CN113199175B - Crawling welding robot auxiliary welding device, control method and welding method thereof - Google Patents
Crawling welding robot auxiliary welding device, control method and welding method thereof Download PDFInfo
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- CN113199175B CN113199175B CN202110404894.0A CN202110404894A CN113199175B CN 113199175 B CN113199175 B CN 113199175B CN 202110404894 A CN202110404894 A CN 202110404894A CN 113199175 B CN113199175 B CN 113199175B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to a crawling welding robot auxiliary welding device, a control method and a welding method thereof. The welding device comprises a crank arm type lifting mechanism assembly, a crank arm type lifting mechanism assembly and a crank arm type lifting mechanism assembly, wherein the crank arm type lifting mechanism assembly is flexibly moved to the surface and the periphery of any working position of a large-sized component; the crank arm type lifting mechanism assembly consists of a combined general control operation table and a crank arm lifting mechanism which are arranged on the carrier; the crank arm lifting mechanism adopts a three-section hydraulic folding working arm to be rigidly connected with a tail end operation room; the crank arm lifting mechanism consists of a welding operation arm pivoted on the combined master control operation table through a first pivot and a first crank arm pivoted on one end of the welding operation arm through a second pivot; each crank arm is driven by a cylinder.
Description
Technical Field
The invention belongs to the technical field of intelligent welding robots, and particularly relates to an auxiliary welding device for an all-position crawling welding robot, a control method and a welding method thereof. The invention is special engineering operation equipment which is specially used for realizing rapid deployment and implementation operation on a large curved surface site of a large component (such as in the manufacture of an energy chemical storage tank, a ship and a marine platform), and integrates all-position crawling welding robot equipment with path planning, automatic visual recognition, tracking and control functions of welding seams and a crank arm lifting device capable of moving flexibly in a large range and crossing obstacles.
Background
Marine and petrochemical equipment is characterized by "heavy, large, complex structures", many manufacturing links are also manual operations, sometimes must be performed on site, and these components are the bottleneck for automating manufacturing, which is most typical of welding operations. Taking a large spherical tank and a large cylindrical storage tank of petrochemical typical equipment as an example, the current welding work is mainly finished in two ways: firstly, the frame is matched with manual welding; and secondly, paving a welding track, and welding by adopting a welding trolley. The first mode has low welding work efficiency, poor welding consistency, low welding quality, extremely high labor intensity of welders, lower safety of high-altitude operation of the welders and extremely high labor cost; the second mode is aimed at certain specific welding seams, so that the welding efficiency and welding quality can be effectively improved to a certain extent, a welder is replaced, the welder is liberated, a series of auxiliary welding works such as rail laying, special welding machine hanging and the like are required to be carried out in advance, a large amount of manufacturing time is consumed on the auxiliary welding works, the pertinence of the welding seams is high, and the application range is limited. Therefore, in order to solve the above problems in manufacturing and welding petrochemical equipment, there is an urgent need for an intelligent trackless all-position mobile welding robot which can be widely applied to most of seam welding work in manufacturing of the large structural parts, and can autonomously navigate and identify welding seams and path planning to finish welding work of transverse and longitudinal seams on the outer surfaces of spherical tanks and cylindrical storage tanks without laying rails or building scaffolds and with little manual assistance.
In order to improve the manufacturing level and the production efficiency and quality, automation of welding and other operations of large structural members is urgently required. However, conventional industrial robots or dedicated automation equipment are difficult to apply in such situations due to limitations in terms of mobility and flexibility (intelligence), so new solutions are urgently needed. One of the ideas to solve this problem is to use an automation system that is larger than the workpiece, but the cost of such an automation system is high and the variety of applicable products is limited, so that such a large-sized automation system is weak in competitiveness. The crawling robot can move on the whole position of the surface of the workpiece, can adapt to different types of workpieces, has great advantages in the aspects of operation flexibility, flexibility and the like and has relatively low cost, so that the crawling robot has wide application prospect in the operations of welding (including polishing), spraying, nondestructive inspection and the like of energy petrochemical large-scale steel structural members.
On the other hand, energy and chemical equipment is often an important infrastructure, and regular maintenance is generally required. Taking the maintenance of large-scale power generation equipment as an example, the maintenance of these facilities requires either a scaffold or the maintenance of the maintenance object to be detached in the workshop, which results in a long maintenance period. If the working procedures of building up and dismantling scaffolds or dismantling and installing maintenance objects can be omitted, maintenance can be completed on site, and unnecessary auxiliary working procedures (dismantling, installing, debugging and the like) can be reduced, so that great economic benefits can be generated. In addition, in some occasions, due to environmental restrictions (such as radioactive places), great potential safety hazards exist for workers to carry out maintenance operations. The various wall climbing robots are used for the maintenance operation, so that the maintenance period can be shortened, the maintenance operation efficiency can be improved, the operation quality can be improved, and the operation safety can be guaranteed. Therefore, from the above-mentioned perspective, the crawling robot has a wide application prospect in such maintenance operations.
In summary, the crawling robot has great market potential in the aspects of manufacturing (or building) facilities such as offshore oil platforms, ships, storage tanks, large-scale power generation equipment and the like related to energy conversion and in the aspects of in-service overhaul and maintenance. At present, a few enterprises and university research institutions in the international and domestic markets have made certain breakthroughs in this respect, products have come out from laboratories, and particularly, a certain number of detection crawling (wall climbing) robot products are applied to specific products of energy pipelines and power generation equipment, but the products are started in the aspects of welding, polishing and spraying of large-scale structural members such as energy storage tanks, ships, maritime work and the like, and face a plurality of challenges. Compared with the actual demands of the industries, the types and functions of the existing products are single, the popularization degree of application and popularization is far from enough, and the main reason is that a plurality of realistic problems still exist in the working occasions: if the self-load of the crawling robot is high (the current load is 1:2 as compared with a better prototype in the industry, the load is required to be increased, which means that the self-weight needs to be increased, thus the crawling robot is inevitably large and heavy in platform size, the layout implementation is inflexible, and the crawling robot is limited by space in the actual use scene); how to quickly transition and deploy the crawling robot with the surface of a working area; the crawling robot works together with peripheral equipment and material placement problems (such as a controller, a welding power supply for welding, a wire feeder, a wire reel and a wire barrel, a paint conveying and supplying system for spraying, a matched instrument for detection and the like); the problem of obstacle surmounting and regional crossing operation of the crawling robot; how timely the equipment is abnormal to deal with the problem, etc.
