CN202752728U - Autonomous mobile robot system for electro-gas welding - Google Patents

Autonomous mobile robot system for electro-gas welding Download PDF

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Publication number
CN202752728U
CN202752728U CN 201220265785 CN201220265785U CN202752728U CN 202752728 U CN202752728 U CN 202752728U CN 201220265785 CN201220265785 CN 201220265785 CN 201220265785 U CN201220265785 U CN 201220265785U CN 202752728 U CN202752728 U CN 202752728U
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China
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welding
wheel
robot
electro
gas
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CN 201220265785
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Chinese (zh)
Inventor
桂仲成
李永龙
董娜
陈博翁
肖唐杰
张帆
姜周
盛仲曦
冯涛
吴建东
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Dongfang Electric Corp
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Dongfang Electric Corp
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Abstract

The utility model belongs to the technical field of robot welding and specifically relates to an autonomous mobile robot system for electro-gas welding of large steel structures. The autonomous mobile robot system comprises a robot body, a control system and an electro-gas welding system, wherein the robot body comprises a crawling mechanism and an operation mechanism, the control system comprises a sensing system, a robot body control box and a robot master control system; and the electro-gas welding system comprises an electro-gas welding gun, a welding power supply, a wire feeder, a protection gas and a welding cooling system. The autonomous mobile robot system has the advantages that the crawling mechanism uses a combined mode of contact magnet-wheel adsorption and non-contact gap adsorption and a three-wheel full driving or differential drive wheel type moving mode, a robot can autonomously and flexibly move at all positions on the surface of an operating object, reliably attracts the surface and performs vertical welding operation, and the system has good comprehensive performances.

Description

A kind of electro-gas (enclosed) welding autonomous formula robot system
Technical field
The utility model belongs to the robotic welding technology field, is a kind of electro-gas (enclosed) welding autonomous formula robot system for the large-scale steel structure electro-gas (enclosed) welding specifically.
Background technology
The welding of large-scale steel structure is take vertical position welding and horizontal position welding as main.For the welding of large-scale steel structure vertical position of welding, owing to this body structure of parts, weight impact are not suitable for rotation or rotation, large, the dangerous height of manual welding labour intensity and welding quality can't guarantee, in the urgent need to realizing Automation of Welding.
Large-scale steel structure vertical position welding automation equipment commonly used is the rail mounted robot welding system at present, this system is comprised of robot orbit, robot and welding system, need to carry out in advance track laying during use, be only applicable to lay the weld seam of track, and the flexibility of track within the specific limits, can't adapt to the conversion of weld seam form.Main equipment belongs to the single and mini-batch production product, and most weld seams are nonstandard structures, and the weld seam overall structure form is complicated, and therefore, the application of this rail mounted structure is restricted.
Be 201010180754.1 such as number of patent application, the applying date is on May 14th, 2010, name is called the patent of invention of " welding setting device, welding robot system and welding establishing method ", its main technical schemes is: a kind of while multiple-bead deposit setting device, possess: the lamination pattern determination portion, it determines the lamination pattern of the welding bead corresponding with the joint of object based on each input data and lamination pattern data base value; Individual operation welding bead determination portion, it is in the lamination pattern of two joints of object, when the difference of the area of section of the deposited metal amount when expression is made up welding bead surpasses predetermined threshold value, the side's that the area of section is large welding bead is determined the simultaneously combination of welding after getting rid of with welding bead as individual operation; Weld all condition determination portions, it determines to comprise each welding bead welding condition of giving the corresponding current value of speed and seam formation position with the welding wire of calculating based on the input welding condition; The operation program generating unit, it generates the robot motion programs based on the welding condition of determining, and is set in the robot controller.The welding robot system of above-mentioned patent adopts rail mounted to arrange, can't realize soldering joint automatic tracking identification and autonomous function, and this welding system is fit to the welding of streamline form and is not suitable for large-scale steel structure members is carried out autonomous welding, and the weld seam type difference is larger.
And for example number of patent application is 201019063009.6, the applying date is on February 5th, 2010, name is called the patent of invention of " a kind of welding robot workstation system for injection molding machine frame ", comprise welding robot, welder, robot Mobile Slide, welding gun cooling device, intelligent locating tracking means and robot control cabinet, welding robot is installed on the robot Mobile Slide; Welder is connected with the welding gun cooling device with welding robot respectively; The robot control cabinet links to each other with welding robot, robot Mobile Slide, welder and intelligent locating tracking means respectively, is used for movement and the welding of control welding robot.The welding robot system of above-mentioned patent adopts the rail mounted robot welding system, can't realize that robot body automatic tracking welding seam moves freely and finish welding and this robot welds for injection molding machine frame, and weld seam type scope is very limited.
Tsing-Hua University has developed the attached autonomous welding robot of crawler type magnetic, and crawler type absorption travel mechanism absorption reliability is good but steering behaviour is poor, causes robot motion's very flexible, job position to adjust difficulty.The Beijing Institute of Petrochemical Technology has developed magnetic wheel type autonomous welding robot, and magnetic wheel type absorption travel mechanism kinematic dexterity is good but adsorption capacity is poor, and the robot absorption reliability is low.So problem that existing autonomous formula welding robot exists kinematic dexterity and adsorption capacity not to have concurrently.
The utility model content
The problem that exists kinematic dexterity and adsorption capacity not to have concurrently in order to overcome existing electro-gas (enclosed) welding autonomous formula robot, now special proposition can satisfy the large-scale steel structure vertical position welding, have flexibility and adsorption capacity concurrently, a kind of electro-gas (enclosed) welding autonomous formula robot system of high-effect high-quality Intelligent welding.
