CN107738048A - A kind of magnetic-type welding robot of intelligent wireless and its method of work - Google Patents
A kind of magnetic-type welding robot of intelligent wireless and its method of work Download PDFInfo
- Publication number
- CN107738048A CN107738048A CN201711043989.4A CN201711043989A CN107738048A CN 107738048 A CN107738048 A CN 107738048A CN 201711043989 A CN201711043989 A CN 201711043989A CN 107738048 A CN107738048 A CN 107738048A
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- China
- Prior art keywords
- permanent magnet
- magnetic
- welding robot
- control module
- type welding
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0294—Transport carriages or vehicles
-
- 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of magnetic-type welding robot and its method of work, this magnetic-type welding robot includes：Body, positioned at the intrinsic control module, the drive mechanism for wheel positioned at body bottom portion, and positioned at the front end of body it is additionally provided with camera device；The video data transmitting of collection is delivered to the control module by wherein described camera device, the control module is suitable to be electrically connected with a wireless module, so that the video data transmitting of collection is delivered into handheld terminal, and the control signal of handheld terminal transmission is received, to control drive mechanism for wheel to advance；The magnetic-type welding robot and its method of work of the present invention, it realizes remote wireless control by control module, wireless module, camera device, the view data of camera device collection can be checked by handheld terminal, and magnetic-type welding robot is controlled by control module, is particularly suitable for carrying out welding job under severe working environment.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of magnetic-type welding robot of intelligent wireless and its work
Method.
Background technology
With the development of welding technology field, for some highly difficult welding jobs, enter often through welding robot
OK.
But sometimes welding robot can creep to position farther out, personnel's follow-up operation is awkward.
Based on above mentioned problem, it is necessary to design a kind of magnetic-type welding robot that can carry out radio operation.
The content of the invention
It is an object of the invention to provide a kind of magnetic-type welding robot and its method of work, to realize remote wireless control
Operation.
In order to solve the above-mentioned technical problem, the invention provides a kind of magnetic-type welding robot, including：
Body, positioned at the intrinsic control module, the drive mechanism for wheel positioned at body bottom portion, and
Camera device is additionally provided with positioned at the front end of body；Wherein
The video data transmitting of collection is delivered to the control module by the camera device, and the control module is suitable to and a wireless mould
Block is electrically connected with, and the video data transmitting of collection is delivered into handheld terminal, and receives the control signal of handheld terminal transmission, with
Drive mechanism for wheel is controlled to advance.
Further, the bottom of the body is provided with changes of magnetic field device；
The changes of magnetic field device includes：Permanent magnet and permanent mechanism driving mechanism；
The permanent magnet is suitable to the absorption of magnetic-type welding robot on the table, and the permanent magnet is located within the body middle position
Put and close to bottom；
The front side of the bottom and rear side are equipped with inclined plane, and the permanent magnet driver of driving permanent magnet unblock is additionally provided with body
Structure；
The permanent mechanism driving mechanism is controlled by the control module.
Further, the control module is suitable to control permanent mechanism driving mechanism driving permanent magnet to motion on rear side of body, with logical
The magnetic field of permanent magnet is crossed, attracts the inclined plane of rear side to be contacted with workbench so that the front side bottom of body tilts, i.e.,
Drive permanent magnet unblock.
Further, the bottom of the body is additionally provided with two support feets, and a support feet is close to the inclined plane of front side, Ling Yizhi
Inclined plane of the spike close to rear side；
In normal work, the support feet is shunk in horizontally disposed；
When permanent magnet unlocks, after the front side bottom of body tilts, support feet drops down on front side of body is simultaneously butted on work
Make platform, then the control module control permanent mechanism driving mechanism drives permanent magnet to motion on front side of body；And
After permanent magnet is located on front side of body, after tilting the bottom rear of body, the support pin exhibition that is now placed on rear side of body
Open, Backside support is got up.
