CN116673658A - Self-walking type welding and cutting integrated vehicle and method - Google Patents
Self-walking type welding and cutting integrated vehicle and method Download PDFInfo
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- CN116673658A CN116673658A CN202310849155.1A CN202310849155A CN116673658A CN 116673658 A CN116673658 A CN 116673658A CN 202310849155 A CN202310849155 A CN 202310849155A CN 116673658 A CN116673658 A CN 116673658A
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- gun
- lifting
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- 238000003466 welding Methods 0.000 title claims abstract description 127
- 238000005520 cutting process Methods 0.000 title claims abstract description 85
- 238000000034 method Methods 0.000 title claims abstract description 31
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 8
- 238000004140 cleaning Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 230000003014 reinforcing effect Effects 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 abstract description 2
- 238000012545 processing Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a self-walking welding and cutting integrated vehicle and a method, comprising a chassis and a self-walking part arranged at the bottom of the chassis, wherein a vertical balance lifting unit is arranged at the top of the chassis, the vertical balance lifting unit comprises a lifting base connected with the chassis, the middle part of the lifting base is movably connected with a driving arm through a first shaft, the tail end of the driving arm is connected with the bottom of a robot body base through a second shaft, the upper part of the lifting base is connected with a secondary support arm through a third shaft, and the tail end of the secondary support arm is connected with the upper part of the robot body base through a fourth shaft; the lower part of the lifting base is movably provided with a hydraulic oil cylinder, and the telescopic end of the hydraulic oil cylinder is movably connected with the upper part of the driving arm; the robot body base is provided with a robot body and a quick-change device for storing the welding gun and the cutting gun; the welding gun has the advantages of welding and cutting integrated arrangement, convenience in switching between the welding gun and the cutting gun, good vehicle stability and reasonable design.
Description
Technical Field
The invention relates to the technical field of welding and cutting integrated equipment, in particular to a self-walking type welding and cutting integrated vehicle and a method.
Background
Authorized bulletin number: CN113385870B, the name of the patent application is: a self-walking full-scene type welding vehicle; the welding vehicle can control the welding robot body to perform welding operation, and comprises a lifting balance unit in the structure, when the welding vehicle is used, the telescopic end of the main anti-vibration oil cylinder drives the upper supporting swing arm to lift by starting the main anti-vibration oil cylinder, so that the height of the welding robot body is increased, and the welding range of the welding robot body is enlarged; but in the concrete in-process of using, when stretching out of the flexible end of main anti vibration hydro-cylinder, drive welding robot body to the intermediate position of vehicle remove, directly influenced welding robot body's welding scope, based on this, this type welding vehicle's welding robot body needs to be in the front portion of chassis, equipment such as lift balancing unit and welding robot body are installed to the front portion of chassis, easily cause the focus of whole welding vehicle unstable, and the welding vehicle is higher to stability requirement when going or welding operation.
Disclosure of Invention
The invention aims to provide a self-walking welding and cutting integrated vehicle and a self-walking welding and cutting integrated method, so as to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the self-walking welding and cutting integrated vehicle comprises a chassis and a self-walking part arranged at the bottom of the chassis, wherein a vertical balance lifting unit is arranged at the top of the chassis and comprises a lifting base connected with the chassis, the middle part of the lifting base is movably connected with a driving arm through a first shaft, the tail end of the driving arm is connected with the bottom of the robot body base through a second shaft, the upper part of the lifting base is connected with a secondary support arm through a third shaft, and the tail end of the secondary support arm is connected with the upper part of the robot body base through a fourth shaft; the lower part of the lifting base is movably provided with a hydraulic oil cylinder, and the telescopic end of the hydraulic oil cylinder is movably connected with the upper part of the driving arm;
the robot body base is provided with a robot body and a quick-change device for storing welding guns and cutting guns.