Disclosure of Invention
The invention aims to provide a method for solving a series of problems of insufficient load, limited space for carrying equipment, difficulty in batch industrialized application, low implementation efficiency and the like of the existing crawling robot, solving the problems of rapid on-site deployment, limited load of the crawling welding robot, limited operation range and the like of the crawling welding robot, wherein the problem of arrangement of safety ropes of the crawling welding robot is not determined, the crawling welding robot is considered to be preferentially arranged to be connected with an operation room, and the crawling welding robot is considered to be connected with a construction workpiece, so that the crawling welding robot is used for assisting a welding device and a welding method of the crawling welding robot. Aiming at the welding manufacture of large-scale components in the manufacture (construction) of energy chemical storage tanks, ships and marine platforms, the special engineering operation device and the welding method for the on-site rapid deployment and implementation operation of the large-scale curved surface crawling welding operation robot are provided. The device mainly comprises two large modules of a crank arm type lifting mechanism assembly and a tail end operation room, wherein the tail end operation room is integrated with an all-position crawling robot with path planning, automatic visual recognition, tracking and control functions of welding seams, a crawling welding robot controller, a welding power supply, a wire feeder, a protective gas tank, a welding wire barrel and the like. The crank arm type lifting mechanism assembly can flexibly move an operation room (operation room) with the crawling welding robot to any operation position surface and periphery of a large-sized component, after the crawling robot climbs to a starting operation position through a movable connecting bridge on one side of the operation room, the movable connecting bridge is retracted, a tail end operation room can move along with or in a clearance mode according to a working movement route of the crawling robot, the whole tail end operation room can flexibly move beyond obstacles and in a large range under the control of a combined general control operation table, and the operations such as flexible welding, spraying, polishing and flaw detection of the complex surface of the large-sized component can be realized by combining the all-position crawling robot. The equipment of the tail end operation workshop is connected with the combined total control operation console through the Ethernet, the position and the height to be achieved in the operation workshop can be easily confirmed through a remote video image at the combined total control operation console, and parameters are monitored and adjusted in real time through technologies such as a visual tracking sensor and the like on a welding line track, a welding line appearance and post-welding quality in the welding process so as to finish accurate movement tracks required by welding and other operations, and the welding efficiency and the welding quality of the crawling robot are improved. The invention can lift the operation operating room carrying all-position crawling robot and auxiliary equipment such as a controller, a welding power supply, a wire feeder, a protection mixing gas tank and the like to the vicinity of any operation position through the hydraulic and electric integrated system of the integrated machine, and can realize a system device for the crawling robot to operate the auxiliary equipment while following walking.
The first technical scheme of the invention is that the auxiliary welding device for the all-position crawling welding robot is characterized by comprising a 360-degree rotary hydraulic crank arm type lifting mechanism assembly, a crawling welding robot arranged in an operation room, electric control equipment and peripheral equipment of the whole machine, wherein the 360-degree rotary hydraulic crank arm type lifting mechanism assembly is used for controlling the operation room to flexibly move to the surface and the periphery of any operation position of a large-sized component.
As preferable: the crank arm type lifting mechanism assembly consists of a combined general control operation table and a crank arm lifting mechanism which are arranged on the carrier; the crank arm lifting mechanism adopts a three-section hydraulic folding working arm to be rigidly connected with a tail end operation room; the crank arm lifting mechanism consists of a welding operation arm pivoted on the combined master control operation table through a first pivot and a first crank arm pivoted on one end of the welding operation arm through a second pivot; the crank arms are driven by cylinders.
As preferable: the movable connecting bridge bears and bears the smooth transition between the crawling welding robot and the workpiece, the movable connecting bridge is connected with a pair of hydraulic cylinder systems through a group of hinges, the angle required by the transition between the crawling welding robot and the surface of the workpiece is ensured, a camera is arranged on the second crank arm right below the movable connecting bridge, peripheral equipment for the welding robot is arranged on the operation room, and power supply and communication of the peripheral equipment are connected to a relay box and a combined general control operation table on a chassis below through a special cable from a lifting mechanism; the peripheral equipment comprises a welding power supply, a wire feeder, a welding wire barrel, a protection mixed gas, a crawling robot controller and a cable winding mechanism.
As preferable: the crawling welding robot consists of a moving platform driven by permanent magnet four wheels, a six-degree-of-freedom welding mechanical arm borne on the moving platform, a supporting frame fixedly arranged on the welding mechanical arm, a second crank arm pivoted with the supporting frame through a third pivot, a third crank arm pivoted with the other end of the second crank arm through a fourth pivot, a first connecting arm pivoted with the other end of the third crank arm through a fifth pivot, a second connecting arm pivoted with the first connecting arm through a sixth pivot, a welding gun fixedly arranged on the second connecting arm, a welding seam tracker fixedly arranged at the end part of the second connecting arm and a molten pool monitoring camera; the welding seam tracker for welding is arranged on the tail end shaft of the second connecting arm, the central line of the welding seam tracker and the central line of the welding gun on the tail end shaft of the second connecting arm are positioned on the same horizontal plane in space, and the relative displacement is fixed; the welding seam tracker automatically searches positions of a welding seam starting point, three-dimensional track data of a welding seam and welding seam width data are transmitted to the crawling welding robot controller in real time, and the crawling robot controller cooperatively controls a welding machine system, the welding seam tracker and the crawling robot control system formed by a welding power supply, works task path planning, welding gun gesture generation and real-time deviation correction.
