CN110936017A - Industrial welding robot - Google Patents
Industrial welding robot Download PDFInfo
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- CN110936017A CN110936017A CN201911309149.7A CN201911309149A CN110936017A CN 110936017 A CN110936017 A CN 110936017A CN 201911309149 A CN201911309149 A CN 201911309149A CN 110936017 A CN110936017 A CN 110936017A
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- 238000003466 welding Methods 0.000 title claims abstract description 227
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 230000009193 crawling Effects 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 11
- 238000001514 detection method Methods 0.000 claims description 23
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 210000002414 leg Anatomy 0.000 description 75
- 210000001699 lower leg Anatomy 0.000 description 44
- 238000005265 energy consumption Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 210000002303 tibia Anatomy 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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Abstract
The invention discloses an industrial welding robot, which belongs to the technical field of welding and comprises a machine body assembly, a seam probing assembly, a rotor assembly, a mechanical leg assembly, a welding assembly, a flight control module, a crawling control module, a probing control module and an electric power regulation and control module. The mechanical leg device successfully realizes the movement in two-dimensional directions by adding the power arm and the constraint arm, and is matched with the two steering engines at the same time, so that the mechanical leg device realizing three degrees of freedom is formed, and the mechanical leg device is simpler and more convenient in structure and design; by utilizing the extremely strong toughness of the welding wire, the welding wire loading wheel rotates and simultaneously pushes the welding wire to move forwards under the pushing of the driving gear, and meanwhile, the front end of the welding wire is connected to the laser welding head of the welding arm, so that the transmission rate of the welding wire can be adjusted by controlling the rotating speed of the steering gear; on the basis of having the functions of air flight and ground movement, the laser welding gun can be carried to the air to carry out high-altitude welding operation or pipeline welding operation, and the laser welding gun can meet the industrial requirements.
Description
Technical Field
The invention relates to the technical field of welding, in particular to an industrial welding robot.
Background
An industrial robot is a branch of robots and is characterized by being a multi-joint manipulator or a multi-degree-of-freedom machine device facing the industrial field, capable of automatically executing work and capable of realizing various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology.
The existing industrial robots mainly comprise a mobile robot, a spot welding robot, an arc welding robot, a laser processing robot, a vacuum robot and a cleaning robot. Among them, the industrial welding robot is generally combined with a numerical control machine tool and fixed in one position, and thus is difficult to use in actual production work, particularly, large mechanical manufacturing, curved surface work, and high-altitude work. The mobile robot is mainly used for transportation at present, is limited to the problems of energy consumption, structural complexity and the like, can be only applied to the limited application in the field of welding, and cannot finish aerial work and curved surface work due to the fact that the mobile robot can only move on a two-dimensional plane.
The Chinese patent application with the patent application number of CN201810502677.3, the application date of 2018, 5 and 23 and the name of a miniature quadrotor hexapod bionic flying robot comprises a machine body assembly, a rotor wing assembly and a mechanical leg assembly, wherein the mechanical leg assembly is arranged around the outer side of the machine body assembly, and the rotor wing assembly is arranged on a leg structure. The invention can realize the motion of the mobile robot in the air and the ground environment and the motion of the mobile robot in the complex ground environment, but the mobile robot is biased to be miniaturized and has low energy consumption, and is not suitable for the industrialization requirements of high energy consumption and high working efficiency, thereby providing an industrial welding robot.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: how to use the laser welding equipment of high power on large-scale industry unmanned aerial vehicle platform to optimize and fly to climb the shank structure of robot, the reinforcing is to high altitude pipeline, and the adaptability of high altitude platform provides an industrial type welding robot.
