CN117048730A - Crawler-type wall climbing welding robot - Google Patents
Crawler-type wall climbing welding robot Download PDFInfo
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- CN117048730A CN117048730A CN202311308562.8A CN202311308562A CN117048730A CN 117048730 A CN117048730 A CN 117048730A CN 202311308562 A CN202311308562 A CN 202311308562A CN 117048730 A CN117048730 A CN 117048730A
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- 238000003466 welding Methods 0.000 title claims abstract description 209
- 230000009194 climbing Effects 0.000 title claims abstract description 58
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 24
- 239000010959 steel Substances 0.000 claims abstract description 24
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 230000000712 assembly Effects 0.000 claims abstract description 11
- 238000000429 assembly Methods 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 46
- 230000033001 locomotion Effects 0.000 claims description 13
- 229910001369 Brass Inorganic materials 0.000 claims description 7
- 239000010951 brass Substances 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 230000000903 blocking effect Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 230000006978 adaptation Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 239000011324 bead Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical group [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
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- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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- 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
Abstract
The application discloses a crawler-type wall climbing welding robot, which comprises: the welding device comprises a box body part, a welding line detection part, a welding part and a crawler belt part, wherein the welding line detection part is fixedly arranged at one end of the box body part; the welding part is fixedly arranged at the other end of the box body part, the crawler belt part is arranged at two sides of the box body part, and the box body part is driven to move along the welding line direction; the crawler belt part comprises a hub assembly and a magnetic block chain, the hub assembly comprises a driving wheel assembly and a driven wheel assembly, the magnetic block chain assembly comprises a chain and a magnetic block assembly, the chain is connected to the driving wheel assembly and the driven wheel assembly, and the magnetic block assemblies are fixedly connected with the chain; when in use, the magnetic block chain is adsorbed on a large steel structural member to be welded; according to the application, the crawler belt type box body part moves on a large-sized steel structural member, the welding seam to be welded is detected by the welding detection part, and then the welding seam is welded by the welding part, so that the automatic welding of the large-sized steel structural member is realized.
Description
Technical Field
The application relates to the technical field of welding robots, in particular to a crawler-type wall climbing welding robot.
Background
Because of the large size of large steel structures and limited transportation conditions, it is generally necessary to transport the welded components to the site of the construction site for welding.
The traditional welding mode is manual welding, namely, a welder climbs onto a large-scale steel structural member and then welds a steel structure, the welding mode has the conditions of low efficiency, heavy task, different weld quality, high operation danger and poor operation environment, and as the welding engineering amount is large, the welding requirement is high and the labor intensity is high, practitioners willing to enter the manual welding industry are slowly reduced, so that lack of enough skilled welding practitioners may occur in the future.
Disclosure of Invention
The application aims to solve the technical problem that the crawler type wall climbing welding robot is still used for manual welding of large-sized steel structures, and aims to provide the crawler type wall climbing welding robot which realizes the welding automation of the large-sized steel structures.
The application is realized by the following technical scheme:
a crawler-type wall climbing welding robot comprising:
a box portion;
a weld detecting portion fixedly provided at one end of the case portion;
a welding part fixedly provided at the other end of the case part;
the crawler belt parts are arranged on two sides of the box body part and drive the box body part to move along the welding line direction;
the crawler belt part comprises a hub assembly and a magnetic block chain, the hub assembly comprises a driving wheel assembly and a driven wheel assembly, the magnetic block chain assembly comprises a chain and a magnetic block assembly, the chain is connected to the driving wheel assembly and the driven wheel assembly, and a plurality of magnetic block assemblies are fixedly connected with the chain;
when in use, the magnetic block chain is adsorbed on a large steel structural member to be welded.
Specifically, the box portion includes: the device comprises a main box body, a driving part and a track tensioning part, wherein the track tensioning part and the driving part are respectively arranged at two ends of the main box body;
the main box body comprises left and right box body plates, left and right connecting rods, light blocking plates and a rear plate, wherein the two left and right box body plates are symmetrically arranged and fixedly connected through the left and right connecting rods, the light blocking plates are fixedly arranged at the front ends of the left and right box body plates, and the rear plate is fixedly arranged at the rear ends of the left and right box body plates;
the track tensioning portion includes: the device comprises a driven shaft, tensioning sliding blocks, tensioning sliding block positioning screws and limiting springs, wherein front sections of left and right side box body plates are provided with sliding grooves facing front and back, the two tensioning sliding blocks are respectively arranged in the two sliding grooves and can slide front and back along the sliding grooves, the driven shaft is rotatably connected with the two tensioning sliding blocks through driven wheel shaft sleeves, front end faces of the left and right side box body plates are connected with tensioning sliding block positioning ends, rear ends of the tensioning sliding block positioning screws are fixedly connected with the tensioning sliding blocks, front ends of the tensioning sliding block positioning screws penetrate through the tensioning sliding block positioning ends and are connected with the limiting springs, and the limiting springs apply forward acting force to the tensioning sliding block positioning screws;
the driving section includes: the driving shafts are respectively connected with the rear ends of the left box body plate and the right box body plate in a rotatable mode through a driving shaft sleeve and a deep groove ball bearing, and torque output shafts of the driving stepping motors respectively drive the two driving shafts to rotate through the speed reducers.