As preferable: the electric control equipment comprises a combined total control console, a crawling robot system controller and a movable walking crank arm lifting platform controller, wherein the crawling robot system controller is respectively in control signal transmission and operation data feedback with the crawling robot controller, the welding seam tracker controller and the welding machine system controller through EtherCat, gigE and CANopen; the crawling robot controller realizes control signal transmission and operation data feedback through EtherCat, the crawling robot trolley and the servo of each joint, and the weld tracker controller realizes control signal transmission and operation data feedback through GigE and a weld detection visual sensor; the movable walking crank arm lifting platform controller is connected with the movable walking mechanism controller, the crank arm lifting mechanism controller and the operation room controller through CANopen and RS485 serial ports, so that the platform trolley can realize movable walking self-locking, crank arm rotation, crank arm lifting, opening and closing of the operation room and clearance movement of the operation room following crawling robot; the movable running mechanism controller realizes control signal transmission and operation data feedback with the monitoring camera and the operation inter-opening and closing cylinder through WIFI/5G, CANopen; the crank lifting mechanism controller realizes control signal transmission and operation data feedback through the CANopen and crank rotation and crank lifting oil cylinder and the landing leg oil cylinder; the mobile walking controller realizes control signal transmission and operation data feedback through the CANopen, the mobile walking mechanism and the driving mechanism.
As preferable: the crawling welding robot, the movable walking device, the chassis, the crank arm lifting mechanism and the operation room are electrically connected; the crawling operation robot is used for simultaneously tracking a molten pool and detecting the quality of a welded welding bead, a required molten pool monitoring camera and welding bead detecting equipment are arranged on a mechanical arm at the tail end of the crawling robot and are electrically connected with a crawling robot controller, and acquired images and detection data are transmitted to a main control operation console display screen on a chassis through Ethernet communication to display shooting images and analysis data; the following movement is controlled by combining a combined total control operation table on a wireless remote control terminal or a chassis according to the walking distance and the direction of the crawling robot and combining with a monitoring camera of a working operation room.
The second technical solution of the present invention is the control method for the all-position crawling welding robot, which is characterized by comprising the following steps:
calibrating a teaching track, and inputting welding gun and measurement deviation; the method comprises the steps of carrying out a first treatment on the surface of the
Secondly, sending welding gun measurement deviation to a sensor;
opening the laser and sending a calibration task number;
performing calibration teaching tracks;
fifthly, sending the TCP user coordinates to the sensor;
is the teaching trace done is the determination made? If not, returning to the step, if yes, entering a next step;
And turning off the laser, and completing calibration.
The third technical solution of the present invention is the welding control method for the all-position crawling welding robot, which is characterized by comprising the following steps:
the method comprises the steps of (1) teaching locating; teaching welding;
secondly, inputting a task number of a welding line type;
opening the laser and sending a calibration task number;
performing calibration teaching tracks;
judging whether a welding line is found stably: if not, returning to the step, if yes, entering a next step;
closing the laser, and returning to the starting point of the welding line;
turning on the laser, performing welding teaching and compensating according to the sensor;
judging whether to end: if not, returning to the step D; if yes, entering a next step;
and turning off the laser, and completing welding.
The fourth technical solution of the present invention is the welding control method for the all-position crawling welding robot, which is characterized by comprising the following steps:
the method comprises the steps that a welding robot moves to a starting position of a planning point of a workpiece surface path, and scanning track teaching is executed;
secondly, inputting a task number of a welding line type;
opening the laser and executing scanning teaching;
transmitting TCP user coordinates to the sensor;
is it decided to finish the teaching trace? If not, returning to the step, if yes, entering a next step;
Requesting welding track points;
performing a welding track;
judging whether the welding track is finished or not, if not, returning to the step (S), and if yes, entering a next step; the method comprises the steps of carrying out a first treatment on the surface of the
And (3) turning off the laser;
and (3) finishing welding.
The fifth technical solution of the present invention is the welding method for the all-position crawling welding robot, which is characterized by comprising the following steps:
the method comprises the steps that a main control operation table, a monitoring display and a wireless remote control terminal are combined, an operation room is quickly moved to the vicinity of a workpiece initial operation position, and a movable connecting bridge is controlled to be in place through a tail end monitoring camera and an operation room opening and closing oil cylinder;
the crawling operation robot starts crawling operation according to the planned non-collision path, the cable hoisting mechanism automatically pays out wires, and the tail end operation room moves or moves in a clearance mode along with the crawling welding robot according to operation condition requirements;
thirdly, the weld seam tracking sensor automatically searches the weld seam starting and stopping point, three-dimensional track data of the weld seam and width data of the weld seam are transmitted to the crawling welding robot controller in real time, and the crawling robot controller cooperatively controls a welding machine system, a weld seam tracker and a crawling robot control system formed by a welding power supply, works task path planning, welding gun gesture generation and real-time deviation correction;
The controller of the crawling robot system, the controller of the crawling robot body, the controller of the weld tracker and the controller of the welding machine system adopt EtherCat, gigE and CANopen to realize control signal transmission and operation data feedback respectively; the movable walking crank arm lifting platform controller is interconnected with the movable walking mechanism controller, the crank arm lifting mechanism controller and the tail end operation room controller through CANopen and RS485 serial ports, so that the platform trolley can realize movable walking self-locking, crank arm rotation, crank arm lifting, opening and closing of the operation room and clearance movement of the operation room along with the crawling robot;
and fifthly, if abnormal audible and visual alarm occurs to the system, or the system automatically interrupts welding operation when the system spans a larger obstacle or moves a larger distance according to task requirements, the crawling robot returns to the tail end operation room according to a set path, and an operator operates the wireless remote control terminal to quickly move the tail end operation room to a new operation position or interrupt operation position to restart operation.