The invention solves the technical problems through the following technical scheme, and the invention comprises a machine body assembly, a seam detection assembly, a rotor wing assembly, a mechanical leg assembly, a welding assembly, a flight control module, a crawling control module, a detection control module and an electric power regulation and control module;
the machine body assembly comprises a machine body lower shell and a machine body upper shell, and the machine body lower shell and the machine body upper shell are arranged and connected in an up-down symmetrical mode;
the flight control module, the crawling control module, the detection control module and the electric power regulation and control module are all arranged in an inner cavity formed between a shell at the lower part of the machine body and a shell at the upper part of the machine body, and the flight control module, the detection control module and the electric power regulation and control module are all electrically connected with the crawling control module;
the rotor wing assemblies are arranged on the shell at the upper part of the machine body, and the mechanical leg assemblies are symmetrically arranged at two sides of the shell at the lower part of the machine body and the shell at the upper part of the machine body and are rotationally connected with the shell;
the seam detection assembly is arranged in an inner cavity formed between the lower shell of the machine body and the upper shell of the machine body and is connected with the detection control module;
the mechanical leg assembly comprises a leg main steering engine, a mechanical leg power wheel, a round-head support rod, a constraint arm, a leg support plate, a foot plate, a leg auxiliary steering engine and a leg shank, the leg main steering engine and the leg auxiliary steering engine are both connected with the crawling control module, the leg auxiliary steering engine and the leg main steering engine are both arranged on the leg support plate, the leg main steering engine is connected with the mechanical leg power wheel, one end of the round-head support rod is rotatably connected with the mechanical leg power wheel, the other end of the round-head support rod is rotatably connected with the top of the leg shank, one end of the constraint arm is rotatably connected with the middle of the round-head support rod, the other end of the constraint arm is rotatably connected with the leg support plate, and the foot plate is arranged at the bottom of the leg shank and movably connected with the bottom of the leg;
the welding assembly comprises a welding arm component and a welding wire transmission component, the welding arm component is arranged at the front end of the shell on the upper portion of the machine body, and the welding wire transmission component is arranged at the bottom end of the shell on the lower portion of the machine body. The two are used together to complete the welding work.
Furthermore, a supporting plate gear and two supporting frames are arranged on the leg supporting plate, the supporting plate gear is meshed with the supporting plate gear, and the leg auxiliary steering engine and the leg main steering engine are connected with the leg supporting plate through the supporting frames.
Further, the shank shin festival includes the outer firmware of shin festival, the interior firmware of shin festival, shin festival bracing piece, shin festival buffer spring, the outer firmware of shin festival the top of the interior firmware of shin festival with the upper end of button head bracing piece is rotated and is connected, the interior firmware of shin festival sets up the inside of the outer firmware of shin festival, the upper end of shin festival bracing piece with the lower extreme of the interior firmware of shin festival is connected, the lower extreme of shin festival bracing piece with the foot board rotates and connects, shin festival buffer spring sets up the middle part of shin festival bracing piece.
Furthermore, the shin section bracing piece includes upper boom and lower beam, the upper boom with all be provided with protruding type ring plate on the lower beam, shin section buffer spring's upper end with the protruding type ring plate of upper boom is connected, shin section buffer spring's lower extreme with the protruding type ring plate of lower beam is connected, the lower beam runs through the bottom of the outer firmware of shin section and rather than swing joint, the lower beam is hollow structure, the lower extreme of upper boom is located but the inside up-and-down motion of lower beam.
Furthermore, be provided with foot restriction auxiliary spring, foot restriction main spring on the board of foot, the both ends of foot restriction main spring respectively with the lower beam the board of foot is connected, the lower beam with be provided with spherical bearing between the board of foot, the lower beam with the board of foot passes through spherical bearing rotates and connects. The foot limiting auxiliary spring and the foot limiting main spring are used for limiting the angle between the foot plate and the lower rod.
Furthermore, the welding arm component comprises a laser welding head, a welding arm base section, a welding arm shank section and a welding arm base section clamping frame, the laser welding head is arranged on the welding arm base section, two ends of the welding arm shank section are respectively connected with the welding arm base section clamping frame and the welding arm base section in a rotating mode, the welding arm base section clamping frame is connected with the machine body component in a rotating mode, and a welding wire clamping frame is arranged on the laser welding head.
