CN111922476B

CN111922476B - High altitude welding robot

Info

Publication number: CN111922476B
Application number: CN202010581435.5A
Authority: CN
Inventors: 刘时球; 唐贤林; 谭冬; 张少华; 王义飞; 陈建中; 侯晓刚
Original assignee: China Ryukyu Technology Co ltd
Current assignee: China Ryukyu Technology Co ltd
Priority date: 2020-06-23
Filing date: 2020-06-23
Publication date: 2022-10-11
Anticipated expiration: 2040-06-23
Also published as: CN111922476A

Abstract

The invention discloses a high-altitude welding robot, which belongs to the technical field of welding devices and comprises a movable box, wherein a vertical through groove is formed in the movable box, a movable supporting mechanism is arranged in the through groove and comprises a rack rod, a rack is arranged on one side of the rack rod, a movable motor is arranged at the position, close to the rack, of the movable box, a gear is arranged at the output end of the movable motor, the gear is meshed with the rack, and the gear and the movable motor are connected with the side wall of the movable box through a telescopic rod with a spring. According to the invention, the infrared flaw detector, the processor, the moving motor, the conveying motor and the electromagnetic valve in the welding box form a control system, and automatic welding operation on high-altitude pipelines, large supports and the like is completed through an infrared detection technology, so that the use cost of manpower and machines is reduced, the operation risk is reduced, and high-altitude operation is avoided.

Description

High altitude welding robot

Technical Field

The invention relates to a welding robot, in particular to a high altitude welding robot, and belongs to the technical field of welding devices.

Background

Welding, also known as fusion welding, melting welding, is a manufacturing process and technology for joining metals or other thermoplastic materials such as plastics in a heating, high-temperature or high-pressure manner, and modern welding has many energy sources including gas flame, electric arc, laser, electron beam, friction, ultrasonic wave and the like, besides being used in factories, welding can also be carried out in various environments such as field, underwater and space, and wherever welding may bring dangers to operators, so proper protection measures must be taken when welding, and possible injuries to human bodies caused by welding include burning, electric shock, visual damage, toxic gas suction, excessive ultraviolet radiation and the like;

in the process of high-altitude operation, the traditional welding device is adopted, so that the danger coefficient is high, and meanwhile, the welding efficiency is low.

Disclosure of Invention

The invention mainly aims to provide a high-altitude welding robot to solve the problem of high risk coefficient of manual welding in the prior art.

The purpose of the invention can be achieved by adopting the following technical scheme:

a high altitude welding robot comprises a moving box, wherein a vertical through groove is formed in the moving box, a moving support mechanism is arranged in the through groove, the moving support mechanism comprises a rack rod with a rack arranged on one side, a moving motor is arranged at the position, close to the rack, of the moving box, a gear is arranged at the output end of the moving motor, the gear is meshed with the rack, the gear and the moving motor are connected with the side wall of the moving box through a telescopic rod with a spring, the telescopic rod is arranged in the horizontal direction, a roller is arranged at the side, away from the rack, of the through groove, a horizontal moving mechanism is arranged on the side, close to the roller, of the moving box, a welding box is arranged at the moving end of the horizontal moving mechanism, a nozzle is arranged at the side, away from the horizontal moving mechanism, an infrared flaw detector and a camera are arranged outside the side, close to the nozzle, of the welding box, the inside of welding case is rotated and is installed the line book, and the outside of line book is provided with the welding wire, the inside one side symmetry that is close to the nozzle of welding case is provided with send a gyro wheel, the welding wire is located between sending a gyro wheel, and the welding wire extends to the inside of nozzle, the internally mounted of welding case has conveying motor, and conveying motor's output and send a gyro wheel fixed connection, the interior bottom of welding case is provided with the inflator, and the top of inflator installs the conveyer pipe, the one end of conveyer pipe extends to the inside of nozzle, be provided with the solenoid valve on the conveyer pipe, the inside of movable box is provided with the treater, the output of infrared flaw detector and the output and the treater electric connection of camera, the output of treater passes through wire and movable motor, horizontal migration mechanism, conveying motor and solenoid valve electric connection, the treater is connected with wireless transceiver unit, and wireless transceiver unit passes through radio signal and is connected with the remote controller, and the remote controller includes touch display screen, the treater is used for acquireing the image data of camera and sends the remote controller through wireless transceiver unit, and the remote controller is used for receiving image data and shows on touch display screen, and the remote controller is used for acquireing touch display screen's touch mobile coordinate and sends the treater to, and the treater starts conveying motor and solenoid valve according to infrared flaw detector's detection signal and begins the welding, and according to touch mobile coordinate control moving motor and horizontal migration mechanism moving nozzle.

