CN116275766A

CN116275766A - Four-foot big dog type welding robot

Info

Publication number: CN116275766A
Application number: CN202211727567.XA
Authority: CN
Inventors: 张华军; 张新元; 左昱昱; 孙磊
Original assignee: Shanghai Saiweide Robot Co ltd
Current assignee: Shanghai Saiweide Robot Co ltd
Priority date: 2022-12-30
Filing date: 2022-12-30
Publication date: 2023-06-23

Abstract

The invention relates to a four-foot big dog type welding robot which comprises a robot main body, wherein the robot main body comprises a box body, a mechanical arm, a wire feeder and four supporting leg components are connected to the box body, and a welding gun is connected to the mechanical arm; the leg components comprise fixing pieces, thigh pieces and shank pieces, wherein the fixing pieces are hinged with the box body, one ends of the thigh pieces are hinged with the fixing pieces, the other ends of the thigh pieces are hinged with the shank pieces, the shank pieces are connected with feet, and the feet are provided with electromagnets; the landing leg assembly further comprises a first hydraulic cylinder and a second hydraulic cylinder, the first hydraulic cylinder comprises a first cylinder body and a first piston rod, the first cylinder body is hinged with the thigh piece, and the first piston rod is hinged with the shank piece; the second hydraulic cylinder comprises a second cylinder body and a second piston rod, the second cylinder body is hinged with the fixing piece, and the second piston rod is hinged with the thigh piece. The invention has higher movement flexibility, is convenient for quickly adjusting the pose of the robot and the pose of the welding gun according to the actual working condition, and can be suitable for welding complex environments or workpieces.

Description

Four-foot big dog type welding robot

Technical Field

The invention relates to the technical field of welding, in particular to a four-foot big dog type welding robot.

Background

The welding robot is an industrial robot for performing welding operation, and compared with manual welding, the welding robot is used for welding, so that the labor intensity of workers can be improved, and the operation safety can be improved. However, the existing welding robot has a small working range and poor movement flexibility, is inconvenient to quickly adjust the pose of the robot and the pose of a welding gun, cannot adapt to the welding of complex environments or complex workpieces, affects the welding efficiency and the welding quality, and cannot meet the actual use requirements.

Disclosure of Invention

Therefore, the invention aims to overcome the defects that the welding robot in the prior art has poor movement flexibility and is inconvenient to quickly adjust the pose of the robot and the pose of a welding gun.

In order to solve the technical problems, the invention provides a four-foot big dog type welding robot, which comprises,

the robot comprises a robot body, wherein the robot body comprises a box body, a mechanical arm, a wire feeder and four supporting leg assemblies are connected to the box body, the four supporting leg assemblies are positioned at the bottom of the box body, a welding gun is connected to the mechanical arm, the wire feeder is connected with the welding gun, and the wire feeder is used for feeding welding wires to the welding gun;

the leg assembly comprises a fixing piece, a thigh piece and a shank piece, wherein the fixing piece is hinged with the box body, one end of the thigh piece is hinged with the fixing piece, the other end of the thigh piece is hinged with the shank piece, the shank piece is connected with a foot, and the foot is provided with an electromagnet;

the landing leg assembly further comprises a first hydraulic cylinder and a second hydraulic cylinder, wherein the first hydraulic cylinder comprises a first cylinder body and a first piston rod which can extend and retract along the first cylinder body, the first cylinder body is hinged with the thigh piece, and the first piston rod is hinged with the shank piece; the second hydraulic cylinder comprises a second cylinder body and a second piston rod which can stretch along the second cylinder body, the second cylinder body is hinged with the fixing piece, and the second piston rod is hinged with the thigh piece.

In one embodiment of the invention, the welding robot further comprises a trolley main body, wherein the trolley main body comprises a frame, wheels are arranged at the bottom of the frame, and a gas cylinder and a welding power supply are connected to the frame; the welding power supply is electrically connected with the welding gun through a cable, and the gas cylinder is connected with the welding gun through a gas pipe.

In one embodiment of the invention, the leg assembly further comprises a lateral hydraulic cylinder comprising a third cylinder body and a third piston rod extendable along the third cylinder body, the third cylinder body being hinged to the housing, the third piston rod being hinged to a side of the mount.