Furthermore, the welding arm component further comprises a first welding arm steering engine, a second welding arm steering engine and a third welding arm steering engine, the first welding arm base joint clamping frame is connected with the first welding arm steering engine, the first welding arm steering engine is connected with the shell on the upper portion of the machine body, the shank of the welding arm passes through the second welding arm steering engine and the second welding arm base joint clamping frame, and the shank of the welding arm passes through the third welding arm steering engine and is connected with the shank of the welding arm in a rotating mode.
Still further, the rotor subassembly includes rotor, motor supporting member and motor, motor supporting member with organism upper portion shell integrated into one piece, the motor is located motor supporting member's inside to rotate with the rotor and be connected.
Furthermore, the welding wire transmission component comprises a driving steering engine and a welding wire loading wheel, the driving steering engine and the welding wire loading wheel are both arranged at the bottom end of the shell at the lower part of the machine body, a driving gear is arranged on the driving steering engine, and the driving gear is meshed with a tooth opening formed in the welding wire loading wheel. The welding wire is wound on the welding wire loading wheel, and one end of the welding wire is led out to the welding wire clamping frame through the welding wire loading wheel.
Furthermore, travel gaps convenient for the mechanical leg assembly to move are arranged on two sides of the shell on the lower portion of the machine body and the shell on the upper portion of the machine body.
Compared with the prior art, the invention has the following advantages:
1) if the traditional mechanical leg component wants to realize three degrees of freedom, three steering engines are needed to control the motion of the traditional mechanical leg component on a horizontal plane, a vertical plane and a moving rod thereof on a vertical plane, but the scheme of the invention only uses one steering engine, successfully realizes the motion in a two-dimensional direction by adding a power arm and a constraint arm, and simultaneously adds one steering engine, namely the mechanical leg device for realizing three degrees of freedom is formed, and is simpler and more convenient in structure and design;
2) by utilizing the extremely strong toughness of the welding wire, the welding wire loading wheel rotates and simultaneously pushes the welding wire to move forwards under the pushing of the driving gear, and meanwhile, the front end of the welding wire is connected to the laser welding head of the welding arm, so that the transmission rate of the welding wire can be adjusted by controlling the rotating speed of the steering gear, and the welding requirement is more conveniently met;
3) on the basis of having aerial flight and ground motion function concurrently, can carry laser welder to aloft, carry out high altitude welding operation or pipeline welding operation, can adapt to the industrialization requirement of high energy consumption, high work efficiency, but filled the blank of domestic flight formula welding robot.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the welding arm member of the present invention;
FIG. 3 is a schematic structural view of the body assembly of the present invention;
FIG. 4 is a schematic view of the combination of the airframe assembly with the rotor assembly of the present invention;
FIG. 5 is an elevation view of a mechanical leg assembly of the present invention;
FIG. 6 is a rear view of the mechanical leg assembly of the present invention;
FIG. 7 is a schematic structural view of the wire drive member of the present invention;
FIG. 8 is a schematic view of the construction of the wire loading wheel of the present invention;
FIG. 9 is a longitudinal cross-sectional view of the wire drive member of the present invention.
In the figure: 101. a leg main steering engine; 102. a mechanical leg power wheel; 103. a round-head support bar; 104. a restraint arm bearing; 105. a restraint arm; 106. the shank is connected with the bearing; 107. shank external firmware; 108. shank internal firmware; 109. a restraint arm fixing column; 110. a leg support plate; 111. a shank buffer spring; 112. a shank support bar; 113. a foot-limiting main spring; 114. a foot plate; 115. a step limiting auxiliary spring; 116. connecting a gasket; 117. a support plate gear; 118. a leg auxiliary steering engine; 119. a main steering engine support frame; 120. an auxiliary steering gear; 121. an auxiliary steering engine support frame; 201. a welding wire clamping frame; 202. a laser welding head; 203. welding an arm base section; 204. welding a shank of the arm; 205. welding the arm base section clamping frame; 206. welding a first steering engine of an arm; 207. a first link gear; 208. welding a third steering engine of the arm; 209. a second link gear; 210. welding a second steering engine of the arm; 301. a loading wheel clamping frame; 302. a welding wire loading wheel; 303. welding wires; 304. a drive gear; 401. a lower housing of the machine body; 402. an upper housing of the machine body; 403. a flaw detection laser; 404. a rotor; 405. a motor support member.