Further, the permanent mechanism driving mechanism includes motor and drive shaft, and the drive shaft is fixed with permanent magnet one end to be connected
Connect, being horizontally disposed with the body has slide rail, and the permanent mechanism driving mechanism driving permanent magnet moves along a straight line along the slide rail.
Further, the permanent mechanism driving mechanism includes air pump, piston and connecting rod；Wherein
One end of the connecting rod is connected with permanent magnet, the other end connection piston of connecting rod, in air pump during gas increase, promotes piston
Moved on rear side of body, so as to promote permanent magnet lateral movement backward, when gas is reduced in air pump, promote piston to transporting on front side of body
It is dynamic.
Another aspect, present invention also offers a kind of method of work of magnetic-type welding robot, the magnetic-type welding
Robot includes：
Body, positioned at the intrinsic control module, the drive mechanism for wheel positioned at body bottom portion, and
Camera device is additionally provided with positioned at the front end of body；
The method of work includes：
The video data transmitting of collection is delivered to the control module by the camera device, and the control module is suitable to and a wireless mould
Block is electrically connected with, and the video data transmitting of collection is delivered into handheld terminal, and receives the control signal of handheld terminal transmission, with
Drive mechanism for wheel is controlled to advance.
The invention has the advantages that the magnetic-type welding robot and its method of work of the present invention, it is by controlling mould
Block, wireless module, camera device realize remote wireless control, and the image of camera device collection can be checked by handheld terminal
Data, and magnetic-type welding robot is controlled by control module, it is particularly suitable for entering under severe working environment
Row welding job.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the theory diagram of the magnetic-type welding robot of the present invention；
Fig. 2 is the working state schematic representation figure of the present embodiment one；
Fig. 3 is the structural representation that the permanent magnet of the present embodiment one is located at middle part；
Fig. 4 is the structural representation that the permanent magnet of the present embodiment one is located at side；
Fig. 5 is the structural representation of the present embodiment two.
In figure：Body 1, the first inclined side 11, the second inclined plane 12, permanent magnet 2, workbench 3, track 31, cam 4,
Permanent mechanism driving mechanism 51, motor 52, drive shaft 53, slide rail 54, reducing gear 55, support feet 57, air pump 61, piston 62, connecting rod
63。
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
Embodiment 1
As Fig. 1 to Fig. 3 present embodiments provides a kind of magnetic-type welding robot（Robot can be referred to as below）.
The magnetic-type welding robot of the present invention includes body 1, and body 1 includes top surface, side and bottom surface, and robot is set
There is plumb joint（Do not show）, permanent magnet 2 is provided with body interior, permanent magnet 2 is located at the medium position of the bottom of body 1, the bottom of body 1
Portion is additionally provided with cam 4, and cam 4 protrudes the bottom of body 1, and workbench 3 is the plane of substantially one magnetic conduction, is set on workbench 3
Track 31 is equipped with, when robot is placed on the table, permanent magnet 2 adsorbs robot on workbench 3, and cam 4 is located at
In track, the bottom of cam 4 contacts with track 31, and permanent magnet 2 adsorbs the lower surface of body in the upper of workbench 3 by magnetic field
Surface.The drive mechanism for wheel of the rotation of driving cam 4 is additionally provided with body 1（It includes motor）, when cam 4 rotates, body 1
It can be moved along track 31, so as to change the position of pad.
Also, magnetic-type welding robot described in the present embodiment also includes：Positioned at the intrinsic control module, with
And it is additionally provided with camera device positioned at the front end of body；The video data transmitting of collection is delivered to the control by wherein described camera device
Module, the control module are suitable to be electrically connected with a wireless module, and the video data transmitting of collection is delivered into handheld terminal, and
And the control signal that handheld terminal is sent is received, to control drive mechanism for wheel to advance.
The control module can use embeded processor to realize, the wireless module can use WiFi module, lead to
Controlled in wireless of the wireless module realization to magnetic-type welding robot is crossed, the handheld terminal can use the intelligence such as mobile phone, IPad
Can device.
