CN110508982A - Intelligent mobile cooperation robot welding workstation and its working method - Google Patents
Intelligent mobile cooperation robot welding workstation and its working method Download PDFInfo
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- CN110508982A CN110508982A CN201911032571.2A CN201911032571A CN110508982A CN 110508982 A CN110508982 A CN 110508982A CN 201911032571 A CN201911032571 A CN 201911032571A CN 110508982 A CN110508982 A CN 110508982A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D77/00—Reaming tools
- B23D77/14—Reamers for special use, e.g. for working cylinder ridges
-
- 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
- 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
- B23K37/0252—Steering means
-
- 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
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
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Abstract
The invention belongs to robotic technology fields, and in particular to a kind of Intelligent mobile cooperation robot welding workstation and its working method.Wherein Intelligent mobile cooperation robot welding workstation includes: control module, the laser vision weld seam tracking sensor that is connected with control module input terminal, by control module controls the AGV intelligent carriage driven, and the welding system being located on AGV intelligent carriage, clear rifle cut a system；It is wherein describedAGVIntelligent carriage includes: that vehicular platform and vehicular platform are detachably connectedAGVDrive system；The laser vision weld seam tracking sensor is adapted to detect for position while welding；It is describedAGVDrive system is suitable for individually power supply, to drive vehicular platform that welding system is driven continuously to move along weld seam；And the control module is suitable for an external robot demonstrator, to adjustAGVThe pendulum rifle speed of welding gun is in a linear relationship in the movement velocity and welding system of intelligent carriage.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of Intelligent mobile cooperation robot welding workstation and
Its working method.
Background technique
Elongated weld seam (box beam class) mainly uses human weld's mode at present, and human weld needs frequent shift position, weldering
Connector is more, causes the welding quality of every section of weld seam irregular, has seriously affected integral solder quality.In addition, elongated welds
For seam to the more demanding of welder's weld horizontal, there is the difficult phenomenon of recruitment in advanced welder, seriously affect production efficiency.
Summary of the invention
The object of the present invention is to provide a kind of Intelligent mobile cooperation robot welding workstation and its working methods.
In order to solve the above-mentioned technical problems, the present invention provides a kind of Intelligent mobile cooperate robot welding workstation,
Include: control module, the laser vision weld seam tracking sensor that is connected with control module input terminal, controlled and driven by control module
'sAGVIntelligent carriage is located atAGVWelding system, clear rifle on intelligent carriage cut a system；It is wherein describedAGVIntelligence is small
Vehicle includes: that vehicular platform and vehicular platform are detachably connectedAGVDrive system；The laser vision weld seam tracking sensor
It is adapted to detect for position while welding；It is describedAGVDrive system is suitable for individually power supply, to drive vehicular platform to drive welding system along weld seam
Continuous movement, so that the welding gun in welding system carries out continuing welding movement；The control module is suitable for an external robot and shows
Device is taught, to adjustAGVThe movement velocity of intelligent carriage and the pendulum rifle speed of the welding gun are in a linear relationship；And the clear rifle is cut
Silk system is suitable for Butt welding gun and is cleared up, to maintain the lasting welding of welding gun to act.
Further, it includes: the wire shearing machine structure being separately positioned on vehicular platform, spray liquid splashing prevention effect machine that the clear rifle, which cuts a system,
Structure, pneumatic reamer, crumb loading slot, Robot calibration point.
Further, the welding system is suitable for going up and down mould group by servo and be mounted on vehicular platform, for adjusting welding
Height of the system apart from position while welding.
Further, servo lifting mould group includes: that servo motor, the accurate straight line being vertically arranged on vehicular platform are led
Rail and the self-powered platform on precise linear guide；The servo motor is suitable for that self-powered platform is driven to lead along accurate straight line
Rail moves up and down, i.e. height of the adjusting welding system apart from position while welding.
Further, the welding system includes: cooperation robot on self-powered platform and is located at cooperation robot
On the welding gun；The control module is suitable for control cooperation robot and welding gun is driven to move to position while welding, and controls welding gun
Weld seam is welded.
Further, the welding gun is water cooled welding torch.
Further, the welding system further include: the wire-feed motor on vehicular platform；The wire-feed motor is suitable for welding gun
Sustainable supply welding wire.
Another aspect, the present invention also provides a kind of foregoing Intelligent mobile cooperation robot welding workstations
Working method, control module are suitable for controlAGVIntelligent carriage drives welding system continuously to move along weld seam, to be welded.