Preferably: an annular sliding groove is formed in one side, close to the nozzle, of the movable box, and an arc-shaped plate is slidably mounted inside the annular sliding groove.

Preferably, the following components: the movable supporting mechanism further comprises an L-shaped plate, a screw rod is installed on the outer side of the L-shaped plate in a threaded mode, a screw motor is connected to one end, close to the rack rod, of the screw rod, an electric sucker is installed at one end, far away from the screw motor, of the screw rod, and the screw motor and the electric sucker are connected with the processor.

Preferably: the infrared flaw detector is provided with two groups, and the infrared flaw detector is respectively positioned at the top and the bottom of the nozzle.

Preferably, the following components: the rack bar is including many, and many rack bars cup joint each other, and inside is provided with hydraulic telescoping rod, and the both sides at rack bar's top are provided with the transition bevel connection, and the inclined plane of transition bevel connection is by the side slope of the rack bar in the outside toward the side of inboard rack bar.

Preferably: the bottom of rack bar is provided with removes the seat, the bottom of removing the seat is provided with the gyro wheel.

The invention has the beneficial effects that:

according to the high-altitude welding robot, the infrared flaw detector, the processor, the moving motor, the conveying motor and the electromagnetic valve in the welding box form a control system, automatic welding operation on high-altitude pipelines, large supports and the like is completed through an infrared detection technology, the use cost of manpower and machines is reduced, meanwhile, the operation risk is reduced, and high-altitude operation is avoided.

Drawings

FIG. 1 is a front cross-sectional view of the present invention;

FIG. 2 is a view showing the internal structure of the mobile box according to the present invention;

FIG. 3 is a diagram of a control system of the present invention;

fig. 4 is a top view structural view of the moving motor and the gear of the present invention.

In the figure: 1. a mobile box; 2. a through groove; 3. a mobile support mechanism; 4. a moving motor; 5. a gear; 6. a nozzle; 7. an infrared flaw detector; 8. coiling the wire; 9. welding wires; 10. a wire feeding roller; 11. a conveying motor; 12. an air cylinder; 13. a delivery pipe; 14. an electromagnetic valve; 15. a processor; 16. an annular chute; 17. an arc-shaped plate; 18. a rack bar; 19. an L-shaped plate; 21. a screw; 22. a screw motor; 23. an electric sucker; 30. a spring; 31. a telescopic rod; horizontal 32, moving mechanism; 42. a wireless transmitting/receiving unit; 60. a roller; 43. a remote controller; 44. a touch display screen; 40. welding a box; 41. a camera; 34. a transition bevel opening; 35. a movable seat; 36. and a roller.

Detailed Description

In order to make the technical solutions of the present invention more clear and definite for those skilled in the art, the present invention is further described in detail below with reference to the following examples and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

