welding gun side-to-side movement to be connected.
Preferably, the lateral adjustment and height adjusting mechanism include oscillating motor, the leading screw being sequentially connected
And slide block guide rail.
Preferably, robot also includes the soldering joint automatic tracking mechanism being arranged on welding gun and weld seam is directed at machine automatically
Structure；The soldering joint automatic tracking mechanism includes the laser tracking transducer for being used to detect seam track line；The weld seam is automatically right
Quasi- mechanism includes spring, interior angle regulation ring, outer angle regulation ring and positioning rod member, and the spring one end is pressed from both sides installed in welding gun
On, the other end is connected with positioning rod member, and positioning rod member is touched on the surface of welding workpiece.
Preferably, robot also includes remote control and the sensor being arranged on robot body, the remote control
Device realizes information exchange by sensor and robot body.
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1st, trackless welding robot of the present invention can automatically be carried out in the large-scale cambered surface equipment such as Steel Spherical Tank, storage tank, hull
Weld job, has saved cost of labor, improves welding precision.
2nd, welding main body of the invention can pass through the mutual of height adjusting mechanism, angle adjusting mechanism and lateral adjustment
Coordinate, realize various different angles, the weld job of diverse location, improve the adaptability of the present apparatus.
3rd, oscillating motor of the invention can drive welding gun to adaptable position when robot runs to different azimuth
Put, improve the swing Weldability of trackless welding robot.
4th, soldering joint automatic tracking mechanism of the invention can detect that the deviation of center sensor and seam track line, and accordingly
Real-time Feedback gives welding main body, makes welding gun accurate tracking weld seam.
5th, the automatic aligning guide of weld seam of the invention, its spring one end is arranged on bottom plate, and the other end connects with positioning rod member
Connect, positioning rod member is touched on the surface of welding workpiece, and welding gun center and the normal side of pad are ensured by inside and outside regulation ring
To coincidence, make welding position more accurate.
6th, bottom plate and left and right sides magnet-wheel case of the invention are flexibly connected by linkage so that magnet-wheel case can be relatively inclined
Turn, ensure that each magnet-wheel on weldment surface, can improve the stability of trackless welding robot walking by Contact-sorption simultaneously automatically.
7th, magnet-wheel of the invention is driving wheel, and magnet-wheel can carry out differential work, realizes that left and right is turned, further increases
The stability of trackless welding robot walking.
Brief description of the drawings
Fig. 1 is trackless welding robot exploded view of the present invention；
Fig. 2 is the welding main body enlarged drawing of the present invention；
Fig. 3 is inventive drive means partial enlarged drawing；
Fig. 4 is trackless welding robot overall diagram of the present invention；
Marked in figure：1- welds main body；1.1- welding gun；1.2- welding guns are pressed from both sides；1.3- height adjusting mechanism；1.4- angular adjustment
Mechanism；1.5- lateral adjustment；2- drive devices；2.1- bottom plate；2.2- magnet-wheel casees；2.3- magnet-wheel；3- stepper motors；4- subtracts
Fast device；5- soldering joint automatic trackings mechanism；The automatic aligning guide of 6- weld seams；Angle regulation ring in 6.1-；The outer angle regulation rings of 6.2-；
6.3- positions rod member；7- sensors；8- welding workpieces.
Embodiment
All features disclosed in this specification, can be with any in addition to mutually exclusive feature and/or step
Mode is combined.
The present invention is elaborated with reference to Fig. 1, Fig. 2, Fig. 3 and Fig. 4.
Embodiment 1, a kind of trackless welding robot, including for controlling the welding main body (1) of welding action and for inhaling
The drive device (2) on welding workpiece (8) surface is attached to, the welding main body (1) is arranged in drive device (2)；The driving
Device (2) includes bottom plate (2.1) and is distributed in the magnet-wheel case (2.2) of bottom plate (2.1) corner, the magnet-wheel case (2.2) to be provided with
For adsorbing the magnet-wheel (2.3) on welding workpiece (8) surface.The bottom plate (2.1) passes through hinge with left and right sides magnet-wheel case (2.2)
Chain mechanism is flexibly connected, magnet-wheel case (2.2) energy opposed bottom (2.1) deflection, and the magnet-wheel (2.3) is driving wheel.Institute
Stating drive device (2) also includes stepper motor (3) and decelerator (4), and the stepper motor (3) drives magnetic by decelerator (4)
Take turns (2.3) motion.
