CN114378502A - Mobile robot for automatic continuous welding of right-angle fillet weld - Google Patents
Mobile robot for automatic continuous welding of right-angle fillet weld Download PDFInfo
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- CN114378502A CN114378502A CN202210291943.9A CN202210291943A CN114378502A CN 114378502 A CN114378502 A CN 114378502A CN 202210291943 A CN202210291943 A CN 202210291943A CN 114378502 A CN114378502 A CN 114378502A
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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
- B23K37/0294—Transport carriages or vehicles
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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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Abstract
The invention discloses a mobile robot for automatically and continuously welding right-angle fillet welds, which comprises a chassis frame, a screw rod lifting mechanism, a rotary magnetic disc mechanism, a cross screw rod mechanism and a welding torch clamping mechanism, wherein the rotary magnetic disc mechanism penetrates through the chassis frame to be connected with the screw rod lifting mechanism, and the screw rod lifting mechanism can drive the chassis frame and the rotary magnetic disc mechanism to mutually approach or separate; when the rotary magnetic disk mechanism is adsorbed on the ground, the rotary magnetic disk mechanism can drive the whole device to rotate in the horizontal plane; the welding torch clamping mechanism is connected with the cross screw rod mechanism, and the cross screw rod mechanism drives the welding torch to move in the horizontal plane and the vertical plane. The welding torch can be driven to rotate by adjusting the position of the welding torch through the rotary magnetic disc mechanism and the cross screw rod mechanism, so that the continuous and stable welding work at a right-angle fillet weld can be finished, and the problems of discontinuous welding, uneven surfacing, penetration welding and the like in the welding work can be effectively avoided.
Description
Technical Field
The invention relates to the technical field of special robot equipment, in particular to a mobile robot for automatic continuous welding of right-angle fillet welds.
Background
The mobile welding robot can flexibly move in a plane and is provided with a welding torch, and can be divided into a crawler type, a foot type and a wheel type according to different movement modes, each movement mode has advantages and disadvantages, but the wheel type has the advantages of high movement speed, high flexibility, strong stability and the like. Therefore, the current mobile welding robot mostly uses wheeled movement as the main thing, but because the phenomenon of skidding between wheel and the contact surface is inevitable, consequently can't very accurate completion use the automobile body position as the right angle turn of central non-skew, so can't accomplish ninety degrees dog-ear adherence welding work in succession. The mobile welding robot needs to have good adaptability to most complex welding conditions and ensure two basic functions of stability of a welding torch and continuity of welding in the welding process. Found through literature retrieval, the current wheeled mobile welding robot that fuses magnetic adsorption can realize plane fillet welding, perpendicular angle welding, flat butt joint, violently butt joint, found to dock and weld many types such as face up.
The 'multi-working-position automatic welding tractor' related to patent No. 201120117194.5 is driven by a motor power transmission gear set to drive a driving shaft, and then power is transmitted to a driven shaft through a synchronous transmission belt. In addition, the magnet is arranged in the vehicle body base shell, so that the contact pressure between the wheel and the welding plate can be increased to a certain degree. However, the driving mode cannot realize turning, only can completely depend on the reverse thrust generated by the adherence of the contact sensor to complete small-amplitude turning, and cannot complete rotation at ninety degrees. The patent with application number 200510086382.5 relates to a magnetic adsorption wall climbing robot with curved surface self-adaptive capacity, which comprises a wheel type moving mechanism and a plurality of permanent magnetic adsorption devices, wherein one ends of the permanent magnetic adsorption devices are supported on a magnetic conduction wall surface through auxiliary supporting wheels, and the other ends of the permanent magnetic adsorption devices are connected with a chassis through the curved surface self-adaptive mechanism with one to three rotational degrees of freedom. The patent with application number 201010289327.7 relates to a wheel type obstacle-crossing wall-climbing robot, which comprises three groups of movable adsorption mechanisms capable of lifting, and is characterized in that the movable adsorption mechanisms are high in moving speed, and can realize crossing of obstacles by means of sequential lifting of the three groups of movable adsorption mechanisms, but because the posture of a permanent magnetic adsorption device relative to a vehicle body can not be adjusted, safe adsorption on a cylindrical wall surface with a small curvature radius is difficult to realize, and the robot does not have cross wall surface transition capacity. The utility model provides a "a non-contact magnetism that adapts to complicated wall operation adsorbs wall climbing robot" that application number is 201710582547.0 relates to adopts crawler-type moving mechanism and non-contact magnetism to adsorb the device, and its characteristics are that the translation rate is fast, utilizes the flexibility of track can realize the automatic adaptation of little curvature cylinder wall, but the track is big with the frictional resistance of wall, and the motion flexibility is limited, and does not possess alternately wall transitional ability.
In conclusion, the existing automatic welding trolley has defects in the aspects of stability and tracking precision of welding seam tracking, adaptation of welding environment and incapability of finishing coherent welding of right-angle fillet welds. In addition, different automatic welding trolleys cannot automatically adjust the pose of the welding torch, so that the welding of the welding seam can not be finished in an optimal posture in real time, and poor welding conditions such as intermittent welding, uneven surfacing, penetration welding and the like are caused.