In order to ensure the stability of welding, welding robot generally use permanent magnet ensures that the stabilization of robot and track connects
Touch, slipped because permanent permanent magnet suction is strong, need not additionally power, is not concerned about dead electricity, therefore there are many natural advantages,
But when magnetic force is very strong, it is also highly difficult when magnetic-type welding robot is removed, it is desirable to can as electrical permanent-magnet with
Meaning changes the presence or absence of magnetic force.In order that obtaining welding robot can easily remove, there are many unlocking mechanisms, but it is existing
Mechanical release mechanism is usually not laborsaving enough, or the huge inconvenience of mechanism size uses, and needs to be separately provided unlocking mechanism, very
Trouble.
Therefore, in order to solve the above problems, magnetic-type welding robot also includes facilitating what body dismounted in the present embodiment
Changes of magnetic field device.
In the present embodiment, changes of magnetic field device 5 includes the permanent magnet 2, permanent mechanism driving mechanism 51, permanent mechanism driving mechanism
51 include motor 52 and drive shaft 53, and the drive shaft 53 is fixedly connected with the one end of permanent magnet 2, and slide rail 54, institute are provided with body
Permanent mechanism driving mechanism driving permanent magnet is stated to move along a straight line along the slide rail 54.
The lower front of the body 1 is provided with the first inclined plane 11, and bottom rear is provided with the second inclined plane 12, and first tilts
Face 11 and angle, the second inclined plane 12 and the angle of horizontal plane of horizontal plane are inclination angle, in the present embodiment, the inclination angle
It can be 10-15 °.The bottom of the body is additionally provided with two support feets 57, and two support feet 57 is respectively close to the first inclined plane
11 and first inclined plane 11 bottom position, during normal work, the support feet is shunk in horizontally disposed.
The step of driving permanent magnet unblock, includes：
First, the permanent mechanism driving mechanism 51 controls drive shaft 53 to stretch, so that permanent magnet 2 is along slide rail 54 to body 1
Rear side motion（As indicated by arrows f1）；
Secondly, when permanent magnet 2 is located on rear side of body, because magnetic field concentration is in the rear side of body 1, and the rear side of body 1 is oblique
Face, the magnetic field of the front side of body 1 is much smaller compared to rear side, when the rear magnetic of body 1 is more than the gravity and attraction of front side,
Body 1 will be overturn, and the second inclined plane is contacted with workbench, so that front side bottom, which tilts, departs from workbench.
The change for passing through magnetic field due to the robot of the present embodiment so that body both sides locally separate with workbench successively,
It may be such that robot is easily pulled down from workbench by the position of separation.User need to only pass through handheld terminal wireless controlled
System, you can the position of adjustment permanent magnet 2, so that front part forms gap with workbench, and front side absorption affinity is significantly
Weaken, so that welding robot is easily disassembled.
Also, after bottom tilting on front side of body, the support feet drops down contact workbench on front side of body, driving
The permanent mechanism driving mechanism of support feet expansion, can be separately provided, and can also be total to the permanent mechanism driving mechanism of driving permanent magnet motion
With；
Then, permanent mechanism driving mechanism drives permanent magnet to motion on front side of body（As indicated by arrows f2）, and be located in permanent magnet
After on front side of body, the support pin expansion on rear side of body, now, and using the support feet on front side of body as the strong point, the branch of rear side
Spike gets up Backside support so that permanent magnet because support feet supports robot, increases permanent magnetism in horizontally disposed
The distance of body and workbench so that the front side of body and backside magnetic field all weaken significantly, so that robot easy removal.
, may be highly too small due to tilting if inclination angle is less than 10 °, related tool or people operating space are too small, still
So be inconvenient to dismantle, if inclination angle is more than 15 °, due to effect of inertia robot may be caused to overturn in switching process, from
And bring potential safety hazard.
In order to ensure the safety of robot, situations such as preventing robot from translating into, between the motor and drive shaft also
Provided with reducing gear 55 so that the motion of permanent magnet 2 will not be too fast, as a rule, should be less than 1m/s.