During work, magnet-wheel (2.3) is adsorbed on welding workpiece (8) surface, stepper motor (3) work, is passed through decelerator (4)
Drive magnet-wheel (2.3) to rotate, drive welding main body (1) mobile in welding workpiece (8)；Meanwhile, magnet-wheel case (2.2) can opposed bottom
(2.1) deflect so that each magnet-wheel (2.3) energy fully contact weld workpiece (8), it is to avoid due to loose contact, cause welding
Robot is dropped；Magnet-wheel (2.3) is driving wheel, and it can carry out differential motion, so as to realize turning motion.The nothing of the present embodiment
Rail welding robot can carry out weld job automatically in the large-scale cambered surface equipment such as Steel Spherical Tank, storage tank, hull, save artificial
Cost, improves welding precision.
Embodiment 2 has made following optimization on the basis of embodiment 1：Welding main body (1) includes welding gun (1.1), welding gun folder
(1.2), height adjusting mechanism (1.3), angle adjusting mechanism (1.4) and lateral adjustment (1.5)；The welding gun (1.1) is solid
It is scheduled on welding gun folder (1.2), the height adjusting mechanism (1.3) of high and low position is welded even in described welding gun folder (1.2) one end with control
Connect, described height adjusting mechanism (1.3) one end is with controlling the angle adjusting mechanism (1.4) of soldering angle to be connected, and the angle is adjusted
Section mechanism (1.4) is with controlling the lateral adjustment (1.5) of welding gun (1.1) side-to-side movement to be connected.
The present embodiment trackless welding robot, the lateral adjustment (1.5) and height adjusting mechanism (1.3) include
Oscillating motor, leading screw and the slide block guide rail being sequentially connected.The present embodiment also include being arranged on weld seam on welding gun (1.1) it is automatic with
Track mechanism (5) and the automatic aligning guide of weld seam (6)；The soldering joint automatic tracking mechanism (5) includes being used to detect seam track line
Laser tracking transducer；The automatic aligning guide of weld seam (6) includes spring, interior angle regulation ring (6.1), outer angular adjustment
Ring (6.2) and positioning rod member (6.3), the spring one end are arranged on welding gun folder (1.2), the other end and positioning rod member (6.3)
Connection, positioning rod member (6.3) is touched on the surface of welding workpiece.
During weld job, the height adjusting mechanism (1.3), angle adjusting mechanism (1.4) and transverse direction of the present embodiment
Governor motion (1.5) can be by adjusting angle, the position of welding gun, to realize comprehensive welding action；At the same time, locating rod
Part (6.3) is contacted with welding workpiece surface, when the normal direction at welding gun center and pad is misaligned, interior angle regulation ring
(6.1), outer angle regulation ring (6.2) can be to finely tune welding gun posture in time；After the completion of one section of weld seam, soldering joint automatic tracking machine
Structure (5) just carries out automatic detection to the quality of weld seam.
Embodiment 3 has made following optimization on the basis of embodiment 1 or 2：The trackless welding robot of the present embodiment is also wrapped
Remote control and the sensor (7) being arranged on robot body (1) are included, the remote control passes through sensor (7) and machine
Human agent (1) realizes information exchange.Operator is realized man-machine mutual by remote control, the weld job of real time control machine device people
It is dynamic.
It is embodiments of the invention as described above.The present invention is not limited to the above-described embodiments, anyone should learn that
The structure change made under the enlightenment of the present invention, the technical schemes that are same or similar to the present invention each fall within this
Within the protection domain of invention.
Claims (7)
1. a kind of trackless welding robot, it is characterised in that including for controlling the welding main body (1) of welding action and for inhaling
The drive device (2) on welding workpiece (8) surface is attached to, the welding main body (1) is arranged in drive device (2)；The driving
Device (2) includes bottom plate (2.1) and is distributed in the magnet-wheel case (2.2) of bottom plate (2.1) corner, the magnet-wheel case (2.2) to be provided with
For adsorbing the magnet-wheel (2.3) on welding workpiece (8) surface.