Disclosure of Invention
The invention aims to provide a mobile robot for automatically and continuously welding a right-angle fillet weld, which is used for completing continuous and stable welding work at the right-angle fillet weld and solving the problems of discontinuous welding, uneven surfacing, penetration welding and the like in the welding work.
The invention is realized by the following technical scheme:
a mobile robot for automatic coherent welding of right-angle fillet welds comprises a chassis frame, a screw rod lifting mechanism, a rotary magnetic disc mechanism, a cross screw rod mechanism and a welding torch clamping mechanism, wherein the screw rod lifting mechanism and the cross screw rod mechanism are arranged on the chassis frame; when the rotary magnetic disk mechanism is adsorbed on the ground, the rotary magnetic disk mechanism can drive the whole device to rotate in a horizontal plane; the welding torch clamping mechanism is connected with the cross screw rod mechanism, and the cross screw rod mechanism drives the welding torch clamping mechanism to move in the horizontal plane and the vertical plane. In order to solve the problems, according to the mobile robot for automatically and continuously welding the right-angle fillet weld, when welding work is performed to the right-angle weld, the magnetic disc in the rotary magnetic disc mechanism can adsorb the device at the right-angle weld, the device integrally rotates by taking the center of the magnetic disc as a rotation center, the rotation center does not deviate at the moment and can realize 90-degree rotation, meanwhile, the position of the welding torch clamping mechanism is adjusted in real time in a horizontal plane and a vertical plane through the cross screw rod mechanism, the distance between the welding point of the welding torch and the weld is guaranteed to be kept stable, and the welding work can be effectively completed. In conclusion, the invention can complete continuous and stable welding work at the right-angle fillet weld, and can effectively avoid the problems of discontinuous welding, uneven surfacing, penetration welding and the like in the welding work.
The further technical scheme is as follows:
the lead screw lifting mechanism comprises an installation frame a, a lead screw a and a lead screw nut a, the installation frame a is fixed on the top of the chassis frame, the lead screw a is vertically arranged in the installation frame a, and the top of the installation frame a is provided with a motor installation seat a for installing a motor;
the screw rod nut a is matched with the screw rod a and is connected with the rotary magnetic disk mechanism;
the screw rod a rotates and drives the screw rod nut a to move upwards or downwards.
Further: the rotary magnetic disk mechanism comprises a magnetic disk, a magnetic disk rotating motor and a connecting piece, wherein one end of the connecting piece is connected with the screw rod nut, the other end of the connecting piece is provided with the magnetic disk rotating motor, and the output end of the magnetic disk rotating motor is vertically downward;
further: the connecting piece penetrates through the chassis frame and can move along the vertical direction.
Further: the disk rotating motor is connected with the disk through a crossed roller bearing, the crossed roller bearing is fixed on the disk top, and the disk rotating motor is fixed on the connecting piece.
Further: the cross screw mechanism comprises a vertical screw mechanism, a horizontal screw mechanism and a welding torch connecting assembly, the vertical screw mechanism is vertically arranged on the chassis frame, the horizontal screw mechanism and the vertical screw mechanism are arranged, and the vertical screw mechanism drives the horizontal screw mechanism to vertically ascend or descend;
further: the welding torch connecting assembly is connected with the horizontal screw rod mechanism, and the horizontal screw rod mechanism drives the welding torch connecting assembly to move forwards or backwards horizontally.
Further: the vertical screw rod mechanism comprises an installation rack b, a screw rod b and a screw rod nut b, the installation rack b is fixed on the top of the chassis frame, the screw rod b is vertically arranged in the installation rack b, and the top of the installation rack b is provided with a motor installation seat b for installing a motor;
further: the horizontal screw rod mechanism comprises an installation rack c, a screw rod c and a screw rod nut c, the installation rack c is horizontally connected to the screw rod nut b, the screw rod c is horizontally arranged in the installation rack c, and a motor installation seat c for installing a motor is arranged at one end of the installation rack c;
further: the welding torch connecting assembly comprises a connecting plate and a welding torch mounting plate, one end of the connecting plate is connected with the lead screw nut c, and the other end of the connecting plate is connected with the welding torch mounting plate.
Further: the welding torch clamping mechanism comprises an angle adjusting piece and a welding torch clamping piece, the angle adjusting piece is arranged on the welding torch mounting plate and can rotate in the plane of the welding mounting plate, and the welding torch clamping piece is connected with a rotating part of the angle adjusting piece.
Further: the guide wheel telescoping mechanism comprises a crank rocker assembly and a guide rail sliding block assembly, a crank of the crank rocker assembly is rotatably connected with a connecting piece of the rotary magnetic disk mechanism, a rocker of the crank rocker assembly is rotatably connected with a sliding block of the guide rail sliding block assembly, a guide rail of the guide rail sliding block assembly is arranged on the side wall of the chassis frame, and the sliding block can slide along the guide rail;
further: the guide wheel telescopic mechanism further comprises a guide wheel assembly, the guide wheel assembly comprises a sliding plate, a guide wheel and a guide wheel mounting seat, the sliding plate is connected with the sliding block, and the guide wheel is arranged at one end of the sliding plate through the guide wheel mounting seat;
further: and a contact type sensor is arranged on the guide wheel.
