CN115673475A - Robot Welding Device - Google Patents

Abstract

The invention provides a robot welding device, comprising: the first mobile robot can move according to the work instruction; a host machine frame arranged on the first mobile robot; the welding robot is arranged on the main frame and is used for driving the welding gun to execute welding operation; the wire feeding system comprises a wire feeder, a welding wire barrel and a second mobile robot, wherein the wire feeder is arranged on the welding robot and used for feeding welding wires to a welding gun, the welding wire barrel is arranged on the second mobile robot and connected with the wire feeder, and the second mobile robot can move along with the first mobile robot; and the control system is used for controlling the operation of the first mobile robot, the welding robot and the second mobile robot. Compared with the traditional manual welding mode, the robot welding device provided by the invention greatly improves the production efficiency, reduces the manual labor intensity and improves the welding quality of the welding seam.

Description

Robot Welding Device

technical field

The invention relates to the field of welding technology, in particular to a robot welding device.

Background technique

At present, the steel structures of marine equipment such as large ships and ships are bulky, and usually need to be spliced by pieces of steel plates according to requirements. The uneven heating and cooling of welding parts makes steel structural parts prone to various welding deformations, and the welding deformation of steel structural parts will not only increase the difficulty of hull welding and assembly, but also affect the welding accuracy and reduce the bearing capacity of the structure , so the welding process is extremely demanding when building each section of a large ship.

At present, manual welding is mostly used. The labor intensity of welding workers is very high, the welding efficiency is low, and the requirements for the skill level and stability of welding workers are very high.

Contents of the invention

The object of the present invention is to provide a robot welding device, which can solve the problems of high labor intensity of welders caused by manual welding, low welding efficiency and unguaranteed welding quality.

To achieve the above object, the present invention provides a robot welding device, comprising:

A first mobile robot capable of moving according to work instructions;

the main frame is set on the first mobile robot;

A welding robot and a welding torch, the welding torch is arranged at the end of the welding robot, the welding robot is installed on the main frame and used to drive the welding torch to perform welding operations;

The wire feeding system includes a wire feeder, a welding wire barrel and a second mobile robot, the wire feeder is arranged on the welding robot and is used to deliver welding wire to the welding torch, and the welding wire barrel is arranged on the second mobile robot And connected with the wire feeder, the second mobile robot can follow the movement of the first mobile robot;

A control system is connected in communication with the first mobile robot, the welding robot and the second mobile robot, and is used to control the operation of the first mobile robot, the welding robot and the second mobile robot.

Optionally, the control system includes:

a data collection module, configured to collect work data of the first mobile robot, the welding robot and the second mobile robot;

An industrial computer, which is arranged on the host frame and communicates with the data acquisition unit, and is used to process the work data and generate and control the first mobile robot, the welding robot and the a work order for the second mobile robot;

A robot controller is arranged on the main frame and communicated with the industrial computer, and the robot controller is used to change the pose of the welding robot according to the work instruction.

Optionally, the data acquisition module includes position sensors respectively provided on the first mobile robot, the welding robot and the second mobile robot.

Optionally, the robot welding device further includes a seam tracking sensor, the seam tracking sensor is arranged at the end of the welding robot and communicated with the industrial computer, and the seam tracking sensor is used to obtain the welding seam The information is sent to the industrial computer, and the industrial computer sends work instructions to the robot controller and adjusts the pose of the welding robot according to the welding seam information.

Optionally, the seam tracking sensor is installed on a fixture at the end of the welding robot through a fixing plate, and the position of the fixing plate on the fixture is adjustable.

Optionally, the robot welding device further includes a wireless controller communicatively connected with the robot controller, and the wireless controller is used to remotely control the welding robot.

Optionally, the first mobile robot and the second mobile robot are magnetic navigation cars, and a magnetic strip is set on the walking path of the magnetic navigation car as a navigation medium; or the first mobile robot and the second mobile robot The second mobile robot is a laser navigation car, and the walking path of the magnetic navigation car is provided with a reflector as a navigation medium.