For achieving the above object, the technical solution of the utility model is as follows:
A kind of electro-gas (enclosed) welding autonomous formula robot system comprises robot body, control system and electro-gas (enclosed) welding system, it is characterized in that:
Robot body comprises that climbing mechanism is connected described climbing mechanism and comprises the front-wheel module, the trailing wheel module that adopts permanent magnetism gap adsorbent equipment that adopt to drive steering integrated magnet-wheel, connect the vehicle frame of front and back wheel and be installed in motor drive controller on the vehicle frame with operating mechanism; Described operating mechanism comprises crosshead shoe and swing mechanism, swing mechanism front end clamping electro-gas (enclosed) welding welding gun, the free degree of horizontal and vertical directions is realized that by the crosshead shoe that two lead screw guide rails assembled units combine swing mechanism adopts stepper motor collocation worm type of reduction gearing;
Control system comprises sensor-based system, robot body control cabinet and robot master control system;
The annexation of the annexation between electro-gas (enclosed) welding welding gun, the electro-gas (enclosed) welding source of welding current and the electro-gas (enclosed) welding welding system and welding gun, the source of welding current and the welding system of other welding systems exists obviously different, but above-mentioned difference and specifically how connecting is that those skilled in the art then know.
The electro-gas (enclosed) welding welding system comprises electro-gas (enclosed) welding welding gun, the source of welding current, wire-feed motor, protection gas and welding cooling system;
Robot body, control system are connected cable with electro-gas (enclosed) welding welding system three and are connected.
Described front-wheel module and trailing wheel module are installed in respectively the vehicle frame two ends, and the place is provided with the trailing wheel chassis in the trailing wheel module, and trailing wheel is provided with permanent magnet on the chassis;
The front-wheel module comprises permanent magnet and wheel for driving steering integrated magnet-wheel, and the permanent magnet of front-wheel adopts the magnetized annular permanent magnet of through-thickness; The trailing wheel module adopts permanent magnetism gap suction type, comprise permanent magnetism gap adsorbent equipment and wheel, permanent magnetism gap adsorbent equipment comprises around wheel and is installed in permanent magnet on the trailing wheel chassis, permanent magnetism gap adsorbent equipment is installed on the chassis around trailing wheel, non-contacting between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, by the distance setting permanent magnetic adhesion device between adjusting chassis and the magnetic conduction wall and the air gap between the magnetic conduction wall;
Described climbing mechanism adopts tricycle structure, and each wheel is driving wheel, relies on the differential of two trailing wheels and the controlled steering angle of front-wheel to be implemented in turning to and rectilinear motion on the magnetic conduction wall; Or two rear wheels are as driving wheel, and front-wheel adopts the universal rolling wheel, adopt the differential mode of trailing wheel to be implemented in turning to and keeping straight on the magnetic conduction wall.
Described operating mechanism comprises crosshead shoe transverse axis, the crosshead shoe longitudinal axis, linking arm, weld seam tracking sensor connector, welding gun connector, crosshead shoe transverse axis and the crosshead shoe longitudinal axis are to be comprised of stepper motor and precision ball screw guide rail respectively, weld seam tracking sensor is installed in the front end of connector, the welding gun connector is installed in the end of linking arm, and the operating mechanism end is with the clamping of electro-gas (enclosed) welding welding gun and attitude-adjusting system.
Described sensor-based system comprises laser tracking transducer, environmental monitoring sensor; operating mechanism and environmental monitoring installation of sensors are on climbing mechanism; terminal laser tracking transducer and the electro-gas (enclosed) welding welding gun installed of operating mechanism; the robot body control cabinet is installed on the climbing mechanism; the robot body control cabinet links to each other by cable with the robot master control system, and the electro-gas (enclosed) welding welding gun of part links to each other by cable on the source of welding current, wire-feed motor, protection gas and the machine.
The working method of described robot control system is: elder generation of robot near the weld job initial point position, implements welding by robot autonomous recognition and tracking weld seam by manual remote control again; Robot control system adopts PCC or Industrial PC as master control system, and each function plate is modularized design, utilizes the FEEDBACK CONTROL robot body climbing mechanism of laser tracking transducer and the motion of operating mechanism; Utilize the actions such as switching value control welding starts, stops; Possess the setting of remote welding parameter and the online function of adjusting; Macroscopic view welding surroundings monitoring function; Adopt hand-held controller to realize the Remote of robot system.
Be provided with the multiple degrees of freedom The Cloud Terrace on the described robot body, realize the monitoring of macroscopical welding surroundings, described The Cloud Terrace belongs to sensor-based system.
Described hand-held controller, comprise hardware components and software section, general frame comprises the central processing module based on ARM Cotex-M3 framework, control instruction input module and based on the display module of LCD liquid crystal display, described central processing module is by central processing unit and comprise the CAN bus communication module and form at interior peripheral interface module, wherein, described central processing unit is one 32 ARM single-chip microcomputer, central processing unit receives the control instruction of being passed back by instruction input module by peripheral interface, transmit control signal to the master controller of creeping-type robot by peripheral interface more by analysis with after processing, described CAN bus communication module connects central control module and controlled device, and control command is sent to the master controller of creeping-type welding robot by this module; Described instruction input module comprises press button and potentiometer knob, and they are connected with the AD Analog to Digital Converter by GPIO with central control module; Described LCD display is connected with the Parallel Digital IO interface of central control module, shows in real time current control object, state and parameter information; Software section comprises embedded μ COS-II control system, hardware drive program and the application program of moving in control system.
Described electro-gas (enclosed) welding autonomous formula robot system is when carrying out the electro-gas (enclosed) welding operation, the robot movement velocity scope is 40-400mm/min, operating mechanism carries out the fine setting of welding gun weld groove centering, welding quality is controlled, guaranteed to movement velocity by electric arc sensing control climbing mechanism to realize arc length, swings longitudinally by operating mechanism and guarantee the weld seam filling.