Detailed Description
The following provides a detailed description of embodiments of the invention; the embodiment is implemented on the premise of the technical scheme of the invention; the detailed embodiment and the specific operation process are given; the scope of the invention is not limited to the examples described below.
As shown in FIGS. 1-9; the embodiment provides a technical scheme: an industrial type welding robot; the robot comprises a machine body assembly, a seam detection assembly, a rotor wing assembly, a mechanical leg assembly, a welding assembly, a flight control module, a crawling control module, a detection control module and an electric power regulation and control module;
the machine body assembly comprises a machine body lower shell 401 and a machine body upper shell 402; the lower shell 401 and the upper shell 402 are arranged symmetrically up and down and connected through a clamping groove arranged in the front part; after being connected, the inner part forms an inner cavity; an optical fiber interface is arranged on the shell 401 at the lower part of the machine body, and a fixing mechanism of a seam detecting assembly is arranged at the front end inside the machine body assembly;
the flight control module, the crawling control module, the detection control module and the power regulation and control module are all arranged in an inner cavity formed between the lower body shell 401 and the upper body shell 402; the flight control module, the detection control module and the electric power regulation and control module are all electrically connected with the crawling control module; the flight control module provides a lifting motion driving force for the machine body assembly; the crawling control module is connected with the mechanical leg assembly; controlling the machine body assembly to move on the ground; the electric power regulation and control module provides energy power for the machine body assembly; the detection control module is used for controlling the seam detection assembly to position the specific position of the welding seam and transmitting the position to the crawling control module;
the rotor assembly is disposed on the upper airframe shell 402; the mechanical leg assemblies are symmetrically arranged on two sides of the machine body lower shell 401 and the machine body upper shell 402; and is rotationally connected with the same; the supporting function is realized for the integral structure; meanwhile, the crawling function can be realized during movement;
the seam detection assembly (flaw detection laser 403) is arranged in an inner cavity formed between the lower body shell 401 and the upper body shell 402; and is connected with the detection control module; the seam probing assembly is arranged at the front end of the machine body assembly; the flaw detection assembly is connected with the welding assembly through a welding wire 303, is a visual sensor and scans the surface of a material through laser;
the mechanical leg assembly comprises a leg main steering engine 101, a mechanical leg power wheel 102, a round-head support rod 103, a constraint arm 105, a leg support plate 110, a foot plate 114, a leg auxiliary steering engine 118 and a leg shank; the leg main steering engine 101 and the leg auxiliary steering engine 118 are both connected with the crawling control module; the leg auxiliary steering engine 118 and the leg main steering engine 101 are both fixedly arranged on the leg supporting plate 110; the leg main steering engine 101 is rigidly connected with the mechanical leg power wheel 102 through a clamping hole; one end of the round-head support rod 103 is rotatably connected with the mechanical leg power wheel 102, the round-head support rod and the mechanical leg power wheel 102 are connected through a bearing, the outer ring of the bearing is welded on the mechanical leg power wheel 102, and the inner ring of the bearing is fixed on the round-head support rod 103; the other end is rotatably connected with the top of the leg part shank through a shank connection bearing 106; one end of the constraint arm 105 is rotatably connected with the middle part of the round-head support rod 103 through a constraint arm bearing 104; a connecting gasket 116 is arranged at the position, close to the constraint arm bearing 104, of the round-head support rod 103; the other end is rotatably connected with the leg support plate 110 through a constraint arm fixing column 109; the foot plate 114 is arranged at the bottom of the leg shank and movably connected with the leg shank; if the traditional mechanical leg component wants to realize three degrees of freedom, three steering engines are needed to control the motion of the traditional mechanical leg component on a horizontal plane, a vertical plane and a moving rod thereof on a vertical plane, but the scheme of the embodiment only uses one steering engine, successfully realizes the motion in a two-dimensional direction by adding a power arm and a constraint arm, and simultaneously adds one steering engine, namely the mechanical leg device realizing three degrees of freedom is formed, and is simpler and more convenient in structure and design;
leg auxiliary steering gears 118 in the mechanical leg assembly are fixed on a shell 401 at the lower part of the machine body, and the leg supporting plates 110 are driven by the rotation of the gears of the leg auxiliary steering gears 118. The leg auxiliary steering engine 118 is rigidly connected to the lower shell 401 of the body, the rest leg components all use the leg support plate 110 as a basic skeleton, and the leg support plate 110 is meshed with the leg auxiliary steering engine 118.