Optionally, the box body part further comprises a handle part, and the handle part is fixedly connected with the middle parts of the left box body plate and the right box body plate;
the inner side surfaces of the left box body plate and the right box body plate are provided with wiring rings.
Specifically, the driving wheel assembly is connected with the driving shaft, and the driven wheel assembly is connected with the driven shaft;
the drive wheel assembly includes: the driving wheel hub is connected with the driving shaft, the two driving wheel track gears are fixedly connected with two ends of the driving wheel hub, the driving wheel hub inner ring is connected with the driving wheel hub, and the driving wheel outer ring is connected with the driving wheel hub inner ring;
the driven wheel assembly includes: the driven wheel hub is connected with the driven shaft, the two driven wheel track gears are fixedly connected with two ends of the driven wheel hub, the driven wheel hub inner ring is connected with the driven wheel hub, and the driven wheel hub outer ring is connected with the driven wheel hub inner ring;
the two chains are respectively arranged at two sides of the driving wheel hub/the driven wheel hub, and the two driving wheel track gears and the two driven wheel track gears are respectively connected with the two chains.
Specifically, a plurality of magnet block assemblies set up respectively between two the chain, the magnet block assembly includes: cylindrical magnet, magnet shell, brass separate magnetic stripe and magnetic path chain connecting plate, two magnet shell's interface be provided with cylindrical magnet adaptation's arc groove, cylindrical magnet groove is fixed to be set up by in the cylinder chamber that the arc groove constitutes, and two be provided with brass separate the magnetic stripe between the magnet shell, the both ends of magnetic stripe shell pass through magnetic path chain connecting plate with the chain link fixed connection of chain.
Optionally, the box portion further includes a magnetic block guiding portion disposed on two sides of the left and right box plates, the magnetic block guiding portion includes a guiding connecting piece and a guiding connecting groove, the guiding connecting groove is horizontally disposed between the driven wheel assembly and the driving wheel assembly, the guiding connecting groove is fixedly connected with the left and right connecting plates through the guiding connecting piece, and a magnetic block guiding connecting plate adapted to the guiding connecting groove is fixedly connected to the magnetic block assembly.
Specifically, the weld detecting portion includes: the welding detection device comprises a welding detection bracket, a line structure light camera bracket, a molten pool camera and a molten pool camera bracket, wherein the welding detection bracket is fixedly connected with the box body part, the line structure light camera is fixedly connected with the welding detection bracket through the line structure light camera bracket, and the molten pool camera is fixedly connected with the welding detection bracket through the molten pool camera bracket;
the line structured light camera is disposed in front of the bath camera.
Specifically, the welding portion includes: the welding gun pitching clamping part is used for clamping the welding gun and controlling the welding gun to be aligned with a welding seam for welding;
the moving direction of the Y-axis direction guide mechanism, the moving direction of the Z-axis direction guide mechanism and the advancing direction of the robot are arranged in a pairwise perpendicular mode.
Optionally, the Y-axis direction guiding mechanism includes the Y-axis direction ball screw and a Y-axis direction stepper motor, and the Z-axis direction guiding mechanism includes a Z-axis direction ball screw and a Z-axis direction stepper motor;
the Y-axis direction guide mechanism is used for adjusting movement of the welding gun in the width direction of the welding seam, the Z-axis direction guide mechanism is used for adjusting movement of the welding gun in the height direction of the welding seam, and the welding gun pitching clamping part is used for adjusting the angle of the welding gun relative to the welding seam.
Optionally, be provided with aviation plug interface on the back plate, welding robot still includes the switch board, the switch board pass through the cable with aviation plug is connected to aviation plug interface, the switch board includes sales counter, display, host computer, input element, relevant button, step motor driver and power module, the switch board is used for accepting the information that welding seam detects the part obtained, according to the information control that obtains the action of drive part, control welding gun's of welding part pose and welding.
Compared with the prior art, the application has the following advantages and beneficial effects:
according to the application, the belt type box body part of the crawler belt part moves on the large-sized steel structural member, the welding seam to be welded is detected by the welding detection part, and the welding seam is welded by the welding part, so that the automatic welding of the large-sized steel structural member is realized, the welding efficiency and the welding seam quality are improved, and the construction safety and the construction efficiency are improved;
the crawler belt part drives the magnetic block chain to move through the hub assembly, and the permanent magnet in the magnetic block assembly can be adsorbed on a large steel structure, so that the crawler belt type wall climbing robot has a small-range obstacle crossing capability, and the flexibility, the safety and the control precision of the crawler belt type wall climbing robot are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the application and together with the description serve to explain the principles of the application.
Fig. 1 is a schematic general structural diagram of a crawler-type wall climbing robot according to the present application.
Fig. 2 is a schematic diagram of a working state of the crawler-type wall climbing robot according to the present application.