In one embodiment of the invention, a hydraulic pump is connected to the tank, and the hydraulic pump respectively transmits hydraulic oil to the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder through a flow dividing valve group.

In one embodiment of the invention, the upper part of the foot is provided with a ball-bearing seat, and the shank is connected with a ball head, and the ball head is hinged in the ball-bearing seat.

In one embodiment of the present invention, the fixing member is hinged to the case through a first pin, the thigh member is hinged to the fixing member through a second pin, the thigh member is hinged to the shank member through a third pin, and encoders are connected to the first pin, the second pin, and the third pin.

In one embodiment of the invention, one or more of an ultrasonic sensor, a gyroscope and a laser radar are connected to the bottom of the box.

In one embodiment of the invention, a weld tracker is connected to the welding gun.

In one embodiment of the invention, a collision sensor is connected between the robotic arm and the weld.

In one embodiment of the invention, the trolley is connected with a first controller and a second controller, and the second controller is in communication connection with the mechanical arm; the first controller is used for controlling the action of the supporting leg assembly, the on-off of the air pipe and the on-off of the welding power supply.

Compared with the prior art, the technical scheme of the invention has the following advantages:

the four-foot big dog type welding robot has higher movement flexibility and is convenient to use according to actual practice

The working condition is used for quickly adjusting the pose of the robot and the pose of the welding gun, so that the welding machine is suitable for welding complex environments or complex work pieces 5, and the welding efficiency and the welding quality are effectively improved.

Drawings

In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings.

FIG. 1 is a schematic structural view of a four-foot large dog welding robot of the present invention;

FIG. 2 is a schematic view of the structure of the cart body of FIG. 1;

FIG. 3 is a schematic view of the structure of the main body of the scooter of FIG. 2 at another angle;

FIG. 4 is a schematic view of the frame of FIG. 3;

FIG. 5 is a schematic view of the power supply and air supply device of FIG. 3;

FIG. 6 is a schematic view of another angular configuration of the power supply and air supply device of FIG. 5;

FIG. 7 is a schematic view of the grounding assembly of FIG. 3;

FIG. 8 is a schematic view of the robot body of FIG. 1;

FIG. 9 is a schematic view of the mechanical arm of FIG. 8;

FIG. 10 is a schematic view of the structure of the case of FIG. 8;

FIG. 11 is a schematic view of the structure of the case of FIG. 10 at another angle;

FIG. 12 is a schematic installation view of the hydraulic pump of FIG. 10;

FIG. 13 is a schematic view of the installation of the hinge base of FIG. 11;

FIG. 14 is a schematic view of the assembled position of the four leg assemblies of FIG. 8;

FIG. 15 is an exploded view of one of the leg assemblies of FIG. 14;

FIG. 16 is a schematic view of the fastener of FIG. 15;

FIG. 17 is a schematic view of the foot structure of FIG. 15;

FIG. 18 is an exploded view of the foot structure of FIG. 17;

FIG. 19 is a schematic view of a state of welding for non-planar structural members;

FIG. 20 is a schematic view of another angle for welding non-planar structures;

FIG. 21 is a schematic view of the welding robot prior to movement to the structure;

FIG. 22 is a schematic view of the upper elevation of the lower leg member of the front right leg;

FIG. 23 is a schematic view of the thigh member and the shank member of the front right leg extending forward;

FIG. 24 is a schematic view of the foot electromagnet of the front right leg being lowered onto the structural steel plate;

FIG. 25 is a schematic view of the rear left leg and the rear right leg following forward;

FIG. 26 is a schematic view of the front left leg raised high;

FIG. 27 is a schematic view of the front left leg extending forward;

FIG. 28 is a schematic illustration of the bottom of the foot electromagnet being attached to the structural panel;

FIG. 29 is a schematic view of the front right leg traveling to the inside of the structural member;

FIG. 30 is a schematic plan view of the welding robot moving entirely to the inside of the structure;

FIG. 31 is a schematic illustration of an isometric view of a welding robot moving entirely inside a structure;

FIG. 32 is a schematic view of a welding robot being arranged to a welding station;