The welding assembly comprises a welding arm component and a welding wire transmission component; the welding arm member is disposed at the front end of the body upper shell 402; the welding wire transmission member is arranged at the bottom end of the lower shell 401 of the machine body. The two are used together to complete the welding work.
The leg supporting plate 110 is provided with a supporting plate gear 117 and two supporting frames; the supporting plate gear 117 is meshed with the supporting plate gear 117 through an auxiliary steering gear 120; the leg auxiliary steering engine 118 and the leg main steering engine 101 are fixedly connected with the leg supporting plate 110 through supporting frames. The two support frames are respectively a main steering engine support frame 119 and an auxiliary steering engine support frame 121. The steering wheel 118 is assisted to backup pad gear 117 and leg and is regarded as a set of complete power component, is responsible for letting shank backup pad 110 rotate certain angle in the horizontal direction, and steering wheel 118 is assisted to leg promptly and fixes on organism lower part shell 401, drives shank backup pad 110 through steering wheel gear's rotation to improve the flexibility that the organism removed.
The leg shank comprises a shank outer fixing piece 107, a shank inner fixing piece 108, a shank support rod 112 and a shank buffer spring 111; the tops of the external tibial fixing piece 107 and the internal tibial fixing piece 108 are rotatably connected with the upper end of the round-head support rod 103; a groove is formed in the shank external firmware 107; the shin-inner fastener 108 is disposed in an interior recess of the shin-outer fastener 107; the upper end of the shank support rod 112 is fixedly connected with the lower end of the shank internal fixing part 108; the lower end of the shank support rod 112 is rotatably connected to the foot plate 114; the tibia buffer spring 111 is disposed in the middle of the tibia support rod 112.
The shank support rod 112 comprises an upper rod and a lower rod; the upper rod and the lower rod are both provided with convex annular plates; the upper end of the shank buffer spring 111 is fixedly connected with the convex ring plate of the upper rod; the lower end of the shank buffer spring 111 is fixedly connected with the convex ring plate of the lower rod; the lower rod penetrates through the bottom end of the shank external fixing part 107 and is movably connected with the shank external fixing part; the lower rod is of a hollow structure; the lower end of the upper rod is positioned in the lower rod and can move up and down; when the upper rod and the lower rod move up and down; the shin section buffer spring 111 will function; playing a role of buffering in the walking process.
The foot plate 114 is provided with a foot limiting auxiliary spring 115 and a foot limiting main spring 113; both ends of the foot limiting main spring 113 are connected to the lower rod and the foot plate 114, respectively; a spherical bearing is arranged between the lower rod and the foot plate 114; the lower bar is rotatably connected to the foot plate 114 via the spherical bearing. The step limiting secondary spring 115 and the foot limiting main spring 113 serve to limit the angle between the foot plate 114 and the lower beam.
The welding arm component comprises a laser welding head 202, a welding arm base section 203, a welding arm shank section 204 and a welding arm base section clamping frame 205; the laser welding head 202 is arranged on the welding arm base section 203; two ends of the welding arm shank 204 are respectively rotatably connected with the welding arm base section clamping frame 205 and the welding arm base section 203; the welding arm base joint clamping frame 205 is rotatably connected with the machine body assembly; the laser welding head 202 is provided with a welding wire clamping frame 201. The welding wire clamping frame 201 is rigidly connected with the laser welding head 202; which functions to clamp the welding wire 303.