As shown in fig. 1-4, the present embodiment provides a high altitude welding robot, including moving box 1, vertical through groove 2 is opened in the inside of moving box 1, and the inside of through groove 2 is provided with moving support mechanism 3, moving support mechanism 3 includes rack bar 18 with one side provided with a rack, moving box 1 is close to the rack and is installed with moving motor 4, and the output of moving motor 4 installs gear 5, gear 5 and rack engagement, gear 5 with moving motor 4 through a telescopic link 31 with spring 30 with the lateral wall of moving box 1 is connected, telescopic link 31 is the horizontal direction setting, one side of keeping away from the rack through groove 2 is provided with gyro wheel 60, moving box 1 is provided with horizontal movement mechanism 32 in one side close to gyro wheel 60, the motion end of horizontal movement mechanism 32 is provided with welding box 40, welding box 40 keeps away from one side of horizontal movement mechanism 32 and is installed with nozzle 6, the outside of welding box 40 is close to one side of nozzle 6 is installed with infrared ray instrument 7 and camera 41, the inside of welding box 40 rotates and is installed with wire flaw detection coil 8, and the outside of welding box 8 is provided with wire feeding roller 10, the top of wire feeding motor 10 is provided with wire feeding roller 10, the internal extension solenoid valve 13, the wire feeding motor 10 is provided with wire feeding roller 13, the internal

extension solenoid valve

10 and 10 is provided with wire feeding solenoid valve 13, the output of infrared flaw detector 7 and the output of camera 41 and treater 15 electric connection, the output of treater 15 passes through wire and moving motor 4, horizontal migration mechanism 32, conveying motor 11 and solenoid valve 14 electric connection, treater 15 is connected with wireless transceiver unit 42, and wireless transceiver unit 42 is connected with remote controller 43 through radio signal, and remote controller 43 includes touch display screen 44, treater 15 is used for acquireing camera 41's image data and sends remote controller 43 through wireless transceiver unit 42, and remote controller 43 is used for receiving image data and shows on touch display screen 44, and remote controller 43 is used for acquireing touch display screen 44's touch mobile coordinate and sends for treater 15, and treater 15 starts welding according to infrared flaw detector's detection signal conveying motor 11 and solenoid valve 14, and according to touch mobile coordinate control moving motor 4 and horizontal migration mechanism 32 move nozzle 6.

Wherein: the moving motor 4 rotates the gear 5, so that the welding box 40 and the nozzle 6 move up and down. The horizontal movement mechanism 32 moves the welding tank 40 and the nozzle 6 to the left and right, i.e., in the horizontal direction. The present application allows the moving motor 4 and the horizontal movement mechanism 32 to move by a remote controller. Thereby driving the welding box 40 and the nozzle 6 to move up and down and left and right. When the movement is controlled, the position of the nozzle can be set at the middle of the picture of the touch display screen, and the size of the movement of the finger on the touch display screen is the same as the size of the movement of the picture of the camera after the movement of the moving motor 4 and the horizontal moving mechanism 32 are controlled. When welding is needed, only the picture needs to be dragged on the touch screen, the nozzle corresponding to the camera is kept still, the place where the background needs to be welded moves along with the finger, the nozzle is always kept in the middle, and the control is convenient. In a specific implementation, the moving direction controlled by the moving motor 4 and the horizontal moving mechanism 32 is opposite to the touch direction, and if the finger touches upwards, the moving motor drives the nozzle to move downwards. So that the background picture moves up following the finger. The welding head can correspondingly move over the welding ground for detection, if the infrared flaw detector detects a welding seam, the welding is automatically started, and the welding process is greatly facilitated. In some embodiments, the forced welding can be controlled by a remote controller, so that the welding can be carried out without detection of an infrared flaw detector.

The horizontal moving mechanism can be realized by adopting a horizontal moving structure of the existing machine tool, such as an electric sliding rod.

In this embodiment, as shown in fig. 1, an annular chute 16 is opened on one side of the moving box 1 close to the nozzle 6, an arc-shaped plate 17 is slidably mounted inside the annular chute 16, the welding ash can be collected by the arc-shaped plate 17, and the arc-shaped plate 17 can be always located at the bottom of the moving box 1 in the using process of the device through the sliding connection between the arc-shaped plate 17 and the annular chute 16.

