CN107738049A - Magnetic-type welding robot and its method of work with flight function - Google Patents

Magnetic-type welding robot and its method of work with flight function Download PDF

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Publication number
CN107738049A
CN107738049A CN201711048382.5A CN201711048382A CN107738049A CN 107738049 A CN107738049 A CN 107738049A CN 201711048382 A CN201711048382 A CN 201711048382A CN 107738049 A CN107738049 A CN 107738049A
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CN
China
Prior art keywords
magnetic
permanent magnet
welding robot
type welding
control module
Prior art date
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.)
Pending
Application number
CN201711048382.5A
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Chinese (zh)
Inventor
王小绪
王力
李秋盛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Zhonggao Intellectual Property Co Ltd
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Nanjing Zhonggao Intellectual Property Co Ltd
Priority date (The priority date 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 date listed.)
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Application filed by Nanjing Zhonggao Intellectual Property Co Ltd filed Critical Nanjing Zhonggao Intellectual Property Co Ltd
Priority to CN201711048382.5A priority Critical patent/CN107738049A/en
Publication of CN107738049A publication Critical patent/CN107738049A/en
Pending legal-status Critical Current

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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
    • 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, the top positioned at body four rotor flight devices are provided with, and camera device is additionally provided with positioned at the front end of body；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 magnetic-type welding robot to perform corresponding operating；Present invention is especially suited in bad environments, and the distribution of each weld locations is scattered and wider regional work.

Description

Magnetic-type welding robot and its method of work with flight function
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.
Traditional welding robot, which relies primarily on, is creeped, but whole workflow can be reduced by creeping, if will can weld Robot is combined with flight function phase, will greatly improve welding efficiency.
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 with flight function.
In order to solve the above-mentioned technical problem, the invention provides a kind of magnetic-type welding robot, including：
Body, it is provided with positioned at the intrinsic control module, the drive mechanism for wheel positioned at body bottom portion, the top positioned at body Four rotor flight devices, 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 Magnetic-type welding robot is controlled to perform corresponding operating.
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 by the absorption of magnetic-type welding robot on working region, and the permanent magnet is located within the body middle part Position and close 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 working region so that the front side bottom of body tilts, that is, drives forever Magnet unlocks.
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 region, 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；Then, the control module is suitable to the magnetic-type welding robot of control four rotor flight devices drive Fly to next place position to be welded.
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, it is provided with positioned at the intrinsic control module, the drive mechanism for wheel positioned at body bottom portion, the top positioned at body Four rotor flight devices, 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 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 Magnetic-type welding robot is controlled to perform corresponding operating.
The invention has the advantages that the magnetic-type welding robot and its method of work of the present invention, it passes through four rotors Flight instruments, control module, wireless module, camera device realize remote wireless control, can be by this magnetic-type welding robot People by way of flight fast transfer to another pad, and by handheld terminal check camera device gather image Data, and magnetic-type welding robot is controlled by control module, therefore, this magnetic-type welding robot is especially suitable Close in bad environments, and the distribution of each weld locations disperses and wider regional work.
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, four rotor flight devices 13, permanent magnet 2, work Region 3, 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 with flight function（It can be referred to as below Robot）.
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, arc welding can be used）, permanent magnet 2 is provided with body interior, permanent magnet 2 is located at the bottom of body 1 Medium position, the bottom of body 1 are additionally provided with cam 4, and cam 4 protrudes the bottom of body 1, and working region 3 is a substantially magnetic conduction Plane, and area is larger, and when robot is rested on working region, permanent magnet 2 adsorbs robot in working region 3 On, permanent magnet 2 adsorbs the lower surface of body in the upper surface of working region 3 by magnetic field.Driving cam is additionally provided with body 1 4 drive mechanism for wheel rotated（It includes motor）, when cam 4 rotates, body 1 can move, so as to change, adjust distance Nearer weld locations.
Also, magnetic-type welding robot described in the present embodiment also includes：Positioned at intrinsic control module, the position Four rotor flight devices 13 are provided with the top of body, and camera device is additionally provided with positioned at the front end of body；It is wherein described to take the photograph As the video data transmitting of collection is delivered to the control module by device, the control module is suitable to electrically connect with a wireless module Connect, the video data transmitting of collection is delivered into handheld terminal, and receive the control signal of handheld terminal transmission, to control magnetic Formula welding robot performs corresponding operating.
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 the steady of robot and working region Fixed contact, slipped because permanent permanent magnet suction is strong, need not additionally power, is not concerned about dead electricity, therefore with many natural Advantage, 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 that Sample arbitrarily changes the presence or absence of magnetic force.In order that obtaining welding robot can easily remove, there are many unlocking mechanisms, but Some mechanical release mechanisms are usually not laborsaving enough, or the huge inconvenience of mechanism size uses, and need to be separately provided unlocking mechanism, It is cumbersome, and be able to can not be combined with four rotor flight devices, realize robot and quickly take off.
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 working region, so that front side bottom, which tilts, departs from workspace Domain.
The change for passing through magnetic field due to the robot of the present embodiment so that body both sides are local to be divided with working region successively From the position by separation is that may be such that robot is easily pulled down from working region.User only need to by handheld terminal without Line traffic control, you can the position of adjustment permanent magnet 2, so that front part forms gap with working region, and front side is adsorbed Power weakens significantly, so that the easily disassembled unblock of welding robot, takes off, i.e., after unblock, the control module is suitable to control Making four rotor flight devices drives magnetic-type welding robot to fly to next place position to be welded.
Also, after bottom tilting on front side of body, the support feet drops down contact working region on front side of body, drive The permanent mechanism driving mechanism of dynamic support feet expansion, can be separately provided, can also be with the permanent mechanism driving mechanism of driving permanent magnet motion Share；
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 Body and the distance of working region so that the front side of body and backside magnetic field all weaken significantly, so that robot easy removal.
After unblock is realized, the control module is suitable to four rotor flight devices of control and drives magnetic-type welding robot to fly Go to next place position to be welded.
Therefore, robot can quickly break away from magnetic attraction and take off.
, 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, positioned at the top of body four rotor flight devices are provided with, 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, 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 magnetic-type welding robot to perform corresponding operating.The corresponding operating includes：Take off, weld The operation such as connect.
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.
The magnetic-type welding robot and its method of work of the present invention, it passes through four rotor flight devices, control module, nothing Wire module, camera device realize remote wireless control, can by this magnetic-type welding robot by way of flight it is quick Another pad is transferred to, and the view data of camera device collection is checked by handheld terminal, and by controlling mould Block is controlled to magnetic-type welding robot, and therefore, this magnetic-type welding robot is particularly suitable in bad environments, and each weldering Connecting point position distribution disperses and wider regional work.
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)