Fig. 3 is a schematic diagram of a weld detection portion of a crawler-type wall climbing robot according to the present application.
Fig. 4 is a schematic diagram of a box of the crawler-type wall climbing robot according to the present application.
Fig. 5 is a schematic diagram of the rear side of a box of the crawler-type wall climbing robot according to the present application.
Fig. 6 is a schematic view of a crawler type wall climbing robot according to the present application.
Fig. 7 is a schematic view of the crawler belt structure of the crawler-type wall climbing robot according to the present application.
Fig. 8 is a schematic structural view of a magnetic block chain of the crawler-type wall climbing robot.
Fig. 9 is a schematic view of a welded portion of a tracked wall climbing robot according to the present application.
Reference numerals: 1-a weld detecting section; 2-a box portion; 3-track sections; 4-welding part; 5-large steel structural members;
11-line structured light cameras; 12-line structured light camera mount; 13-welding a detection bracket; 14-a bath camera; 15-a bath camera mount;
23-a handle portion; 211-left and right side case plates; 212-left and right side connecting rods; 213-light barrier; 214-wire loops; 215-a guide connection; 216-a guide connection groove; 217-back plate; 221-driven shaft; 222-driven wheel sleeve; 223-tensioning slide; 224—tensioning a slider positioning screw; 225, tensioning a sliding block positioning end; 226-limit springs; 241-drive shaft; 242-drive shaft sleeve; 243-deep groove ball bearings; 244-driving a stepper motor; 245-a speed reducer;
31-a hub assembly; 32-a magnetic block chain; 311-a driven wheel hub outer ring; 312-driven wheel hub inner ring; 313-driving wheel hub outer ring; 314-driving wheel hub inner ring; 315—drive wheel track gear; 316-a drive wheel hub; 317-driven wheel hub; 321-a chain; 322-a magnetic block guide connecting plate; 323-brass magnetic shielding strips; 324-magnet housing; 325-a cylindrical magnetic block; 326-a magnetic block chain connecting plate;
41-welding a connecting plate; 42-Y axis direction guiding mechanism; 43-Z axis direction guiding mechanism; 44-a torch pitch grip; 45-welding gun.
Detailed Description
The present application will be described in further detail with reference to the drawings and embodiments, for the purpose of making the objects, technical solutions and advantages of the present application more apparent. It is to be understood that the specific embodiments described herein are merely illustrative of the substances, and not restrictive of the application.
It should be further noted that, for convenience of description, only the portions related to the present application are shown in the drawings.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
Embodiments of the present application and features of the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In a first embodiment, as shown in fig. 1 and 2, a crawler-type wall climbing welding robot includes: a box portion 2, a weld detecting portion 1, a welding portion 4, and a crawler portion 3.
The box body part 2 is used as a support of the whole robot and used for installing various components of the crawler type wall climbing robot, and the welding line detection part 1 is fixedly arranged at one end of the box body part 2 and used for detecting welding lines and welding quality and guiding the crawler type wall climbing robot to work along the welding lines. The welding part 4 is fixedly arranged at the other end of the box body part 2 and positioned in the middle of the box body part 2, and the pose of the welding gun 45 can be adjusted, so that the welding gun 45 can be aligned with a welding seam at the best angle, and the quality of the welding seam is ensured.
The crawler belt parts 3 are arranged at two sides of the box body part 2, and drive the box body part 2 to move along the welding line direction; for adsorbing large steel structural members 5 and enabling the tracked wall climbing robot to move along the weld.
As shown in fig. 6, the track portion 3 includes a hub assembly 31 and a magnet chain 32, the hub assembly 31 includes a driving wheel assembly and a driven wheel assembly, the magnet chain 32 includes a chain 321 and a magnet assembly, the chain 321 is connected to the driving wheel assembly and the driven wheel assembly, and a plurality of magnet assemblies are fixedly connected to the chain 321; in use, the magnet chain 32 is attracted to the large steel structural member 5 to be welded. The chain 321 is driven to rotate through the driving wheel assembly, the magnetic block assembly is driven to move through the chain 321, and the large-sized steel structural member 5 is adsorbed through the permanent magnet in the magnetic block assembly, so that the whole robot and the large-sized steel structural member 5 are fixed.
In the second embodiment, as shown in fig. 4, the case portion 2 includes: the main box body, the driving part and the crawler tensioning part are respectively arranged at two ends of the main box body.
The main box body comprises a left box body plate 211, a right box body plate 211, a left connecting rod 212, a right connecting rod 212, a light barrier 213 and a rear plate 217, wherein the two left box body plate 211 and the right box body plate 211 are symmetrically arranged and fixedly connected through the left connecting rod 212, the light barrier 213 is fixedly arranged at the front ends of the left box body plate 211 and the right box body plate 211, and the rear plate 217 is fixedly arranged at the rear ends of the left box body plate 211 and the right box body plate 211;
the left and right side case plates 211 are connected by left and right side connecting rods 212, and there is enough space in the case portion 2 to house the welding detecting portion, the welding portion 4 and the driving portion, and enough space for welding, so that heat generated during welding is prevented from reducing the adsorption force of the magnetic blocks.