The steering integrated magnet-wheel concrete structure of described driving is: roll rotating shaft one end and be installed on the car body fixed frame, other end turntable lower supporting plate connects, the turntable upper backup pad, the turret supports column is connected with the turntable lower supporting plate, the turntable cover plate is connected with the turntable upper backup pad, taper roll bearing is installed on two gripper shoes, steering spindle is bearing on the taper roll bearing, steering spindle is connected with 60 tooth straight-tooth gears, angular transducer power shaft and steering spindle are affixed, the angular transducer support bar is connected with the turntable upper backup pad, angular transducer is connected with the angular transducer support bar, the steer motor installing plate is connected with the turntable upper backup pad, turn to reducing motor to be connected with the steer motor installing plate, 20 tooth straight bevel gears are fixed in and turn on the reducing motor output shaft, the 40 tooth straight bevel gears that are meshed with it are mounted on the bevel gear shaft, bevel gear shaft is by the first deep groove ball bearing supporting that is installed in the turntable upper backup pad, the opposite side of bevel gear shaft connects by flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering spindle is connected with turning to substrate, wheel left side installing plate, wheel right side installing plate, the drive motors installing plate is connected with turning to substrate, driving reducing motor is connected with the drive motors installing plate, the small synchronous pulley axle is affixed with the output shaft that drives reducing motor, small synchronous pulley is installed on the small synchronous pulley axle by the flat key connection, wheel permanent-magnet body and wheel yoke are installed on the axletree by the flat key connection, axletree is bearing between wheel left side installing plate and the wheel right side installing plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley connects the opposite side that is installed in axletree by flat key, connected by Timing Belt between large synchronous pulley and the small synchronous pulley, be connected by screw between tensioning running roller and the tensioning running roller support bar, tensioning running roller support bar is installed on the installing plate of wheel left side by screw, drive between reducing motor and the axletree and pass through toothed belt transmission, steering driving mechanism also comprises steering spindle, the steering spindle bottom is equipped with drive mechanism for wheel and roller, described steer axis and wheel axis perpendicular quadrature.
The utility model has the advantage of:
1, electro-gas (enclosed) welding autonomous formula robot system climbing mechanism described in the utility model adopts complex method and the full driving of three-wheel or the differential driving wheel-type move mode of the absorption of contact magnet-wheel and non-contact gap absorption, robot can move, reliably adsorb and implement the vertical position welding operation in full position, manipulating object surface independent and flexible, and overall system performance is good.
2, the utility model adopts the control mode of " macroscopical remote control, microcosmic autonomous ", can follow the tracks of weld seam by the autonomous classification of laser tracking transducer, possess the setting of remote welding parameter and the online function of adjusting; Adopt the multiple degrees of freedom The Cloud Terrace to realize the workpiece environmental monitoring, finish the front starting point macrotechnique of weldering; Possess macro and micro welding monitoring function, realized intelligent welding.
3, operation described in the utility model and swing mechanism are applicable to the creeping-type welding robot, crosshead shoe by operating mechanism provides Y-axis and two frees degree of Z axis, realizes oscillating function by swing mechanism for the welding gun of leading portion clamping provides a rotary freedom around X-axis.Crosshead shoe adopts the high precision ball lead screw guide rails to cooperate the stepper motor combination to form, and positioning accuracy can reach 0.02mm, follows the tracks of the craft precision requirement of weld seam to guarantee welding gun.Swing mechanism provides rotary freedom by worm and gear collocation stepper motor for welding gun, and output torque is not less than 10Nm, can make welding gun realize swinging welding centered by any swing angle.
But 4, the linking arm arm of operating mechanism described in the utility model exhibition manual adjustments, maximum arm exhibition can reach 450mm.The clamping device clip position of weld seam tracking sensor can manual adjustments, X-axis adjustable extent 120mm, the maximum adjustable extent 350mm of Y-axis, Z axis adjustable extent 100mm, larger adjustable space scope guarantees that weld seam tracking sensor position under the multiple welding procedure can adapt to the various attitude demands of welding gun.
5, hand-held controller adopts ARM-CotexM3 processor cost performance high, and peripheral interface is abundant.The special-purpose μ COS-II operating system of transplanting cutting of collocation, reliable and stable, possess good extensibility.Adopt the multitask mode coding, executed in parallel does not interfere with each other, and code logic is clear, and framework is rationally attractive in appearance, effectively evades race hazard.Be difficult for makeing mistakes as the fast efficient height of communication interface speed with the CAN bus.
6, pass through toothed belt transmission between driving reducing motor and the axletree, can obtain larger installing space by regulating transmission centre-to-centre spacing, thereby the driving reducing motor that relatively high power is installed improves driving moment.
7, be provided with and independently turn to the free degree and make steer axis and the wheel axis perpendicular quadrature, can realize the independent steering of wheel, improve the climbing robot kinematic dexterity.
8, be provided with passive banking degree of freedom and by rolling confinement block constrained side tilt angle in positive and negative 10 degree, make climbing robot have preferably curved surface adaptive capacity.
9, roll confinement block is realized the constrained side degree of tilt by mechanical position limitation function.
10, described steering structure and wheel rolling all are provided with independently driving mechanism.
11, the autonomous formula robot advantage of being combined with the electro-gas (enclosed) welding welding gun is: but realize square groove welding slab can autonomous the time, and high productivity, cost are low.Be the weld seam once-forming with the main distinction of narrow gap welding, rather than the multiple tracks multilayer welding; Be that with the main distinction of electroslag welding the heat of deposite metal is the resistance heat of arc heat rather than slag.
Description of drawings
Fig. 1 is electro-gas (enclosed) welding autonomous formula robot system architecture figure.
Fig. 2 is the robot body figure of electro-gas (enclosed) welding autonomous formula robot system of the present utility model.
Fig. 3 is the climbing mechanism structural representation of the electro-gas (enclosed) welding autonomous formula robot system that the utility model proposes.
Fig. 4 is the climbing mechanism trailing wheel module diagram of the electro-gas (enclosed) welding autonomous formula robot system that the utility model proposes
Fig. 5 is the another kind of form structure schematic diagram of the climbing mechanism of the electro-gas (enclosed) welding autonomous formula robot system that the utility model proposes.
Fig. 6 is the operating mechanism structural representation of the electro-gas (enclosed) welding autonomous formula robot system that the utility model proposes.
Fig. 7 is permanent magnetism gap adsorbent equipment structural representation.
Fig. 8 is for driving steering integrated magnet-wheel structural representation.
Fig. 9 is the cutaway view that front-wheel is crossed steering spindle and bevel gear shaft.
Figure 10 is the magnet-wheel cutaway view.