Optionally, the main machine frame includes a bottom support and a box body, the bottom support is arranged on the first mobile robot, the box body is arranged on the bottom support and has two opposite leaves The robot controller is located in the box, and the welding robot is arranged on the top of the box.

Optionally, the robot welding device further includes a welding power supply, the welding power supply is arranged on the second mobile robot and is electrically connected to the welding torch.

Optionally, the bottom of the welding wire bucket is provided with movable casters and the side wall is provided with handles.

In the robot welding device provided by the present invention, it has at least one of the following beneficial effects:

1) Since the sloping roof and the roof beam are prefabricated, during welding, the first mobile robot can be controlled to move to the welding station, and the second mobile robot will follow the first mobile robot to move, Then control the welding robot to drive the welding torch to perform welding operations. At this time, the wire feeder runs and continuously supplies welding wire to the welding torch. The entire welding process can be controlled by the control system. Compared with the traditional manual welding method, The production efficiency is greatly improved, the labor intensity is reduced, and the welding quality of the weld seam is improved.

Description of drawings

Those of ordinary skill in the art will understand that the provided drawings are for better understanding of the present invention, but do not constitute any limitation to the scope of the present invention. in:

Fig. 1 is a schematic structural view of a robot welding device provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of installation of a seam tracking sensor provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of a wireless controller provided by an embodiment of the present invention.

schematic diagram;

In the attached picture:

1-first mobile robot; 2-main frame; 3-welding robot; 4-welding torch; 5-wire feeder; 6-welding wire bucket; 7-second mobile robot; board; 10-fixture; 11-wireless controller; 12-welding power supply; 20-bottom support; 21-cabinet.

Detailed ways

In order to make the purpose, advantages and features of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are in a very simplified form and all use imprecise scales, which are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present invention. In order to make the objects, features and advantages of the present invention more comprehensible, please refer to the accompanying drawings. It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to this specification are only used to match the content disclosed in the specification, for those who are familiar with this technology to understand and read, and are not used to limit the implementation of the present invention. Conditions, any modification of structure, change of proportional relationship or adjustment of size, under the same or similar situation as the effect and purpose of the present invention, should still fall within the technical content disclosed in the present invention within the range that can be covered.

As used herein, the singular forms "a", "an" and "the" include plural referents unless the content clearly dictates otherwise. As used herein, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise. As used in the present invention, the term "several" is generally used in the meaning including "at least one", unless the content clearly states otherwise. As used in the present invention, the term "at least two" is generally used in the meaning including "two or more", unless the content clearly states otherwise. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of these features.

In the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or a communication connection; it can be a direct connection or an indirect connection through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

Please refer to FIG. 1 . FIG. 1 is a schematic structural diagram of a robot welding device provided by an embodiment of the present invention. This embodiment provides a robot welding device, comprising:

The first mobile robot 1 is capable of moving according to work instructions;

The main frame 2 is arranged on the first mobile robot 1;

Welding robot 3 and welding torch 4, described welding torch 4 is arranged on the end of described welding robot 3, and described welding robot 3 is installed on the described main frame 2 and is used for driving described welding torch 4 to carry out welding operation;

The wire feeding system includes a wire feeder 5, a welding wire bucket 6 and a second mobile robot 7, the wire feeder 5 is arranged on the welding robot 3 and is used to deliver welding wire to the welding torch 4, and the welding wire bucket 6 is set On the second mobile robot 7 and connected with the wire feeder 5, the second mobile robot 7 can follow the movement of the first mobile robot 1;

A control system, connected in communication with the first mobile robot 1, the welding robot 3 and the second mobile robot 7, and used to control the first mobile robot 1, the welding robot 3 and the second mobile robot Operation of Robot 7.

