CN203509296U - Autonomously-moving welding robot - Google Patents
Autonomously-moving welding robot Download PDFInfo
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- CN203509296U CN203509296U CN201320577371.7U CN201320577371U CN203509296U CN 203509296 U CN203509296 U CN 203509296U CN 201320577371 U CN201320577371 U CN 201320577371U CN 203509296 U CN203509296 U CN 203509296U
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Abstract
The utility model provides an autonomously-moving welding robot. The autonomously-moving welding robot comprises a robot body, a rotary-scanning welding torch and a control system. The robot body comprises a movable robot chassis, a crosshead shoe adjustment device, a welding torch connecting device and a welding cable fixing device. In the welding process, a welding gun of the rotary-scanning welding torch is made to rotate at a constant speed and generate a sampling triggering signal for a controller. The control system performs operation according to a current signal acquired by a Hall current sensor, thereby realizing motion control over the movable robot chassis and the crosshead shoe adjustment device, identifying weld joint deviation, and enabling the robot to complete welding operation autonomously; the welding cable fixing device enables a welding cable line to be reliably fixed to the robot body. The autonomously-moving welding robot can move flexibly on a quasi-plane workpiece and is small in boundary dimension, thereby being particularly suitable for automatic welding in a narrow space.
Description
Technical field
The utility model belongs to Robotics field, relates to particularly a kind of autonomous welding robot.
Background technology
Along with more and more higher to the requirement of the quality of welding and welding efficiency, artificial welding cost improves, and makes the demand of welding robot and uses also more and more extensive.
Welding due to narrow space, as the welding of cabin, internal container, have working space narrow and small, during welder's operation, health can not freely stretch, and condition of work is very severe, in addition, the most top seal of these structures, light is more dim, and flue dust during welding is difficult to discharge, very large to welder's actual bodily harm, even cause the features such as dead.
For existing industrial robot, its arm length is generally 1.5-2.0m, because its base can not move, so can not weld large-sized workpiece.For planer-type welding robot, although weld size is larger, also only limit in the spatial dimension in workshop.And said structure stock size is very large, majority will weld outside workshop.In addition, the welding robot of applying in industry at present need to carry out work with programming or teach mode, huge for this build, need to be difficult to adapt in building site and the on-the-spot workpiece welding.Although also developed a lot of Mobile welding machine people both at home and abroad, in order to solve the job site automatic welding problem of large-scale workpiece, but these robots are all the weld jobs for large-scale open area, system complex, use and move inconvenience, being difficult to adapt to the Automation of Welding requirement of narrow space.
Summary of the invention
The purpose of this utility model is for narrow space welding requirements, and a kind of autonomous welding robot is provided.
Autonomous welding robot described in the utility model comprises: robot body, rotary scanning welding torch and control system, robot body comprises robot chassis, welding torch adjusting device, welding cable fixer, motor cover, machine body cover, handle and dust cover, control system comprises sensor, controller and touch-screen, rotary scanning welding torch is installed in welding torch adjusting device by bolt, and in welding process, welding gun at the uniform velocity rotates by optical code disk and produces pulse signal, for controller provides sampling trigger signal, described robot chassis comprises drive unit, directive wheel, permanent magnetism gap adsorbent equipment and the body of said apparatus is installed, robot chassis adopts three-wheel differential drives structure form, and two driving wheels and directive wheel form robot body plane of movement, utilize two rear drive sprocket differentials to realize moving and turning to of robot body, drive unit comprises that a driving shaft, two stepper motors, two