The invention has the advantages that Intelligent mobile cooperation robot welding workstation of the invention and its work side
Method is controlled by control moduleAGVIntelligent carriage drives welding system continuously to move along weld seam, to be welded, realizes length
The continuous welding of type weld seam, reduces the quantity of welding point, improves weldquality and production efficiency；Meanwhile it keepingAGVIntelligence
The movement velocity of energy trolley and the pendulum rifle speed of welding gun are in a linear relationship, it is ensured that welding stability and consistency, further
Improve weldquality；In order to guarantee that welding gun is suitable for the continuous welding of elongated weld seam, it is also necessary to cut a system Butt welding gun by clear rifle
It is cleared up, to prevent stifled rifle, guarantees that weld seam is beautiful.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention are in specification, claims
And specifically noted structure is achieved and obtained in attached drawing.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the functional block diagram of Intelligent mobile cooperation robot welding workstation of the invention；
Fig. 2 is the top view of Intelligent mobile cooperation robot welding workstation of the invention；
Fig. 3 is the perspective view of Intelligent mobile cooperation robot welding workstation of the invention；
Fig. 4 is the right view of Intelligent mobile cooperation robot welding workstation of the invention；
Fig. 5 is the main view of Intelligent mobile cooperation robot welding workstation of the invention；
Fig. 6 is the structural schematic diagram that clear rifle of the invention cuts a system；
In figure:
AGVIntelligent carriage 1, vehicular platform 11,AGVDrive system 12；
Welding system 2, cooperate robot 21, welding gun 22, wire-feed motor 23；
Laser vision weld seam tracking sensor 3；
Servo goes up and down mould group 4, precise linear guide 41, self-powered platform 42；
Robot demonstrator 5；
Clear rifle cuts a system 6, and wire shearing machine structure 61 sprays liquid splashing prevention effect mechanism 62, pneumatic reamer 63, crumb loading slot 64, Robot calibration point
65。
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Technical solution be clearly and completely described, it is clear that described embodiments are some of the embodiments of the present invention, rather than
Whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
Embodiment 1
Fig. 1 is the functional block diagram of Intelligent mobile cooperation robot welding workstation of the invention.
Fig. 2 is the top view of Intelligent mobile cooperation robot welding workstation of the invention.
Fig. 3 is the perspective view of Intelligent mobile cooperation robot welding workstation of the invention.
As shown in Figure 1, Figure 2 and Figure 3, the Intelligent mobile cooperation robot welding workstation of the present embodiment 1, comprising: control
Molding block, the laser vision weld seam tracking sensor 3 being connected with control module input terminal control driving by control moduleAGV
Intelligent carriage 1, is located atAGVWelding system 2 and clear rifle on intelligent carriage 1 cut a system 6；It is wherein describedAGVIntelligence is small
Vehicle 1 includes: that vehicular platform 11 and vehicular platform 11 are detachably connectedAGVDrive system 12；The laser vision weld joint tracking
Sensor 3 is adapted to detect for position while welding；It is describedAGVDrive system 12 is suitable for individually power supply, to drive vehicular platform 11 to drive weldering
Welding system 2 is continuously moved along weld seam, so that the welding gun in welding system carries out continuing welding movement；And the control module is suitable
In an external robot demonstrator 5, to adjustAGVThe movement velocity of intelligent carriage 1 and the pendulum rifle speed of welding gun 22 are linearly closed
System；And the clear rifle is cut a system 6 and is cleared up suitable for Butt welding gun 22, to maintain the lasting welding of welding gun 22 to act.
In the present embodiment, describedAGVDrive system 12 is detachably installed, and is individually powered, and is had the benefit that and is worked asAGVWhen drive system needs to charge, the connecting pin between welding workstation can be pulled out, independently goes to charge, is then replaced anotherAGVDrive system can make the realization continuous work of Intelligent mobile cooperation robot welding workstation, not rest, further
Reduce the quantity of welding line joint, improves weldquality.
In the present embodiment, the main function of the robot demonstrator 5 is Manipulation of the machine people, is used for adjustingAGVIntelligence
The movement velocity of energy trolley 1, that is, keepAGVThe movement velocity of intelligent carriage 1 and the pendulum rifle speed of welding gun 22 are in a linear relationship.WhenAGVWhen the movement velocity of intelligent carriage 1 is very fast, i.e., welding line speed is very fast, and at this moment the pendulum rifle speed of welding gun 22 should also be as accelerating,
It just can guarantee that welding stability and consistency, weldquality are easier to control in this way, when just as automobile turning, speed is faster, beats
Steering wheel is also faster the same.