In this embodiment, as shown in fig. 1, the movable supporting mechanism 3 includes an L-shaped plate 19, a screw 21 is installed on the outer side of the L-shaped plate 19 in a threaded manner, one end of the screw 21 close to the rack bar 18 is connected with a screw motor 22, one end of the screw 21 far away from the screw motor 22 is provided with an electric suction cup 23, the screw motor 22 and the electric suction cup 23 are connected with the processor 15, the top of the robot can be close to a fixed object by using the screw motor 22 and the screw 21, then the fixed object is extruded, and finally the surface of the fixed object is sucked by the electric suction cup, so that the upper end of the robot is fixed, and the welding is more stable.

In this embodiment, as shown in fig. 1, two sets of infrared flaw detectors 7 are provided, and the infrared flaw detectors 7 are respectively located at the top and bottom of the nozzle 6, so that the flaw detection effect during the welding process is improved.

In this embodiment, the rack bar 18 is including many, and many rack bars 18 cup joint each other, and inside is provided with hydraulic telescoping rod 33, and the both sides at the top of rack bar 18 are provided with the oblique mouth 34 of transition, and the inclined plane of the oblique mouth 34 of transition is by the side slope of the rack bar 18 in the outside toward the side slope of the rack bar 18 of inboard. Through hydraulic telescoping rod, can increase welding robot's height, realize the welding of higher position. And the inclined plane of the transition inclined opening 34 is used for enabling the gear 5 and the roller 60 to pass through the transition of different rack rods, when the diameters of the rack rods are changed, the telescopic rod 31 of the spring 30 can also push the gear against the rack, so that the gear and the rack can be meshed, and the horizontally arranged telescopic rod 31 can ensure that the gear can only horizontally move, so that the vertical movement is avoided.

In order to facilitate the movement of the robot, a moving seat 35 is provided at the bottom of the rack bar 18, and a roller 36 is provided at the bottom of the moving seat 35.

As shown in fig. 1 to 4, the present embodiment provides a high altitude welding robot working process as follows:

step 1: the robot is powered up through wires or a storage battery arranged in the welding box. Then, when welding vertical cracks on the high-altitude pipeline and the support, the L-shaped plate 19 is leaned against the top wall of the pipeline or the support, then the welding position is found, the electric sucker 23 is started to drive the screw 21 to rotate, and the screw motor 22 and the electric sucker are utilized to adsorb and fix a fixed object;

and 2, step: the camera collects images, and the remote controller displays the images. The finger drags the image background, i.e. the welding position, past the nozzle in the middle. The processor 15 controls the moving motor 4 to drive the gear 5 to rotate, the gear 5 is meshed with the rack rod 18, the moving box 1 moves, in the moving process, the infrared flaw detector 7 searches for cracks, when the cracks are found, signals are transmitted to the inside of the processor 15, the processor 15 starts the conveying motor 11 to control the rotation of the wire feeding roller 10, the welding wires are conveyed, meanwhile, the electromagnetic valve 14 is opened to convey gas, then the welding seams are welded, and automatic detection and welding are achieved. Of course, to achieve gas ignition, there is typically a pre-fired ignition head near the nozzle. In some embodiments, ignition may also be provided by an electrically controlled ignition needle connected to the processor.

And step 3: in the welding process, the falling welding dust falls into the top of the arc-shaped plate 17 to be collected uniformly.

The above description is only for the purpose of illustrating the present invention and is not intended to limit the scope of the present invention, and any person skilled in the art can substitute or change the technical solution of the present invention and its conception within the scope of the present invention.