Compared with the prior art, the invention has the beneficial effects that:
the auxiliary welding device and the welding method solve a series of problems that the existing crawling robot is insufficient in load, cannot carry peripheral equipment, is low in operation site deployment implementation efficiency and the like, and affects batch industrialized application of products. The crawling robot can be designed to be small and exquisite and exclusive, so that the manufacturing cost of the crawling robot is reduced, the on-site arrangement and implementation are quick and flexible, the time from the crawling robot to the surface of an operation area is shortened, the problem of safe placement of peripheral equipment and materials matched with the crawling robot in operation is solved with lower cost, and the problems of obstacle crossing and cross-area operation of the crawling robot, abnormal and rapid processing of equipment and the like are solved. The integrated operation, the integrated transportation and the like of the crawling robot and the peripheral equipment are realized.
The auxiliary welding device provided by the invention has the advantages of smaller occupied space, lower cost and convenience in operation. The novel full-hydraulic self-propelled special chassis is adopted, and the mechanical-electrical-hydraulic integration, the reliability design, the computer aided design and other technologies are adopted between the crank arm lifting mechanism and the tail end operation room, so that the full-hydraulic self-propelled special chassis is a full-hydraulic driving type chassis, and the limitation that the traditional domestic overhead operation lifting platform vehicle can only adopt the refitting design of an automobile or crane chassis is broken through. The device is very suitable for quick deployment and movement operation in limited space of a storage tank, a ship and a marine platform construction site, the crank arm lifting mechanism can rotate 360 degrees, and the folding arm type working arm can work across obstacles.
The auxiliary welding device and the welding method have the advantages of multifunction, multiple purposes and good operation stability. Through crank arm elevating system and big arm terminal operation room, can be fast with crawling the robot and lift to work piece initial working position surface, crawling robot controller and peripheral equipment in the terminal operation room provide the interface for expanding the quick switching of operation device and various working device simultaneously, can realize the welding of crawling the robot, spray coating, polish, multiple operation functions such as detection. The operation room can follow the movement according to the movement track of the crawling robot, and simultaneously carries a large amount of peripheral equipment, thereby reducing the manual load of the crawling robot, greatly improving the operation efficiency of the crawling robot and reducing the system cost. The chassis structure breaks through the traditional design theory and method, and the gravity center offset is reduced by optimizing the overall layout and load distribution of the boarding platform. The special large-angle backward hinging point structure is adopted, and a plurality of counterweight modules are reasonably arranged, so that the working moment is effectively balanced. The H-shaped variable cross-section composite box girder rigid frame and the high-load solid rubber tire are adopted, so that the integral rigidity of the chassis is increased, and the stability of the whole machine in the running and operation processes is ensured.
The system operation height of the device can reach 18 meters at most, the rated load of the tail end operation room is designed to be 200-400 kg, the crank arm can rotate 360 degrees around the chassis, and the two positions and the gesture of each working arm and each operation room can be adjusted. The crawling operation auxiliary equipment is simple in operation structure, convenient to operate, safe and reliable, and is crawling operation auxiliary equipment with optimized safety and working efficiency. Four hydraulic support legs are assembled on the vehicle, and the support legs are H-shaped, so that the stability and the safety of the whole vehicle in operation are ensured.
The whole device is provided with diesel engine power in standard configuration, bus intelligent control, proportion control, emergency pump, loudspeaker, working time meter, inclination alarm, 360-degree discontinuous rotation of crank arm, automatic leveling platform, circuit fault code display, platform hydraulic swing, engine restarting protection, engine glow plug preheating device, rotary stroboscopic lamp, 4*2 drive, platform weighing limiting function, platform working lamp and foot switch. Alternative configurations include: direct current, alternating current and direct current, diesel and electricity dual-purpose, cab and the like.
The invention has simple operation structure, convenient operation, safety and reliability, and is crawling operation auxiliary equipment with optimized safety and working efficiency. The system of the invention has compact structure and flexible steering, the width of the chassis can ensure that equipment enters a narrow channel and a crowded working area, and the invention can combine with an all-position crawling robot to realize the operations of flexible welding, spraying, polishing, flaw detection and the like on the complex surface of a large-sized component.
Drawings
FIG. 1 is a schematic diagram of a configuration of the present invention for an all-position creep-welding robot-assisted welding apparatus;
FIG. 2 is a schematic view of the structure of the crawling welding robot of the present invention;
FIG. 3 is a schematic block diagram of cooperative control of the system of the present invention;
FIG. 4 is a control flow diagram of welding robot calibration in the system of the present invention;
FIG. 5 is a flow chart of the welding control of the all-position creep-welding robot of the first embodiment of the present invention;
FIG. 6 is a flow chart of the welding control of the full position creep welding robot according to the second embodiment of the invention;
FIG. 7 is a flow chart of control communication between the weld tracking sensor and the creep welding robot of the present invention.
Description of main reference numerals:
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Combined master control console 11 | Crank |
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First crank |
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Robot controller 244 | Cable winding mechanism 245 | |
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Lifting platform controller 42 | Weld tracking controller 43 |
| Welder system controller 44 | Weld vision sensor 45 | Running gear controller 46 | Lifting mechanism controller 47 |
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Detailed Description
The invention will be further described in detail below with reference to the accompanying drawings:
referring to fig. 1 and 2, an auxiliary welding device for an all-position crawling welding robot comprises a 360-degree rotary hydraulic crank lifting mechanism assembly 1, a working operation room 2 controlled by the crank lifting mechanism assembly 1 to move, a crawling welding robot 3 arranged in the working operation room 2, and an electric control device 4 of the whole machine.
