CN117001235A - Mobile welding robot for complex working conditions - Google Patents
Mobile welding robot for complex working conditions Download PDFInfo
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- CN117001235A CN117001235A CN202310884193.0A CN202310884193A CN117001235A CN 117001235 A CN117001235 A CN 117001235A CN 202310884193 A CN202310884193 A CN 202310884193A CN 117001235 A CN117001235 A CN 117001235A
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- 238000003466 welding Methods 0.000 title claims abstract description 181
- 238000000034 method Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- CLOMYZFHNHFSIQ-UHFFFAOYSA-N clonixin Chemical compound CC1=C(Cl)C=CC=C1NC1=NC=CC=C1C(O)=O CLOMYZFHNHFSIQ-UHFFFAOYSA-N 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 235000013619 trace mineral Nutrition 0.000 claims 1
- 239000011573 trace mineral Substances 0.000 claims 1
- 239000000969 carrier Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000005476 soldering Methods 0.000 description 1
Classifications
-
- 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
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
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Abstract
The application discloses a mobile welding robot used under a complex working condition, and relates to a welding system with a plurality of combination modes. The mobile welding robot is used for complex welding tasks in various scenes of modern industry, and is high in economic applicability and wide in application range. The mobile welding robot for the complex working conditions comprises a mobile carrier and welding equipment, wherein the welding equipment is arranged on the mobile carrier, the mobile carrier adopts one of a wheeled trolley mobile carrier, a rail type mobile carrier and a flexible profiling infinitesimal mobile carrier, and the three carriers are selected for use according to different use situations. The application unifies the body configuration representation modes of the guide rail-free, rail-type and flexible profiling mobile welding robots, can combine the curvature radius of the workpiece surface, select different configuration design functions, and obtain different configuration design schemes, thereby realizing the large-scale multi-occasion application of the mobile welding robot configuration.
Description
Technical Field
The application relates to the technical field of welding robots, in particular to a mobile welding robot used under complex working conditions.
Background
In the automobile manufacturing industry, the welding automation rate has exceeded 70%, but in fields such as bridge construction, rail transit, oil exploration, nuclear power, ocean engineering, etc., the welding automation rate in site operation is less than 5%. The conventional industrial robot is immovable and limited in welding range and cannot meet the welding requirements of field construction due to the constraint of a complex space welding seam structure of a workpiece and field construction conditions.
The mobile welding robot has the advantages of flexible movement, strong adaptability and the like, and can be used for solving the difficult problem of automatic welding operation under the complex working condition environment. However, in the face of many complicated working conditions in modern industrial production and manufacture, the current solution is to develop a specific special mobile welding robot device aiming at specific welding working conditions, and the mobile welding robot device has the defects of too high engineering cost and small application range, does not accord with the development concept of flexible manufacture advocated by the modern industry, and is difficult to meet the economic applicability principle of the modern industrial requirements.
Disclosure of Invention
The application aims to solve the technical problem of providing a mobile welding robot which can be used for complex welding tasks in various scenes of modern industry, has strong economic applicability and wide application range.
The application relates to a mobile welding robot used under complex working conditions, which comprises a mobile carrier and welding equipment, wherein the welding equipment is arranged on the mobile carrier, the mobile carrier adopts one of a wheeled trolley mobile carrier, a track type mobile carrier and a flexible profiling infinitesimal mobile carrier, and the selection of the mobile carrier follows the following rules:
wherein k represents different structural codes of the mobile welding robot, X and Y represent distances in X-axis and Y-axis directions of a two-dimensional Cartesian coordinate system respectively, R represents the radius of a mobile wheel of the mobile welding robot, l represents the distance between the centers of front and rear wheels of the mobile welding robot, h represents the distance between a chassis of the mobile welding robot and the surface of a workpiece to be welded, and DeltaR represents a constant distance between a track and the surface of the workpiece to be welded.
The application is used for a mobile welding robot under a complex working condition, wherein the wheeled trolley mobile carrier comprises a flat plate, welding equipment is arranged above the flat plate, and a plurality of wheels are arranged below the flat plate.
The application is used for a mobile welding robot under a complex working condition, wherein the track type mobile carrier comprises an annular track, a pulley and a sliding block which can slide along the track are arranged on the track, the sliding block is powered by a power mechanism, and welding equipment is arranged on the sliding block.
The application is used for a mobile welding robot under a complex working condition, wherein the flexible profiling micro-element mobile carrier comprises a flexible track, a plurality of micro-element wheel type trolleys are arranged on the flexible track to be connected in series, welding equipment is arranged on each micro-element wheel type trolley, the welding equipment is fixed on any welding trolley, and a workpiece welding seam is welded through closed chain transmission.