FIG. 33 is a schematic view of the clamping of the grounding assembly to the edge portion of the structural member;

FIG. 34 is a schematic view of a robot welding a seam on the outside of a structural member;

FIG. 35 is a schematic illustration of a robot performing inboard combination seam welding on the outboard side of a structural member;

FIG. 36 is a schematic view of a welding robot performing welding inside a structural member;

description of the specification reference numerals:

1. a terrace;

2. structural members; 21. a partition plate;

3. a robot main body; 31. a case; 311. a hinge base; 33. a mechanical arm; 34. a welding gun; 341. a weld tracker; 342. a collision sensor; 35. a leg assembly; 351. a fixing member; 3511. ear plates; 3512. a bracket; 352. thigh pieces; 353. a lower leg member; 354. a foot; 3541. an electromagnet; 3542. a ball-hinge support; 3543. ball head; 355. a first hydraulic cylinder; 3551. a first cylinder; 3552. a first piston rod; 356. a second hydraulic cylinder; 3561. a first cylinder; 3562. a second piston rod; 357. a lateral hydraulic cylinder; 3571. a third cylinder; 3572. a third piston rod; 358. a first pin; 359. a second pin; 360. a third pin; 36. an encoder; 37. a wire feeder; 38. a hydraulic pump; 39. a diverter valve block;

4. a trolley body; 41. a frame; 411. a limiting frame; 412. an annular seat; 42. a wheel; 43. a gas cylinder; 44. a welding power supply; 45. a grounding assembly; 451. a ground wire; 452. a wire clamp; 453. a hall current sensor; 46. a power supply and air supply device; 461. a support; 462. a winding disc; 463. a conduit; 464. a gas-electric slip ring; 4641. a power access conduit terminal; 4642. a gas access conduit terminal; 4643. an electrical energy input; 4644. a gas input;

5. an ultrasonic sensor; 6. a gyroscope; 7. a laser radar; 8. a demonstrator; 9. an electric energy household socket; 10. a first controller; 11. and a second controller.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the invention and practice it.

Referring to fig. 1, 2, 8 and 10, the present embodiment discloses a four-foot large dog type welding robot including a robot body 3;

the robot main body 3 comprises a box body 31, a mechanical arm 33, a wire feeder 37 and four leg assemblies 35 are connected to the box body 31, the four leg assemblies 35 are positioned at the bottom of the box body 31, a welding gun 34 is connected to the mechanical arm 33, the wire feeder 37 is connected with the welding gun 34, and the wire feeder 37 is used for feeding welding wires to the welding gun 34;

as shown in fig. 14-15, the leg assemblies 35 each include a fixing member 351, a thigh member 352 and a shank member 353, wherein the fixing member 351 is hinged to the case 31, one end of the thigh member 352 is hinged to the fixing member 351, the other end is hinged to the shank member 353, the shank member 353 is connected with a foot 354, and the foot 354 is provided with an electromagnet 3541 for adsorbing the foot 354 to the bottom plate surface of the structural member 2 in an electromagnetic adsorption manner, thereby realizing the fixation of the welding robot and ensuring the operation safety and the welding stability of the welding robot in the working 5 state.

The leg assembly 35 further includes a first hydraulic cylinder 355 and a second hydraulic cylinder 356, the first hydraulic cylinder 355 including a first cylinder block 35613551 and a first piston rod 3552 extendable along the first cylinder block 35613551, the first cylinder block 35613551 being pivotally connected to the thigh member 352 and the first piston rod 3552 being pivotally connected to the shank member 353

Hinging; the second hydraulic cylinder 356 includes a second cylinder body and a second piston rod 3562,0 which is extendable along the second cylinder body, the second cylinder body being hinged to the fixing member 351, and the second piston rod 3562 being hinged to the thigh member 352.

The first piston rod 3552 of the first hydraulic cylinder 355 is extended and contracted to drive the lower leg to move, and the second piston rod 3562 of the second hydraulic cylinder 356 is extended and contracted to drive the upper leg to move, thereby realizing the extending, retracting, lifting, expanding and the like of the leg unit 35.