Second of implementation as permanent mechanism driving mechanism.
As shown in figure 5, in the present embodiment, permanent mechanism driving mechanism includes air pump 61, piston 62 and connecting rod 63, the one of connecting rod 63
End is connected with permanent magnet, the other end connection piston 62 of connecting rod, in air pump during gas increase, promotes piston to fortune on rear side of body
It is dynamic, so as to promote permanent magnet lateral movement backward, when gas is reduced in air pump, piston is promoted to moving on front side of body.The present embodiment
Principle it is roughly the same with embodiment one, be not discussed in detail herein, the present embodiment using air pump as permanent mechanism driving mechanism, make
Obtain robot work more to stablize, noise is smaller.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 additionally provides a kind of method of work of magnetic-type welding robot.
The magnetic-type welding robot includes：Body, positioned at the intrinsic control module, the car positioned at body bottom portion
Actuation, and it is additionally provided with camera device positioned at the front end of body；
The method of work includes：The video data transmitting of collection is delivered to the control module, the control by the camera device
Module is suitable to be electrically connected with a wireless module, and the video data transmitting of collection is delivered into handheld terminal, and receives hand-held whole
The control signal sent is held, to control drive mechanism for wheel to advance.
In the present embodiment, the structure and operation principle on the changes of magnetic field device in magnetic-type welding robot are in reality
Apply and be described in detail in example 1, refer to the corresponding contents of embodiment 1, here is omitted.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.
Claims (7)
- A kind of 1. magnetic-type welding robot, it is characterised in that including：Body, positioned at the intrinsic control module, the drive mechanism for wheel positioned at body bottom portion, andCamera device is additionally provided with positioned at the front end of body；WhereinThe video data transmitting of collection is delivered to the control module by the camera device, and the control module is suitable to and a wireless mould Block is electrically connected with, and the video data transmitting of collection is delivered into handheld terminal, and receives the control signal of handheld terminal transmission, with Drive mechanism for wheel is controlled to advance.
- 2. magnetic-type welding robot according to claim 1, it is characterised in thatThe bottom of the body is provided with changes of magnetic field device；The changes of magnetic field device includes：Permanent magnet and permanent mechanism driving mechanism；The permanent magnet is suitable to the absorption of magnetic-type welding robot on the table, and the permanent magnet is located within the body middle position Put and close to bottom；The front side of the bottom and rear side are equipped with inclined plane, and the permanent magnet driver of driving permanent magnet unblock is additionally provided with body Structure；The permanent mechanism driving mechanism is controlled by the control module.
- 3. magnetic-type welding robot according to claim 2, it is characterised in thatThe control module is suitable to control permanent mechanism driving mechanism and drives permanent magnet to motion on rear side of body, to pass through the magnetic of permanent magnet , attract the inclined plane of rear side to be contacted with workbench so that the front side bottom of body tilts, i.e.,Drive permanent magnet unblock.
- 4. magnetic-type welding robot according to claim 3, it is characterised in thatThe bottom of the body is additionally provided with two support feets, and a support feet, close to the inclined plane of front side, another support feet is after The inclined plane of side；In normal work, the support feet is shunk in horizontally disposed；When permanent magnet unlocks, after the front side bottom of body tilts, support feet drops down on front side of body is simultaneously butted on work Make platform, then the control module control permanent mechanism driving mechanism drives permanent magnet to motion on front side of body；AndAfter permanent magnet is located on front side of body, after tilting the bottom rear of body, the support pin exhibition that is now placed on rear side of body Open, Backside support is got up.
- 5. magnetic-type welding robot according to claim 4, it is characterised in thatThe permanent mechanism driving mechanism includes motor and drive shaft, and the drive shaft is fixedly connected with permanent magnet one end, the body Interior be horizontally disposed with has slide rail, and the permanent mechanism driving mechanism driving permanent magnet moves along a straight line along the slide rail.