The application is used for a mobile welding robot under complex working conditions, wherein the flexible rail comprises a closed chain, and welding equipment is arranged on the end face of the flexible rail.
The application is used for the mobile welding robot under the complex working condition, wherein if the surface flatness information of the workpiece to be welded is the first flatness, namely k=1, andif so, determining the configuration design scheme of the mobile welding robot by adopting the wheeled trolley mobile carrier and the welding equipment, wherein Rmin 1 Representation ofAnd (3) moving the critical curvature radius value of the large wheel and the small wheel of the welding robot.
The application is used for the mobile welding robot under the complex working condition, wherein if the surface flatness information of the workpiece to be welded is the second flatness, namely k=2, andif so, determining the configuration design scheme of the mobile welding robot by adopting the track type mobile carrier and the welding equipment, wherein Rmin 2 The critical radius of curvature value of the mobile welding robot small wheel-micro-element wheel is represented.
The application is used for the mobile welding robot under the complex working condition, wherein if the surface flatness information of the workpiece to be welded is the third flatness, namely k=3, andor->And when the flexible profiling micro-element moving carrier is adopted, determining the configuration design scheme of the movable welding robot by adopting the flexible profiling micro-element moving carrier and the welding equipment.
The application is used for a mobile welding robot under a complex working condition, wherein the size of welding equipment matched with the flexible profiling micro-element mobile carrier is smaller than that of welding equipment matched with a wheeled trolley mobile carrier and a rail type mobile carrier.
The application is used for the mobile welding robot under the complex working condition, and is different from the prior art in that the mobile welding robot under the complex working condition unifies the body configuration representation modes of the mobile welding robot without guide rails, rails and flexible profiling, and the mobile welding robot configuration design function is created in advance, so that when the surface flatness information of the workpiece to be welded is different, the surface curvature radius of the workpiece is combined, and different configuration design functions are selected, so that different configuration design schemes are obtained, and the large-scale multi-occasion application of the mobile welding robot configuration is realized.
The application is used for the mobile welding robot under the complex working condition, solves the problem that the conventional mobile welding robot cannot enter a narrow space to finish the neck clamping task of the automatic welding task of the complex special-shaped curved surface, creates a body configuration design system of the mobile welding robot, improves the design efficiency, and improves the welding quality and the welding efficiency in the automatic welding field.
The mobile welding robot for complex working conditions according to the present application will be further described with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of a welding apparatus for use in a mobile welding robot under complex conditions of the present application;
FIG. 2 is a schematic diagram of a mobile carrier of a wheeled cart in a mobile welding robot for complex conditions according to the present application;
FIG. 3 is a schematic diagram of a track type mobile welding robot used in the mobile welding robot under a complex working condition;
FIG. 4 is a schematic view of another structure of a track-type mobile welding robot used in the mobile welding robot under a complex working condition;
FIG. 5 is a schematic diagram of a flexible profiling mobile welding robot used in the mobile welding robot under complex working conditions;
FIG. 6 is a schematic view of another configuration of a flexible profiling mobile welding robot of the present application for use in complex conditions;
FIG. 7 is a flow chart of the present application for mobile welding robot structural design selection under complex conditions;
FIG. 8 is a state diagram of the use of a schematic configuration design method of the present application for the design concept of wheel-micro-wheel evolution of a mobile welding robot under complex conditions;
the labels in the figures are: 1-track; 2-a slider; 3-flexible tracks; 4-small-sized welding equipment.
Detailed Description
The following examples are illustrative of the application and are not intended to limit the scope of the application.
As shown in fig. 1 to 8, the mobile welding robot system based on the complex trajectory design method of the present application includes a mobile carrier and a welding device mounted on the mobile carrier.
The movable carrier comprises a wheeled trolley movable carrier, a rail type movable carrier and a flexible profiling trace movable carrier, and the three carriers are selected for use according to different use scenes.
As shown in fig. 2, the wheeled dolly moving carrier includes a flat plate, a welding device is mounted above the flat plate, and a plurality of wheels (large wheels) are mounted below the flat plate.
The wheel type trolley moving carrier is suitable for the curved surface curvature radius r of a workpiece to be welded 1 Larger cases. In this case, the welding device may be a welding device having a large external structure. Therefore, the surface flatness of the workpiece to be welded is higher, and the curvature radius of the curved surface of the workpiece surface is larger than the set value r 1 The intelligent mobile welding robot is suitable for wheeled trolley running, and adopts the intelligent mobile welding robot configuration design scheme composed of a wheeled trolley mobile carrier and welding equipment.