Referring to fig. 1, the crank arm lifting mechanism assembly 1 is composed of a combined master control console 11 and a crank arm lifting mechanism 12 which are arranged on a carrier; the crank arm lifting mechanism adopts a three-section hydraulic folding working arm, and the tail end operation room is rigidly connected with the three-section arm; the crank lifting mechanism 12 is composed of a welding operation arm 121 pivoted on the combined master control operation table 11 through a first pivot 1211, and a first crank 122 pivoted on one end of the welding operation arm 121 through a second pivot 1221; the crank arms are driven by air cylinders to flexibly move the working operation room 2 with the crawling welding robot 3 to the surface and the periphery of any working position of a large-sized component.
Referring to fig. 2, the crawling welding robot 3 is composed of a mobile platform 31, a permanent magnet four-wheel drive six-degree-of-freedom welding mechanical arm 32 carried on the mobile platform 31, a support frame 33 fixed on the welding mechanical arm 32, a second crank arm 351 pivoted by the support frame 33 through a third pivot 341, a third crank arm 352 pivoted by the other end of the second crank arm 351 through a fourth pivot 342, a first connecting arm 36 pivoted by the other end of the third crank arm 352 through a fifth pivot 343, a second connecting arm 39 pivoted by the first connecting arm 36 through a sixth pivot (not shown), a welding gun 37 fixed on the second connecting arm 39, a welding seam tracker 38 fixed on the end part of the second connecting arm 39, and a molten pool monitoring camera (not shown); the welding seam tracker 38 is arranged on the tail end shaft of the second connecting arm 39, the central line of the welding seam tracker 38 and the central line of the welding gun 37 on the tail end shaft of the second connecting arm 39 are positioned on the same horizontal plane in space, and the relative displacement is fixed; the weld tracker 38 automatically searches for the weld seam starting point, transmits three-dimensional track data of the weld seam and weld seam width data to the crawling welding robot controller 244 in real time, and the crawling robot controller 244 cooperatively controls a welding machine system formed by the welding power source 241, the weld tracker 38 and the crawling robot control system, works task path planning, welding gun gesture generation and real-time deviation correction.
The operation room 2 and the second crank arm 123 are rigidly connected, a movable connecting bridge 21 is arranged on the outer side of the operation room 2, the movable connecting bridge 21 bears and bears the smooth transition between the crawling welding robot 3 and a workpiece, the movable connecting bridge 21 is connected with a pair of hydraulic cylinders 22 through a group of hinges, the angle required by the transition between the crawling welding robot 3 and the surface of the workpiece is ensured, a camera 23 is arranged on the second crank arm 123 right below the movable connecting bridge 21, peripheral equipment 24 for the welding robot is arranged on the operation room 2, the peripheral equipment 24 comprises a welding power supply 241, a wire feeder & welding wire barrel 242, a protective mixed gas 243, a crawling robot controller 244 and a cable hoisting mechanism 245, and the peripheral equipment 24 is used for supplying power and communicating and is connected to a relay box and a combined master control console 11 on a lower chassis through a special cable from a lifting mechanism. The working operation room 2 integrates an all-position crawling robot 3 with path planning, automatic visual recognition, tracking and control functions of welding seams and peripheral equipment 24 of the crawling welding robot. The crank arm type lifting mechanism assembly 1 can flexibly move a working operation room 2 with a crawling welding robot 3 to any working position surface and periphery of a large-sized member, after the crawling robot 3 climbs to a starting working position through a movable connecting bridge 21 on one side of the working operation room 2, the movable connecting bridge 21 is retracted, the working operation room 2 can move along with or in a clearance mode according to a working movement route of the crawling robot 3, and the whole working operation room 2 can flexibly move beyond obstacles and in a large range under the control of a combined general control operation table 11, and can be combined with the whole-position crawling robot 3 to realize the operations of flexible welding, spraying, polishing, flaw detection and the like of the complex surface of the large-sized member. The equipment of the operation room 2 is connected with the combined total control operation table 11 through the Ethernet, the position and the height to be achieved by the operation room 2 can be easily confirmed through a remote video image on the combined total control operation table 11, and parameters are monitored and adjusted in real time through technologies such as a visual tracking sensor and the like on a welding line track, a welding line appearance and post-welding quality in the welding process so as to finish accurate movement tracks required by welding and other operations, and the welding efficiency and the welding quality of the crawling robot 3 are improved.
The auxiliary welding device for the all-position crawling welding robot comprises a movable platform capable of being operated in a movable mode, a 360-degree rotary hydraulic crank arm lifting mechanism 1, a combined general control operation table 11, a tail end operation room 2, an all-position crawling welding robot 3, a crawling robot controller 244, a welding power source 241, a wire feeder 242, a welding wire barrel 242, a protective mixed gas 243, a remote control operation box and other parts.
The welding method of the crawling robot auxiliary device comprises the following steps:
the special engineering operation device comprises a movable traveling mechanism 5 and a rotary chassis 6, wherein the traveling mechanism 5 comprises a traveling mechanism and a driving mechanism for driving the traveling mechanism to travel, the traveling mechanism and the chassis utilize a bell and a small eastern king automobile chassis, the special engineering operation device also comprises a hydraulic crank arm lifting mechanism 1 and a tail end operation workshop 2, the hydraulic crank arm lifting mechanism 1 adopts folding working arms 122, 123 and 124 (two-section arm and three-section arm), the tail end operation workshop 2 adopts a semi-open type, an openable movable connecting bridge 21 is designed on one side, and the movable connecting bridge 21 ensures the angle required by transitional crawling of the crawling operation robot 3 and the large curved surface through a hinge and a pair of hydraulic cylinders 22. Peripheral equipment such as a welding power source 241, a wire feeder, a welding wire barrel 242, a protective mixed gas 243, a crawling robot controller 244, a cable winding mechanism 245 and the like for operating the all-position crawling welding robot 3 are fixed in the tail end operation room 2, and the peripheral equipment 24 is connected to the lower chassis 6 and the combined general control operation table 11 on the chassis through special cables for power supply and communication.