1 operating mechanism in the accompanying drawing, 3 electro-gas (enclosed) welding welding guns, 4 laser tracking transducers, 5 weld seams, 6 climbing mechanisms, 7 multiple degrees of freedom The Cloud Terraces, 8 robot body control cabinets, 9 cables, 10 welding objects, 11 wire-feed motor, the 12 electro-gas (enclosed) welding sources of welding current, 13 protection gas, 14 welding cooling systems, 15 robot master control systems, 16 remote control operation boxes;
17 front-wheel modules, 18 vehicle frames, 19 motor drive controllers, 20 trailing wheel modules;
21 permanent magnets, 22 chassis, 23 wheels, 24 turbine and worm decelerators, 25 planetary reducers, 26 motors;
27 Timing Belts, 28 decelerators, 29 turn to soleplate, 30 .20 tooth straight bevel gears;
31 steering spindles, 32.60 tooth roller gears, 33.19 tooth roller gears, 34 bevel gear shafts, 35.40 tooth straight bevel gears.
36 front-wheel module permanent magnets, 37 yokes;
51 crosshead shoe transverse axis, the 52 crosshead shoe longitudinal axis, 53 linking arms, 54 weld seam tracking sensor connectors, 55 weld seam tracking sensors, 56 welding guns, 57 welding gun connectors.
The specific embodiment
A kind of electro-gas (enclosed) welding autonomous formula robot system comprises robot body, control system and electro-gas (enclosed) welding system, and robot body comprises that climbing mechanism is connected described climbing mechanism and comprises the front-wheel module, the trailing wheel module that adopts permanent magnetism gap adsorbent equipment that adopt to drive steering integrated magnet-wheel, connect the vehicle frame of front and back wheel and be installed in motor drive controller on the vehicle frame with operating mechanism; Described operating mechanism comprises crosshead shoe and swing mechanism, swing mechanism front end clamping electro-gas (enclosed) welding welding gun, the free degree of horizontal and vertical directions is realized that by the crosshead shoe that two lead screw guide rails assembled units combine swing mechanism adopts stepper motor collocation worm type of reduction gearing; Control system comprises sensor-based system, robot body control cabinet and robot master control system; The electro-gas (enclosed) welding welding system comprises electro-gas (enclosed) welding welding gun, the source of welding current, wire-feed motor, protection gas and welding cooling system; Robot body, control system are connected cable with electro-gas (enclosed) welding welding system three and are connected.
Front-wheel module and trailing wheel module are installed in respectively the vehicle frame two ends, and the place is provided with the trailing wheel chassis in the trailing wheel module, and trailing wheel is provided with permanent magnet on the chassis; The front-wheel module comprises permanent magnet and wheel for driving steering integrated magnet-wheel, and the permanent magnet of front-wheel adopts the magnetized annular permanent magnet of through-thickness; The trailing wheel module adopts permanent magnetism gap suction type, comprise permanent magnetism gap adsorbent equipment and wheel, permanent magnetism gap adsorbent equipment comprises around wheel and is installed in permanent magnet on the trailing wheel chassis, permanent magnetism gap adsorbent equipment is installed on the chassis around trailing wheel, non-contacting between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, by the distance setting permanent magnetic adhesion device between adjusting chassis and the magnetic conduction wall and the air gap between the magnetic conduction wall; Described climbing mechanism adopts tricycle structure, and each wheel is driving wheel, relies on the differential of two trailing wheels and the controlled steering angle of front-wheel to be implemented in turning to and rectilinear motion on the magnetic conduction wall; Or two rear wheels are as driving wheel, and front-wheel adopts the universal rolling wheel, adopt the differential mode of trailing wheel to be implemented in turning to and keeping straight on the magnetic conduction wall.
Operating mechanism comprises crosshead shoe transverse axis, the crosshead shoe longitudinal axis, linking arm, weld seam tracking sensor connector, welding gun connector, crosshead shoe transverse axis and the crosshead shoe longitudinal axis are to be comprised of stepper motor and precision ball screw guide rail respectively, weld seam tracking sensor is installed in the front end of connector, the welding gun connector is installed in the end of linking arm, and the operating mechanism end is with the clamping of electro-gas (enclosed) welding welding gun and attitude-adjusting system.
Sensor-based system comprises laser tracking transducer, environmental monitoring sensor; operating mechanism and environmental monitoring installation of sensors are on climbing mechanism; terminal laser tracking transducer and the electro-gas (enclosed) welding welding gun installed of operating mechanism; the robot body control cabinet is installed on the climbing mechanism; the robot body control cabinet links to each other by cable with the robot master control system, and the electro-gas (enclosed) welding welding gun of part links to each other by cable on the source of welding current, wire-feed motor, protection gas and the machine.
The working method of robot control system is: elder generation of robot near the weld job initial point position, implements welding by robot autonomous recognition and tracking weld seam by manual remote control again; Robot control system adopts PCC or Industrial PC as master control system, and each function plate is modularized design, utilizes the FEEDBACK CONTROL robot body climbing mechanism of laser tracking transducer and the motion of operating mechanism; Utilize the actions such as switching value control welding starts, stops; Possess the setting of remote welding parameter and the online function of adjusting; Macroscopic view welding surroundings monitoring function; Adopt hand-held controller to realize the Remote of robot system.
Be provided with the multiple degrees of freedom The Cloud Terrace on the robot body, realize the monitoring of macroscopical welding surroundings, described The Cloud Terrace belongs to sensor-based system.
Hand-held controller, comprise hardware components and software section, general frame comprises the central processing module based on ARM Cotex-M3 framework, control instruction input module and based on the display module of LCD liquid crystal display, described central processing module is by central processing unit and comprise the CAN bus communication module and form at interior peripheral interface module, wherein, described central processing unit is one 32 ARM single-chip microcomputer, central processing unit receives the control instruction of being passed back by instruction input module by peripheral interface, transmit control signal to the master controller of creeping-type robot by peripheral interface more by analysis with after processing, described CAN bus communication module connects central control module and controlled device, and control command is sent to the master controller of creeping-type welding robot by this module; Described instruction input module comprises press button and potentiometer knob, and they are connected with the AD Analog to Digital Converter by GPIO with central control module; Described LCD display is connected with the Parallel Digital IO interface of central control module, shows in real time current control object, state and parameter information; Software section comprises embedded μ COS-II control system, hardware drive program and the application program of moving in control system.