During welding, when the first mobile robot 1 is moved to the welding station, the second mobile robot 7 moves with the first mobile robot 1, and then the welding robot 3 drives the welding torch 4 Perform welding operation, at this time, the wire feeder 5 runs and continuously supplies welding wire to the welding torch 4, and the entire welding process can be controlled by the control system, which greatly improves the production efficiency compared with the traditional manual welding method, The manual labor intensity is reduced, and the welding quality of the weld seam is improved.

In this embodiment, the control system includes:

A data collection module, configured to collect work data of the first mobile robot 1, the welding robot 3 and the second mobile robot 7;

An industrial computer is arranged on the host frame 2 and communicated with the data acquisition unit, and the industrial computer is used to process the work data and generate and control the first mobile robot 1 and the welding robot 3 respectively. and the work order of the second mobile robot 7;

A robot controller is arranged on the main frame 2 and communicated with the industrial computer, the robot controller is used to change the pose of the welding robot 3 according to the work instruction.

Specifically, the data acquisition module includes position sensors respectively arranged on the first mobile robot 1, the welding robot 3 and the second mobile robot 7, and the position sensors can obtain the first mobile robot 7 in real time. The position data of a mobile robot 1, the welding robot 3 and the second mobile robot 7 are sent to the industrial computer, so that the industrial computer can process and integrate the position data, and generate and control the Work instructions of the first mobile robot 1 , the welding robot 3 and the second mobile robot 7 .

Please refer to Fig. 2, the robot welding device also includes a seam tracking sensor 8, the seam tracking sensor 8 is arranged at the end of the welding robot 3 and communicated with the industrial computer, the seam tracking sensor 8 It is used to obtain the welding seam information and send it to the industrial computer, and the industrial computer sends a work instruction to the robot controller and adjusts the pose of the welding robot 3 according to the welding seam information. By arranging the welding seam tracking sensor 8, it is possible to automatically detect the change of the welding seam position and automatically adjust the position of the welding torch 4 during welding, so that the welding torch 4 is always welded along the welding seam position, while keeping the welding torch 4 and the workpiece to be welded all the time The distance between them is constant, thereby improving welding quality, improving welding efficiency and reducing labor intensity.

better. The seam tracking sensor 8 is installed on the clamp 10 at the end of the welding robot 3 through a fixed plate 9 , and the position of the fixed plate 9 on the clamp 10 is adjustable. By adjusting the relative position of the fixing plate 9 and the clamp 10 , the pose of the seam tracking sensor 8 can be adjusted to achieve a better seam tracking measurement effect.

The present application does not limit the way the position can be adjusted. For example, the fixed plate 9 and the clamp 10 are correspondingly provided with bar-shaped grooves. After the relative positions of the fixed plate 9 and the clamp 10 are fixed, The position of the fixing plate 9 on the clamp 10 can be adjusted by bolts penetrating through the corresponding strip grooves on the fixing plate 9 and the clamp 10 and locked by nuts.

Preferably, please refer to FIG. 3 , the robot welding device further includes a wireless controller 11 communicatively connected with the robot controller, and the wireless controller 11 is used to remotely control the welding robot 3 . The wireless controller 11 is mainly used to remotely control the pose of the welding robot 3 when identifying the welding environment.

Preferably, the first mobile robot 1 and the second mobile robot 7 can be an automatic guided vehicle AGV or an autonomous mobile robot AMR, and can navigate the path by means of optical and magnetic markings, and can also use sensors such as laser radar Perceive the external environment to make corresponding judgments. If the first mobile robot 1 and the second mobile robot are magnetic navigation dollies, a magnetic strip is provided on the walking path of the magnetic navigation dolly as a navigation medium; or the first mobile robot 1 and the second mobile robot The second mobile robot is a laser navigation car, and the walking path of the magnetic navigation car is provided with a reflector as a navigation medium. In addition, optical-magnetic hybrid navigation or other navigation methods well known in the art may also be used, which is not limited in the present application.