2. trackless welding robot as claimed in claim 1, it is characterised in that the bottom plate (2.1) and left and right sides magnet-wheel
Case (2.2) is flexibly connected by linkage, and the magnet-wheel case (2.2) can opposed bottom (2.1) deflection, the magnet-wheel (2.3)
It is driving wheel.
3. trackless welding robot as claimed in claim 1 or 2, it is characterised in that the drive device (2) also includes stepping
Motor (3) and decelerator (4), the stepper motor (3) drive magnet-wheel (2.3) to move by decelerator (4).
4. trackless welding robot as claimed in claim 1, it is characterised in that the welding main body (1) includes welding gun
(1.1), welding gun folder (1.2), height adjusting mechanism (1.3), angle adjusting mechanism (1.4) and lateral adjustment (1.5)；It is described
Welding gun (1.1) is fixed on welding gun folder (1.2), described welding gun folder (1.2) one end and the high high adjustment of control welding high and low position
Mechanism (1.3) is connected, and described height adjusting mechanism (1.3) one end is connected with the angle adjusting mechanism (1.4) of control soldering angle,
The angle adjusting mechanism (1.4) is with controlling the lateral adjustment (1.5) of welding gun (1.1) side-to-side movement to be connected.
5. trackless welding robot as claimed in claim 4, it is characterised in that the lateral adjustment (1.5) and height
Governor motion (1.3) includes oscillating motor, leading screw and the slide block guide rail being sequentially connected.
6. trackless welding robot as claimed in claim 4, it is characterised in that the also weldering including being arranged on welding gun (1.1)
Stitch automatic tracking mechanism (5) and the automatic aligning guide of weld seam (6)；
The soldering joint automatic tracking mechanism (5) includes the laser tracking transducer for being used to detect seam track line；The weld seam is certainly
Dynamic aligning guide (6) includes spring, interior angle regulation ring (6.1), outer angle regulation ring (6.2) and positioning rod member (6.3), described
Spring one end is arranged on welding gun folder (1.2), and the other end is connected with positioning rod member (6.3), and positioning rod member (6.3) touches welding
On the surface of workpiece.
7. trackless welding robot as claimed in claim 1, it is characterised in that also including remote control and be arranged on robot
Sensor (7) in main body (1), the remote control realizes information exchange by sensor (7) and robot body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710114993.9A CN107052518A (en) | 2017-02-28 | 2017-02-28 | A kind of trackless welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710114993.9A CN107052518A (en) | 2017-02-28 | 2017-02-28 | A kind of trackless welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107052518A true CN107052518A (en) | 2017-08-18 |
Family
ID=59622034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710114993.9A Pending CN107052518A (en) | 2017-02-28 | 2017-02-28 | A kind of trackless welding robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107052518A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406185A (en) * | 2018-02-09 | 2018-08-17 | 芜湖市海联机械设备有限公司 | A kind of robot for no rail welding |
| CN108581305A (en) * | 2018-05-06 | 2018-09-28 | 张钧泠 | More plane trackless automatic tracking welding connection devices |
| CN111922557A (en) * | 2020-06-29 | 2020-11-13 | 福建省气柜设备安装有限公司 | Novel construction equipment for welding wall plate by using climbing column robot |
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| CN106312398A (en) * | 2016-10-12 | 2017-01-11 | 谢克庆 | Welding robot capable of automatically identifying and tracking welding line |
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| CN2341751Y (en) * | 1998-10-22 | 1999-10-06 | 国营建中化工总公司 | Automatic argon arc welding machine head for pipe plate |
| CN2435199Y (en) * | 2000-05-12 | 2001-06-20 | 中国石化集团第十建设公司 | Railless running photoelectric real-time tracking sphere welding robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108406185A (en) * | 2018-02-09 | 2018-08-17 | 芜湖市海联机械设备有限公司 | A kind of robot for no rail welding |
| CN108581305A (en) * | 2018-05-06 | 2018-09-28 | 张钧泠 | More plane trackless automatic tracking welding connection devices |
| CN111922557A (en) * | 2020-06-29 | 2020-11-13 | 福建省气柜设备安装有限公司 | Novel construction equipment for welding wall plate by using climbing column robot |
| CN111922557B (en) * | 2020-06-29 | 2022-04-29 | 中琉科技有限公司 | Novel construction equipment for welding wall plate by using climbing column robot |
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Application publication date: 20170818 |
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