The openings in the middle of the left and right side case plates 211 are used for weight reduction, and can enable the welding condition to be directly observed by a person for manually determining the smooth progress of welding. The light blocking plate 213 is provided at the front section of the box portion 2, behind the line structure light camera 11 in the crawler type wall climbing robot, for blocking the influence of the light generated at the time of welding on the line structure light camera 11.
The track tensioning portion includes: the front section of the left box body plate 211 and the right box body plate 211 is provided with a front-back oriented chute, the two tensioning sliding blocks 223 are respectively arranged in the two chutes and can slide back and forth along the chutes, a driven wheel is rotatably connected with the two tensioning sliding blocks 223 through a driven wheel shaft sleeve 222, the front end face of the left box body plate 211 and the right box body plate 211 is connected with a tensioning sliding block positioning end 225, the rear end of the tensioning sliding block positioning screw 224 is fixedly connected with the tensioning sliding blocks 223, the front end of the tensioning sliding block positioning screw 224 passes through the tensioning sliding block positioning end 225 to be connected with the limiting spring 226, and the limiting spring 226 applies forward acting force to the tensioning sliding block positioning screw 224;
the track tensioning section is connected to the front of the box section 2 for tensioning the track section 3 to stabilize the operation of the track section 3. The tensioning slide positioning end 225 is connected to the front sections of the left and right side case plates 211, is connected to the tensioning slide 223 through the tensioning slide positioning screw 224, and completes tensioning of the track portion 3, and the limiting spring 226 limits movement of the tensioning slide 223 and ensures stability of the tensioning portion. The driven shaft 221 is connected to the tension slider 223 of the left and right case plates 211.
The driving section includes: the driving shafts 241, the driving stepping motors 244 and the speed reducers 245, the two driving shafts 241 are rotatably connected with the rear ends of the left and right side box body plates 211 through the driving shaft sleeves 242 and the deep groove ball bearings 243 respectively, and the torque output shafts of the two driving stepping motors 244 drive the two driving shafts 241 to rotate through the speed reducers 245 respectively.
The driving part is connected to the rear part of the box body part 2, and the crawler type wall climbing welding robot is driven by a rear drive, so that the crawler type wall climbing welding robot is beneficial to wall climbing movement. The driving shaft 241 is provided with two key grooves for more stable power transmission, and the key grooves are symmetrically distributed, cross-distributed or other key groove forms, and the key groove forms are not limited to double key grooves.
Since the welding portion 4 is located at the middle of the case portion 2, the space inside the case portion 2 is insufficient, and the driving stepping motor 244 is installed upward. The driving stepping motor 244 is connected with the control cabinet through a cable concentrated on the aviation plug, acquires a power supply and a control signal transmitted by the control cabinet, and completes driving of the crawler belt part 3. The worm gear reducer 245 has self-locking performance, and prevents the crawler type wall climbing robot from moving due to dead weight.
When the crawler type wall climbing robot works, steering is completed by means of the differential speed of the crawler belt part 3, the driving part provides power for the movement of the crawler belt part 3, when the crawler type wall climbing robot steers, the movement directions of the left side and the right side of the crawler belt part 3 are not consistent, the steering or rotating speeds of the left driven wheel hubs 317 and the right driven wheel hubs 317 are different, the driven shaft 221 does not need to rotate along with the driven wheel hubs 317, and the driven shaft 221 is connected with the driven wheel hubs 317 through bearings and components thereof.
The box body part 2 further comprises a handle part 23, and the handle part 23 is fixedly connected with the middle parts of the left box body plate 211 and the right box body plate 211; the handle portion 23 is divided into a grip portion and a connection portion, which are combined and connected to the left and right case plates 211 in consideration of the ease of processing.
The inner surfaces of the left and right case plates 211 are provided with routing loops 214. The wire loop 214 is fixed to the inner side of the left and right case plates 211 for gathering the wire derived from the weld detecting portion 1, preventing interference with the operation of the welding portion 4.
In the third embodiment, as shown in fig. 7, a driving wheel assembly is connected to a driving shaft 241, and a driven wheel assembly is connected to a driven shaft 221;
the drive wheel assembly includes: the driving wheel hub 316, the driving wheel track gears 315, the driving wheel hub outer ring 313 and the driving wheel hub inner ring 314, the driving wheel hub 316 is connected with the driving shaft 241, the two driving wheel track gears 315 are fixedly connected with the two ends of the driving wheel hub 316, the driving wheel hub inner ring 314 is connected with the driving wheel hub 316, and the driving wheel outer ring is connected with the driving wheel hub inner ring 314;
the driven wheel assembly includes: the driven wheel hub 317, driven wheel track gears, a driven wheel hub outer ring 311 and a driven wheel hub inner ring 312, wherein the driven wheel hub 317 is connected with the driven shaft 221, the two driven wheel track gears are fixedly connected with the two ends of the driven wheel hub 317, the driven wheel hub inner ring 312 is connected with the driven wheel hub 317, and the driven wheel hub outer ring 311 is connected with the driven wheel hub inner ring 312;
two chains 321 are respectively disposed at both sides of the driving/driven wheel hubs 316/317, and two driving and driven wheel track gears 315 and 315 are respectively connected to the two chains 321.