It will be appreciated that the four leg assemblies 35 are arranged in a rectangular configuration in a front-to-back side-to-side symmetrical arrangement 5. The four leg assemblies 35 are identical in construction.

Above-mentioned structure can conveniently carry out the adjustment of robot main part 3 position through leg structure to realize the adjustment of welder 34 position, can realize the adjustment of welder 34 angle through arm 33, promoted welding robot's flexibility of motion greatly, make robot and welder 34's position appearance all can carry out convenient and fast and adjust, thereby adapt to the welding of complex environment and complex work piece.

In one embodiment, the four-legged dog welding robot further comprises a trolley body 4,

the trolley main body 4 comprises a trolley frame 41, wheels 42 are arranged at the bottom of the trolley frame 41, and a gas cylinder 43 and a welding power supply 44 are connected to the trolley frame 41; the welding power source 44 is electrically connected to the welding torch 34 via a cable, and the gas cylinder 43 is connected to the welding torch 34 via a gas pipe.

During welding, the positive electrode of the welding power source 44 may be brought into contact with the welding gun 34 and the negative electrode may be brought into contact with the workpiece to be welded. 5 wherein the gas cylinder 43 is used for providing carbon dioxide shielding gas to the welding gun 34 through a gas pipe; a pressure gauge may be provided on the air tube to detect the pressure of the air. The air pipe is also provided with an air compression bag.

In one embodiment, as shown in fig. 4, the upper part of the frame 41 is provided with a limiting frame 411, the lower part is provided with an annular seat 412, the upper part of the gas cylinder 43 is connected to the limiting frame 411, and the lower part bottom is connected to the annular seat 412.

In one embodiment, as shown in fig. 3 and 7, the frame 41 is further hooked with a grounding assembly 45, and the grounding assembly 45 includes a grounding wire 451, and a wire clip 452 is disposed on the grounding wire 451. A hall current sensor 453 may also be provided on the ground line 451 to detect current.

In one embodiment, the leg assembly 35 further includes a lateral hydraulic cylinder 357, the lateral hydraulic cylinder 357 including a third cylinder 3571 and a third piston rod 3572 that is extendable along the third cylinder 3571, the third cylinder 3571 being hingedly connected to the housing 31, the third piston rod 3572 being hingedly connected to a side of the securing member 351.

The leg assembly 35 can be driven to swing to the outside or the inside by the lateral hydraulic cylinder 357, so that the state of the welding robot can be adjusted when the non-flat workpiece is welded, the overall stability and the horizontal state of the welding robot can be ensured, and the welding effect can be further ensured. During the welding process, as shown in fig. 19-20, when a welding scenario involving uneven height is concerned, the single-sided leg assembly 35 can be swung outwardly or inwardly by actuating the left or right side hydraulic cylinders 357. Stability and level monitoring of the welding robot is based on being monitored by means of the gyroscope 6.

Further, as shown in fig. 11, 13 and 16, a hinge seat 311 is provided on the case 31, an ear plate 3511 and a bracket 3512 are provided on one side of the fixing member 351, the ear plate 3511 is hinged to the hinge seat 311, a third cylinder 3571 of the lateral hydraulic cylinder 357 is hinged to the case 31, and a third piston rod 3572 is hinged to the bracket 3512.

In one embodiment, as shown in fig. 10 to 12, a hydraulic pump 38 is connected to the tank 31, and the hydraulic pump 38 supplies hydraulic oil to the first hydraulic cylinder 355, the second hydraulic cylinder 356, and the third hydraulic cylinder through a split valve group 39, respectively.

Specifically, the diverter valve assembly 39 includes a plurality of diverter valves, and the output of the hydraulic pump 38 can control the actuation of the corresponding hydraulic cylinders of the different leg assemblies 35 through the different diverter valves, respectively, to effect leg movement.

In one embodiment, as shown in fig. 17-18, a ball pivot seat 3542 is provided at the upper portion of the foot 354, a ball head 3543 is connected to the lower leg, and the ball head 3543 is ball-hinged in the ball pivot seat 3542 to increase the flexibility of the foot 354, so that the foot 354 can swing at different angles.