Electro-gas (enclosed) welding autonomous formula robot system is when carrying out the electro-gas (enclosed) welding operation, the robot movement velocity scope is 40-400mm/min, operating mechanism carries out the fine setting of welding gun weld groove centering, welding quality is controlled, guaranteed to movement velocity by electric arc sensing control climbing mechanism to realize arc length, swings longitudinally by operating mechanism and guarantee the weld seam filling.
Below in conjunction with accompanying drawing the utility model is described further.
As shown in Figure 1; be comprised of robot body, control system and electro-gas (enclosed) welding system: robot body comprises climbing mechanism and operating mechanism; control system comprises sensor-based system, robot body control cabinet and robot master control system, and the electrogas arc welding welding system comprises the source of welding current, wire-feed motor, protection gas and circulating water cooling system.
Robot system can be divided into walking at large-scale steel structure members lip-deep " part on the machine " and be installed on " part under the machine " treated outside the operation surface from the space.
Machine top is divided and is comprised robot body (operating mechanism, climbing mechanism), robot body control cabinet, sensor-based system, welding gun, and sensor-based system mainly is comprised of laser tracking transducer, environmental monitoring sensor.Operating mechanism and environmental monitoring installation of sensors are on climbing mechanism, and the operating mechanism end is installed laser tracking transducer and welding gun, and the robot body control cabinet is installed on the climbing mechanism.Robot system machine bottom is divided and is comprised robot master control system, straighforward operation, the source of welding current, wire-feed motor, protection gas, welding cooling system.On the machine under robot body control cabinet and the machine of part the robot master control system of part link to each other by cable, partly welding gun links to each other by cable on the source of welding current, wire-feed motor, protection gas and the machine.Cable comprises fulgurite, water pipe, tracheae and holding wire.The operating mechanism end is with the clamping of electro-gas (enclosed) welding welding gun and attitude-adjusting system, i.e. oscillator of welding gun.
Robot system machine top is divided and is comprised robot body (operating mechanism, climbing mechanism), robot body control cabinet, sensor-based system, welding gun, and sensor-based system mainly is comprised of laser tracking transducer, environmental monitoring sensor.Operating mechanism and environmental monitoring installation of sensors are on climbing mechanism, and the operating mechanism end is installed laser tracking transducer and welding gun, and the robot body control cabinet is installed on the climbing mechanism.
Robot system machine bottom is divided and is comprised robot master control system, straighforward operation, the source of welding current, wire-feed motor, protection gas, circulating water cooling system.On the machine under robot body control cabinet and the machine of part the robot master control system of part link to each other by cable, partly welding gun links to each other by cable on the source of welding current, wire-feed motor, protection gas and the machine.Cable comprises fulgurite, water pipe, tracheae and holding wire.The operating mechanism end is with the clamping of electro-gas (enclosed) welding welding gun and attitude-adjusting system.
As shown in Figure 2, robot body comprises climbing mechanism and operating mechanism.
As shown in Figure 3 and Figure 4, a kind of climbing mechanism of robot body comprises the front-wheel module, the trailing wheel module that adopts permanent magnetism gap adsorbent equipment that adopt to drive steering integrated magnet-wheel, connects the vehicle frame of front and back wheel and is installed in motor drive controller on the vehicle frame.Wherein, mild steel (such as Q235) manufacturing is adopted on the trailing wheel chassis, except as the function that supports rear-wheel structure, also as yoke with a part that is installed in permanent magnet on the trailing wheel chassis around wheel and consists of magnetic circuit.Connect two stage reducer band motor car wheel behind the motor, the first order is planetary reducer, and the second level is the turbine and worm decelerator, and the turbine and worm decelerator is connected by screw and is installed on the trailing wheel chassis.Magnet-wheel is made of 1 permanent magnet and 2 yokes.Described permanent magnet adopts the magnetized annular permanent magnet of through-thickness, and permanent magnet can adopt the manufacturings such as high performance permanent magnetic materials such as NdFeB, and yoke adopts mild steel (such as Q235 etc.) to make.
As shown in Figure 5, the another kind of climbing mechanism of robot body is made of three parts, comprises the front-wheel module 1 that adopts the universal rolling magnet-wheel, the trailing wheel module 3 and the vehicle frame 2 that is connected front and back wheel that adopts permanent magnetism gap adsorbent equipment.As shown in Figure 2, mild steel (such as Q235) manufacturing is adopted on the trailing wheel chassis, except as the function that supports rear-wheel structure, also as yoke with a part that is installed in permanent magnet on the trailing wheel chassis around wheel and consists of magnetic circuit.Connect two stage reducer band motor car wheel behind the motor, the first order is planetary reducer, and the second level is the turbine and worm decelerator, and the turbine and worm decelerator is connected by screw and is installed on the trailing wheel chassis.
Swing mechanism mainly comprises stepper motor, worm type of reduction gearing, welding torch clamping mechanism.Worm type of reduction gearing is driven by stepper motor, the stepper motor output torque, and the decelerator output torque is not less than 10Nm.The rotation of worm type of reduction gearing output guarantees that welding gun can swing centered by the drift angle at any angle, amplitude of fluctuation and frequency can easily be adjusted by the control step motor, slow down through worm type of reduction gearing, degree of regulation can reach 0.03 °, easily satisfies the technological requirement that swings welding.But welding torch clamping mechanism is provided with the articulationes cylindroideus of a manual adjustments angle, the articulationes cylindroideus axle center adopts insulating materials to coat, prevent on the welding gun of clamping may with forceful electric power conduct to robot body, the simultaneously pitch attitude of welding gun also can manually be adjusted by articulationes cylindroideus according to welding process requirement.