The running gear 5, the crank arm lifting mechanism 12 and the combined total control operation table 11 are arranged on an automobile chassis, a diesel engine power system and a power system capable of being externally connected with alternating current are arranged on the chassis, a power conversion and voltage stabilization device is arranged on the chassis, required alternating current and direct current power can be provided for the combined total control operation table 11, and a 380V and 220V two-way power supply cable and one-way Ethernet communication cable are arranged between the combined total control operation table 11 and the working operation room 2 at the tail end of the crank arm lifting mechanism 12.
Referring to fig. 7, the electronic control device 4 includes a combined master control console 11, a crawling robot system controller 41, and a mobile traveling crank lifting platform controller 42, where the crawling robot system controller 41, via EtherCat, gigE and CANopen, respectively, implements control signal transmission and operation data feedback with the crawling robot controller 244, the weld tracker controller 43, and the welding machine system controller 44; the crawling robot controller 244 realizes control signal transmission and operation data feedback through EtherCat, the crawling robot trolley 32 and the joint servo, and the welding seam tracker controller 43 realizes control signal transmission and operation data feedback through GigE and a welding seam detection vision sensor 45; the movable walking crank arm lifting platform controller 42 is interconnected with the movable walking controller 46, the crank arm lifting mechanism controller 47 and the operation room controller 48 through CANopen and RS485 serial ports, so that the platform trolley can realize movable walking self-locking, crank arm rotation, crank arm lifting, operation room opening and closing and the operation room 2 can move along with the clearance of the crawling robot 3; the mobile walking controller 46 realizes control signal transmission and operation data feedback with the monitoring camera 23 and the inter-operation opening and closing oil cylinder 22 through the WIFI/5G, CANopen; the crank lifting mechanism controller 47 realizes control signal transmission and operation data feedback through the CANopen and crank rotation and crank lifting oil cylinder and the landing leg oil cylinder; the mobile walking controller 46 realizes control signal transmission and operation data feedback through the CANopen, the mobile walking mechanism 5 and the driving mechanism.
The crawling robot controller 244 performs collaborative integrated control on a crawling robot system, a welding machine system (comprising a welding power supply, a wire feeder, a welding wire barrel and a protective mixed gas), a welding seam tracker and the like, and adopts RT-Linux as a real-time operating system platform for intelligent collaborative control. Based on the hardware characteristics of each subsystem, etherCat, gigE, CANopen and the like are adopted below to respectively realize control signal transmission and operation data feedback of the upper computer, the crawling robot 3, the weld tracker 126 and the welding machine, and the wireless WIFI technology is used for remote video monitoring of field operation conditions. The cable and the air pipe connected with the crawling welding robot 3 are wound and unwound through a cable winding mechanism 245 on the operation room 2, the remote control operation box is electrically connected with a combined total control operation table 11 on the chassis, and the combined total control operation table 11 is provided with a common centralized operation button, a man-machine interaction interface and a monitoring interface, so that the crawling welding robot is directly operated on a crawling robot controller 244. The crawling robot 3 stops working when the abnormal faults need to be stopped for detection and maintenance or the welding wire barrel 242 and the welding gun need to be replaced, returns to the combined general control operation table 11 according to a planned path to automatically clear or reset, and the crank arm lifting platform is retracted, so that the materials and the components are overhauled and replaced during manual boarding operation.
The crawling robot 3 can also be used for simultaneously tracking a molten pool and detecting the quality of a welded welding bead, a required molten pool monitoring camera and welding bead detecting equipment are arranged on a tail end mechanical arm of the crawling robot and are electrically connected with the crawling robot controller 244, and collected images and detection data are transmitted to a display screen of the combined general control console 11 on the chassis 6 through Ethernet communication to display photographed images and analysis data.
The tail end operation room 2 of the crank arm lifting mechanism 12 is also provided with a camera 23 which is used for combining the distance between the operation room 2 and the surface of the workpiece and the appearance of the contact surface of the workpiece observed by the operation staff of the master control operation table 11, so that the operation staff of the master control operation table 11 can conveniently adjust the angle of the movable connecting bridge 21 and observe the round trip transition process from the crawling robot 3 to the surface of the workpiece.
The hydraulic system of the crank arm lifting mechanism 1 is provided with a valve which does not burst an oil pipe of the main arm oil cylinder, and the hydraulic support leg 51 is provided with a hydraulic locking device which does not retract the oil cylinder of the hydraulic support leg 51. And the hydraulic system is provided with a platform overload automatic protection device, thereby protecting the safety of operators in normal work or special conditions of peripheral equipment in the large arm tail end operation room, and each section of working arms 122, 123 and 124 of the crank arm lifting mechanism 1 is provided with a limiting device.
The system operation height of the device can reach 18 meters, the rated load of the tail end operation room 2 is designed to be 200-400 kg, the crank arm can rotate 360 degrees around the chassis, and the two positions of each working arm and the two positions of the operation room 2 can be operated and adjusted to the required position and posture. Four hydraulic support legs 51 are assembled on the vehicle, and the support legs are H-shaped, so that the stability and the safety of the whole vehicle during operation are ensured.
The whole device is provided with diesel engine power in standard mode, bus intelligent control, proportional control, emergency pump, loudspeaker, working time meter, inclination alarm, 360-degree discontinuous rotation of crank arm, automatic leveling platform, circuit fault code display, platform hydraulic swing, engine restarting protection, engine glow plug preheating device, rotary stroboscopic lamp, 4*2 drive, platform weighing limiting function, platform working lamp and foot switch. Alternative configurations include: direct current, alternating current and direct current, diesel and electricity dual-purpose, cab and the like.