As shown in fig. 8, a plurality of magnet assemblies are respectively disposed between two chains 321, the magnet assemblies including: cylindrical magnet, magnet shell 324, brass separate magnetic stripe 323 and magnetic path chain 32 connecting plate, the face that meets of two magnet shells 324 is provided with the arc groove with cylindrical magnet adaptation, and cylindrical magnet groove is fixed to be set up in the cylinder chamber that comprises the arc groove, and is provided with brass separate magnetic stripe 323 between two magnet shells 324, and the both ends of magnetic stripe shell pass through magnetic path chain 32 connecting plate and chain 321's chain festival fixed connection.
The box portion 2 further includes magnetic block guiding portions disposed on two sides of the left and right box plates 211, the magnetic block guiding portions include guiding connecting pieces 215 and guiding connecting grooves 216, the guiding connecting grooves 216 are horizontally disposed between the driven wheel assembly and the driving wheel assembly, the guiding connecting grooves 216 are fixedly connected with the left and right connecting plates through the guiding connecting pieces 215, and magnetic block guiding connecting plates 322 adapted to the guiding connecting grooves 216 are fixedly connected to the magnetic block assemblies.
The magnet guide portion is connected to the outer side of the left and right side case plates 211 through a magnet guide portion connector for restricting the position of the magnet to stabilize the operation of the track portion 3.
The chain 321 has two links, one of which is a general link and the other of which has one end protruding more than the outer link, forming a pin-like shape, and this protruding end being connected to the link plate of the magnet chain 32. The cylindrical magnet is neodymium iron boron material, protects the cylindrical magnet through the magnet shell 324 to play magnetic conduction's effect, magnet direction connecting plate 322 cooperation magnet direction part for the direction of spacing magnet makes track part 3 operation more steady, plays fixed magnet shell 324's effect simultaneously. When the crawler belt part 3 operates, the crawler belts on two sides are adsorbed on the large steel structural member 5 by a fixed number of magnetic blocks, the magnetic blocks are arranged on the chain 321 at fixed intervals, and the crawler belt type wall climbing welding robot has obstacle crossing capability on small obstacles, so that the crawler belt type wall climbing welding robot can automatically reach another welding seam from one welding seam.
In the fourth embodiment, as shown in fig. 3, the bead detecting section 1 includes: the welding detection support 13 is fixedly connected with the box body part 2, the line structure light camera 11 is fixedly connected with the welding detection support 13 through the line structure light camera support 12, and the molten pool camera 14 is fixedly connected with the welding detection support 13 through the molten pool camera support 15; the line structured light camera 11 is disposed in front of the bath camera 14.
When the crawler type wall climbing welding robot works, the crawler part 3 is adsorbed on the large steel structural member 5, so that the crawler type wall climbing robot can be adsorbed on the wall surface and move. The line structure light camera 11 detects the welding seam of the large steel structural member 5, so that the crawler type wall climbing welding robot works along the welding seam. The welding part 4 adjusts the pose of the welding gun 45 to finish welding work, and the molten pool camera 14 detects the molten pool condition to ensure that the quality of the welding seam reaches the standard.
The line structure light camera 11 is arranged at the forefront end of the crawler type wall climbing robot and is used for detecting the position of a welding line relative to the box body part 2, the line structure light camera is connected with a control cabinet through a cable concentrated on an aviation plug, a power supply and information data are transmitted, after the control cabinet acquires information, the host computer processes the information data and converts the information data into corresponding control signals, the control signals are transmitted to a driving stepping motor 244, a Y-axis direction guide mechanism 42 and a Z-axis direction guide mechanism 43 through the cable, and the movement direction of the crawler part 3 and the pose of a welding gun 45 are controlled. When the welding gun 45 performs welding, the molten pool camera 14 detects the molten pool condition in real time, the acquired data information is transmitted to a host in the control cabinet through a cable, the host judges whether the molten pool condition is in a condition that a high-quality welding seam can be acquired, if the condition that the position of the welding gun 45 relative to the welding seam needs to be adjusted occurs, a corresponding control signal is generated, the control signal is transmitted to the Y-axis direction guide mechanism 42 and the Z-axis direction guide mechanism 43 through the cable, and the pose of the welding gun 45 is adjusted.
As shown in fig. 3, in the crawler-type wall climbing welding robot described above, the line structure camera is connected to the welding inspection rack 13 through the line structure light camera rack 12, and the bath camera 14 is connected to the welding inspection rack 13 through the bath camera rack 15. The wire structure camera and bath camera 14 are connected to the control cabinet by cables to transmit power and information data. The model of the line structure camera and the bath camera 14 in this embodiment are not fixed, and the mount for connection varies according to the installation mode of the different model. The bead detecting section 1 is attached to the front of the box section 2.