Optionally, the control module such as, but not limited to uses stm32 processor for the industrial control board of core.
Optionally, the laser vision weld seam tracking sensor is such as, but not limited to English Lay IL-UNI-170SA01 type laser
Vision weld joint tracking transducer, is adapted to detect for position while welding, stress deformation when can be welded with real-time compensation workpiece.
The Intelligent mobile cooperation robot welding workstation of the present embodiment 1 passes through laser vision weld seam tracking sensor certainly
Dynamic detection position while welding, is then controlled by control moduleAGVIntelligent carriage drives welding system continuously to move along weld seam, to carry out
Welding, overcomesAGVThe walking error and welding stress deformation error of intelligent carriage, realize the continuous welding of elongated weld seam,
The quantity for reducing welding point, improves weldquality and production efficiency；Meanwhile it keepingAGVThe movement velocity of intelligent carriage
It is in a linear relationship with the pendulum rifle speed of welding gun, it is ensured that welding stability and consistency further increase weldquality, in order to
Guarantee that welding gun is suitable for the continuous welding of elongated weld seam, it is also necessary to a system Butt welding gun be cut by clear rifle and cleared up, to prevent from blocking up
Rifle guarantees that weld seam is beautiful.
Fig. 4 is the right view of Intelligent mobile cooperation robot welding workstation of the invention.
A kind of optional embodiment as servo lifting mould group.
Further, the welding system 2 is suitable for going up and down mould group 4 by servo and be mounted on vehicular platform 11, for adjusting
Save height of the welding system 2 apart from position while welding.
Optionally, see Fig. 4, the servo lifting mould group 4 includes: servo motor, is vertically arranged on vehicular platform 11
Precise linear guide 41 and the self-powered platform 42 on precise linear guide 41；The servo motor is suitable for driving lifting work
Make platform 42 to move up and down along precise linear guide 41, i.e. height of the adjusting welding system 2 apart from position while welding.Certainly, by watching
Motor is taken to drive there are many kinds of the modes of self-powered platform movement, if servo motor is using the defeated of linear motor or servo motor
Gear is installed on shaft and rack gear is realized, or is realized by gear and screw rod.It is the prior art with upper type, no longer retouches herein
State its course of work.
The height of self-powered platform can be adjusted according to the height of weld seam, adjustable maximum height is 2.5m or so.General feelings
Under condition, when the weld seam on welding casing top, the height of workbench can be increased, so that welding system is close to weld seam.Conversely, reducing
The height of workbench.
The servo lifting mould group of present embodiment drives self-powered platform to move up and down by servo motor, so that welding is
System can improve Intelligent mobile cooperation machine in the height relationships for macroscopically regulating and controlling welding system and weld seam close to weld seam
The scope of application of people's welding workstation, the welding particularly with the high missing solder seam such as box-beam structure are reduced without operation of manually ascending a height
Risk substantially increases the convenience of Intelligent mobile cooperation robot welding workstation without protective devices such as fences.
A kind of optional embodiment as welding system.
See Fig. 4, the welding system 2 includes: the cooperation robot 21 on self-powered platform 42 and is located at cooperation machine
The welding gun 22 on device people 21；The control module is suitable for control cooperation robot 21 and welding gun 22 is driven to move to weld seam position
It sets, and controls welding gun 22 and weld seam is welded.Specifically, the laser vision weld seam tracking sensor is located at cooperation robot
End, can be overcome with automatic identification weld seamAGVThe walking error and welding stress deformation error of intelligent carriage.
Preferably, the welding gun 22 be water cooled welding torch, can be recycled to water welding gun end, especially welding base metal it is thicker and
When welding current is larger, it can effectively extend the welding service life.
Optionally, see Fig. 4, the welding system 2 further include: the wire-feed motor 23 on vehicular platform 11；The wire feed
Machine 23 is suitable for 22 sustainable supply welding wire of welding gun.When needing replacing welding wire, servo motor band can be controlled by control module
Dynamic self-powered platform 42 declines automatically along precise linear guide 41, is convenient for changing welding wire.
The welding system of present embodiment finely tunes welding gun to position while welding by cooperation robot, is then welded, is had
Have the advantages that welding gun swing arm is stable, weld seam is beautiful, low spatter is, it can be achieved that the lasting welding of long weld seam and for silk.