decelerators, two pairs of travelling gears, two driving wheels and two driving shaft bearings form, installing insulating rubber tyre on driving wheel, the coefficient of friction on increase and welding work pieces surface makes robot body and welding work pieces insulation simultaneously, directive wheel comprises multi-directional ball and insulation sleeve, adopts bolt to be installed on front part of a body, forms robot plane of motion, and insulate by insulation sleeve and body with two driving wheels, and multi-directional ball comprises directive wheel body, steel ball, gland, elastic scheibe, steel ball, permanent magnetism gap adsorbent equipment comprises magnet regulating handle, magnet camshaft, magnet cam sleeve, magnet driver plate, magnetic support, permanent magnet, magnetic support bearing block, magnetic support axle, permanent magnet is fixedly mounted in magnetic support by magnet driver plate, magnetic support is connected with chassis supported by magnetic support bearing block, and can rotate around magnetic support axle, magnet regulating handle is connected with magnet camshaft, permanent magnetism gap adsorbent equipment is installed between directive wheel and driving shaft, absorption affinity between adsorbent equipment and magnetic conduction work by rotor magnet regulating handle regulate its between the two air gap realize,
Described welding torch adjusting device comprises crosshead shoe and welding torch jockey; Crosshead shoe is comprised of cross sliding clock and vertical slipper, and cross sliding clock is comprised of a ball screw guide rail and stepper motor, vertical slipper by one can manual adjustments screw rod form, and be installed on body by connecting plate; Welding torch jockey structure comprises: welding torch Connection Block, pad, welding torch connecting axle, regulating handle, welding torch connecting plate and nut; Welding torch connecting plate is installed on cross sliding clock by bolt; Welding torch and welding torch Connection Block are with bolts, and welding torch Connection Block is installed on connecting plate by welding torch connecting axle, and by a nut screwing clamping; Welding torch connecting axle one end is connected with regulating handle;
Described welding cable fixer comprises holder, cable tray, cable tray axle, cable flap, fishbolt, binding nut; It is upper that holder is secured by bolts in welding robot human organism, and holder is connected with attaching nut by connecting bolt with cable tray, and can relatively rotate; Cable tray is connected by cable tray axle with cable flap; Welding cable is installed between cable tray and cable flap, and fixes to clamp by fishbolt and binding nut;
Described sensor comprises Hall current sensor, keeps away barrier sensor and dropproof sensor; Hall current sensor is fixed on welding cable, for detection of the current signal in welding process; Keep away barrier sensor and adopt sonac, be installed on front part of a body; Dropproof sensor adopts photoelectric sensor, is installed on body surrounding;
Described controller comprises master controller and motor driver, and is installed on mobile platform; Master controller comprises industrial control computer, data collecting card and motion control card; Sensor, master controller and motor driver are connected by cable;
The beneficial effects of the utility model:
Adopt two-wheeled differential to drive, can realize original place 360 degree and turn to and move, effectively reduced the dead angle of working space, control simple.
Adopt permanent magnetism gap adsorbent equipment, adhesive force is large, improves driving force and stability; Meanwhile, because absorption affinity is adjustable, make robot safe in handling process, laborsaving.
Adopt sonac to detect body the place ahead barrier, there is the barrier of keeping away ability.
Because body surrounding has been installed photoelectric sensor, can detect robot environment of living in, prevent that robot from falling damage.
Welding torch pivot angle can be adjusted arbitrarily by regulating handle, without making welding torch separated with robot body.
Adopt arc sensor to realize weld seam recognition in welding process, can reach ± 1mm of tracking accuracy.
Robot appearance and size is little, lightweight, can be under narrow space working environment flexible motion.
Robot control system is integrated on robot body, uses more convenient.