Further: the welding torch cable retaining assembly comprises a fixing base, a sliding groove plate and a cable fixing ring, the fixing base is arranged on the chassis frame, and the fixing base is connected with the sliding groove plate through the sliding groove plate fixing assembly;
further: the cable fixing ring is fixed on the chute plate through a fastening bolt, and a threaded rod section of the fastening bolt penetrates through a sliding groove formed in the chute plate and is connected with the cable fixing ring.
Further: a contact switch is arranged at the foremost end of the advancing direction of the device;
further: and the output shaft of the disk rotating motor is provided with a speed reducer and an angle sensor.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the mobile robot for the automatic continuous welding of the right-angle fillet weld, when the welding work is carried out to the right-angle weld, the magnetic disc in the rotary magnetic disc mechanism can adsorb the device at the right-angle weld, the device integrally rotates by taking the center of the magnetic disc as a rotation center, the rotation center does not deviate at the moment and can realize 90-degree rotation, and meanwhile, the position of the welding torch clamping mechanism is adjusted in a horizontal plane and a vertical plane in real time through the cross screw rod mechanism, so that the distance between the welding point of a welding torch and the weld is kept stable, and the welding work can be effectively finished. In conclusion, the invention can complete continuous and stable welding work at the right-angle fillet weld, and can effectively avoid the problems of discontinuous welding, uneven surfacing, penetration welding and the like in the welding work;
2. according to the mobile robot for the automatic continuous welding of the right-angle fillet weld, the welding clamping mechanism comprises the angle adjusting piece, and the welding angle of the welding torch can be adjusted through the angle adjusting piece, so that the requirements of different welding methods on the welding angle can be effectively met;
3. the invention relates to a mobile robot for automatic continuous welding of right-angle fillet welds, wherein a guide wheel in a guide wheel telescopic mechanism can realize the guiding of a device in the linear welding construction process, the guide wheel can be abutted against the side wall of the weld at the moment, and a contact sensor arranged on the guide wheel can monitor the contact condition between the guide wheel and the side wall of the weld in real time, so that the movement of the robot is adjusted, the robot can be ensured to move along the weld, and the contact type tracing function is realized; meanwhile, when the right-angle fillet welding is carried out, the guide wheel telescopic mechanism is connected with the connecting piece of the rotary magnetic disc mechanism through the crank rocker assembly, and before the right-angle welding work is carried out, the chassis frame rises to drive the guide wheel telescopic mechanism to contract, so that the extending guide wheel structure is prevented from influencing the right-angle rotation action; when the chassis frame contacts the ground again, the guide wheel telescopic mechanism stretches out again, the guide wheel contacts the side wall of the welding seam again, and the contact type tracing function is continuously completed.
4. The invention relates to a mobile robot for automatically and continuously welding right-angle fillet welds, wherein a welding torch cable holding assembly is mainly used for fixing cables, so that the influence of the cables on the pose of a welding torch in the welding process is avoided, the welding work can be smoothly and effectively finished, and meanwhile, the safety problem caused by scattered cables can be avoided.
5. According to the mobile robot for the automatic continuous welding of the right-angle fillet weld, all actions of the device are monitored by information acquisition equipment such as a sensor, and all movements are controlled by the acquired information, so that the automatic welding is realized, the difficulty of welding work is reduced, and meanwhile, the investment of manpower is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that for those skilled in the art, other related drawings can be obtained from these drawings without inventive effort. In the drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the connection structure of the screw lifting mechanism and the rotary disk mechanism according to the present invention;
FIG. 3 is a schematic view of the connection structure of the cross screw mechanism and the torch clamping mechanism according to the present invention;
FIG. 4 is a detailed view of the connection structure of the cross screw mechanism and the torch clamping mechanism according to the present invention;
FIG. 5 is a schematic view of the connection structure of the guide wheel retracting mechanism and the rotary disk mechanism of the present invention;
FIG. 6 is a schematic structural view of a guide wheel retracting mechanism of the present invention;
FIG. 7 is a schematic view of the torch cable retention assembly of the present invention;
FIG. 8 is a second structural diagram of the present invention.
Reference numbers and corresponding part names in the drawings:
1-chassis frame, 2-screw lifting mechanism, 3-rotary disk mechanism, 4-cross screw mechanism, 5-torch clamping mechanism, 6-guide wheel telescopic mechanism, 7-torch cable holding component, 8-contact switch, 21-mounting frame a, 22-screw a, 23-motor mounting seat a, 24-screw nut a, 31-disk, 32-disk rotary motor, 33-connecting piece, 34-cross roller bearing, 41-vertical screw mechanism, 42-horizontal screw mechanism, 43-torch connecting component, 51-angle adjusting piece, 52-torch clamping piece, 61-crank rocker component, 62-guide rail component, 63-guide wheel component, 71-fixed base, 72-chute plate, 73-cable fixing ring, 74-chute plate fixing component, 75-fastening bolt, 411-mounting frame b, 412-screw rod b, 413-screw rod nut b, 414-motor mounting seat b, 421-mounting frame c, 422-screw rod c, 423-screw rod nut c, 424-motor mounting seat c, 431-connecting plate, 432-welding torch mounting plate, 611-crank, 612-rocker, 621-slide block, 622-guide rail, 631-slide plate, 632-guide wheel and 633-guide wheel mounting seat.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.
Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "upper", "lower", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the scope of the present invention.
Example 1
As shown in fig. 1 to 8, the mobile robot for the automatic coherent welding of the right-angle fillet weld of the present invention includes a chassis frame 1, a lead screw lifting mechanism 2, a rotary magnetic disk mechanism 3, a cross lead screw mechanism 4 and a welding torch clamping mechanism 5, wherein the lead screw lifting mechanism 2 and the cross lead screw mechanism 4 are both disposed on the chassis frame 1, the rotary magnetic disk mechanism 3 passes through the chassis frame 1 and is connected with the lead screw lifting mechanism 2, and the lead screw lifting mechanism 2 can drive the chassis frame 1 and the rotary magnetic disk mechanism 3 to approach or move away from each other; in the embodiment, when the linear weld joint welding is carried out, the rotary magnetic disc mechanism 3 is contracted below the chassis frame 1, wheels of the chassis frame 1 are contacted with the ground, the device moves along the linear weld joint through the motor and the gear transmission structure, and the welding work of the linear weld joint is completed; when the contact switch 8 is triggered, the motor of the wheel is controlled to stop working, meanwhile, the motor in the screw rod lifting mechanism 2 starts working, the rotary magnetic disk mechanism 3 is driven to move downwards at first, and after the rotary magnetic disk mechanism 3 is contacted with the ground, the motor in the screw rod lifting mechanism 2 continues moving to lift the chassis frame 1 together with the mechanism arranged on the chassis frame, so that the wheel leaves the ground to ensure that the motor in the rotary magnetic disk mechanism 3 can drive the whole device to rotate subsequently.
When the rotary disk mechanism 3 is adsorbed on the ground, the rotary disk mechanism 3 can drive the whole device to rotate in a horizontal plane; in this embodiment, after the rotary disk mechanism 3 is attached to the ground, the device can rotate around the disk 31, and the rotation center of the device does not shift during rotation, thereby ensuring that the device can stably complete 90 ° rotation.
The welding torch clamping mechanism 5 is connected with the cross screw rod mechanism 4, and the cross screw rod mechanism 4 drives the welding torch clamping mechanism 5 to move in horizontal and vertical planes. In the embodiment, the cross screw mechanism 4 moves in the horizontal and vertical directions to drive the connection to move together with the welding torch thereon, so that the position of the welding torch is adjusted, the welding head of the welding torch is ensured to be constantly in contact with the welding seam and complete welding.
The lead screw lifting mechanism 2 comprises a mounting frame a21, a lead screw a22 and a lead screw nut a24, the mounting frame a21 is fixed at the top of the chassis frame 1, the lead screw a22 is vertically arranged in the mounting frame a21, and the top of the mounting frame a21 is provided with a motor mounting seat a23 for mounting a motor; the feed screw nut a24 is matched with the feed screw a22, and the feed screw nut a24 is connected with the rotary disk mechanism 3; the lead screw a22 rotates and drives the lead screw nut a24 to move upwards or downwards. As shown in fig. 2, in this embodiment, the mounting bracket a21 is an "L" shaped plate structure including a horizontal plate and a vertical plate, the horizontal plate of the mounting bracket a21 is fixed on the top of the chassis frame 1 by bolts, and a bearing adapted to the lead screw a22 is arranged in the center of the horizontal plate, and a bearing is also arranged at the other end of the lead screw a22 and is fixed on the vertical plate by a bearing seat; at the moment, a stepping motor is arranged on a motor mounting seat a23 arranged at the other end of the vertical plate to drive a screw rod a22, so that a screw rod nut a24 can move up and down along the screw rod a22, and the stepping motor is connected with the screw rod a22 through a coupler. In order to ensure the stability of the up-and-down movement of the feed screw nut a24, a guide structure for guiding the feed screw nut a24 in the vertical direction is arranged on the vertical plate, and a slide block and slide rail structure is preferred in the embodiment; meanwhile, an upper limiter and a lower limiter are arranged on the vertical plate, when the upper limiter or the lower limiter is triggered, a signal can be sent to a PLC or other processing devices, and the motor is controlled by a driver of the corresponding motor to stop working.