Fig. 5 is the main view of Intelligent mobile cooperation robot welding workstation of the invention.
Fig. 6 is the structural schematic diagram that clear rifle of the invention cuts a system.
A kind of optional embodiment of a system is cut as clear rifle.
See Fig. 5 and Fig. 6, it includes the wire shearing machine structure 61 being separately positioned on vehicular platform 11, spray that the clear rifle, which cuts a system 6,
Liquid splashing prevention effect mechanism 62, pneumatic reamer 63, crumb loading slot 64, Robot calibration point 65.(about one week after robot runs a period of time
Time), the offset of about 1mm is had, at this time just needs artificial calibration origin, and system is cut by clear rifle and is carried out automatically clearly
Rifle, the movement such as cut silk, oil spout, can be effectively prevented stifled rifle, guarantee that weld seam is beautiful.The working process and principle of each component are as follows:
Wire shearing machine structure 61: by the welding wire of external force bending deformation in welding process, it will cause arcing point offset；Molten iron condensation is agglomerating
It can condense on welding wire head, can cause can not the starting the arc or the delay starting the arc.The function of wire shearing machine structure is exactly that these can be caused to weld
The welding wire of quality is cut.
Spray liquid splashing prevention effect mechanism 62: after welding gun head sprays liquid splashing prevention effect, the weld seam of welding can be beautiful shinny, moreover it is possible to reduce card
The frequency of silk.
Pneumatic reamer 63: the splash for being attached to welding gun head inner wall is disposed, plug wire is avoided.
Crumb loading slot 64: collecting the splash that pneumatic reamer 63 is cut, and centralized processing avoids polluting workshop on the ground
Environment.
Robot calibration point 65: after robot runs a period of time (about week age), having the offset of about 1mm,
At this time just need Robot calibration point as the object of reference of compensation return-to-zero.
The clear rifle of present embodiment, which cuts a system, has full-automatic clear rifle, and discovery welding gun can pass through each component group when blocking
It closes using cleaning welding gun, so that it is always maintained at normal operating condition in the continuous welding process of elongated weld seam, to improve weld seam
Quality；Spray liquid splashing prevention effect mechanism can contain maximum 24mm jet pipe, and positioning device that no replacement is required is effective using dedicated filtering component
Greasy dirt, the water, impurity in gas circuit are filtered, while using closed oil spout space, waste oil can assemble recycling；The gas of high-precision high rigidity
Dynamic reamer, torque is big, can dispose splash, can short-time overload operation.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 additionally provides a kind of foregoing Intelligent mobile cooperation robot welding
The working method of work station, control module are suitable for controlAGVIntelligent carriage drive welding system continuously moved along weld seam, with into
Row welding.
Structure and specific implementation process about Intelligent mobile cooperation robot welding workstation is referring in embodiment 1
Correlation is discussed, and details are not described herein.
In conclusion this Intelligent mobile cooperation robot welding workstation and its working method pass through laser vision weld seam
Tracking transducer detects position while welding automatically, is then controlled by control moduleAGVIntelligent carriage drives welding system to connect along weld seam
Reforwarding is dynamic, to be welded, overcomesAGVThe walking error and welding stress deformation error of intelligent carriage realize elongated weldering
The continuous welding of seam, reduces the quantity of welding point, improves weldquality and production efficiency；AGVDrive system is detachable
Installation and individually power supply can make Intelligent mobile cooperation robot welding workstation realize continuous work, not rest, further
Reduce the quantity of welding line joint；In order to guarantee that welding gun is suitable for the continuous welding of elongated weld seam, it is also necessary to cut silk system by clear rifle
System Butt welding gun is cleared up, and to prevent stifled rifle, guarantees that weld seam is beautiful；Mould group macro adjustments and controls welding system and weldering are gone up and down by servo
The height relationships of seam improve the scope of application of Intelligent mobile cooperation robot welding workstation, particularly with box-beam structure
The welding of contour missing solder seam reduces risk without operation of manually ascending a height；Welding torch position is finely tuned by cooperation robot, it can
To improve the swing arm stability of welding gun, reduce and splash, weldquality is further promoted；Setting is facilitated to weld by robot demonstrator
The pendulum rifle speed of rifle, and determined with thisAGVThe movement velocity of intelligent carriage is realized and is at the uniform velocity welded, improves welding stability
And consistency, weldquality are easier to control.Therefore, this Intelligent mobile cooperation robot welding workstation has weld and HAZ
Precisely, the advantages that collaborative is good, welding quality is high, high degree of automation.