In one embodiment, as shown in fig. 14-16, the fixing member 351 is hinged to the case 31 by a first pin 358, the thigh member 352 is hinged to the fixing member 351 by a second pin 359, the thigh member 352 is hinged to the shank member 353 by a third pin 360, and the encoders 36 are connected to the first pin 358, the second pin 359, and the third pin 360. To detect the swing amplitudes of the fixing member 351, the thigh member 352, and the shank member 353 by the encoder 36, thereby realizing control of the operation amplitudes (the lifting height, the extending distance, and the like of the foot 354) of the leg assembly 35.

In one embodiment, as shown in fig. 11, one or more of the ultrasonic sensor 5, the gyroscope 6, and the lidar 7 is connected to the bottom of the case 31.

The ultrasonic sensor 5 can rapidly acquire three-dimensional coordinate information of the target and size information of the target so as to rapidly track and position the target, thereby realizing position determination of the welding robot and path guidance in the travelling process.

The relative position and distance between the robot main body 3 and the peripheral objects can be monitored through the laser range finders and the laser radars 7, and the monitored information can be synchronously fed back to the first controller 10 to analyze the interference condition of the robot main body 3 and the peripheral objects and make obstacle avoidance measures.

The angle of the robot main body 3 can be monitored in real time through the gyroscope 6 so as to be convenient for timely adjustment, and the ideal horizontal constant state can be always kept.

Here, the gyro 6 is a kind of "horizontal azimuth gyro 6 sensor", and the horizontal azimuth angle, the angular velocity, and the acceleration of the robot main body 3 are output in real time by performing a dynamic posture algorithm on the angular velocity of the gyro 6.

In one embodiment, a weld tracker 341 is connected to the welding gun 34 to automatically detect the position of the weld, thereby avoiding welding deviation and realizing intelligent welding.

Further, the weld tracker 341 may adopt a laser weld tracker 341, which adopts a laser triangle reflection principle, that is, a laser beam is amplified to form a laser line and projected onto the surface of the object to be welded, the reflected light is projected onto an imaging matrix through a high-quality optical system, the distance (Z axis) from the sensor to the surface to be measured and the position information (X axis) along the laser line are obtained through calculation, the object to be measured or a profiler probe is moved, a set of three-dimensional measurement data can be obtained, and the obtained three-dimensional data can be used for spatially positioning the relative positions of the welding robot and the structural member 2 to be welded, so as to realize weld positioning tracking; the controller (the first controller 10 and the second controller 11) can adjust the position of the welding gun 34 according to the position of the welding seam, thereby realizing intelligent welding and improving welding quality.

In one embodiment, as shown in fig. 9, a collision sensor 342 is connected between the mechanical arm 33 and the welding; to protect the robot arm and the welding gun 34 from damage due to collisions.

Further, a flexible dust cover is connected to the outside of the collision sensor 342.

In one embodiment, as shown in fig. 2-3, a power supply and air supply device 46 is further connected to the frame 41, so as to supply electric energy and air energy for the robot welding in a long distance state.

As shown in fig. 5 to 6, the power supply and air supply unit 46 includes a holder 461, the holder 461 being connected to a winding plate 462 through a first rotation shaft, the winding plate 462 being wound with a wire pipe 463; the spool 463 comprises an air pipe and a cable, wherein two ends of the air pipe are respectively connected with the air cylinder 43 and the welding gun 34 to realize the transmission of carbon dioxide gas, and two ends of the cable are respectively connected with the welding power supply 44 and the welding gun 34 to realize the transmission of electric energy; this structure can store longer spool 463, drives the winding disc 462 through first pivot and rotates, can realize the receive and releases of cable.

Further, the first rotating shaft is connected with an electro-pneumatic slip ring 464 to control the spool 463, so that potential safety hazards caused by winding cables together in the rotating process of the winding disc 462 are avoided.

The gas-electricity slip ring 464 is also called a gas-electricity rotary joint and mainly consists of two parts, wherein the front end of one part is a pneumatic rotary joint, the rear end is an electric slip ring, and the middle part is connected through a flange or threads to form a gas-electricity combined slip ring. So that the gas, conductive signal can be rotated 360 degrees to convert a stationary media (gas, electrical signal, etc.) source into a dynamic media source.