- 6. magnetic-type welding robot according to claim 4, it is characterised in thatThe permanent mechanism driving mechanism includes air pump, piston and connecting rod；WhereinOne end of the connecting rod is connected with permanent magnet, the other end connection piston of connecting rod, in air pump during gas increase, promotes piston Moved on rear side of body, so as to promote permanent magnet lateral movement backward, when gas is reduced in air pump, promote piston to transporting on front side of body It is dynamic.
- A kind of 7. method of work of magnetic-type welding robot, it is characterised in thatThe magnetic-type welding robot includes：Body, positioned at the intrinsic control module, the drive mechanism for wheel positioned at body bottom portion, andCamera device is additionally provided with positioned at the front end of body；The method of work includes：The video data transmitting of collection is delivered to the control module by the camera device, and the control module is suitable to and a wireless mould Block is electrically connected with, and the video data transmitting of collection is delivered into handheld terminal, and receives the control signal of handheld terminal transmission, with Drive mechanism for wheel is controlled to advance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711043989.4A CN107738048B (en) | 2017-10-31 | 2017-10-31 | A kind of magnetic-type welding robot of intelligent wireless and its working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711043989.4A CN107738048B (en) | 2017-10-31 | 2017-10-31 | A kind of magnetic-type welding robot of intelligent wireless and its working method |
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| Publication Number | Publication Date |
|---|---|
| CN107738048A true CN107738048A (en) | 2018-02-27 |
| CN107738048B CN107738048B (en) | 2019-05-10 |
Family
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| CN201711043989.4A Active CN107738048B (en) | 2017-10-31 | 2017-10-31 | A kind of magnetic-type welding robot of intelligent wireless and its working method |
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| CN105382423A (en) * | 2015-12-16 | 2016-03-09 | 上海嘉强自动化技术有限公司 | Four-rotor laser cutting device and using method |
| 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 |
| KR20170062022A (en) * | 2015-11-27 | 2017-06-07 | 삼성중공업 주식회사 | Moving robot |
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2017
- 2017-10-31 CN CN201711043989.4A patent/CN107738048B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673671A (en) * | 2012-06-07 | 2012-09-19 | 中国东方电气集团有限公司 | Composite magnetic adsorption visual detection climbing robot |
| CN104494818A (en) * | 2014-11-28 | 2015-04-08 | 吉林大学 | Novel four-rotor-wing amphibious robot |
| CN105033529A (en) * | 2015-09-01 | 2015-11-11 | 苏州睿牛机器人技术有限公司 | Release mechanism and release method for running system of magnetic force magnetic adhesion welding robot |
| CN105033449A (en) * | 2015-09-22 | 2015-11-11 | 武汉大学 | Unmanned-plane-based high-altitude welding and cutting method |
| KR20170062022A (en) * | 2015-11-27 | 2017-06-07 | 삼성중공업 주식회사 | Moving robot |
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| CN107738048B (en) | 2019-05-10 |
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Effective date of registration: 20191231 Address after: 721300 robot intelligent manufacturing industrial park, Chencang District, Baoji City, Shaanxi Province Patentee after: Shaanxi Silk Road Robot Intelligent Manufacturing Research Institute Co.,Ltd. Address before: 211100 thousand people building, 7 Cui Lu, Jiangning Development Zone, Nanjing, Jiangsu Patentee before: NANJING CHINA-UNIVERSITY INTELLECTUAL PROPERTY Co.,Ltd. |
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Effective date of registration: 20220711 Address after: 712000 Room 301, 3rd floor, B3 building, West Yungu, diaotai sub district office, Fengxi new city, Xixian New District, Xi'an, Shaanxi Province Patentee after: Xixian new area big bear constellation Intelligent Technology Co.,Ltd. Address before: 721300 robot intelligent manufacturing industrial park, Chencang District, Baoji City, Shaanxi Province Patentee before: Shaanxi Silk Road Robot Intelligent Manufacturing Research Institute Co.,Ltd. |
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