The rotary disk mechanism 3 comprises a disk 31, a disk rotating motor 32 and a connecting piece 33, wherein one end of the connecting piece 33 is connected with the screw rod nut a24, the other end of the connecting piece 33 is provided with the disk rotating motor 32, and the output end of the disk rotating motor 32 faces vertically downwards; the connecting piece 33 penetrates the chassis frame 1 and is movable in the vertical direction. In this embodiment, in order to raise and lower the rotary disk mechanism 3, the connection with the lead screw nut a24 is realized through the connecting piece 33, so that the raising and lowering actions of the lead screw nut a24 drive the raising and lowering of the whole rotary disk mechanism 3 connected with it; when the welding work of a right-angle fillet is required, firstly, the rotary magnetic disk mechanism 3 is driven to descend by the lead screw lifting mechanism 2 until the magnetic disk 31 contacts the ground and is adsorbed on the ground, and then the lead screw nut a24 can lift the whole chassis frame 1 connected with the mechanism arranged on the chassis frame up by continuing to work until the wheels leave the ground and the magnetic disk rotating motor 32 can drive the chassis frame 1 to complete the rotation; after the chassis frame 1 is lifted in place, the disk rotating motor 32 starts to drive the chassis frame 1 until the chassis frame 1 rotates 90 degrees and welding work of right-angle fillet is completed, the lead screw lifting mechanism 2 firstly drives the chassis frame 1 to descend until wheels are contacted with the ground again, then the lead screw lifting mechanism 2 continues to work and drives the rotary disk mechanism 3 to ascend and contract to the lower part of the chassis frame 1, and at the moment, the rotary disk mechanism 3 cannot influence the movement of the chassis frame 1.
The disk rotation motor 32 is connected to the disk 31 through a cross roller bearing 34, the cross roller bearing 34 is fixed to the top of the disk 31, and the disk rotation motor 32 is fixed to the connecting member 33. In this embodiment, the crossed roller bearing 34 is preferably adopted to ensure that the disk rotating motor 32 can stably and effectively drive the chassis frame 1 to rotate mainly by utilizing the advantages of high rotation precision, simple operation and installation, capability of bearing larger axial and radial loads, and the like.
The cross screw mechanism 4 comprises a vertical screw mechanism 41, a horizontal screw mechanism 42 and a welding torch connecting assembly 43, the vertical screw mechanism 41 is vertically arranged on the chassis frame 1, the horizontal screw mechanism 42 and the vertical screw mechanism 41 are arranged, and the vertical screw mechanism 41 drives the horizontal screw mechanism 42 to vertically ascend or descend; the welding torch connecting assembly 43 and the horizontal screw mechanism 42, and the horizontal screw mechanism 42 drives the welding torch connecting assembly 43 to move forward or backward horizontally. Because the distance between the welding head of the welding torch and the welding seam is changed in the rotating, ascending and descending processes of the chassis frame 1, the position of the welding head of the welding torch needs to be adjusted in real time during movement, and the welding part can be ensured to weld the welding seam effectively. In this embodiment, the vertical screw mechanism 41 moves in the vertical direction to drive the horizontal screw mechanism 42 connected thereto to move in the vertical direction, and the horizontal screw mechanism 42 drives the welding torch connecting assembly 43 connected thereto to move in the horizontal direction, so as to drive the welding torch clamping mechanism 5 disposed on the welding torch connecting assembly 43 to perform position adjustment in the vertical and horizontal directions, and finally determine the position of the welding head of the lower welding torch, thereby ensuring that the welding portion is always in contact with the welding seam and performing welding operation of the welding seam effectively. Meanwhile, a horizontal screw rod mechanism 42 can drive a vertical screw rod mechanism 41, then the welding torch connecting assembly 43 is driven by the vertical screw rod mechanism 41, the position of a welding head of a lower welding torch is finally determined, and the welding part is ensured to be always in contact with a welding seam and effectively weld the welding seam.
The vertical screw rod mechanism 41 comprises a mounting frame b411, a screw rod b412 and a screw rod nut b413, the mounting frame b411 is fixed on the top of the chassis frame 1, the screw rod b412 is vertically arranged in the mounting frame b411, and a motor mounting seat b414 for mounting a motor is arranged at the top of the mounting frame b 411; in this embodiment, the specific structure of the vertical screw mechanism 41 is similar to the structure of the screw lifting mechanism 2, and the movement mode is also similar, the difference is that the vertical screw mechanism 41 is used for driving the rotary disk mechanism 3 to ascend and descend with the screw lifting mechanism 2, and the vertical screw mechanism 41 is used for driving the horizontal screw mechanism 42 to ascend and descend.
The horizontal screw rod mechanism 42 comprises a mounting frame c421, a screw rod c422 and a screw rod nut c423, the mounting frame c421 is horizontally connected to the screw rod nut b413, the screw rod c422 is horizontally arranged in the mounting frame c421, and one end of the mounting frame c421 is provided with a motor mounting seat c424 for mounting a motor; the specific structure of the horizontal screw mechanism 42 in this embodiment is similar to the structure of the screw lifting mechanism 2, and the movement manner is also similar, except that the horizontal screw mechanism 42 is used to drive the welding torch connecting assembly 43 forward or backward in the horizontal direction (here, "forward" indicates a direction close to the welding seam, and "backward" indicates a direction away from the welding seam).