As shown in Figure 6, operating mechanism mainly is comprised of crosshead shoe transverse axis, the crosshead shoe longitudinal axis, linking arm, weld seam tracking sensor connector, welding gun connector.Crosshead shoe transverse axis and the crosshead shoe longitudinal axis are to be comprised of stepper motor and precision ball screw guide rail respectively.Transverse axis is installed on the mobile platform by support, and the longitudinal axis is installed on the transverse axis slide block.Transverse axis provides the Y-axis free degree, working range 90mm; The longitudinal axis provides the Z axis free degree, working range 75mm.Crosshead shoe single shaft positioning accuracy 0.02mm.Linking arm is installed on the longitudinal axis slide block by fixture block, the maximum arm exhibition of linking arm 450mm, and can carry out manual adjustments by regulating the fixture block clip position.The weld seam tracking sensor connector is clamped on the linking arm, and the clip position of manual adjustments connector can provide for weld seam tracking sensor the position range of 350mm.Weld seam tracking sensor is installed in the front end of connector, to weld seam Emission Lasers bundle and scan weld seam, instructs the action of crosshead shoe and mobile platform during work.The welding gun connector is installed in the end of linking arm, and the height of connector can manual adjustments.
Control system adopts PCC or other Industrial PC as master control system, and each function plate is modularized design.Utilize the FEEDBACK CONTROL robot body climbing mechanism of laser tracking transducer and the motion of operating mechanism; Utilize the actions such as switching value control welding starts, stops; Possess the setting of remote welding parameter and the online function of adjusting; Tool adopts the multiple degrees of freedom The Cloud Terrace to realize the monitoring of macroscopical welding surroundings, adopts hand-held controller to realize the Remote of robot system.Operation principle: supervisory control comuter by Ethernet 1. 2. connection the parameter of programmed computer controller is set, and accept the video data of video server.3. programmable computer controller is connected with handheld box, driver by the CAN bus.Driver control the executing agency of creeping, operation executing agency. and 4. programmable computer controller carries out the setting of welding machine adapter by the RS485 bus, 9. 7. reads the status information that laser is followed sensor and position switch with IO by the RS232 bus.Video server 3 is by video interface 8. 10. environment of accepting monitoring head, environmental monitoring video camera , rig cameraVideo information.
The formula controller is handed by robot, and general frame comprises based on the central control module of ARM Cotex-M3 framework, instruction input module with based on the display module of LCD.The utility model hardware components mainly comprises central controller circuit, peripheral interface circuit (digital I/O interface, digital I/O interface, AD analog-to-digital conversion, CAN bus communication module), LCD display module, press button and potentiometer knob.Central processing unit obtains by press button and potentiometer knob by peripheral interface and sends data signal and the analog signal of returning, by peripheral interface partial data is sent to the LCD display module after advancing to process, simultaneously control instruction was packaged into command forms sends to lower floor by peripheral interface creeping-type welding robot central controller.
Permanent magnetism gap adsorbent equipment as shown in Figure 7, the Nd-Fe-B permanent magnet that is magnetized by 12 thickness directions forms, each trailing wheel is respectively arranged 6 permanent magnets, the N utmost point and the S utmost point formation magnetic circuit that is staggered, be installed on the chassis around trailing wheel, non-contacting between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, by the distance described permanent magnetic adhesion device of setting between adjusting chassis and the magnetic conduction wall and the air gap between the magnetic conduction wall.
Fig. 8 is the three-dimensional model diagram of front-wheel, and Fig. 9 is the cutaway view that front-wheel is crossed steering spindle and bevel gear shaft, and Figure 10 was the cutaway view of front-wheel axletree.Wherein, dc brushless motor and planetary reducer drive the bevel gear shaft rotation through 20 tooth straight bevel gears and 40 tooth Straight Bevel Gear Drive, bevel gear shaft drives the steering spindle rotation by 19 tooth roller gears and 60 tooth column gear transmission again, steering spindle with turn to soleplate to fix by screw attachment.Front-wheel drive motor and decelerator adopt brush direct current motor and planetary reducer, drive front-wheel by toothed belt transmission.Front-wheel is magnet-wheel.Magnet-wheel is made of 1 front-wheel module permanent magnet and 2 yokes.Described permanent magnet adopts the magnetized annular permanent magnet of through-thickness, and permanent magnet can adopt the manufacturings such as high performance permanent magnetic materials such as NdFeB, and yoke adopts mild steel (such as Q235 etc.) to make.
The steering integrated magnet-wheel concrete structure of described driving is: roll rotating shaft one end and be installed on the car body fixed frame, other end turntable lower supporting plate connects, the turntable upper backup pad, the turret supports column is connected with the turntable lower supporting plate, the turntable cover plate is connected with the turntable upper backup pad, taper roll bearing is installed on two gripper shoes, steering spindle is bearing on the taper roll bearing, steering spindle is connected with 60 tooth straight-tooth gears, angular transducer power shaft and steering spindle are affixed, the angular transducer support bar is connected with the turntable upper backup pad, angular transducer is connected with the angular transducer support bar, the steer motor installing plate is connected with the turntable upper backup pad, turn to reducing motor to be connected with the steer motor installing plate, 20 tooth straight bevel gears are fixed in and turn on the reducing motor output shaft, the 40 tooth straight bevel gears that are meshed with it are mounted on the bevel gear shaft, bevel gear shaft is by the first deep groove ball bearing supporting that is installed in the turntable upper backup pad, the opposite side of bevel gear shaft connects by flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering spindle is connected with turning to substrate, wheel left side installing plate, wheel right side installing plate, the drive motors installing plate is connected with turning to substrate, driving reducing motor is connected with the drive motors installing plate, the small synchronous pulley axle is affixed with the output shaft that drives reducing motor, small synchronous pulley is installed on the small synchronous pulley axle by the flat key connection, wheel permanent-magnet body and wheel yoke are installed on the axletree by the flat key connection, axletree is bearing between wheel left side installing plate and the wheel right side installing plate by the first deep groove ball bearing and the second deep groove ball bearing, large synchronous pulley connects the opposite side that is installed in axletree by flat key, connected by Timing Belt between large synchronous pulley and the small synchronous pulley, be connected by screw between tensioning running roller and the tensioning running roller support bar, tensioning running roller support bar is installed on the installing plate of wheel left side by screw, drive between reducing motor and the axletree and pass through toothed belt transmission, steering driving mechanism also comprises steering spindle, the steering spindle bottom is equipped with drive mechanism for wheel and roller, described steer axis and wheel axis perpendicular quadrature.