  1. A kind of 1. magnetic-type welding robot, it is characterised in that including：
    Body, it is provided with positioned at the intrinsic control module, the drive mechanism for wheel positioned at body bottom portion, the top positioned at body Four rotor flight devices, 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 Magnetic-type welding robot is controlled to perform corresponding operating.
  2. 2. magnetic-type welding robot according to claim 1, it is characterised in that
    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 by the absorption of magnetic-type welding robot on working region, and the permanent magnet is located within the body middle part Position and close 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. 3. magnetic-type welding robot according to claim 2, it is characterised in that
    The 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 working region so that the front side bottom of body tilts, i.e.,
    Drive permanent magnet unblock.
  4. 4. magnetic-type welding robot according to claim 3, it is characterised in that
    The 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 region, 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；
    Then, the control module is suitable to control four rotor flight devices to drive magnetic-type welding robot to fly to next to be welded Connect place position.
  5. 5. magnetic-type welding robot according to claim 4, it is characterised in that
    The 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. 6. magnetic-type welding robot according to claim 4, it is characterised in that
    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.
  7. A kind of 7. method of work of magnetic-type welding robot, it is characterised in that
    The magnetic-type welding robot includes：
    Body, it is provided with positioned at the intrinsic control module, the drive mechanism for wheel positioned at body bottom portion, the top positioned at body Four rotor flight devices, 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 Magnetic-type welding robot is controlled to perform corresponding operating.
CN201711048382.5A 2017-10-31 2017-10-31 Magnetic-type welding robot and its method of work with flight function Pending CN107738049A (en)

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Application Number Priority Date Filing Date Title
CN201711048382.5A CN107738049A (en) 2017-10-31 2017-10-31 Magnetic-type welding robot and its method of work with flight function

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Application Number Priority Date Filing Date Title
CN201711048382.5A CN107738049A (en) 2017-10-31 2017-10-31 Magnetic-type welding robot and its method of work with flight function

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115647692A (en) * 2022-11-03 2023-01-31 湖南化工职业技术学院（湖南工业高级技工学校） Automatic welding system and welding method

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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
CN105033449A (en) * 2015-09-22 2015-11-11 武汉大学 Unmanned-plane-based high-altitude welding and cutting method
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
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

Patent Citations (7)

* Cited by examiner, † Cited by third party
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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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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115647692A (en) * 2022-11-03 2023-01-31 湖南化工职业技术学院（湖南工业高级技工学校） Automatic welding system and welding method

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Application publication date: 20180227