The torch connecting assembly 43 includes a connecting plate 431 and a torch mounting plate 432, wherein one end of the connecting plate 431 is connected to the lead screw nut c423, and the other end of the connecting plate 431 is connected to the torch mounting plate 432. In this embodiment, the two connecting plates 431 are respectively connected to the upper portion and the lower portion of the lead screw nut c423, and the welding torch mounting plate 432 is connected to the two connecting plates 431 and used for mounting the welding torch clamping mechanism 5, so that the structural stability is higher, the mounting stability of the welding torch clamping mechanism 5 is higher, and the welding torch clamping mechanism 5 can stably perform welding operation during welding.
The torch clamping mechanism 5 includes an angle adjusting member 51 and a torch clamping member 52, the angle adjusting member 51 is disposed on the torch mounting plate 432, the angle adjusting member 51 is rotatable in the plane of the torch mounting plate 432, and the torch clamping member 52 is connected to a rotating portion of the angle adjusting member 51. In this embodiment, the angle adjusting member 51 can adjust the welding angle, so that the device can meet the requirements of various welding modes on the welding angle, and the device can effectively weld the welding seam.
The device also comprises a guide wheel telescoping mechanism 6, wherein the guide wheel telescoping mechanism 6 comprises a crank rocker assembly 61 and a guide rail sliding block assembly 62, a crank 611 of the crank rocker assembly 61 is rotationally connected with a connecting piece 33 of the rotary magnetic disk mechanism 3, a rocker 612 of the crank rocker assembly 61 is rotationally connected with a sliding block 621 of the guide rail sliding block assembly 62, a guide rail 622 of the guide rail sliding block assembly 62 is arranged on the side wall of the chassis frame 1, and the sliding block 621 can slide along the guide rail 622; the guide wheel telescopic mechanism 6 further comprises a guide wheel assembly 63, the guide wheel assembly 63 comprises a sliding plate 631, a guide wheel 632 and a guide wheel mounting seat 633, the sliding plate 631 is connected with the sliding block 621, and the guide wheel 632 is arranged at one end of the sliding plate 631 through the guide wheel mounting seat 633; in order to ensure that the device can always move along the welding line when performing linear welding line welding so as to complete the welding work of the linear welding line, the guide wheel 632 is arranged to guide the movement; meanwhile, in order to avoid the influence of contact between the guide wheel 632 and the side wall of the weld seam during the rotation of the chassis frame 1, a guide wheel telescoping mechanism 6 is provided to realize inward contraction and outward extension of the guide wheel 632 (here, inward contraction means that the guide wheel 632 moves towards the direction close to the chassis frame 1, and outward extension means that the guide wheel 632 moves away from the chassis frame 1). When the right-angle fillet weld is welded, the crank 611 drives the rocker 612 to move from an inclined position to a vertical position in the process of ascending the chassis frame 1, and the rocker 612 drives the slider 621 to move along the guide rail 622 in the direction away from the side wall of the weld, so as to drive the sliding plate 631, the guide wheel mounting seat 633 arranged on the sliding plate 631 and the guide wheel 632 to move together, and thus the effect of shrinking the guide wheel 632 is achieved; on the contrary, when the chassis frame 1 is lowered, the guide wheels 632 will extend outward until they come into contact with the side walls of the weld seam.
A contact sensor is arranged on the guide wheel 632. In this embodiment, a contact sensor is disposed on the guide wheel 632 to monitor the contact condition between the guide wheel 632 and the side wall of the weld joint, and determine whether the device moves along the straight weld joint.
The device further comprises a welding torch cable holding assembly 7, wherein the welding torch cable holding assembly 7 comprises a fixed base 71, a sliding groove plate 72 and a cable fixing ring 73, the fixed base 71 is arranged on the chassis frame 1, and the fixed base 71 is connected with the sliding groove plate 72 through a sliding groove plate fixing assembly 74; the cable fixing ring 73 is fixed on the chute plate 72 through a fastening bolt 75, and a threaded rod section of the fastening bolt 75 penetrates through a chute formed in the chute plate 72 to be connected with the cable fixing ring 73. Because the welding torch needs a cable to supply power when in use, if the cable is not limited to be laid on the device, the normal use of the device can be influenced, and meanwhile, potential safety hazards can be caused.
A contact switch 8 is arranged at the foremost end of the advancing direction of the device; in this embodiment, the contact switch 8 is mainly used to determine whether the device is constructed to the right-angle fillet weld, if the contact switch 8 is triggered, the motor for driving the wheel needs to be turned off, and at the same time, the motor for driving the lead screw lifting mechanism 2 is turned on, so as to descend the rotary disk mechanism 3 and ascend the chassis frame 1.
The output shaft of the disk rotating motor 32 is provided with a speed reducer and an angle sensor. In this embodiment, the speed reducer is used to reduce the speed of the disk rotating motor 32, so as to slow down the speed of the welding torch sweeping the welding seam and improve the welding effect; meanwhile, an angle sensor is arranged on the magnetic disk rotating motor 32, the magnetic disk rotating motor 32 is guaranteed to stop after rotating by a preset angle through the preset angle, the motor for driving the screw rod lifting mechanism 2 is started to descend the chassis frame 1 and ascend the rotary magnetic disk mechanism 3, and finally the welding state of the linear welding seam is recovered.