Specifically, the gas-electric slip ring 464 is provided with an electric power access line pipe terminal 4641, a gas access line pipe terminal 4642, an electric power input terminal 4643, and a gas input terminal 4644; the electric energy access line pipe terminal 4641 is used for being connected with the conductive slip ring, and the gas access line pipe terminal 4642 is used for being connected with the pneumatic rotary joint; the electrical power input 4643 is adapted to be connected to a welding power source 44 and the gas input 4644 is adapted to be connected to a gas cylinder 43.

In one embodiment, as shown in fig. 2-3, a demonstrator 8, an electric power service outlet 9, and the like may also be provided on the frame 41. The teaching device 8 is used for remotely performing manual operation, programming, parameter configuration and the like of the robot.

In one embodiment, the trolley is connected with a first controller 10 and a second controller 11, and the second controller 11 is in communication connection with a mechanical arm 33; the first controller 10 is used to control the operation of the leg assembly 35, the on-off of the air pipe, and the on-off of the welding power supply 44.

The first controller 10 is a general controller and can control the gas supply and power supply related to welding, and the actions of walking, turning, obstacle surmounting and the like of the welding robot. The first controller 10 controls the leg motions by controlling the motions of the first hydraulic cylinder 355, the second hydraulic cylinder 356, and the lateral hydraulic cylinder 357.

The second controller 11 and the mechanical arm 33 may be connected by wireless communication.

The collision sensor 342, the bead tracker 341, the ultrasonic sensor 5, the gyroscope 6, and the lidar 7 may be connected to the first controller 10 to feed back corresponding signals to the first controller 10.

For easier control, a control panel, a touch display screen, and the like may also be provided on the case 31.

The following specifically describes the walking and obstacle surmounting process of the robot body 3:

the four leg assemblies 35 of the robot are respectively defined as a front left leg, a front right leg, a rear left leg and a rear left leg, wherein the front left leg and the front right leg are respectively leg assemblies 35 positioned at the left side and the right side of the front, and the rear left leg and the rear right leg are respectively leg assemblies 35 positioned at the left side and the right side of the rear;

the structural member 2 to be welded is arranged on the terrace 1;

the walking method comprises the following steps:

a1 As shown in fig. 21, the "welding robot" is first positioned in front of the structural member 2 to be welded;

a2 The electromagnet 3541 on the front right supporting leg is closed, so that the electromagnet loses the adsorption effect;

a3 As shown in fig. 22, the first hydraulic cylinder 355 of the front right leg is actuated to retract the first piston rod 3552, thereby simultaneously driving the lower leg 353 and the foot 354 of the front right leg to retract (to be lifted upward);

a4 As shown in fig. 23, the second hydraulic cylinder 356 of the front right leg is activated to slowly extend the second piston rod 3562, thereby simultaneously pushing the thigh member 352, the shank member 353, and the foot portion 354 of the front right leg to extend forward. When the side of electromagnet 3541 of foot 354 touches the side of bulkhead 21 of structure 2, second cylinder 356 is closed and the drive is stopped.

A5 As shown in fig. 24, the first hydraulic cylinder 355 of the front right leg is started, so that the first piston rod 3552 slowly extends, and the synchronous drive drives the lower leg 353 and the foot 354 of the front right leg to fall down towards the ground, so that the electromagnet 3541 of the foot 354 falls onto the steel plate of the structural member 2. The operation of the drop action is controlled by adopting a pressure sensor or a limit switch;

a6 Opening an electromagnet 3541 at the foot 354 of the front right leg to be adsorbed to the surface of the steel plate of the structural member 2;

the steps A1) to A6) are one "walking action cycle" of the front right leg, and the "walking action cycle" of the other three leg assemblies 35 is the same as the above-described process.