The beneficial effects of the invention are as follows: the lifting base is movably connected with the robot body base through the driving arm and the auxiliary support arm, and lifting of the robot body is realized through the hydraulic cylinder between the driving arm and the lifting base, so that the moving amplitude of the robot body to the middle position of a vehicle when the robot body is lifted is reduced, and meanwhile, the lifting base can be arranged at the middle position of a chassis, so that the stability requirement on a welding vehicle is reduced; meanwhile, the robot body can be used for installing a welding gun and a cutting gun, so that the purpose of improving the utilization rate of the whole equipment is achieved.
Preferably, the robot body base is L-shaped, the robot body is arranged at the lower part of the robot body base, and quick-change devices for storing welding guns and cutting guns are respectively arranged at two sides of the robot body base corresponding to the rear part of the robot body. According to the invention, the welding gun and the cutting gun are respectively placed on the corresponding quick-change devices, and the characteristics that the robot body is convenient to replace the welding gun or the cutting gun can be realized through the arrangement.
Preferably, a gun cleaning station for a welding gun is arranged on the base of the inner side robot body of the quick-change device. According to the invention, the robot body base can drive the robot body, the quick-change device and the gun cleaning station to move together, namely, the relative positions of the robot body, the quick-change device and the gun cleaning station are not changed, and the welding gun or the cutting gun can be conveniently and quickly replaced by the robot body at any time, and the gun cleaning station is used.
Preferably, lifting struts are respectively arranged on two sides of the top of the lifting base, a connecting reinforcing rod is arranged between the lifting struts, a wire feeder is arranged at the top of the lifting struts corresponding to the quick-change device for storing the welding gun, a cable swinging frame is arranged at the top of the lifting struts corresponding to the quick-change device for storing the cutting gun, and a wire hanger is arranged at the front part of the cable swinging frame.
Preferably, the height of the top of the lifting support rod is greater than the height of the robot body.
Preferably, a wire feeding disc matched with the wire feeding machine is arranged on the outer side of the auxiliary support arm.
Preferably, a plasma welding power supply is arranged on the chassis corresponding to the rear part of the lifting base; the bottom plate at the rear part of the plasma welding power supply is provided with a gas bottle rack.
Preferably, the self-walking part is a crawler-type structure arranged at two sides of the chassis; positioning support legs are respectively arranged on the inner side of the crawler-type structure and around the lower part of the chassis.
Preferably, a control box is arranged on a side chassis of the vertical balance lifting unit, a motion controller used for controlling the robot body to realize automatic gun replacement and work is arranged in the control box, one end of the motion controller is connected with a demonstrator used for man-machine interaction, and the other end of the motion controller is connected with the robot body.
A method of utilizing the self-propelled welding and cutting integrated vehicle, the method comprising the steps of:
step 1: the control personnel can drive the vehicle to a proper position, and when the ground is uneven, the four positioning support legs can be opened, so that the vehicle and the ground form a stable support;
step 2: according to the actual condition of the workpiece to be processed, an operator uses a demonstrator to select the sequence of using a cutting gun and/or a welding gun, the cutting gun or the welding gun and a working path of the robot body;
step 3: after the selection is completed, the demonstrator transmits corresponding data information into the motion controller, the motion controller controls the robot body to select a cutting gun or a welding gun, and works on a workpiece to be processed according to a preset path;
step 4: when the work is completed, the robot body changes a welding gun or a cutting gun and re-works the workpiece to be processed according to the preset path;
step 5: when the vertical balance lifting unit is required to be lifted in the operation process of the step 3 and the step 4, the telescopic end of the hydraulic oil cylinder is started, so that the driving arm and the auxiliary support arm drive the robot body to be lifted to a proper height for operation.