Referring to fig. 4, the control method for calibrating the all-position crawling welding robot comprises the following steps:
calibrating a teaching track, and inputting a welding gun and measuring;
secondly, sending welding gun and measurement deviation to a sensor;
opening the laser and sending a calibration task number;
Performing calibration teaching tracks;
fifthly, sending the TCP user coordinates to the sensor;
is the teaching trace done is the determination made? If not, returning to the step, if yes, entering a next step;
and turning off the laser, and completing calibration.
Referring to fig. 5, the welding control method for the all-position crawling welding robot comprises the following steps:
the method comprises the steps of (1) teaching locating; teaching welding;
secondly, inputting a task number of a welding line type;
opening the laser and sending a calibration task number;
performing calibration teaching tracks;
judging whether a welding line is found stably: if not, returning to the step, if yes, entering a next step;
closing the laser, and returning to the starting point of the welding line;
turning on the laser, performing welding teaching and compensating according to the sensor;
judging whether to end: if not, returning to the step D; if yes, entering a next step;
and turning off the laser, and completing welding.
Referring to fig. 6, the control method for calibrating the all-position crawling welding robot comprises the following steps:
the method comprises the steps of (1) teaching a scanning track;
secondly, inputting a task number of a welding line type;
opening the laser and executing scanning teaching;
transmitting TCP user coordinates to the sensor;
is it decided to finish the teaching trace? If not, returning to the step, if yes, entering a next step;
Closing the laser;
requesting a welding track point;
performing welding tracks;
judging whether the welding track is finished or not, if not, returning to the step (S), and if yes, entering a next step;
and (3) finishing welding.
Referring to fig. 3 to 7, a welding method for calibrating an all-position crawling welding robot includes the following steps:
the method comprises the steps that a working operation room 2 is quickly moved to the vicinity of a workpiece initial working position through a combined master control operation table 11, a monitoring display 13 and a wireless remote control terminal 14, and a movable connecting bridge 21 is controlled to be in place through a tail end monitoring camera 23 and an opening and closing oil cylinder of the working room 2;
the crawling operation robot 3 starts crawling operation according to the planned non-collision path, the cable winding mechanism 245 automatically pays out wires, and the tail end operation workshop 2 moves or moves in a clearance mode along with the crawling welding robot 3 according to operation condition requirements;
the sensor automatically searches the position of the weld seam starting point, transmits three-dimensional track data of the weld seam and width data of the weld seam to the crawling welding robot controller 244 in real time, and the crawling robot controller 244 cooperatively controls a welding machine system formed by a welding power supply, the weld seam tracker 126 and the crawling robot controller 244, performs task path planning, welding gun gesture generation and real-time deviation correction;
The controller of the crawling robot system and the controller 244 of the crawling robot body, the controller 43 of the weld tracker and the controller 44 of the welding machine system adopt EtherCat, gigE and CANopen to realize control signal transmission and operation data feedback respectively; the movable walking crank arm lifting platform controller 42 is interconnected with the movable walking mechanism controller 46, the crank arm lifting mechanism controller 47 and the tail end operation room controller 48 through CANopen and RS485 serial ports, so that the movable walking self-locking, crank arm rotation, crank arm lifting, operation room 2 opening and closing and operation room 2 following the clearance movement of the crawling robot are realized;
and at the moment, if abnormal audible and visual alarm occurs to the system, or the system automatically interrupts welding operation when the system spans a larger obstacle or moves a larger distance according to task requirements, the crawling robot 3 returns to the tail end operation room according to a set path, and an operator operates the wireless remote control terminal to quickly move the tail end operation room 2 to a new operation position or interrupt operation position to restart operation.
The foregoing description is only of the preferred embodiments of the invention, and all changes and modifications that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (6)
1. An auxiliary welding device for an all-position crawling welding robot comprises a 360-degree rotary hydraulic crank lifting mechanism assembly, a control operation room flexibly moving to the surface and the periphery of any operation position of a large-sized component,
a crawling welding robot, an electric control device and peripheral devices of the whole machine are arranged in the operation room;
it is characterized in that the method comprises the steps of,
the electric control equipment comprises a combined master control operation table, a crawling robot system controller and a movable walking crank arm lifting platform controller,
the crawling robot system controller is respectively in control signal transmission and operation data feedback with the crawling robot controller, the welding seam tracker controller and the welding machine system controller through EtherCat, gigE and CANopen;
the crawling robot controller realizes control signal transmission and operation data feedback through EtherCat, the crawling robot trolley and the servo of each joint, and the weld tracker controller realizes control signal transmission and operation data feedback through GigE and a weld detection visual sensor;
the movable walking crank arm lifting platform controller is connected with the movable walking mechanism controller, the crank arm lifting mechanism controller and the operation room controller through CANopen and RS485 serial ports, so that the platform trolley can realize movable walking self-locking, crank arm rotation, crank arm lifting, opening and closing of the operation room and clearance movement of the operation room following crawling robot;
The movable running mechanism controller realizes control signal transmission and operation data feedback with the monitoring camera and the operation inter-opening and closing cylinder through WIFI/5G, CANopen;
the crank lifting mechanism controller realizes control signal transmission and operation data feedback through the CANopen and crank rotation and crank lifting oil cylinder and the landing leg oil cylinder;
the movable running mechanism controller realizes control signal transmission and operation data feedback through the CANopen, the movable running mechanism and the driving mechanism.
2. The auxiliary welding device for the all-position crawling welding robot according to claim 1, wherein the 360-degree rotary hydraulic crank lifting mechanism assembly consists of a combined master control console and a crank lifting mechanism which are arranged on a carrier; the crank arm lifting mechanism adopts a three-section hydraulic folding working arm to be rigidly connected with a tail end operation room; the crank arm lifting mechanism consists of a welding operation arm pivoted on the combined master control operation table through a first pivot and a first crank arm pivoted on one end of the welding operation arm through a second pivot; the welding operation arm and the first crank arm are driven by a cylinder.