Example 2
This embodiment further defines the workflow of the apparatus based on embodiment 1.
Before welding, the device needs to be checked, after the device is judged to be capable of normally and effectively performing welding, the device is arranged at a welding position and a welding head of a welding torch is ensured to be effectively contacted with a welding seam, at the moment, a guide wheel 632 is contacted with the inner wall of a box-shaped steel structure and guides the device, then a motor for driving wheels is started to enable the device to move along the direction of the linear welding seam, and the welding operation of the linear welding seam is completed; when the contact switch 8 contacts the inner wall of the other box-type steel structure of the right-angle weld, the motor of the driving wheel stops working, and the motor of the screw rod lifting mechanism 2 starts working, firstly, the rotary magnetic disk mechanism 3 is driven to descend until the magnetic disk 31 of the rotary magnetic disk mechanism 3 contacts with and is adsorbed on the bottom of the box-type steel structure, the motor of the screw rod lifting mechanism 2 is driven to continue working, the chassis frame 1 and all the component mechanisms arranged on the chassis frame 1 are driven to ascend until the magnetic disk is completely separated from the bottom of the box-type steel structure and triggers the lower stopper in the screw rod lifting mechanism 2, the motor of the screw rod lifting mechanism 2 stops working, the guide wheel stretching mechanism 6 drives the guide wheel 632 to contract inwards when the chassis frame 1 ascends, the guide wheel 632 is ensured not to influence the rotary welding work of the right-angle weld at the later stage, and the horizontal height of the welding torch is adjusted by descending of the vertical screw rod mechanism 41, ensuring that the welding part and the welding line are always on the same horizontal plane; after the work is done, the welding of the right-angle welding seam is started, at the moment, the disk rotating motor 32 drives the chassis frame 1 to rotate and simultaneously drives the welding torch to do circular motion around the center of the disk 31, in addition, the distance between the welding head and the welding seam of the welding torch is adjusted through the horizontal screw rod mechanism 42 in the rotating process, the welding part is ensured to be always in effective contact with the welding seam and complete the welding work of the right-angle welding seam, when the welding part rotates by a preset angle, an angle sensor is triggered (the preset angle is 90 degrees for the welding of the right-angle welding seam in the embodiment), the disk rotating motor 32 stops working, then the motor of the screw rod lifting mechanism 2 is driven to start working, the chassis frame 1 is firstly driven to descend until the wheels are in contact with the bottom of the box-type steel structure again, an upper stopper in the screw rod lifting mechanism 2 is triggered simultaneously, then the motor of the screw rod lifting mechanism 2 is driven to continue working, and the rotary disk mechanism 3 is driven to ascend, until the magnetic disc 31 is completely separated from the bottom of the box-type steel structure and returns to the position where the linear welding seam is performed, the motor driving the screw rod lifting mechanism 2 stops working, and similarly, in the process, the guide wheel stretching mechanism 6 drives the guide wheel 632 to extend outwards, so that the guide wheel 632 is in contact with the inner wall of the box-type steel structure, the vertical screw rod mechanism 41 rises to adjust the horizontal height of the welding torch, the welding portion and the welding seam are always in the same horizontal plane, and at the moment, the device can continue to perform the welding of the linear welding seam.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A mobile robot for automatic coherent welding of right-angle fillet welds is characterized by comprising a chassis frame (1), a screw rod lifting mechanism (2), a rotary magnetic disc mechanism (3), a cross screw rod mechanism (4) and a welding torch clamping mechanism (5), wherein the screw rod lifting mechanism (2) and the cross screw rod mechanism (4) are both arranged on the chassis frame (1), the rotary magnetic disc mechanism (3) penetrates through the chassis frame (1) to be connected with the screw rod lifting mechanism (2), and the screw rod lifting mechanism (2) can drive the chassis frame (1) and the rotary magnetic disc mechanism (3) to be close to or far away from each other;
when the rotary disk mechanism (3) is adsorbed on the ground, the rotary disk mechanism (3) can drive the whole device to rotate in a horizontal plane;
the welding torch clamping mechanism (5) is connected with the cross screw rod mechanism (4), and the cross screw rod mechanism (4) drives the welding torch clamping mechanism (5) to move in the horizontal plane and the vertical plane.
2. The mobile robot for the automatic coherent welding of the right-angle fillet weld according to claim 1, characterized in that the lead screw lifting mechanism (2) comprises a mounting frame a (21), a lead screw a (22) and a lead screw nut a (24), the mounting frame a (21) is fixed on the top of the chassis frame (1), the lead screw a (22) is vertically arranged in the mounting frame a (21), and the top of the mounting frame a (21) is provided with a motor mounting seat a (23) for mounting a motor;
the feed screw nut a (24) is matched with the feed screw a (22) and the feed screw nut a (24) is connected with the rotary magnetic disk mechanism (3);
the screw rod a (22) rotates and drives the screw rod nut a (24) to move upwards or downwards.