According to the self-walking welding and cutting integrated vehicle and the method, the vertical balance lifting unit is arranged, so that the lifting base is prevented from being positioned at the front part of the chassis (vehicle), the stability of the vehicle is improved, and meanwhile, the movement range of the robot body to the middle part of the vehicle is reduced when the robot body is lifted, so that the purpose of improving the working range of the robot body is achieved; the robot body base is provided with the robot body and the quick-change device for storing the welding gun and the cutting gun, so that the same vehicle has the characteristics of cutting and welding functions, and meanwhile, the equipment is arranged on the robot body base, namely: the relative positions of the robot body, the welding gun and the cutting gun are not changed, so that the robot body can be replaced at any time; the invention is also provided with a lifting support rod, and the lifting support rod is provided with a cable swinging frame and a cable hanger which are used for being matched with a cable so as to ensure the use safety of an external cable, and is also provided with a wire feeder which is matched with a welding gun so as to ensure the smooth welding operation; the welding gun has the advantages of welding and cutting integrated arrangement, convenience in switching between the welding gun and the cutting gun, good vehicle stability and reasonable design.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic elevational view of the present invention.
Fig. 3 is a schematic side view of the present invention.
Fig. 4 is a schematic bottom view of the present invention.
Fig. 5 is a control schematic block diagram of the present invention.
In the figure: 1. a chassis; 2. lifting a base; 3. a first shaft; 4. a drive arm; 5. a second shaft; 6. a robot body base; 7. a third shaft; 8. a secondary support arm; 9. a fourth shaft; 10. a hydraulic cylinder; 11. a quick change device; 12. a robot body; 13. lifting the supporting rod; 14. connecting a reinforcing rod; 15. a wire feeder; 16. a cable swinging frame; 17. wire feeding disc; 18. a plasma welding power supply; 19. a gas bottle holder; 20. a crawler-type structure; 21. positioning the supporting legs; 22. a gun cleaning station; 23. a wire hanging device; 24. a control box; 25. a motion controller; 26. a demonstrator.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1, 2 and 3, a self-walking welding and cutting integrated vehicle comprises a chassis 1 and a self-walking part arranged at the bottom of the chassis 1, wherein a vertical balance lifting unit is arranged at the top of the chassis 1 and comprises a lifting base 2 connected with the chassis 1, the middle part of the lifting base 2 is movably connected with a driving arm 4 through a first shaft 3, the tail end of the driving arm 4 is connected with the bottom of a robot body base 6 through a second shaft 5, the upper part of the lifting base 2 is connected with a secondary support arm 8 through a third shaft 7, and the tail end of the secondary support arm 8 is connected with the upper part of the robot body base 6 through a fourth shaft 9; the lower part of the lifting base 2 is movably provided with a hydraulic cylinder 10, and the telescopic end of the hydraulic cylinder 10 is movably connected with the upper part of the driving arm 4; the robot body base 6 is provided with a robot body 12 and a quick-change device 11 for storing welding guns and cutting guns. The invention aims at the authorized bulletin number: CN113385870B, the name of the patent application is: the improvement of the self-walking full-scene type welding vehicle mainly solves the defects of vehicle stability and the reduction of the working range of the robot body 12 after lifting, and the lifting balance unit and the welding robot body are positioned at the front end of a chassis (vehicle) in the patent of the invention, so that the gravity center of the whole chassis is positioned in front during running or welding operation, and the stability is poor; the invention abandons the traditional horizontal lifting mode, adopts the vertical balance lifting unit, enables the base installation position of the lifting base 2 to be positioned at the middle position of the chassis, and simultaneously starts the telescopic end of the hydraulic cylinder 10 to lift the robot body base 6 when the robot body base 6 needs to be lifted, and the moving range of the robot body base 6 is smaller in the process, so that the invention can reduce the influence on the operation of the robot body on the premise of solving the problem that the center of gravity of a vehicle is forward; the quick-change device 11 of the present invention can be purchased directly on the market, or by using the following patent application numbers: 201911272980.X, patent application number: 201720241991.1, patent application number: 201910198838.9, and the like, is not an important point to be protected, so the structure is not repeated; the hydraulic cylinders 10 in the invention can be two, which are respectively arranged at two sides of the driving arm 4; it should be noted that: the invention can adopt manual driving or remote control of vehicle running, and the structure is not repeated because the above forms are known in the art.