The electro-gas (enclosed) welding system comprises digital welding power source, wire-feed motor, protection gas, circulating water cooling system, pneumoelectric welding gun, appearance of weld slide block.The robot master control system is carried out communication by other industrial field bus such as RS485 or Devicenet and the source of welding current, finishes the welding parameter setting and welding parameter is adjusted online by the host computer control interface, and welding starts and stops.
The employing 1.2 of electro-gas (enclosed) welding welding gun and 1.6 two kind of welding wire, to the workpiece of 18-22mm, robot climbing mechanism movement velocity is 70mm/min during welding; operating mechanism carries out the fine setting of welding gun weld groove centering; voltage range 36-40V, 340-380A between Current Zone, shielding gas flow amount 25-35L.During use, the open cold wire feed makes stem elongation reach 35mm, and compresses welding gun, during vertical welding and surface of the work be 5-15 °, adjust welding gun centering, and adjust highly to make and be 20-30mm between ignition tip top and copper shoe, the welding wire drop point is thickness of slab center polarization face (groove center of gravity).Welding quality is controlled, guaranteed to movement velocity by electric arc sensing control climbing mechanism to realize arc length, swings longitudinally by operating mechanism and guarantee the weld seam filling.
The workflow of native system is: the preparation before at first welding.The layout that checks each system be connected, particularly robot body is adsorbed on the workpiece, the car body fore-and-aft direction is parallel to weld seam and guarantees that welding gun aims at weld seam substantially.By supervisory control comuter each executing agency, sensor are checked.
Secondly, carry out the artificial setting of init state.Manually adjust welding gun height and posture of welding torch to suitable state by regulating welding gun clamping and attitude-adjusting system.Utilize supervisory control comuter, the video information of environmental monitoring video camera is carried out the observation of position while welding, state, move climbing mechanism and crosshead shoe by handheld box, carry out artificial centering.Then, carry out the setting of welding parameter, carry out the setting of weldingvoltage, welding current, wire feed rate and climbing mechanism pace at supervisory control comuter or handheld box.
At last, start welding by handheld box.In welding process, laser tracking transducer Real-time Feedback weld seam scanning information also instructs climbing mechanism fine setting direction of advance, instructs two axial motions of operating mechanism fine setting with this, with this guarantee welding gun when the welding all the time exactly along the seam track feeding.After welding is finished, finish welding procedure by handheld box.
The magnetic conduction wall refers to the workpiece face, and workpiece refers to welding object, and robot is mobile at workpiece simultaneously.
Electro-gas (enclosed) welding welding gun among the application refers to can be used in the prior art field general designation of the welding gun of electro-gas (enclosed) welding welding method.

Claims (7)

1. an electro-gas (enclosed) welding autonomous formula robot system comprises robot body, control system and electro-gas (enclosed) welding system, it is characterized in that:
Robot body comprises that climbing mechanism (6) is connected 1 with operating mechanism): described climbing mechanism (6) comprises and adopts the front-wheel module (17), the trailing wheel module (20) that adopts permanent magnetism gap adsorbent equipment that drive steering integrated magnet-wheel, connects the vehicle frame (18) of front and back wheel and be installed in motor drive controller (19) on the vehicle frame (18); Described operating mechanism (1) comprises crosshead shoe and swing mechanism, swing mechanism front end clamping electro-gas (enclosed) welding welding gun (3), the free degree of horizontal and vertical directions is realized that by the crosshead shoe that two lead screw guide rails assembled units combine swing mechanism adopts stepper motor collocation worm type of reduction gearing (28);
Control system comprises sensor-based system, robot body control cabinet (8) and robot master control system (15);
The electro-gas (enclosed) welding welding system comprises electro-gas (enclosed) welding welding gun (3), the electro-gas (enclosed) welding source of welding current (12), wire-feed motor (11), protection gas (13) and welding cooling system (14);
Robot body, control system and electro-gas (enclosed) welding welding system three are connected cable (9) and connect.
2. a kind of electro-gas (enclosed) welding autonomous formula robot system according to claim 1, it is characterized in that: described front-wheel module (17) and trailing wheel module (20) are installed in respectively vehicle frame (18) two ends, locate to be provided with trailing wheel chassis (22) in trailing wheel module (20), be provided with permanent magnet (2) on trailing wheel chassis (22);
Front-wheel module (17) comprises permanent magnet (2) and wheel (23) for driving steering integrated magnet-wheel, and the permanent magnet of front-wheel (2) adopts the magnetized annular permanent magnet of through-thickness (2); Trailing wheel module (20) adopts permanent magnetism gap suction type, comprise permanent magnetism gap adsorbent equipment and wheel (23), permanent magnetism gap adsorbent equipment comprises around wheel (23) and is installed in permanent magnet (2) on the trailing wheel chassis (22), permanent magnetism gap adsorbent equipment is installed on the chassis (22) around trailing wheel, non-contacting between described permanent magnetism gap adsorbent equipment and magnetic conduction wall, by the distance setting permanent magnetic adhesion device between adjusting chassis (22) and the magnetic conduction wall and the air gap between the magnetic conduction wall;
Described climbing mechanism (6) adopts tricycle structure, and each wheel (23) is driving wheel, relies on the differential of two trailing wheels and the controlled steering angle of front-wheel to be implemented in turning to and rectilinear motion on the magnetic conduction wall; Or two rear wheels (23) are as driving wheel, and front-wheel adopts the universal rolling wheel, adopt the differential mode of trailing wheel to be implemented in turning to and keeping straight on the magnetic conduction wall.
3. a kind of electro-gas (enclosed) welding autonomous formula robot system according to claim 2, it is characterized in that: described operating mechanism (1) comprises crosshead shoe transverse axis (51), the crosshead shoe longitudinal axis (52), linking arm (53), weld seam tracking sensor (55) connector (54), welding gun connector (57), crosshead shoe transverse axis (51) is to be comprised of stepper motor and precision ball screw guide rail respectively with the crosshead shoe longitudinal axis (52), weld seam tracking sensor (55) is installed in the front end of connector, welding gun connector (57) is installed in the end of linking arm (53), and operating mechanism (1) is terminal with (3) clamping of electro-gas (enclosed) welding welding gun and attitude-adjusting system.