Accompanying drawing explanation
Fig. 1 is autonomous welding robot structural representation described in the utility model;
In figure: 1, rotary scanning welding torch 11, robot body chassis 12, sonac 13, body cover 14, magnetic force regulating handle 15, tire on the drive wheels 16, motor cover 17, machine body cover 18, handle 19, vertical slipper adjusting handle 20, touch-screen 21, dust cover 22, welding torch adjusting device 23, welding cable fixer 24, Hall current sensor 25, welding cable;
Fig. 2 is autonomous welding robot internal structure schematic diagram described in the utility model;
In figure: 102, photoelectric sensor 106, control cabinet 111, body 221, welding torch jockey 222, cross sliding clock 224, vertical slipper;
Fig. 3 is autonomous welding robot chassis structure schematic diagram described in the utility model;
In figure: 112, drive unit 113, adjustable permanent magnetism gap adsorbent equipment 114, photoelectric sensor 115, directive wheel;
Fig. 4 is autonomous welding robot driving device structure schematic diagram described in the utility model;
In figure: 51, stepper motor 52, motor contiguous block 53, decelerator 54, screw 55, driving shaft bearing 56, driving gear 57, driven gear 58, adapter sleeve 59, driving shaft 60, driving gear setting-up piece 61, driving wheel;
Fig. 5 is the adjustable permanent magnetism of autonomous welding robot described in the utility model gap adsorbent equipment structural representation;
In figure: 61, magnetic support axle 62, magnetic support bearing block 63, magnetic support 64, magnet camshaft 65, magnet cam sleeve 66, magnet driver plate 67, permanent magnet;
Fig. 6 is autonomous welding robot directive wheel cutaway view described in the utility model;
In figure: 701, directive wheel body 702, gland 703, elastic scheibe 704, multi-directional ball;
Fig. 7 is autonomous welding robot welding cable fixer described in the utility model;
In figure: 81, holder 82, connecting bolt 83, attaching nut 84, cable tray axle 85, cable flap 86, fishbolt 87, binding nut 88, connecting axle 89, cable tray;
Fig. 8 is the structural representation of autonomous welding robot welding torch jockey described in the utility model;
In figure: 91, welding torch Connection Block 92, pad 93, welding torch connecting axle 94, regulating handle 95, welding torch connecting plate;
Fig. 9 is autonomous welding robot control system hardware configuration schematic diagram described in the utility model.
The specific embodiment
Accompanying drawings is as follows: autonomous welding robot described in the utility model comprises: robot body, rotary scanning welding torch and control system; Described robot body comprises robot chassis, welding torch adjusting device, welding cable fixer, motor cover, machine body cover, handle and dust cover; Described control system comprises sensor, controller and touch-screen; Described rotary scanning welding torch is installed in welding torch adjusting device by bolt, and in welding process, welding gun at the uniform velocity rotates by optical code disk and produces pulse signal, for controller provides sampling trigger signal.
Described robot chassis comprises drive unit, directive wheel, the body of adjustable permanent magnetism gap adsorbent equipment and installation said apparatus; Described robot chassis adopts three-wheel differential drives structure form, and two driving wheels and directive wheel form robot body plane of movement; Utilize two rear drive sprocket differentials to realize moving and turning to of robot body; Described drive unit comprises that a driving shaft, two stepper motors, two decelerators, two pairs of travelling gears, two driving wheels and two driving shaft bearings form; Installing insulating rubber tyre on described driving wheel, the coefficient of friction on increase and welding work pieces surface makes robot body and welding work pieces insulation simultaneously; Described directive wheel comprises multi-directional ball and insulation sleeve, adopts bolt to be installed on front part of a body, forms robot plane of motion, and insulate by insulation sleeve and body with two driving wheels; Described multi-directional ball comprises directive wheel body, steel ball, gland, elastic scheibe, steel ball.Described permanent magnetism gap adsorbent equipment comprises magnet regulating handle, magnet camshaft, magnet cam sleeve, magnet driver plate, magnetic support, permanent magnet, magnetic support bearing block, magnetic support axle, permanent magnet is fixedly mounted in magnetic support by magnet driver plate, magnetic support is connected with chassis supported by magnetic support bearing block, and can rotate around magnetic support axle, magnet regulating handle is connected with magnet camshaft; Described permanent magnetism gap adsorbent equipment is installed between directive wheel and driving shaft, the absorption affinity between adsorbent equipment and magnetic conduction work by rotor magnet regulating handle regulate its between the two air gap realize.
Described welding torch adjusting device comprises crosshead shoe and welding torch jockey; Crosshead shoe is comprised of cross sliding clock and vertical slipper, and cross sliding clock is comprised of a ball screw guide rail and stepper motor, vertical slipper by one can manual adjustments screw rod form, and be installed on body by connecting plate; Described welding torch jockey structure comprises: welding torch Connection Block, pad, welding torch connecting axle, regulating handle, welding torch connecting plate and nut; Welding torch connecting plate is installed on cross sliding clock by bolt; Welding torch and welding torch Connection Block are with bolts, and welding torch Connection Block is installed on connecting plate by welding torch connecting axle, and by a nut screwing clamping; Welding torch connecting axle one end is connected with regulating handle.