Further, the robot body base 6 is L-shaped, the robot body 12 is disposed at the lower part of the robot body base 6, and quick-change devices 11 for storing the welding gun and the cutting gun are disposed at two sides of the robot body base 6 corresponding to the rear part of the robot body 12. The above arrangement enables the feature of facilitating the replacement of the welding gun or cutting gun by the robot body 12.
Further, a gun cleaning station 22 for a welding gun is provided on the inner robot body base 6 of the quick-change device 11. When the position of the robot body 12 arranged on the robot body base 6 is changed, the positions of the quick-change device 11 and the gun cleaning station 22 on the robot body base 6 are changed at the same time, namely, the relative positions of the robot body 12, the quick-change device 11 and the gun cleaning station 22 are not changed, so that the characteristic of quick-change is achieved.
Further, lifting struts 13 are respectively arranged on two sides of the top of the lifting base 2, a connecting reinforcing rod 14 is arranged between the lifting struts 13, a wire feeder 15 is arranged at the top of the lifting struts 13 corresponding to the quick-change device 11 for storing welding guns, a cable arranging frame 16 is arranged at the top of the lifting struts 13 corresponding to the quick-change device 11 for storing cutting guns, and a wire hanger 23 is arranged at the front part of the cable arranging frame 16. The height of the lifting support rod 13 can be fixed or liftable, and if a lifting mode is adopted, the lifting mode can be a manual lifting mode, an electric lifting mode, an air pressure lifting mode or a hydraulic lifting mode; the connection reinforcing rod 14 between the lifting support rods 13 is mainly used for improving the strength of the lifting support rods 13, and the lifting support rods 13 can provide mounting positions for equipment such as an external cable and a wire feeder 15 used in welding operation and cutting operation, and the arrangement can facilitate the cooperation of the equipment, especially when the heights of the welding operation and the cutting operation are uncertain.
Further, the height of the top of the lifting support rod 13 is greater than the height of the robot body 12. The height of the top of the lifting strut 13 should be greater than the height of the robot body 12 during actual use in order to achieve the purpose of not affecting the cutting or welding operation.
Further, a wire feeding disc 17 matched with the wire feeding machine 15 is arranged on the outer side of the auxiliary support arm 8. The wire feeding disc 17 is arranged on the outer side of the auxiliary supporting arm 8, so that the length from welding wires to the wire feeder 15 can be saved, and meanwhile, the space is saved for the chassis 1.
Further, a plasma welding power supply 18 is arranged on the chassis 1 corresponding to the rear part of the lifting base 2; the chassis 1 behind the plasma welding power supply 18 is provided with a gas bottle holder 19.
Further, as shown in fig. 4, the self-walking part is a crawler-type structure 20 arranged at two sides of the chassis 1; positioning support legs 21 are respectively arranged on the inner side of the crawler-type structure 20 and around the lower part of the chassis 1. As described above, the present invention has relatively good stability, and thus may take the form of a traveling wheel or a track structure according to practical situations. The positioning leg 21 of the present invention can be lifted up during welding or cutting operations to improve the stability of the vehicle; the positioning support leg 21 can adopt a conventional structural form, or a form that a hydraulic cylinder is matched with a movable cushion block, namely, the hydraulic cylinder is fixed with the lower part of the chassis 1, the movable cushion block is fixed with the telescopic end of the hydraulic cylinder, and when the positioning support leg is required to be used, the hydraulic cylinder is started to enable the movable cushion block to be in stable contact with the ground so as to realize stable fixing of a vehicle.