3. The mobile robot for the automatic coherent welding of right-angle fillet welds according to claim 2, characterized in that the rotary magnetic disk mechanism (3) comprises a magnetic disk (31), a magnetic disk rotating motor (32) and a connecting piece (33), one end of the connecting piece (33) is connected with the screw nut a (24), the other end of the connecting piece (33) is provided with the magnetic disk rotating motor (32), and the output end of the magnetic disk rotating motor (32) is vertically downward;
the connecting piece (33) penetrates through the chassis frame (1) and can move along the vertical direction.
4. The mobile robot for automated coherent welding of right angle fillet welds according to claim 3, characterized in that the disk rotation motor (32) is connected with the disk (31) through a cross roller bearing (34), and the cross roller bearing (34) is fixed on top of the disk (31), and the disk rotation motor (32) is fixed on the connecting piece (33).
5. The mobile robot for the automatic coherent welding of right-angle fillet welds according to claim 1, characterized in that the cross screw mechanism (4) comprises a vertical screw mechanism (41), a horizontal screw mechanism (42) and a welding torch connecting assembly (43), the vertical screw mechanism (41) is vertically arranged on the chassis frame (1), the horizontal screw mechanism (42) and the vertical screw mechanism (41), and the vertical screw mechanism (41) drives the horizontal screw mechanism (42) to vertically ascend or descend;
the welding torch connecting assembly (43) and the horizontal screw rod mechanism (42), and the horizontal screw rod mechanism (42) drives the welding torch connecting assembly (43) to move forwards or backwards horizontally.
6. The mobile robot for the automatic consecutive welding of right-angle fillet welds according to claim 5, characterized in that the vertical screw mechanism (41) comprises a mounting bracket b (411), a screw b (412) and a screw nut b (413), the mounting bracket b (411) is fixed on the top of the chassis frame (1), the screw b (412) is vertically arranged in the mounting bracket b (411), and the top of the mounting bracket b (411) is provided with a motor mounting seat b (414) for mounting a motor;
the horizontal screw rod mechanism (42) comprises a mounting frame c (421), a screw rod c (422) and a screw rod nut c (423), the mounting frame c (421) is horizontally connected to the screw rod nut b (413), the screw rod c (422) is horizontally arranged in the mounting frame c (421), and one end of the mounting frame c (421) is provided with a motor mounting seat c (424) for mounting a motor;
the welding torch connecting assembly (43) comprises a connecting plate (431) and a welding torch mounting plate (432), one end of the connecting plate (431) is connected with the lead screw nut c (423), and the other end of the connecting plate (431) is connected with the welding torch mounting plate (432).
7. The mobile robot for automated continuous welding of right angle fillets according to claim 6, wherein the torch clamping mechanism (5) comprises an angle adjusting member (51) and a torch clamping member (52), the angle adjusting member (51) is disposed on the torch mounting plate (432), the angle adjusting member (51) is rotatable in the plane of the torch mounting plate (432), and the torch clamping member (52) is connected to the rotating portion of the angle adjusting member (51).
8. The mobile robot for the automatic coherent welding of the right-angle fillet weld according to claim 3, characterized in that the mobile robot further comprises a guide wheel telescoping mechanism (6), wherein the guide wheel telescoping mechanism (6) comprises a crank and rocker assembly (61) and a guide rail sliding block assembly (62), a crank (611) of the crank and rocker assembly (61) is rotatably connected with a connecting piece (33) of the rotary disk mechanism (3), a rocker (612) of the crank and rocker assembly (61) is rotatably connected with a sliding block (621) of the guide rail sliding block assembly (62), a guide rail (622) of the guide rail sliding block assembly (62) is arranged on the side wall of the chassis frame (1), and the sliding block (621) can slide along the guide rail (622);
the guide wheel telescopic mechanism (6) further comprises a guide wheel assembly (63), the guide wheel assembly (63) comprises a sliding plate (631), a guide wheel (632) and a guide wheel mounting seat (633), the sliding plate (631) is connected with the sliding block (621), and the guide wheel (632) is arranged at one end of the sliding plate (631) through the guide wheel mounting seat (633);
and a contact type sensor is arranged on the guide wheel (632).
9. The mobile robot for automated coherent welding of right angle fillet welds according to claim 1, characterized by further comprising a torch cable holding assembly (7), said torch cable holding assembly (7) comprising a fixed base (71), a chute plate (72) and a cable fixing ring (73), said fixed base (71) being arranged on said chassis frame (1), said fixed base (71) being connected with said chute plate (72) by a chute plate fixing assembly (74);
the cable fixing ring (73) is fixed on the chute plate (72) through a fastening bolt (75), and a threaded rod section of the fastening bolt (75) penetrates through a sliding groove formed in the chute plate (72) to be connected with the cable fixing ring (73).
10. A mobile robot for the automatic consecutive welding of right angle fillet welds according to claim 3, characterized in that a contact switch (8) is provided at the foremost end of the device advancing direction;
the output shaft of the magnetic disk rotating motor (32) is provided with a speed reducer and an angle sensor.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117206776A (en) * | 2023-11-08 | 2023-12-12 | 中铁三局集团有限公司 | Portable robot moving chassis with three-dimensional guide rail |
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