Claims

1. The utility model provides a high altitude welding robot which characterized in that: including moving case (1), vertical logical groove (2) have been seted up to the inside of moving case (1), and the inside that leads to groove (2) is provided with removes supporting mechanism (3), remove supporting mechanism (3) including rack bar (18) that one side was equipped with the rack, the department of being close to the rack of moving case (1) installs moving motor (4), and the output of moving motor (4) installs gear (5), gear (5) and rack toothing, gear (5) with moving motor (4) through one telescopic link (31) that has spring (30) with the lateral wall of moving case (1) is connected, telescopic link (31) are the horizontal direction setting, one side of keeping away from the rack through groove (2) is provided with gyro wheel (60), moving case (1) is provided with horizontal migration mechanism (32) in one side of being close to gyro wheel (60), the motion end of horizontal migration mechanism (32) is provided with welding case (40), welding case (40) keep away from one side of horizontal migration mechanism (32) installs nozzle (6), welding case (40) are close to one side and install infrared ray detection appearance (7) and the rotation volume (8), and the outside of coil of wire (8) is provided with welding wire (9), the inside one side symmetry that is close to nozzle (6) of welding case (40) is provided with send a gyro wheel (10), welding wire (9) are located and send between a gyro wheel (10), and welding wire (9) extend to the inside of nozzle (6), the internally mounted of welding case (40) has conveying motor (11), and the output of conveying motor (11) and send a gyro wheel (10) fixed connection, the interior bottom of welding case (40) is provided with inflator (12), and the top of inflator (12) installs conveyer pipe (13), the one end of conveyer pipe (13) extends to the inside of nozzle (6), be provided with solenoid valve (14) on conveyer pipe (13), the inside of moving case (1) is provided with treater (15), the output of infrared flaw detector (7) and the output of camera (41) and treater (15) electric connection, the output of treater (15) passes through wire and moving motor (4), horizontal migration mechanism (32), conveying motor (11) and the output of wireless connection of camera (41) and send the unit (42) wireless connection through remote controller (42), the remote controller (43) comprises a touch display screen (44), the processor (15) is used for acquiring image data of the camera (41) and sending the image data to the remote controller (43) through the wireless sending and receiving unit (42), the remote controller (43) is used for receiving the image data and displaying the image data on the touch display screen (44), the remote controller (43) is used for acquiring touch moving coordinates of the touch display screen (44) and sending the touch moving coordinates to the processor (15), the processor (15) starts the conveying motor (11) and the electromagnetic valve (14) to start welding according to detection signals of the infrared flaw detector, and controls the moving motor (4) and the horizontal moving mechanism (32) to move the nozzle (6) according to the touch moving coordinates;

the position of the nozzle is arranged in the middle of the picture of the touch display screen, and the moving size of the finger on the touch display screen is the same as the moving size of the picture of the camera after the moving motor and the horizontal moving mechanism are controlled to move; the moving direction controlled by the moving motor and the horizontal moving mechanism is opposite to the touch direction, when a finger touches upwards, the moving motor drives the nozzle to move downwards, so that the background picture moves upwards along with the finger, the welding head correspondingly moves past the welding ground for detection, and if the infrared flaw detector detects a welding seam, the welding is automatically started;

the movable supporting mechanism (3) further comprises an L-shaped plate (19), a screw rod (21) is installed on the outer side of the L-shaped plate (19) in a threaded mode, a screw rod motor (22) is connected to one end, close to the rack rod (18), of the screw rod (21), an electric sucker (23) is installed at one end, far away from the screw rod motor (22), of the screw rod (21), and the screw rod motor (22) and the electric sucker (23) are connected with the processor (15);

rack pole (18) cup joint each other including many, many rack pole (18), and inside is provided with hydraulic telescoping rod (33), and the both sides at the top of rack pole (18) are provided with transition bevel connection (34), and the inclined plane of transition bevel connection (34) is by the side slope of the side of the rack pole (18) in the outside toward the side slope of the rack pole (18) in the inboard.

2. The high altitude welding robot according to claim 1, characterized in that: an annular sliding groove (16) is formed in one side, close to the nozzle (6), of the movable box (1), and an arc-shaped plate (17) is arranged inside the annular sliding groove (16) in a sliding mode.

3. The high altitude welding robot according to claim 1, characterized in that: the infrared flaw detectors (7) are arranged in two groups, and the infrared flaw detectors (7) are respectively positioned at the top and the bottom of the nozzle (6).

4. The high altitude welding robot of claim 1, characterized in that: the bottom of the rack bar (18) is provided with a moving seat (35), and the bottom of the moving seat (35) is provided with a roller (36).