3. The auxiliary welding device for the all-position crawling welding robot according to claim 1, wherein the operation room is rigidly connected with the second crank arm, a movable connecting bridge is arranged on the outer side of the operation room, the movable connecting bridge bears a stable transition between the crawling welding robot and a workpiece, the movable connecting bridge is connected with a pair of hydraulic cylinder systems through a group of hinges, an angle required by the transition between the crawling welding robot and the surface of the workpiece is ensured, a camera is mounted on the second crank arm right below the movable connecting bridge, peripheral equipment for the welding robot is arranged on the operation room, the peripheral equipment comprises a welding power supply, a wire feeder, a welding wire barrel, a protective gas mixture, a crawling robot controller and a cable hoisting mechanism, and power supply and communication of the peripheral equipment are connected to a relay box and a combined general control console on a lower chassis from a lifting mechanism through special cables.
4. The auxiliary welding device for the all-position crawling welding robot according to claim 3, wherein the crawling welding robot comprises a permanent magnet four-wheel drive moving platform, a six-degree-of-freedom welding mechanical arm carried on the moving platform, a support frame fixedly arranged on the welding mechanical arm, a second crank arm pivoted with the support frame through a third pivot, a third crank arm pivoted with the other end of the second crank arm through a fourth pivot, a first connecting arm pivoted with the other end of the third crank arm through a fifth pivot, a second connecting arm pivoted with the first connecting arm through a sixth pivot, a welding gun fixedly arranged on the second connecting arm, a welding seam tracker fixedly arranged on the end part of the second connecting arm and a molten pool monitoring camera; the welding seam tracker for welding is arranged on the tail end shaft of the second connecting arm, the central line of the welding seam tracker and the central line of the welding gun on the tail end shaft of the second connecting arm are positioned on the same horizontal plane in space, and the relative displacement is fixed; the welding seam tracker automatically searches positions of a welding seam starting point, three-dimensional track data of a welding seam and welding seam width data are transmitted to the crawling welding robot controller in real time, and the crawling robot controller cooperatively controls a welding machine system, the welding seam tracker and the crawling robot system formed by a welding power supply, works task path planning, welding gun gesture generation and real-time deviation correction.
5. The auxiliary welding device for the all-position crawling welding robot according to claim 1, wherein the crawling welding robot, the movable walking device, the chassis, the crank lifting mechanism and the operation room are electrically connected; the crawling welding robot is used for simultaneously tracking a molten pool and detecting the quality of a welded welding bead, a required molten pool monitoring camera and welding bead detecting equipment are arranged on a mechanical arm at the tail end of the crawling robot and are electrically connected with a crawling robot controller, and acquired images and detection data are transmitted to a display screen of a main control operation console on a chassis through Ethernet communication to display shooting images and analysis data; the following movement is controlled by a wireless remote control terminal or a combined master control operation table on the chassis according to the walking distance and direction of the crawling robot and by combining with a monitoring camera of a working operation room.
6. A welding method for an all-position crawling welding robot, comprising the steps of:
the method comprises the steps of quickly moving an operation room to the vicinity of a workpiece starting operation position through a combined master control operation table, a monitoring display and a wireless remote control terminal, and controlling a movable connecting bridge to be in place through a tail end monitoring camera and an opening and closing oil cylinder of the operation room;
The crawling operation robot starts crawling operation according to the planned non-collision path, the cable hoisting mechanism automatically pays out wires, and the tail end operation room moves or moves in a clearance mode along with the crawling welding robot according to operation condition requirements;
thirdly, the weld seam tracking sensor automatically searches the weld seam starting and stopping point, three-dimensional track data of the weld seam and width data of the weld seam are transmitted to the crawling welding robot controller in real time, and the crawling robot controller cooperatively controls a welding machine system, a weld seam tracker and the crawling robot system formed by a welding power supply, works task path planning, welding gun gesture generation and real-time deviation correction;
the controller of the crawling robot system, the controller of the crawling robot body, the controller of the weld tracker and the controller of the welding machine system adopt EtherCat, gigE and CANopen to realize control signal transmission and operation data feedback respectively; the movable walking crank arm lifting platform controller is interconnected with the movable walking mechanism controller, the crank arm lifting mechanism controller and the tail end operation room controller through CANopen and RS485 serial ports, so that the platform trolley can realize movable walking self-locking, crank arm rotation, crank arm lifting, opening and closing of the operation room and clearance movement of the operation room along with the crawling robot;
And fifthly, if abnormal audible and visual alarm occurs to the crawling robot system or the welding machine system, or the crawling robot system or the welding machine system automatically interrupts welding operation when the crawling robot system or the welding machine system crosses a larger obstacle or moves a larger distance according to task requirements, the crawling robot returns to the tail end operation room according to a set path, and an operator operates the wireless remote control terminal to quickly move the tail end operation room to a new operation position or interrupt operation position to restart operation.
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| CN117245303A (en) * | 2023-11-03 | 2023-12-19 | 杭萧钢构（山东）有限公司 | Welding robot suitable for large-sized steel member and welding method thereof |
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| CN109604830B (en) * | 2018-07-25 | 2021-04-23 | 同高先进制造科技（太仓）有限公司 | Accurate welding seam tracking system for laser welding of active laser vision guiding robot |
| CN109927047B (en) * | 2019-04-11 | 2021-12-03 | 上海工程技术大学 | Axial tracking system and method for straight butt weld of arc welding robot |
| CN210115606U (en) * | 2019-04-15 | 2020-02-28 | 南京英尼格玛工业自动化技术有限公司 | Intelligent omnidirectional moving welding robot |
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