In this embodiment, the welding robot 3 is a collaborative robot or a six-axis industrial robot, which can carry a wire feeder 5 and perform welding operations in a relatively complicated environment.

Please continue to refer to Fig. 1, the main frame 2 includes a bottom support 20 and a box body 21, the bottom support 20 is arranged on the first mobile robot 1, and the box body 21 is arranged on the bottom support The seat 20 has two opposite doors, the robot controller is located in the box 21 , and the welding robot 3 is arranged on the top of the box 21 .

In this embodiment, the bottom support 20 is a sheet metal welded part, which is fixedly installed on the first mobile robot 1; the box body 21 can be spliced by a main frame and several sheet metal panels, and the main frame It is a skeleton welded by square tubes. The top plate, bottom plate and four side plates of the main frame can all use the sheet metal panels, and the two opposite side plates are fixed panels, which can be used to install electrical components and control panels. etc., the other two opposite side walls adopt the way of side-by-side doors, which can facilitate inspection and maintenance of internal devices after opening.

Preferably, energy modules such as lithium battery packs can also be installed in the box body 21 to realize mobile power supply without dragging power supply cables, so that the robot welding device has greater flexibility. In addition, in order to save space and require heat dissipation, the robot controller can be a simple controller installed on a sheet metal panel. At this time, the sheet metal panel is provided with a louver for heat dissipation at the installation position of the robot controller.

Please continue to refer to FIG. 1 , the robot welding device further includes a welding power source 12 , the welding power source 12 is disposed on the second mobile robot 7 and electrically connected to the welding torch 4 . Because the welding robot 3 and other devices need to be set on the first mobile robot 1, the space and carrying capacity are limited, and the second mobile robot 7 will follow the movement of the first mobile robot 1, so the welding power source 12 can be Being arranged on the second mobile robot 7 , the space of the second mobile robot 7 is rationally utilized.

In this embodiment, the wire feeder 5 can be installed on the forearm joint of the welding robot 3, and the welding wire is provided by the welding wire barrel 6, and the welding wire barrel 6 is fixedly installed on the second mobile robot 7 , a guide wire mechanism is arranged above the welding wire barrel 6 for guiding the wire guide tube drawn out from the welding wire barrel 6 to the wire feeder 5, and then delivered to the welding torch by the welding robot 3 package or other wire guide mechanisms 4.

Preferably, the bottom of the welding wire barrel 6 is provided with movable casters and the side wall is provided with handles, so as to move the welding wire barrel 6 to the second mobile robot 7 . The wire barrel 6 can also be replaced by other wire supply methods such as a wire reel, which is not limited in this application.

In this embodiment, the welding torch 4 is a secondary welding torch, an argon arc welding torch or a laser welding head.

Alternatively, the welding torch 4 can also be replaced with a laser output head, and the fiber laser is arranged on the first mobile robot 1 and connected to the laser output head. At this time, the robot welding device can realize various welding methods such as laser fusion welding or laser wire filling welding.

It should be understood that all the communication connections mentioned in this application can be communicated through cables or wireless modules, which is not limited in this application and can be selected according to actual conditions.

During specific implementation, in the process of identifying the welding environment, the operator uses the industrial computer to send an instruction to make the first mobile robot 1 move to the welding station, and then uses the laser radar to model and record the position of the optical magnetic mark, In order to realize the automatic identification of the next welding station, the operator of this process can use the wireless controller 11 in his hand to control the welding robot 3 to change its posture.