The each device (component of undeclared specific structure) selected in the application is universal standard part or this field skill
The component that art personnel know, structure and principle are all that this technology personnel can learn by technical manual or pass through routine experiment
Method is known.
In the description of the embodiment of the present invention unless specifically defined or limited otherwise, term " installation ", " connects " connected "
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition
Concrete meaning.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
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 range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (8)
- The robot welding workstation 1. a kind of Intelligent mobile cooperates characterized by comprisingControl module, the laser vision weld seam tracking sensor being connected with control module input terminal control driving by control module AGV intelligent carriage, the welding system being located on AGV intelligent carriage, clear rifle cut a system；WhereinThe AGV intelligent carriage includes: the AGV drive system that vehicular platform and vehicular platform are detachably connected；The laser video Feel that weld seam tracking sensor is adapted to detect for position while welding；The AGV drive system is suitable for individually power supply, to drive vehicular platform that welding system is driven continuously to move along weld seam, so that Welding gun in welding system carries out continuing welding movement；The control module is suitable for an external robot demonstrator, to adjust AGV The movement velocity of intelligent carriage and the pendulum rifle speed of the welding gun are in a linear relationship；AndThe clear rifle is cut a system and is cleared up suitable for Butt welding gun, to maintain the lasting welding of welding gun to act.
- The robot welding workstation 2. Intelligent mobile according to claim 1 cooperates, which is characterized in thatIt includes: the wire shearing machine structure being separately positioned on vehicular platform, spray liquid splashing prevention effect mechanism, pneumatic hinge that the clear rifle, which cuts a system, Knife, crumb loading slot, Robot calibration point.
- The robot welding workstation 3. Intelligent mobile according to claim 1 cooperates, which is characterized in thatThe welding system, which is suitable for going up and down mould group by servo, to be mounted on vehicular platform, for adjusting welding system apart from weld seam The height of position.
- The robot welding workstation 4. Intelligent mobile according to claim 3 cooperates, which is characterized in thatThe servo lifting mould group includes: servo motor, the precise linear guide being vertically arranged on vehicular platform and is located at smart Self-powered platform in close linear guide；The servo motor is suitable for that self-powered platform is driven to move up and down along precise linear guide, i.e. adjusting welding system distance weldering Stitch the height of position.
- The robot welding workstation 5. Intelligent mobile according to claim 4 cooperates, which is characterized in thatThe welding system includes: the cooperation robot on self-powered platform and the weldering in cooperation robot Rifle；The control module is suitable for control cooperation robot and welding gun is driven to move to position while welding, and controls welding gun and carry out to weld seam Welding.
- The robot welding workstation 6. Intelligent mobile according to claim 5 cooperates, which is characterized in thatThe welding gun is water cooled welding torch.
- The robot welding workstation 7. Intelligent mobile according to claim 1 cooperates, which is characterized in thatThe welding system further include: the wire-feed motor on vehicular platform；The wire-feed motor is suitable for welding gun sustainable supply welding wire.
- 8. a kind of working method of Intelligent mobile cooperation robot welding workstation as described in claim 1, feature exist In,The control module of the Intelligent mobile cooperation robot welding workstation is suitable for control AGV intelligent carriage and drives welding system System is continuously moved along weld seam, to be welded.
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| CN111590169A (en) * | 2020-06-03 | 2020-08-28 | 刘勇 | Automatic welding machine with welding seam tracking function and working method |
| CN112692837A (en) * | 2021-01-11 | 2021-04-23 | 成都海瑞斯轨道交通设备有限公司 | Welding robot system and welding method for overhauling wagon body of railway wagon |
| CN113714601A (en) * | 2021-09-03 | 2021-11-30 | 潍坊新松机器人自动化有限公司 | Long-weld-joint robot welding process |
| CN114801202A (en) * | 2022-06-24 | 2022-07-29 | 天津市奥联特钢结构安装工程有限公司 | Plastic welding movable arm |
| CN114871661A (en) * | 2022-05-25 | 2022-08-09 | 张家港市驰睿智能科技有限公司 | Autonomous navigation flexible welding workstation |
| CN116550990A (en) * | 2023-04-28 | 2023-08-08 | 中国长江电力股份有限公司 | Mobile laser additive processing method and device for top cover of large-sized water turbine |
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