In the fifth embodiment, the welding portion 4 includes: the welding device comprises a welding connecting plate 41, a Y-axis direction guiding mechanism 42, a Z-axis direction guiding mechanism 43, a welding gun pitching clamping part 44 and a welding gun 45, wherein the fixed end of the Y-axis direction guiding mechanism 42 is fixedly connected with the box body part 2 through the welding connecting plate 41, the fixed end of the Z-axis direction guiding mechanism 43 is fixedly connected with the moving end of the Y-axis direction guiding mechanism 42, the welding gun pitching clamping part 44 is fixedly connected with the moving end of the Z-axis direction guiding mechanism 43, and the welding gun pitching clamping part 44 is used for clamping the welding gun 45 and controlling the welding gun 45 to be aligned with a welding seam for welding;
the Y-axis direction guide mechanism 42 is disposed in a direction perpendicular to each other, and the Z-axis direction guide mechanism 43 is disposed in a direction perpendicular to the forward direction of the robot.
Alternatively, the Y-axis direction guide mechanism 42 includes a Y-axis direction ball screw and a Y-axis direction stepping motor, and the Z-axis direction guide mechanism 43 includes a Z-axis direction ball screw and a Z-axis direction stepping motor;
the Y-axis direction guide mechanism 42 is used to adjust the movement of the welding torch 45 in the weld width direction, the Z-axis direction guide mechanism 43 is used to adjust the movement of the welding torch 45 in the weld height direction, and the welding torch pitch clamping portion 44 is used to adjust the angle of the welding torch 45 with respect to the weld.
The welding portion 4 includes a welding portion 4 connection plate, a Y-axis direction guide mechanism 42, a Z-axis direction guide mechanism 43, a gun pitch clamping portion 44, and a gun 45. The Y-axis direction guide mechanism 42 and the Z-axis direction guide mechanism 43 are connected with the control cabinet through cables concentrated on the aviation plug, acquire power and information data transmitted by the control cabinet, and control the pose of the welding gun 45. The torch pitch clamp 44 is used to control the distance of the torch 45 head from the weld and the angle relative to the weld. The Y-axis direction guide mechanism 42 is used to control the position of the welding gun 45 in the weld width direction, and the Z-axis direction guide mechanism 43 is used to control the position of the welding gun 45 in the weld height direction. The Y-axis direction guide mechanism 42 and the Z-axis direction guide mechanism 43 work in series for coping with a small-amplitude bending weld joint inconvenient for steering of the crawler-type wall climbing welding robot, or for a weld joint of a different width for a slit reason, or a welding situation requiring continuous movement of the welding gun 45 along the width of the weld joint or the height of the weld joint based on different welding modes. Based on the data acquired by the line structured light camera 11 and the molten pool camera 14, the control cabinet sends out a control model to control the stepping motor driving of the Y-axis direction guide mechanism 42 and the Z-axis direction guide mechanism 43, so that welding is completed, and the process requirements of different welding seams are met.
The cables in this embodiment are not limited in length, and suitable cable lengths are arranged according to the sizes of the large steel structural members 5 so as not to affect the operation of the crawler-type wall climbing welding robot.
The control cabinet provides power through the cable, acquires welding seam information, transmits to the host computer based on the information acquired by the welding seam detection part 1, processes the information into corresponding control signals through relevant programs, sends the control signals to the crawler-type wall climbing welding robot, controls the crawler-type wall climbing welding robot to move along the welding seam, and controls the welding part 4 to meet the technological requirements on welding of the welding seam.
As shown in fig. 5, the rear plate 217 is provided with an aviation plug interface, the welding robot further includes a control cabinet, the control cabinet is connected to the aviation plug interface through a cable and an aviation plug, the control cabinet includes a counter, a display, a host, an input element, related buttons, a stepper motor driver and a power supply assembly, the control cabinet is used for receiving information acquired by the welding seam detecting portion 1, controlling the action of the driving portion according to the acquired information, and controlling the pose and welding of the welding gun 45 of the welding portion 4.
The rear plate 217 for installing the aviation plug is connected to the rear side of the box body part 2, the lines of the welding line detection part 1 and the welding part 4 are concentrated on the aviation plug on the rear plate 217 for installing the aviation plug and are converged into a cable, the cable is derived from the rear part of the crawler-type wall climbing robot, and the number of the cables is reduced.
In the sixth embodiment, the actual use operation process of the crawler-type wall climbing welding robot is as follows:
step 1: it is checked whether the equipment and devices of the bead detecting section 1 and the track section 3 are working properly and whether the connection is stable. It is checked whether the connection of the box portion 2 and the track portion 3 is stable or defective. Whether the control cabinet can normally operate or not is checked, and whether the connection of the aviation plug is problematic or not is checked. It is checked whether the gun motion pitch grip portion 44 is in a preset position.
Step 2: the crawler type wall climbing welding robot is adsorbed on a large steel structural member 5.
Step 3: the aerial plug is attached to the aerial plug of the rear plate 217 to which the aerial plug is mounted.