In this embodiment, before each different workpiece is welded, it is necessary to manually operate the industrial computer and the welding controller to teach each weld on site, and then the same workpiece can be fully automatic welding under the program control of the industrial computer. For example, the industrial computer can be directly used to send work instructions to make the first mobile robot 1 automatically move to the welding station, and the second mobile robot 7 also drives the welding power source 12 and the welding wire bucket 6 to follow and move synchronously. The mobile robot is fixed after moving into place. Then, the industrial computer sends a work instruction to the welding robot 3 to drive the welding torch 4 to move to the starting position of the welding seam to prepare for arc welding. According to the preset welding program, start the welding power source 12, the welding torch 4 starts welding, and at the same time, the wire feeder 5 and the seam tracking sensor 8 start to run, and the seam tracking sensor 8 acquires seam information And sent to the industrial computer for processing, and fed back to the first mobile robot 1 and welding robot 3, to ensure continuous supply of welding wire and correct welding trajectory.

To sum up, the embodiment of the present invention provides a robot welding device. The whole welding process can be controlled by the control system. Compared with the traditional manual welding method, the production efficiency is greatly improved, the labor intensity is reduced, and the The welding quality of the weld is improved.

Claims (10)

1. A robot welding device, characterized in that, comprising: A first mobile robot capable of moving according to work instructions; the main frame is set on the first mobile robot; A welding robot and a welding torch, the welding torch is arranged at the end of the welding robot, the welding robot is installed on the main frame and used to drive the welding torch to perform welding operations; The wire feeding system includes a wire feeder, a welding wire barrel and a second mobile robot, the wire feeder is arranged on the welding robot and is used to deliver welding wire to the welding torch, and the welding wire barrel is arranged on the second mobile robot And connected with the wire feeder, the second mobile robot can follow the movement of the first mobile robot; A control system is connected in communication with the first mobile robot, the welding robot and the second mobile robot, and is used to control the operation of the first mobile robot, the welding robot and the second mobile robot. 2. The robot welding device according to claim 1, wherein the control system comprises: a data collection module, configured to collect work data of the first mobile robot, the welding robot and the second mobile robot; An industrial computer, which is arranged on the host frame and communicates with the data acquisition unit, and is used to process the work data and generate and control the first mobile robot, the welding robot and the a work order for the second mobile robot; A robot controller is arranged on the main frame and communicated with the industrial computer, and the robot controller is used to change the pose of the welding robot according to the work instruction. 3. The robot welding device according to claim 2, wherein the data acquisition module includes position sensors respectively arranged on the first mobile robot, the welding robot and the second mobile robot. 4. The robot welding device according to claim 2, characterized in that, the robot welding device further comprises a seam tracking sensor, the seam tracking sensor is arranged at the end of the welding robot and communicates with the industrial computer connected, the seam tracking sensor is used to obtain seam information and send it to the industrial computer, and the industrial computer sends work instructions to the robot controller according to the seam information and adjusts the pose of the welding robot . 5. The robot welding device according to claim 4, characterized in that, the seam tracking sensor is installed on the clamp at the end of the welding robot through a fixed plate, and the position of the fixed plate on the clamp is adjustable. 6. The robot welding device according to claim 2, characterized in that, the robot welding device further comprises a wireless controller communicatively connected with the robot controller, and the wireless controller is used for remote control of the welding robot. manipulation. 7. The robot welding device according to claim 2, characterized in that, the first mobile robot and the second mobile robot are magnetic navigation dollies, and a magnetic strip is arranged on the walking path of the magnetic navigation dolly as a navigation medium; or the first mobile robot and the second mobile robot are laser navigation cars, and a reflective plate is set on the walking path of the magnetic navigation car as a navigation medium. 8. The robot welding device according to claim 2, wherein the main machine frame comprises a bottom support and a casing, the bottom support is arranged on the first mobile robot, and the casing is arranged There are two opposite doors on the bottom support, the robot controller is located in the box, and the welding robot is set on the top of the box. 9. The robot welding device according to claim 1, characterized in that, the robot welding device further comprises a welding power source, the welding power source is arranged on the second mobile robot and is electrically connected to the welding torch. 10. The robot welding device according to claim 1, characterized in that, the bottom of the welding wire bucket is provided with moving casters and the side wall is provided with handles.

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