Describedly for welding cable fixer, comprise holder, cable tray, cable tray axle, cable flap, fishbolt, binding nut; Described holder is secured by bolts on welding robot human organism; Described holder is connected with attaching nut by connecting bolt with cable tray, and can relatively rotate; Described cable tray is connected by cable tray axle with cable flap; Welding cable is installed between cable tray and cable flap, and fixes to clamp by fishbolt and binding nut.
Described sensor comprises Hall current sensor, keeps away barrier sensor and dropproof sensor; Described Hall current sensor is fixed on welding cable, for detection of the current signal in welding process; The described barrier sensor of keeping away adopts sonac, is installed on front part of a body; Described dropproof sensor adopts photoelectric sensor, is installed on body surrounding;
Described controller comprises master controller and motor driver, and is installed on mobile platform; Described master controller comprises industrial control computer, data collecting card and motion control card; Described sensor, master controller and motor driver are connected by cable.
Claims (5)
1. an autonomous welding robot, is characterized in that: described robot comprises robot body, rotary scanning welding torch and control system;
Robot body comprises robot chassis, welding torch adjusting device, welding cable fixer, motor cover, machine body cover, handle and dust cover; Control system comprises sensor, controller and touch-screen; Rotary scanning welding torch is installed in welding torch adjusting device by bolt, and in welding process, welding gun at the uniform velocity rotates by optical code disk and produces pulse signal, for controller provides sampling trigger signal;
Described robot chassis comprises drive unit, directive wheel, permanent magnetism gap adsorbent equipment and the body of said apparatus is installed, robot chassis adopts three-wheel differential drives structure form, and two driving wheels and directive wheel form robot body plane of movement, utilize two driving wheel differentials to realize moving and turning to of robot body, drive unit comprises that a driving shaft, two stepper motors, two decelerators, two pairs of travelling gears, two driving wheels and two driving shaft bearings form, installing insulating rubber tyre on driving wheel, the coefficient of friction on increase and welding work pieces surface makes robot body and welding work pieces insulation simultaneously, directive wheel comprises multi-directional ball and insulation sleeve, adopts bolt to be installed on front part of a body, forms robot plane of motion, and insulate by insulation sleeve and body with two driving wheels, and multi-directional ball comprises directive wheel body, steel ball, gland, elastic scheibe, steel ball, permanent magnetism gap adsorbent equipment comprises magnet regulating handle, magnet camshaft, magnet cam sleeve, magnet driver plate, magnetic support, permanent magnet, magnetic support bearing block, magnetic support axle, permanent magnet is fixedly mounted in magnetic support by magnet driver plate, magnetic support is connected with chassis supported by magnetic support bearing block, and can rotate around magnetic support axle, magnet regulating handle is connected with magnet camshaft, permanent magnetism gap adsorbent equipment is installed between directive wheel and driving shaft, absorption affinity between adsorbent equipment and magnetic conduction workpiece by rotor magnet regulating handle regulate its between the two air gap realize.
2. a kind of autonomous welding robot according to claim 1, is characterized in that: described welding torch adjusting device comprises crosshead shoe and welding torch jockey; Crosshead shoe is comprised of cross sliding clock and vertical slipper, and cross sliding clock is comprised of a ball screw guide rail and stepper motor, vertical slipper by one can manual adjustments screw rod form, and be installed on body by connecting plate; Welding torch jockey structure comprises: welding torch Connection Block, pad, welding torch connecting axle, regulating handle, welding torch connecting plate and nut; Welding torch connecting plate is installed on cross sliding clock by bolt; Welding torch and welding torch Connection Block are with bolts, and welding torch Connection Block is installed on connecting plate by welding torch connecting axle, and by a nut screwing clamping; Welding torch connecting axle one end is connected with regulating handle.