Step 4: and starting related programs in the control cabinet.
Step 5: and the crawler type wall climbing welding robot is controlled by a control cabinet to reach the initial position of the welding seam of the large steel structural member 5.
Step 6: and (3) starting to run a welding program, enabling the crawler type wall climbing welding robot to start autonomous welding, and observing a control cabinet interface by personnel to ensure that the crawler type wall climbing welding robot is in a normal working state.
Step 7: and (3) after the welding is finished, controlling the crawler-type wall climbing welding robot to a loading and unloading position through a control console, or moving to the starting position of the next welding task, repeating the step (6) until the welding task is finished, and controlling the crawler-type wall climbing welding robot to a loading and unloading area.
In the description of the present specification, reference to the terms "one embodiment/manner," "some embodiments/manner," "example," "a particular example," "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/manner or example is included in at least one embodiment/manner or example of the application. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment/manner or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples described in this specification and the features of the various embodiments/modes or examples can be combined and combined by persons skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
It will be appreciated by persons skilled in the art that the above embodiments are provided for clarity of illustration only and are not intended to limit the scope of the application. Other variations or modifications of the above-described application will be apparent to those of skill in the art, and are still within the scope of the application.
Claims (10)
1. A crawler-type wall climbing welding robot, comprising:
a box portion (2);
a weld detecting portion (1) fixedly provided at one end of the case portion (2);
a welding portion (4) fixedly provided at the other end of the case portion (2);
track sections (3) which are provided on both sides of the box section (2) and drive the box section (2) to move in the weld direction;
the crawler belt part (3) comprises a hub assembly (31) and a magnetic block chain (32), the hub assembly (31) comprises a driving wheel assembly and a driven wheel assembly, the magnetic block chain (32) comprises a chain (321) and a magnetic block assembly, the chain (321) is connected to the driving wheel assembly and the driven wheel assembly, and a plurality of magnetic block assemblies are fixedly connected with the chain (321);
when in use, the magnetic block chain (32) is adsorbed on the large steel structural member (5) to be welded.
2. A crawler-type wall climbing welding robot according to claim 1, wherein the box portion (2) comprises: the device comprises a main box body, a driving part and a track tensioning part, wherein the track tensioning part and the driving part are respectively arranged at two ends of the main box body;
the main box body comprises left and right box body plates (211), left and right connecting rods (212), light blocking plates (213) and a rear plate (217), wherein the two left and right box body plates (211) are symmetrically arranged and fixedly connected through the left and right connecting rods (212), the light blocking plates (213) are fixedly arranged at the front ends of the left and right box body plates (211), and the rear plate (217) is fixedly arranged at the rear ends of the left and right box body plates (211);
the track tensioning portion includes: the device comprises a driven shaft (221), tensioning sliding blocks (223), tensioning sliding block positioning screws (224) and limiting springs (226), wherein front sections of left and right side box plates (211) are provided with sliding grooves facing front and back, the two tensioning sliding blocks (223) are respectively arranged in the two sliding grooves and can slide back and forth along the sliding grooves, the driven shaft (221) is rotatably connected with the two tensioning sliding blocks (223) through driven wheel shaft sleeves (222), front end faces of the left and right side box plates (211) are connected with tensioning sliding block positioning ends (225), rear ends of the tensioning sliding block positioning screws (224) are fixedly connected with the tensioning sliding blocks (223), front ends of the tensioning sliding block positioning screws (224) penetrate through the tensioning sliding block positioning ends (225) to be connected with the limiting springs (226), and the limiting springs (226) apply forward acting force to the tensioning sliding block positioning screws (224);
the driving section includes: the driving device comprises driving shafts (241), driving stepping motors (244) and speed reducers (245), wherein the two driving shafts (241) are respectively and rotatably connected with the rear ends of the left and right box body plates (211) through driving shaft sleeves (242) and deep groove ball bearings (243), and torque output shafts of the two driving stepping motors (244) respectively drive the two driving shafts (241) to rotate through the speed reducers (245).
3. A crawler-type wall climbing welding robot according to claim 2, wherein the box portion (2) further includes a handle portion (23), the handle portion (23) being fixedly connected with the middle portions of the left and right box plates (211);
the inner side surfaces of the left and right box body plates (211) are provided with wiring rings (214).
4. A crawler-type wall climbing welding robot according to claim 2, wherein the driving wheel assembly is connected to the driving shaft (241), and the driven wheel assembly is connected to the driven shaft (221);
the drive wheel assembly includes: the driving wheel comprises a driving wheel hub (316), driving wheel track gears (315), a driving wheel hub outer ring (313) and a driving wheel hub inner ring (314), wherein the driving wheel hub (316) is connected with a driving shaft (241), two driving wheel track gears (315) are fixedly connected with two ends of the driving wheel hub (316), the driving wheel hub inner ring (314) is connected with the driving wheel hub (316), and the driving wheel outer ring is connected with the driving wheel hub inner ring (314);
the driven wheel assembly includes: the driven wheel hub (317), driven wheel track gears, a driven wheel hub outer ring (311) and a driven wheel hub inner ring (312), wherein the driven wheel hub (317) is connected with the driven shaft (221), two driven wheel track gears are fixedly connected with two ends of the driven wheel hub (317), the driven wheel hub inner ring (312) is connected with the driven wheel hub (317), and the driven wheel hub outer ring (311) is connected with the driven wheel hub inner ring (312);
the two chains (321) are respectively arranged at two sides of the driving wheel hub (316)/the driven wheel hub (317), and the two driving wheel track gears (315) and the two driven wheel track gears are respectively connected with the two chains (321).