As shown in fig. 3 and 4, the track type moving carrier comprises a track 1 with a ring shape or other structures, a pulley (small wheel) and a sliding block 2 which can slide along the track are arranged on the track 1, the sliding block 2 is powered by a power mechanism, and a welding device is arranged on the sliding block 2.
The track type movable carrier can be suitable for the curvature radius r of the curved surface of the workpiece to be welded 2 Is smaller than or equal to the curve curvature radius r applicable to the wheel type trolley moving carrier 1 When the wheeled dolly moving carrier cannot be applied to the welding scene, the welding can be attempted by adopting the track type moving carrier loading welding equipment. Thus, for the workpiece to be welded which is not suitable for the wheeled trolley to walk, if the curvature radius of the surface of the workpiece is larger than the set value r 2 Less than or equal to r 1 At the moment, a track type mobile welding robot configuration design scheme consisting of a track type mobile carrier and welding equipment is selected, the scheme is simple in structure, the robot has high welding precision, high reliability and wide application range.
As shown in fig. 5 and 6, the flexible profiling micro-element moving carrier comprises a flexible track 3, and the flexible track 3 can be adaptively deformed according to the surface shape of a workpiece to be welded, so that the flexible track 3 can be close to the surface of the workpiece to be welded as much as possible. A plurality of micro-wheel type trolleys are arranged on the flexible track 3 to be connected in series, welding equipment is arranged on each micro-wheel type trolley, the welding equipment is fixed on any welding trolley, and welding is carried out on welding seams of workpieces through closed chain transmission. In this embodiment, the flexible track may be formed by a closed chain. The welding equipment is arranged on the end face of the flexible rail, and after the shape of the flexible rail is adjusted according to the surface of the workpiece to be welded, the welding equipment slides on the end face of the flexible rail to finish welding. The welding equipment matched with the flexible profiling micro-element moving carrier is small-sized welding equipment 4, and the size of the welding equipment is smaller than that of the welding equipment matched with the wheeled trolley moving carrier and the track-type moving carrier.
The flexible profiling micro-element moving carrier is suitable for the curvature radius r of the curved surface of a workpiece to be welded 3 Is smaller than or equal to the radius of curvature r applicable to the track type moving carrier 2 Is the welding scene of (1), i.e. r 1 ≥r 2 ≥r 3 . When the periphery of the workpiece to be welded is not suitable for the movement of the wheeled trolley, and the track type movable carrier is also not applicable, the flexible profiling micro-element movable carrier can be adopted to carry small welding equipment for welding. At this time, the welding equipment with smaller appearance structure should be selected for the welding equipment, so that the welding work in a small space is convenient to carry out. Therefore, if the existing workpiece to be welded is not suitable for the wheel type trolley to walk, the curvature radius of the workpiece surface is not more than the set value r 2 The flexible profiling mobile welding robot configuration design scheme consisting of a flexible profiling micro-element mobile carrier and small welding equipment can be selected at the moment. The scheme has wide applicability, can be almost used for automatic welding of various conventional welding seams, and can also be used for automatic welding tasks in narrow spaces which cannot be accessed by various automatic welding equipment.
In particular, the choice of moving carrier and soldering apparatus follows the following rules:
wherein k represents different structural codes of the mobile welding robot, X and Y represent distances in X-axis and Y-axis directions of a two-dimensional Cartesian coordinate system respectively, R represents the radius of a mobile wheel of the mobile welding robot, l represents the distance between the centers of front and rear wheels of the mobile welding robot, h represents the distance between a chassis of the mobile welding robot and the surface of a workpiece to be welded, and DeltaR represents a constant distance between a track and the surface of the workpiece to be welded.
From the above formula, as shown in fig. 7 and 8, if the surface flatness information of the workpiece to be welded is the first flatness, k=1. When k=1, andwhen the configuration design scheme of the mobile welding robot by adopting the wheeled trolley mobile carrier and the welding equipment is determined, the configuration design function of the mobile welding robot is G (1); wherein Rmin 1 Representing the critical radius of curvature value of the mobile welding robot large wheel-small wheel.
If the surface flatness information of the workpiece to be welded is the second flatness, k=2. When k=2, andwhen the configuration design scheme of the mobile welding robot by adopting the track type mobile carrier and the welding equipment is determined, the configuration design function of the mobile welding robot is G (2); wherein Rmin 2 The critical radius of curvature value of the mobile welding robot small wheel-micro-element wheel is represented.
If the surface flatness information of the workpiece to be welded is the third flatness, k=3. When k=3, andor->When the flexible copying micro-element moving carrier is used, the mobile welding robot is determined to adopt the flexible copying micro-element moving carrier and the weldingConfiguration design scheme of the equipment, the configuration design function of the mobile welding robot is G (3).