3. a kind of autonomous welding robot according to claim 1, is characterized in that: described welding cable fixer comprises holder, cable tray, cable tray axle, cable flap, fishbolt, binding nut; It is upper that holder is secured by bolts in welding robot human organism, and holder is connected with attaching nut by connecting bolt with cable tray, and can relatively rotate; Cable tray is connected by cable tray axle with cable flap; Welding cable is installed between cable tray and cable flap, and fixes to clamp by fishbolt and binding nut.
4. a kind of autonomous welding robot according to claim 1, is characterized in that: described sensor comprises Hall current sensor, keeps away barrier sensor and dropproof sensor; Hall current sensor is fixed on welding cable, for detection of the current signal in welding process; Keep away barrier sensor and adopt sonac, be installed on front part of a body; Dropproof sensor adopts photoelectric sensor, is installed on body surrounding.
5. a kind of autonomous welding robot according to claim 1, is characterized in that: described controller comprises master controller and motor driver, and is installed on mobile platform; Master controller comprises industrial control computer, data collecting card and motion control card; Sensor, master controller and motor driver are connected by cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320577371.7U CN203509296U (en) | 2013-09-18 | 2013-09-18 | Autonomously-moving welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320577371.7U CN203509296U (en) | 2013-09-18 | 2013-09-18 | Autonomously-moving welding robot |
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| Publication Number | Publication Date |
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| CN203509296U true CN203509296U (en) | 2014-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320577371.7U Expired - Fee Related CN203509296U (en) | 2013-09-18 | 2013-09-18 | Autonomously-moving welding robot |
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| Country | Link |
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| CN (1) | CN203509296U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105689844A (en) * | 2016-03-14 | 2016-06-22 | 夏士桀 | Intelligent electric welding equipment for industrial production |
| CN106312350A (en) * | 2016-08-31 | 2017-01-11 | 安徽正道称重科技有限公司 | Welding tractor provided with guide rails and used for vehicle scales |
| CN106735745A (en) * | 2016-12-20 | 2017-05-31 | 柳州振业焊接机电设备制造有限公司 | One kind is based on rotating the arc welding equipment |
| CN106735782A (en) * | 2016-12-20 | 2017-05-31 | 柳州振业焊接机电设备制造有限公司 | A kind of small-sized movable welding robot |
| CN107378186A (en) * | 2017-08-29 | 2017-11-24 | 江汉大学 | A kind of flame cutting machine for being used to cut large-scale curved workpiece |
| CN113649699A (en) * | 2021-07-27 | 2021-11-16 | 上海工程技术大学 | Mobile robot walking on U-shaped workpiece and application thereof |
-
2013
- 2013-09-18 CN CN201320577371.7U patent/CN203509296U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105689844A (en) * | 2016-03-14 | 2016-06-22 | 夏士桀 | Intelligent electric welding equipment for industrial production |
| CN106312350A (en) * | 2016-08-31 | 2017-01-11 | 安徽正道称重科技有限公司 | Welding tractor provided with guide rails and used for vehicle scales |
| CN106735745A (en) * | 2016-12-20 | 2017-05-31 | 柳州振业焊接机电设备制造有限公司 | One kind is based on rotating the arc welding equipment |
| CN106735782A (en) * | 2016-12-20 | 2017-05-31 | 柳州振业焊接机电设备制造有限公司 | A kind of small-sized movable welding robot |
| CN107378186A (en) * | 2017-08-29 | 2017-11-24 | 江汉大学 | A kind of flame cutting machine for being used to cut large-scale curved workpiece |
| CN113649699A (en) * | 2021-07-27 | 2021-11-16 | 上海工程技术大学 | Mobile robot walking on U-shaped workpiece and application thereof |
| CN113649699B (en) * | 2021-07-27 | 2022-07-29 | 上海工程技术大学 | Mobile robot walking on U-shaped workpiece and application thereof |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140402 Termination date: 20140918 |
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| EXPY | Termination of patent right or utility model |