4. a kind of electro-gas (enclosed) welding autonomous formula robot system according to claim 3; it is characterized in that: described sensor-based system comprises laser tracking transducer (4); the environmental monitoring sensor; operating mechanism (1) and environmental monitoring installation of sensors are on climbing mechanism (6); terminal laser tracking transducer (4) and the electro-gas (enclosed) welding welding gun (3) installed of operating mechanism (1); robot body control cabinet (8) is installed on the climbing mechanism (6); robot body control cabinet (8) links to each other the source of welding current with robot master control system (15) by cable; wire-feed motor (11); partly electro-gas (enclosed) welding welding gun (3) links to each other by cable (9) on protection gas (13) and the machine.
5. a kind of electro-gas (enclosed) welding autonomous formula robot system according to claim 4, it is characterized in that: be provided with multiple degrees of freedom The Cloud Terrace (7) on the described robot body, realize the monitoring of macroscopical welding surroundings, described The Cloud Terrace belongs to sensor-based system.
6. a kind of electro-gas (enclosed) welding autonomous formula robot system according to claim 5, it is characterized in that: described electro-gas (enclosed) welding autonomous formula robot system is when carrying out the electro-gas (enclosed) welding operation, the robot movement velocity scope is 40-400mm/min, operating mechanism (1) carries out the fine setting of welding gun (56) weld seam (5) groove centering, welding quality is controlled, guaranteed to movement velocity by electric arc sensing control climbing mechanism (6) to realize arc length, swings longitudinally by operating mechanism (1) and guarantee weld seam (5) filling.
7. a kind of electro-gas (enclosed) welding autonomous formula robot system according to claim 2, it is characterized in that: the steering integrated magnet-wheel concrete structure of described driving is: roll rotating shaft one end and be installed on the car body fixed frame, other end turntable lower supporting plate connects, the turntable upper backup pad, the turret supports column is connected with the turntable lower supporting plate, the turntable cover plate is connected with the turntable upper backup pad, taper roll bearing is installed on two gripper shoes, steering spindle (31) is bearing on the taper roll bearing, steering spindle (31) is connected with 60 tooth straight-tooth gears, angular transducer power shaft and steering spindle (31) are affixed, the angular transducer support bar is connected with the turntable upper backup pad, angular transducer is connected with the angular transducer support bar, steer motor (26) installing plate is connected with the turntable upper backup pad, turn to reducing motor (26) to be connected with steer motor (26) installing plate, 20 tooth straight bevel gears (30) are fixed in and turn on reducing motor (26) output shaft, the 40 tooth straight bevel gears (35) that are meshed with it are mounted on the bevel gear shaft (34), bevel gear shaft (34) is by the first deep groove ball bearing supporting that is installed in the turntable upper backup pad, the opposite side of bevel gear shaft (34) connects by flat key with 19 tooth straight-tooth gears, 19 tooth straight-tooth gears and the engagement of 60 tooth straight-tooth gears, the lower end of steering spindle (31) is connected with turning to substrate, wheel left side installing plate, wheel right side installing plate, drive motors (26) installing plate is connected with turning to substrate, driving reducing motor (26) is connected with drive motors (26) installing plate, little Timing Belt (27) wheel shaft is affixed with the output shaft that drives reducing motor (26), little Timing Belt (27) wheel is installed on little Timing Belt (27) wheel shaft by the flat key connection, front-wheel module permanent magnet (36) and wheel yoke (37) are installed on the axletree by the flat key connection, axletree is bearing between wheel left side installing plate and the wheel right side installing plate by the first deep groove ball bearing and the second deep groove ball bearing, large Timing Belt (27) wheel connects the opposite side that is installed in axletree by flat key, connected by Timing Belt (27) between large Timing Belt (27) wheel and little Timing Belt (27) wheel, be connected by screw between tensioning running roller and the tensioning running roller support bar, tensioning running roller support bar is installed on the installing plate of wheel left side by screw, drive between reducing motor (26) and the axletree by Timing Belt (27) transmission, steering driving mechanism also comprises steering spindle (31), steering spindle (31) bottom is equipped with drive mechanism for wheel and roller, described steering spindle (31) line and wheel axis perpendicular quadrature.
CN 201220265785 2012-06-07 2012-06-07 Autonomous mobile robot system for electro-gas welding Withdrawn - After Issue CN202752728U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102672311A (en) * 2012-06-07 2012-09-19 中国东方电气集团有限公司 Electro-gas vertical welding automatic moving type robot system
CN103495798A (en) * 2013-10-23 2014-01-08 台州吉宇工业机器人科技有限公司 Gun-barrel device applied to rectangular coordinate system welding robot
CN104999167A (en) * 2015-06-30 2015-10-28 苏州华日金菱机械有限公司 Thick steel plate vertical welding method
CN106624519A (en) * 2016-12-29 2017-05-10 湖北文理学院 Butt-joint pipeline welding robot
CN107803573A (en) * 2017-10-27 2018-03-16 上海振华重工电气有限公司 Bu Deng gaps robot vertical position welding method
CN109545068A (en) * 2019-01-30 2019-03-29 宁波市镇海大来智能科技有限公司 A kind of teaching robot's suit

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102672311A (en) * 2012-06-07 2012-09-19 中国东方电气集团有限公司 Electro-gas vertical welding automatic moving type robot system
CN103495798A (en) * 2013-10-23 2014-01-08 台州吉宇工业机器人科技有限公司 Gun-barrel device applied to rectangular coordinate system welding robot
CN104999167A (en) * 2015-06-30 2015-10-28 苏州华日金菱机械有限公司 Thick steel plate vertical welding method
CN106624519A (en) * 2016-12-29 2017-05-10 湖北文理学院 Butt-joint pipeline welding robot
CN107803573A (en) * 2017-10-27 2018-03-16 上海振华重工电气有限公司 Bu Deng gaps robot vertical position welding method
CN109545068A (en) * 2019-01-30 2019-03-29 宁波市镇海大来智能科技有限公司 A kind of teaching robot's suit

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