The inside near-end of welding arm shin festival 204 is provided with first connecting rod gear 207, the inside distal end of welding arm shin festival 204 is provided with second connecting rod gear 209, welding arm second steering wheel 210 and the meshing of first connecting rod gear 207 can drive welding arm shin festival 204 and rotate, welding arm third steering wheel 208 with the meshing of second connecting rod gear 209 can drive welding arm base section 203 and rotate.
The welding arm component further comprises a first welding arm steering engine 206, a second welding arm steering engine 210 and a third welding arm steering engine 208; the welding arm base joint clamping frame 205 is rotatably connected with the machine body upper part shell 402 through the welding arm first steering gear 206; the welding arm shank 204 is rotatably connected with the welding arm base section clamping frame 205 through the welding arm second steering gear 210; the welding arm base section 203 is rotatably connected with the welding arm shank section 204 through the welding arm third steering gear 208. The first steering engine 206 of the welding arm can drive the base joint clamping frame 205 of the welding arm to rotate by taking the center of the base joint clamping frame 205 of the welding arm as a base shaft.
The rotor assembly includes a rotor 404, a motor support member 405, and a motor; the motor support member 405 is integrally formed with the body upper housing 402; the motor is located inside the motor support member 405; and is rotatably coupled to the rotor 404 to rotate the rotor 404.
The welding wire transmission component comprises a driving steering engine and a welding wire loading wheel 302; the driving steering engine and the welding wire loading wheel 302 are both arranged at the bottom end of a shell 401 at the lower part of the machine body, the welding wire loading wheel 302 is fixed through a loading wheel clamping frame 301, a longitudinal section view of a welding wire transmission component is shown in fig. 9, and the driving steering engine is fixed at the other side of fig. 9; a driving gear 304 is arranged on the driving steering engine; the driving gear 304 is meshed with a tooth opening arranged inside the welding wire loading wheel 302; to drive wire loading wheel 302 to conduct wire 303. Welding wire 303 is wound on wire loading wheel 302; one end of the welding wire 303 is led out from the welding wire loading wheel 302 to the welding wire clamping frame 201. Utilize the extremely strong toughness of welding wire 303, under drive gear 304's promotion, welding wire loading wheel 302 rotates and promotes welding wire 303 and move forward simultaneously, and the front end of welding wire 303 is connected on the laser welding head of welding arm component simultaneously, can adjust the transmission rate of welding wire 303 through the rotational speed of control steering wheel, has satisfied the welding demand more conveniently.
And travel gaps which are convenient for the mechanical leg assembly to move are arranged on two sides of the machine body lower shell 401 and the machine body upper shell 402.
The working principle is as follows: in this example, the leg main steering engine 101 drives the power wheel 102 to rotate, and drives the round-head support rod 103 to do arc motion. Meanwhile, the round-head support rod 103 is acted by the constraint arm 105; the top of the round-head support rod 103 (the position where the shank is connected with the bearing 106) approximately makes horizontal reciprocating motion; thereby driving the whole leg shank to do reciprocating horizontal motion; the crawling function is realized. When welding seams are welded, firstly, the position of the welding seam is calibrated; detecting a ready-made checkerboard through a code; and obtaining the distance between the checkerboard and the camera; and establishing a space geometric model. After the calibration work is finished; then, an object placed on the XY biaxial moving platform is grabbed through a built-in program; and the digital picture is transmitted to a crawling control module for processing; to obtain an accurate weld image. The crawling control module controls the machine body to crawl to the position near a welding seam by setting a program, and then controls the first welding arm steering engine 206, the second welding arm steering engine 210 and the third welding arm steering engine 208 to enable the laser welding head 202 to reach the welding seam, so that accurate welding work is completed. When welding is performed, the horizontal rotation of the welding arm base section clamping frame 205 is controlled by the welding arm first steering engine 206, the vertical movement of the welding arm shank 204 is controlled by the welding arm second steering engine 210, so that extension is realized, and the angle of the laser welding head 202 is controlled by the welding arm third steering engine 208.