5. The crawler-type wall climbing welding robot according to claim 4, wherein a plurality of the magnet assemblies are respectively disposed between two of the chains (321), the magnet assemblies comprising: cylindrical magnet, magnet shell (324), brass separate magnetic stripe (323) and magnetic path chain (32) connecting plate, two the face that meets of magnet shell (324) be provided with the arc groove of cylindrical magnet adaptation, cylindrical magnet groove is fixed to be set up by in the cylinder chamber that the arc groove constitutes, and two be provided with brass separate magnetic stripe (323) between magnet shell (324), the both ends of magnetic stripe shell pass through magnetic path chain (32) connecting plate with chain link fixed connection of chain (321).
6. The crawler-type wall climbing welding robot according to claim 2, wherein the box portion (2) further comprises magnetic block guiding portions arranged on two sides of the left box plate (211) and the right box plate (211), the magnetic block guiding portions comprise guiding connecting pieces (215) and guiding connecting grooves (216), the guiding connecting grooves (216) are horizontally arranged between the driven wheel assembly and the driving wheel assembly, the guiding connecting grooves (216) are fixedly connected with the left connecting plate and the right connecting plate through the guiding connecting pieces (215), and magnetic block guiding connecting plates (322) matched with the guiding connecting grooves (216) are fixedly connected to the magnetic block assemblies.
7. A crawler-type wall climbing welding robot according to claim 1, wherein the weld detecting section (1) includes: the welding detection device comprises a welding detection support (13), a line structure light camera (11), a line structure light camera support (12), a molten pool camera (14) and a molten pool camera support (15), wherein the welding detection support (13) is fixedly connected with the box body part (2), the line structure light camera (11) is fixedly connected with the welding detection support (13) through the line structure light camera support (12), and the molten pool camera (14) is fixedly connected with the welding detection support (13) through the molten pool camera support (15);
the line structured light camera (11) is arranged in front of the bath camera (14).
8. A crawler-type wall climbing welding robot according to claim 1, wherein the welding portion (4) comprises: the welding device comprises a welding connecting plate (41), a Y-axis direction guiding mechanism (42), a Z-axis direction guiding mechanism (43), a welding gun pitching clamping part (44) and a welding gun (45), wherein the fixed end of the Y-axis direction guiding mechanism (42) is fixedly connected with the box body part (2) through the welding connecting plate (41), the fixed end of the Z-axis direction guiding mechanism (43) is fixedly connected with the moving end of the Y-axis direction guiding mechanism (42), the welding gun pitching clamping part (44) is fixedly connected with the moving end of the Z-axis direction guiding mechanism (43), and the welding gun pitching clamping part (44) is used for clamping the welding gun (45) and controlling the welding gun (45) to be aligned with a welding line for welding;
the Y-axis direction guide mechanism (42) is arranged in a vertical manner in pairs between the moving direction of the Z-axis direction guide mechanism (43) and the advancing direction of the robot.
9. The crawler-type wall climbing welding robot according to claim 8, wherein the Y-axis direction guide mechanism (42) includes the Y-axis direction ball screw and a Y-axis direction stepping motor, and the Z-axis direction guide mechanism (43) includes a Z-axis direction ball screw and a Z-axis direction stepping motor;
the Y-axis direction guide mechanism (42) is used for adjusting movement of the welding gun (45) along the width direction of the welding seam, the Z-axis direction guide mechanism (43) is used for adjusting movement of the welding gun (45) along the height direction of the welding seam, and the welding gun pitching clamping part (44) is used for adjusting the angle of the welding gun (45) relative to the welding seam.
10. The crawler-type wall climbing welding robot according to claim 2, wherein an aviation plug interface is provided on the rear plate (217), the welding robot further comprises a control cabinet, the control cabinet is connected to the aviation plug interface through a cable and an aviation plug, the control cabinet comprises a counter, a display, a host, an input element, related buttons, a stepping motor driver and a power supply assembly, the control cabinet is used for receiving information acquired by the welding seam detection part (1), controlling the action of the driving part according to the acquired information, and controlling the pose and welding of a welding gun (45) of the welding part (4).
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| CN202311308562.8A CN117048730A (en) | 2023-10-11 | 2023-10-11 | Crawler-type wall climbing welding robot |
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| CN202311308562.8A CN117048730A (en) | 2023-10-11 | 2023-10-11 | Crawler-type wall climbing welding robot |
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