As shown in fig. 25, referring to the step of "the travel motion cycle of the front right leg", the rear left leg and the rear right leg are sequentially moved forward to follow up, so that the robot body 3 can travel (advance or retreat);

when obstacle crossing, the method comprises the following steps:

b1 Referring to the "front right leg travel cycle" step, as shown in fig. 26, the "front left leg" is lifted up to a high position and the bottom of the "foot 354 electromagnet 3541" is made to pass over the top of the "structural member 2 (partition 21)";

b2 Referring to the "front right leg walking action cycle" step, as shown in fig. 27, the "front left leg" is extended forward;

b3 Referring to the step of 'front right leg walking action cycle', the upper part of the welding robot is enabled to integrally move forwards ('the electromagnet 3541 of the foot 354 is not moved', and only the integral gravity center of the upper part of the welding robot is enabled to move forwards);

b4 Referring to the "front right leg travel cycle" step, as shown in fig. 28, the "front left leg" is lowered downward and the bottom of the "foot 354 electromagnet 3541" is attracted to the bottom plate of the structural member 2;

b5 Referring to the "front right leg walking action cycle" step, as shown in fig. 29, the "front right leg (front right foot)" is moved to the inside of the structural member 2;

b6 Referring to the step of "front right leg travel cycle", as shown in fig. 30 to 31, the "welding robot" is moved integrally to the inside of the structural member 2;

the welding operation procedure of the welding robot is specifically described as follows:

s1) as shown in FIG. 32, a welding robot is moved to a part to be welded of a structural member 2 to be welded in a lifting or automatic walking mode;

s2) clamping the wire clamp 452 on the grounding assembly 45 to the rib plate part of the edge of the structural member 2 to be welded as shown in FIG. 33;

s3) switching on the welding power supply 44; starting a welding robot; setting welding parameters; scanning a welding path, as shown in fig. 34, and then starting to weld all the welded combination joints on the outer side of the structural member 2 outside the structural member 2 by using a welding gun 34;

s4) as shown in FIG. 35, after the welding robot finishes welding the combined seam on the outer side of the structural member 2 which can be welded, the welding gun 34 can be turned to the position of the combined seam on the inner side of the structural member 2, and after the path scanning is carried out on the combined seam on the inner side of the structural member 2 which can be welded by the welding gun 34, the welding is carried out one by one;

s5) as shown in FIG. 36, the starter robot walks and surmounts the obstacle program, so that the welding robot automatically moves to the inner side of the structural member 2, and the welding robot performs one-to-one welding after performing path scanning on the combined seam of the inner side of the structural member 2 to which the welding gun 34 can be welded;

after the robot reaches the designated position, the electromagnet 3541 of the foot 354 is in an on state, and the foot 354 is firmly adsorbed on the floor 1 or the structural member 2.

The welding robot can move forwards, backwards, turn, surmount obstacles and prevent overturning, and the movement is flexible. On the basis of having multiple functional actions, the operation stability, the flexible consistency of the actions and the welding safety and reliability can be fully ensured.

The welding robot can be used for welding more than 90% of inner and outer assembly joints of a structural member with a large space and complex assembly joints such as corners, wrap angles and the like, can also be used for welding open structures or the inner parts of most box girder structures of which the open structures or the box girder structures are in a narrow space and have barriers with certain heights (such as a structural member bottom plate) in a welding moving path (such as a height below 400 mm), and has the environment azimuth detection capability, the analysis and judgment capability, the horizontal straight line walking capability, the steering capability, the obstacle avoidance capability, the obstacle surmounting capability and the like. Aiming at the robot action, ten degrees of freedom including lifting of a vehicle body, extension and retraction of supporting legs, rotation of joints of a mechanical arm and the like are arranged together, and the cooperative operation of multiple degrees of freedom can fully ensure the welding operation without dead angles in all directions.

The welding robot is often contacted with a narrow protruding part of a structural part in the welding process under the limitation of factors such as the space size, the concave-convex degree, the layout form and the like of a target structural part to be welded, so that normal welding operation is influenced or welding equipment is damaged; and the welding seam forming quality and the welding efficiency are affected by the uneven structure parts, and the phenomenon of shaking and instability to a certain extent is easily caused during welding. In view of the above problems, two solutions are adopted in the design process of the robot in the above embodiment: first, an electromagnet is provided at the end of the leg assembly. In the welding process, the welding robot and the ground are adsorbed, tensioned and fixed by utilizing the magnetic adsorption force of the electromagnet, so that the shaking and instability of welding equipment caused by uneven structural parts and other factors are offset and overcome to the maximum extent; secondly, the ultrasonic sensor and the laser radar arranged at the bottom of the welding robot can automatically identify and analyze the surrounding environment of the welding robot in the range so as to pre-judge the interference condition of structural members in advance and synchronously formulate obstacle avoidance measures; the identification can adopt a Gaussian pyramid layering detection method to detect the obstacle existing on the walking path of the welding robot in real time, three-dimensional coordinates of characteristic points of the obstacle are obtained by utilizing stereoscopic vision, geometrical information of the obstacle is recovered according to a vehicle eye model, and the length, the height and the width of the obstacle, the relative distance and the position between the obstacle and the welding robot are measured, so that the data are used for carrying out path and action simulation planning on the obstacle crossing of the welding robot by a computer.