Further, as shown in fig. 1, 2 and 5, a control box 24 is disposed on the side chassis 1 of the vertical balance lifting unit, a motion controller 25 for controlling the robot body 12 to realize automatic gun replacement and work is disposed in the control box 24, one end of the motion controller 25 is connected with a demonstrator 26 for man-machine interaction, and the other end is connected with the robot body 12. Compared with the prior art of the cutting and/or welding robot with the guide rail, the prior type of robot needs to move the workpiece to be processed when working, the movement comprises the movement of the workpiece to be processed to the periphery of the guide rail and the accurate placement of the workpiece to be processed, so that the robot can process the workpiece, and the processing is generally aimed at the processing of special devices or the processing and processing of standard parts; the invention fundamentally changes the state, namely, the invention moves to the position of the workpiece to be processed, and the placing of the workpiece to be processed has no requirement (the workpiece which is large and inconvenient to move is convenient to process); meanwhile, the invention can flexibly select according to the actual processing condition of the workpiece, namely, the invention is convenient for processing nonstandard or for producing small batch equipment; in particular, the invention enables cutting and welding of workpieces to be treated, and therefore can also be applied to repair and maintenance of large-scale equipment, such as: the invention is characterized in that the railway carriage, the large pipeline convenient to move, the large tank convenient to move and the like are provided with a self-walking structure, so that the repair and maintenance operation on the site of equipment is convenient.
A method for utilizing a self-propelled welding and cutting integrated vehicle, the method comprising the steps of:
step 1: the control personnel can drive the vehicle to a proper position, and when the ground is uneven, the four positioning support legs 21 can be opened, so that the vehicle and the ground form a stable support;
step 2: according to the actual condition of the workpiece to be processed, the operator uses the demonstrator 26 to select the sequence of the cutting gun and/or welding gun, the cutting gun or the welding gun used by the robot body 12 and the working path;
step 3: after the selection is completed, the demonstrator 26 transmits corresponding data information into the motion controller 25, and the motion controller 25 controls the robot body 12 to select a cutting gun or a welding gun and work the workpiece to be processed according to a preset path;
step 4: when the above work is completed, the robot body 12 replaces the welding gun or cutting gun and re-works the workpiece to be processed according to the preset path;
step 5: when the vertical balance lifting unit is required to be lifted in the operation process of the step 3 and the step 4, the telescopic end of the hydraulic cylinder 10 is started, so that the driving arm 4 and the auxiliary support arm 8 drive the robot body 12 to be lifted to a proper height for operation.
The invention provides a self-walking welding and cutting integrated vehicle and a method, and the invention is relative to an authorized bulletin number: CN113385870B, the name of the patent application is: in the patent of a self-walking full-scene welding vehicle, a vertical balance lifting unit is adopted, the lifting unit can enable the base installation position of a lifting base 2 to be positioned at the middle position of a chassis, meanwhile, when a robot body base 6 needs to be lifted, the telescopic end of a hydraulic cylinder 10 is started to lift the robot body base 6, and the moving range of the robot body base 6 is smaller in the process, so that the influence on the operation of the robot body can be reduced on the premise of solving the problem that the center of gravity of the vehicle is close to the front.