The mobile welding robot system based on the complex track design method unifies the body configuration representation modes of the guide rail-free, rail-type and flexible profiling mobile welding robots, and the mobile welding robot configuration design function is created in advance, so that when the surface flatness information of the workpiece to be welded is different, different configuration design functions are selected by combining the surface curvature radius of the workpiece, and different configuration design schemes are obtained, so that the large-scale multi-occasion application of the mobile welding robot configuration is realized.
Meanwhile, the technical scheme of the application provides theoretical support for the design of the mobile welding robot, provides reference and reference for the configuration design in the field of the mobile welding robot, and improves the design level and efficiency of the mobile welding robot industry.
The application solves the problem that the conventional mobile welding robot cannot enter a narrow space to finish the neck clamping task of the automatic welding task of the complex special-shaped curved surface, creates a mobile welding robot body configuration design system, improves the design efficiency, and improves the welding quality and the welding efficiency in the field of automatic welding.
While the application has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the application and are intended to be within the scope of the application as claimed.
Claims (9)
1. A remove welding robot for under complicated operating mode, its characterized in that: the welding device is mounted on the movable carrier, the movable carrier adopts one of a wheeled trolley movable carrier, a rail type movable carrier and a flexible profiling trace movable carrier, and the movable carrier is selected according to the following rule:
wherein k represents different structural codes of the mobile welding robot, X and Y represent distances in X-axis and Y-axis directions of a two-dimensional Cartesian coordinate system respectively, R represents the radius of a mobile wheel of the mobile welding robot, l represents the distance between the centers of front and rear wheels of the mobile welding robot, h represents the distance between a chassis of the mobile welding robot and the surface of a workpiece to be welded, and DeltaR represents a constant distance between a track and the surface of the workpiece to be welded.
2. The mobile welding robot for use under complex conditions of claim 1, wherein: the wheeled trolley moving carrier comprises a flat plate, welding equipment is arranged above the flat plate, and a plurality of wheels are arranged below the flat plate.
3. The mobile welding robot for use under complex conditions of claim 1, wherein: the track type movable carrier comprises an annular track, a pulley and a sliding block are arranged on the track and can slide along the track, the sliding block is powered by a power mechanism, and welding equipment is arranged on the sliding block.
4. The mobile welding robot for use under complex conditions of claim 1, wherein: the flexible profiling micro-element moving carrier comprises a flexible track, a plurality of micro-element wheel type trolleys are installed on the flexible track to be connected in series, welding equipment is installed on each micro-element wheel type trolley, the welding equipment is fixed on any welding trolley, and welding is conducted on welding seams of workpieces through closed chain transmission.
5. The mobile welding robot for use under complex conditions of claim 4, wherein: the flexible rail comprises a closed chain, and the welding equipment is arranged on the end face of the flexible rail.
6. The mobile welding robot for complex operation of claim 1,the method is characterized in that: if the surface flatness information of the workpiece to be welded is the first flatness, i.e. k=1, andif so, determining the configuration design scheme of the mobile welding robot by adopting the wheeled trolley mobile carrier and the welding equipment, wherein Rmin 1 Representing the critical radius of curvature value of the mobile welding robot large wheel-small wheel.
7. The mobile welding robot for use under complex conditions of claim 1, wherein: if the surface flatness information of the workpiece to be welded is the second flatness, i.e. k=2, andif so, determining the configuration design scheme of the mobile welding robot by adopting the track type mobile carrier and the welding equipment, wherein Rmin 2 The critical radius of curvature value of the mobile welding robot small wheel-micro-element wheel is represented.
8. The mobile welding robot for use under complex conditions of claim 1, wherein: if the surface flatness information of the workpiece to be welded is the third flatness, i.e. k=3, andor->And when the flexible profiling micro-element moving carrier is adopted, determining the configuration design scheme of the movable welding robot by adopting the flexible profiling micro-element moving carrier and the welding equipment.
9. The mobile welding robot for use under complex conditions of claim 1, wherein: the size of the welding equipment matched with the flexible profiling trace element moving carrier is smaller than that of the welding equipment matched with the wheeled trolley moving carrier and the track type moving carrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310884193.0A CN117001235A (en) | 2023-07-18 | 2023-07-18 | Mobile welding robot for complex working conditions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310884193.0A CN117001235A (en) | 2023-07-18 | 2023-07-18 | Mobile welding robot for complex working conditions |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117001235A true CN117001235A (en) | 2023-11-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310884193.0A Pending CN117001235A (en) | 2023-07-18 | 2023-07-18 | Mobile welding robot for complex working conditions |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117001235A (en) |
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- 2023-07-18 CN CN202310884193.0A patent/CN117001235A/en active Pending
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