Aiming at the remote control operation and continuous movement and obstacle crossing requirements of the welding robot in a complex environment, the on-site environment state can be acquired through a visual perception mode, a virtual structure model is formulated, the spatial posture, the position and the like related to the virtual structure model are corrected, and the environment space virtual model and the actual control of the welding robot are mapped into a relation model. And the welding robot is controlled based on the virtual model to realize remote robot movement, obstacle avoidance, obstacle surmounting, welding target task guidance and rough positioning, and on-site real-time data and virtual data interaction and adjustment are acquired to finally realize the high-precision positioning and welding task execution purposes.

The travelling speed of the welding robot is as follows: 0-1000 mm/min; welding speed: 0-600 mm/min; maximum obstacle clearance height: 300mm; obstacle avoidance width: 200mm; welding mode: gas metal arc welding; robot operating space: 1200×2400 (left, right, up, down), all positions.

The welding robot of the embodiment has higher movement flexibility, is convenient for quickly adjusting the pose of the robot and the pose of the welding gun according to the actual working condition, can be suitable for various welding types such as flat welding, vertical welding, transverse welding and the like, can be suitable for welding of complex environments or complex workpieces, and effectively improves the welding efficiency and the welding quality.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present invention will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.

Claims

1. A four-foot big dog type welding robot is characterized in that: comprising the steps of (a) a step of,

2. The four-legged big dog welding robot according to claim 1, wherein: the trolley comprises a trolley body, wherein the trolley body comprises a trolley frame, wheels are arranged at the bottom of the trolley frame, and the trolley frame is connected with a gas cylinder and a welding power supply; the welding power supply is electrically connected with the welding gun through a cable, and the gas cylinder is connected with the welding gun through a gas pipe.

3. The four-legged big dog welding robot according to claim 1, wherein: the landing leg assembly further comprises a lateral hydraulic cylinder, wherein the lateral hydraulic cylinder comprises a third cylinder body and a third piston rod which can stretch out and draw back along the third cylinder body, the third cylinder body is hinged with the box body, and the third piston rod is hinged with the side face of the fixing piece.

4. The four-legged dog welding robot according to claim 3, wherein: the hydraulic pump is connected to the box body and respectively conveys hydraulic oil to the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder through the flow dividing valve group.

5. The four-legged big dog welding robot according to claim 1, wherein: the upper part of the foot is provided with a ball hinge seat, the shank is connected with a ball head, and the ball head is hinged in the ball hinge seat.

6. The four-legged big dog welding robot according to claim 1, wherein: the fixing piece is hinged with the box body through a first pin shaft, the thigh piece is hinged with the fixing piece through a second pin shaft, the thigh piece is hinged with the shank piece through a third pin shaft, and encoders are connected to the first pin shaft, the second pin shaft and the third pin shaft.

7. The four-legged big dog welding robot according to claim 1, wherein: and one or more of an ultrasonic sensor, a gyroscope and a laser radar are connected to the bottom of the box body.

8. The four-legged big dog welding robot according to claim 1, wherein: and the welding gun is connected with a welding seam tracker.

9. The four-legged big dog welding robot according to claim 1, wherein: and a collision sensor is connected between the mechanical arm and the welding.

10. The four-legged big dog welding robot according to claim 2, wherein: the trolley is connected with a first controller and a second controller, and the second controller is in communication connection with the mechanical arm; the first controller is used for controlling the action of the supporting leg assembly, the on-off of the air pipe and the on-off of the welding power supply.