Example 1
The self-walking welding and cutting integrated vehicle comprises a chassis 1 and a self-walking part arranged at the bottom of the chassis 1, wherein a vertical balance lifting unit is arranged at the top of the chassis 1 and comprises a lifting base 2 connected with the chassis 1, the middle part of the lifting base 2 is movably connected with an active arm 4 through a first shaft 3, the tail end of the active arm 4 is connected with the bottom of a robot body base 6 through a second shaft 5, the upper part of the lifting base 2 is connected with a secondary support arm 8 through a third shaft 7, and the tail end of the secondary support arm 8 is connected with the upper part of the robot body base 6 through a fourth shaft 9; the lower part of the lifting base 2 is movably provided with a hydraulic cylinder 10, and the telescopic end of the hydraulic cylinder 10 is movably connected with the upper part of the driving arm 4; the robot body base 6 is provided with a robot body 12 and a quick-change device 11 for storing welding guns and cutting guns. The robot body base 6 is L-shaped, the lower part of the robot body base 6 is provided with a robot body 12, and two sides of the robot body base 6 corresponding to the rear part of the robot body 12 are respectively provided with a quick-change device 11 for storing welding guns and cutting guns. The inner robot body base 6 of the quick-change device 11 is provided with a gun cleaning station 22 for a welding gun. Lifting support rods 13 are respectively arranged on two sides of the top of the lifting base 2, a connecting reinforcing rod 14 is arranged between the lifting support rods 13, a wire feeder 15 is arranged at the top of the lifting support rods 13 corresponding to the quick-change device 11 for storing welding guns, a cable arranging frame 16 is arranged at the top of the lifting support rods 13 corresponding to the quick-change device 11 for storing cutting guns, and a wire hanger 23 is arranged at the front part of the cable arranging frame 16. The height of the top of the lifting support rod 13 is larger than that of the robot body 12. The outside of the auxiliary support arm 8 is provided with a wire feeding disc 17 which is matched with the wire feeding machine 15. A plasma welding power supply 18 is arranged on the chassis 1 corresponding to the rear part of the lifting base 2; the chassis 1 behind the plasma welding power supply 18 is provided with a gas bottle holder 19. The self-walking part is a crawler-type structure 20 arranged at two sides of the chassis 1; positioning support legs 21 are respectively arranged on the inner side of the crawler-type structure 20 and around the lower part of the chassis 1. The side chassis 1 of the vertical balance lifting unit is provided with a control box 24, a motion controller 25 for controlling the robot body 12 to realize automatic gun replacement and work is arranged in the control box 24, one end of the motion controller 25 is connected with a demonstrator 26 for man-machine interaction, and the other end of the motion controller 25 is connected with the robot body 12.
A method for utilizing a self-propelled welding and cutting integrated vehicle, the method comprising the steps of:
step 1: the control personnel drive the vehicle to a proper position;
step 2: the operator uses the demonstrator 26 to apply the cutting torch to the robot body 12 and selects a working path;
step 3: after the selection is completed, the demonstrator 26 transmits corresponding data information into the motion controller 25, the motion controller 25 controls the robot body 12 to select a cutting gun, the cutting gun is quickly replaced by the quick-replacing device 11, and the workpiece to be processed is cut according to a preset path after the quick-replacing.
Example 2
The structure of the self-walking welding and cutting integrated vehicle is consistent with that of the embodiment 1, so that the description is omitted;
a method for utilizing a self-propelled welding and cutting integrated vehicle, the method comprising the steps of:
step 1: the control personnel can drive the vehicle to a proper position, and can open the four positioning support legs 21 when the ground is uneven, so that the vehicle and the ground form a stable support;
step 2: the operator uses the demonstrator 26 to apply a welding gun to the robot body 12 and selects a working path;
step 3: after the selection is completed, the demonstrator 26 transmits corresponding data information into the motion controller 25, the motion controller 25 controls the robot body 12 to select a welding gun, the welding gun is quickly replaced by the quick-replacing device 11, and the workpiece to be processed is cut according to a preset path after the quick-replacing;
step 5: in the welding process in the step 3, when the vertical balance lifting unit is required to be lifted, the telescopic end of the hydraulic cylinder 10 is started, so that the driving arm 4 and the auxiliary support arm 8 drive the robot body 12 to be lifted to a proper height for welding operation.