It should be noted that the checkerboard is similar to the scale on the map, the camera is an external component independent of the body, the camera captures the environment around the body, the body main board is converted into a checkerboard-photo map, and the body sets the moving target through the calibration of the specific checkerboard.
In summary, the industrial welding robot of the embodiment successfully realizes the movement in the two-dimensional direction by adding the power arm and the constraint arm, and is matched with the two steering engines at the same time, so that a mechanical leg device realizing three degrees of freedom is formed, and the structure and the design are simpler and more convenient; by utilizing the extremely strong toughness of the welding wire, the welding wire loading wheel rotates and simultaneously pushes the welding wire to move forwards under the pushing of the driving gear, and meanwhile, the front end of the welding wire is connected to the laser welding head of the welding arm, so that the transmission rate of the welding wire can be adjusted by controlling the rotating speed of the steering gear, and the welding requirement is more conveniently met; on the basis of having aerial flight and ground motion function concurrently, can carry laser welder to the air, carry out high altitude welding operation or pipeline welding operation, can adapt to the industrialization requirement of high energy consumption, high work efficiency, but filled the blank of domestic flight formula welding robot.
Furthermore; the terms "first", "second" are used for descriptive purposes only; and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thereby; the features defined as "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention; "plurality" means at least two; for example two; three, etc.; unless otherwise specifically limited.
In the description of the present specification; reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In the present specification; the foregoing terminology, which is used for the purpose of illustration, is not necessarily intended to be exhaustive or to limit the scope of the invention to the precise embodiments disclosed. And also; the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore; under the condition of no mutual contradiction; those skilled in the art will appreciate that various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined.
While embodiments of the present invention have been shown and described above; it is to be understood that; the above embodiments are exemplary; are not to be construed as limiting the invention; variations, modifications, substitutions and alterations of the above-described embodiments may be made by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (10)
1. An industrial welding robot, characterized in that: the robot comprises a machine body assembly, a seam detection assembly, a rotor wing assembly, a mechanical leg assembly, a welding assembly, a flight control module, a crawling control module, a detection control module and an electric power regulation and control module;
the machine body assembly comprises a machine body lower shell and a machine body upper shell, and the machine body lower shell and the machine body upper shell are arranged and connected in an up-down symmetrical mode;
the flight control module, the crawling control module, the detection control module and the electric power regulation and control module are all arranged in an inner cavity formed between a shell at the lower part of the machine body and a shell at the upper part of the machine body, and the flight control module, the detection control module and the electric power regulation and control module are all electrically connected with the crawling control module;
the rotor wing assemblies are arranged on the shell at the upper part of the machine body, and the mechanical leg assemblies are symmetrically arranged at two sides of the machine body assembly and are rotationally connected with the machine body assembly;
the seam detection assembly is arranged in an inner cavity formed between the lower shell of the machine body and the upper shell of the machine body and is connected with the detection control module;
the mechanical leg assembly comprises a leg main steering engine, a mechanical leg power wheel, a round-head support rod, a constraint arm, a leg support plate, a foot plate, a leg auxiliary steering engine and a leg shank, the leg main steering engine and the leg auxiliary steering engine are both connected with the crawling control module, the leg auxiliary steering engine and the leg main steering engine are both arranged on the leg support plate, the leg main steering engine is connected with the mechanical leg power wheel, one end of the round-head support rod is rotatably connected with the mechanical leg power wheel, the other end of the round-head support rod is rotatably connected with the top of the leg shank, one end of the constraint arm is rotatably connected with the middle of the round-head support rod, the other end of the constraint arm is rotatably connected with the leg support plate, and the foot plate is arranged at the bottom of the leg shank and movably connected with the bottom of the leg;
the welding assembly comprises a welding arm component and a welding wire transmission component, the welding arm component is arranged at the front end of the shell on the upper portion of the machine body, and the welding wire transmission component is arranged at the bottom end of the shell on the lower portion of the machine body.