Example 3
The structure of the self-walking welding and cutting integrated vehicle is consistent with that of the embodiment 1, so that the description is omitted;
a method for utilizing a self-propelled welding and cutting integrated vehicle, the method comprising the steps of:
step 1: the control personnel can drive the vehicle to a proper position, and when the ground is uneven, the four positioning support legs 21 can be opened, so that the vehicle and the ground form a stable support;
step 2: according to the actual condition of the workpiece to be processed, the operator uses the demonstrator 26 to select a cutting gun and a welding gun, firstly uses the cutting gun and then uses the welding gun and a working path for the robot body 12;
step 3: after the selection is completed, the demonstrator 26 transmits corresponding data information into the motion controller 25, the motion controller 25 controls the robot body 12 to select a cutting gun, the cutting gun is quickly replaced by the quick-replacing device 11, and then the workpiece to be processed is cut according to a preset path;
step 4: when the above work is completed, the robot body 12 replaces the welding gun, and the quick-change device 11 is used for quick-change, and then the welding operation is performed on the workpiece to be processed according to the preset path.
Example 4
The structure of the self-walking welding and cutting integrated vehicle is consistent with that of the embodiment 1, so that the description is omitted;
a method for utilizing a self-propelled welding and cutting integrated vehicle, the method comprising the steps of:
step 1: the control personnel can drive the vehicle to a proper position, and when the ground is uneven, the four positioning support legs 21 can be opened, so that the vehicle and the ground form a stable support;
step 2: according to the actual condition of the workpiece to be processed, the operator uses the demonstrator 26 to select a cutting gun and a welding gun, uses the welding gun firstly and then uses the cutting gun and a working path for the robot body 12;
step 3: after the selection is completed, the demonstrator 26 transmits corresponding data information into the motion controller 25, the motion controller 25 controls the robot body 12 to select a welding gun, the welding gun is quickly replaced by the quick-replacing device 11, and then the workpiece to be processed is welded according to a preset path;
step 4: when the above work is completed, the robot body 12 replaces the cutting gun, and the cutting gun is quickly replaced by the quick-replacing device 11, and then the workpiece to be processed is cut according to the preset path;
step 5: when the vertical balance lifting unit is required to be lifted in the operation process of the step 3 and the step 4, the telescopic end of the hydraulic cylinder 10 is started, so that the driving arm 4 and the auxiliary support arm 8 drive the robot body 12 to be lifted to a proper height for operation.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a self-walking type welding and cutting integrated vehicle, includes chassis (1) to and establish the portion of walking by oneself in chassis (1) bottom, its characterized in that: the top of the chassis (1) is provided with a vertical balance lifting unit,
the vertical balance lifting unit comprises a lifting base (2) connected with the chassis (1), the middle part of the lifting base (2) is movably connected with the driving arm (4) through a first shaft (3), the tail end of the driving arm (4) is connected with the bottom of the robot body base (6) through a second shaft (5), the upper part of the lifting base (2) is connected with the auxiliary support arm (8) through a third shaft (7), and the tail end of the auxiliary support arm (8) is connected with the upper part of the robot body base (6) through a fourth shaft (9); the lower part of the lifting base (2) is movably provided with a hydraulic oil cylinder (10), and the telescopic end of the hydraulic oil cylinder (10) is movably connected with the upper part of the driving arm (4);
the robot body base (6) is provided with a robot body (12) and a quick-change device (11) for storing welding guns and cutting guns.
2. The self-propelled welding and cutting integrated vehicle as set forth in claim 1, wherein: the robot body base (6) is L-shaped, the lower part of the robot body base (6) is provided with a robot body (12), and two sides of the robot body base (6) corresponding to the rear part of the robot body (12) are respectively provided with a quick-change device (11) for storing welding guns and cutting guns.
3. The self-propelled welding and cutting integrated vehicle as set forth in claim 2, wherein: a gun cleaning station (22) for a welding gun is arranged on the inner side robot body base (6) of the quick-change device (11).