2. The industrial type welding robot as claimed in claim 1, wherein: the leg supporting plate is provided with a supporting plate gear and two supporting frames, the supporting plate gear is meshed with the supporting plate gear, and the leg auxiliary steering engine and the leg main steering engine are connected with the leg supporting plate through the supporting frames.
3. The industrial type welding robot as claimed in claim 1, wherein: the shank shin section includes the outer firmware of shin section, the interior firmware of shin section, shin section bracing piece, shin section buffer spring, the outer firmware of shin section the top of the interior firmware of shin section with the upper end of button head bracing piece is rotated and is connected, the interior firmware of shin section sets up the inside of the outer firmware of shin section, the upper end of shin section bracing piece with the lower extreme of the interior firmware of shin section is connected, the lower extreme of shin section bracing piece with the foot board rotates and connects, shin section buffer spring sets up the middle part of shin section bracing piece.
4. An industrial type welding robot as claimed in claim 3, wherein: the shank bracing piece includes upper boom and lower beam, the upper boom with all be provided with protruding type ring plate on the lower beam, shank buffer spring's upper end with the protruding type ring plate of upper boom is connected, shank buffer spring's lower extreme with the protruding type ring plate of lower beam is connected, the lower beam runs through the bottom of the outer firmware of shank and rather than swing joint, the lower beam is hollow structure, the lower extreme of upper boom is located but the inside up-and-down motion of lower beam.
5. The industrial type welding robot as claimed in claim 4, wherein: the foot limiting auxiliary spring and the foot limiting main spring are arranged on the foot plate, two ends of the foot limiting main spring are respectively connected with the lower rod and the foot plate, spherical bearings are arranged between the lower rod and the foot plate, and the lower rod is rotatably connected with the foot plate through the spherical bearings.
6. The industrial type welding robot as claimed in claim 1, wherein: the welding arm component comprises a laser welding head, a welding arm base joint, a welding arm shank joint and a welding arm base joint clamping frame, the laser welding head is arranged on the welding arm base joint, two ends of the welding arm shank joint are respectively connected with the welding arm base joint clamping frame in a rotating mode, the welding arm base joint clamping frame is connected with the machine body component in a rotating mode, and a welding wire clamping frame is arranged on the laser welding head.
7. The industrial type welding robot as claimed in claim 6, wherein: the welding arm component further comprises a first welding arm steering engine, a second welding arm steering engine and a third welding arm steering engine, the first welding arm steering engine is connected with the shell on the upper portion of the machine body in a rotating mode through a welding arm base joint clamping frame, the second welding arm steering engine is connected with the second welding arm base joint clamping frame in a rotating mode through a welding arm shank, and the third welding arm steering engine is connected with the welding arm shank in a rotating mode through the welding arm base joint.
8. The industrial type welding robot as claimed in claim 1, wherein: the rotor subassembly includes rotor, motor supporting member and motor, motor supporting member with organism upper portion shell integrated into one piece, the motor is located motor supporting member's inside to rotate with the rotor and be connected.
9. The industrial type welding robot as claimed in claim 1, wherein: the welding wire transmission component comprises a driving steering gear and a welding wire loading wheel, the driving steering gear and the welding wire loading wheel are arranged at the bottom end of the shell at the lower part of the machine body, a driving gear is arranged on the driving steering gear, and the driving gear is meshed with a tooth opening formed in the welding wire loading wheel.
10. The industrial type welding robot as claimed in claim 1, wherein: and travel gaps convenient for the movement of the mechanical leg assembly are arranged on two sides of the shell at the lower part of the machine body and the shell at the upper part of the machine body.
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| CN201911309149.7A CN110936017B (en) | 2019-12-18 | 2019-12-18 | Industrial welding robot |
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| CN201911309149.7A CN110936017B (en) | 2019-12-18 | 2019-12-18 | Industrial welding robot |
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| CN110936017B CN110936017B (en) | 2024-05-28 |
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| CN113909719A (en) * | 2021-10-09 | 2022-01-11 | 中国直升机设计研究所 | Light unmanned aerial vehicle fuselage skeleton welding set |
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| CN110936017B (en) | 2024-05-28 |
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