4. The self-propelled welding and cutting integrated vehicle as set forth in claim 1, wherein: lifting support rods (13) are respectively arranged on two sides of the top of the lifting base (2), connecting reinforcing rods (14) are arranged between the lifting support rods (13), wire feeders (15) are arranged at the tops of the lifting support rods (13) at corresponding positions of the quick-change devices (11) for storing welding guns, cable swinging frames (16) are arranged at the tops of the lifting support rods (13) at corresponding positions of the quick-change devices (11) for storing cutting guns, and wire hangers (23) are arranged at the front parts of the cable swinging frames (16).
5. The self-propelled welding and cutting integrated vehicle as set forth in claim 4, wherein: the height of the top of the lifting support rod (13) is larger than that of the robot body (12).
6. The self-propelled welding and cutting integrated vehicle as set forth in claim 4, wherein: the outer side of the auxiliary support arm (8) is provided with a wire feeding disc (17) which is matched with the wire feeding machine (15).
7. The self-propelled welding and cutting integrated vehicle as set forth in claim 1, wherein: a plasma welding power supply (18) is arranged on the chassis (1) corresponding to the rear part of the lifting base (2); a gas bottle rack (19) is arranged on the chassis (1) at the rear part of the plasma welding power supply (18).
8. The self-propelled welding and cutting integrated vehicle as set forth in claim 1, wherein: the self-walking part is a crawler-type structure (20) arranged at two sides of the chassis (1);
positioning support legs (21) are respectively arranged on the periphery of the inner side of the crawler-type structure (20) corresponding to the lower part of the chassis (1).
9. The self-propelled welding and cutting integrated vehicle as set forth in claim 1, wherein: a control box (24) is arranged on a side chassis (1) of the vertical type balance lifting unit, a motion controller (25) used for controlling a robot body (12) to realize automatic gun replacement and work is arranged in the control box (24), one end of the motion controller (25) is connected with a demonstrator (26) used for man-machine interaction, and the other end of the motion controller is connected with the robot body (12).
10. A method of using the self-propelled welding and cutting integrated vehicle of any of claims 1-9, characterized by: the method comprises the following steps:
step 1: the control personnel enables the vehicle to run to a proper position, and when the ground is uneven, the four positioning support legs (21) can be opened, so that the vehicle and the ground form a stable support;
step 2: according to the actual condition of the workpiece to be processed, the operator uses the demonstrator (26) to select the sequence of the cutting gun and/or the welding gun, the cutting gun or the welding gun used by the robot body (12) and the working path;
step 3: after the selection is completed, the demonstrator (26) transmits corresponding data information into the motion controller (25), and the motion controller (25) controls the robot body (12) to select a cutting gun or a welding gun and work the workpiece to be processed according to a preset path;
step 4: when the work is completed, the robot body (12) replaces a welding gun or a cutting gun, and the work piece to be processed is reworked according to the preset path;
step 5: when the vertical balance lifting unit is required to be lifted in the operation process of the step 3 and the step 4, the telescopic end of the hydraulic oil cylinder (10) is started, so that the driving arm (4) and the auxiliary support arm (8) drive the robot body (12) to be lifted to a proper height for operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310849155.1A CN116673658A (en) | 2023-07-11 | 2023-07-11 | Self-walking type welding and cutting integrated vehicle and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310849155.1A CN116673658A (en) | 2023-07-11 | 2023-07-11 | Self-walking type welding and cutting integrated vehicle and method |
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| CN116673658A true CN116673658A (en) | 2023-09-01 |
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| CN202310849155.1A Pending CN116673658A (en) | 2023-07-11 | 2023-07-11 | Self-walking type welding and cutting integrated vehicle and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118023786A (en) * | 2024-04-09 | 2024-05-14 | 河南威猛振动设备股份有限公司 | Multi-station intelligent somatosensory welding equipment and welding method |
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2023
- 2023-07-11 CN CN202310849155.1A patent/CN116673658A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118023786A (en) * | 2024-04-09 | 2024-05-14 | 河南威猛振动设备股份有限公司 | Multi-station intelligent somatosensory welding equipment and welding method |
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