CN205764375U - A kind of movable-type intelligent welding robot - Google Patents
A kind of movable-type intelligent welding robot Download PDFInfo
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- CN205764375U CN205764375U CN201620573119.2U CN201620573119U CN205764375U CN 205764375 U CN205764375 U CN 205764375U CN 201620573119 U CN201620573119 U CN 201620573119U CN 205764375 U CN205764375 U CN 205764375U
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Abstract
The open a kind of movable-type intelligent welding robot of this utility model, including: mobile dolly, lowering or hoisting gear, mechanical hand, welding gun and arc welding gun head portion mechanism.Lowering or hoisting gear is installed on mobile dolly, and mechanical hand is installed on lowering or hoisting gear, and welding gun and arc welding gun head portion mechanism are installed on mechanical hand, and mechanical hand includes arm, ancon and the hand being sequentially connected with；Being provided with position measurement device on mobile dolly, arc welding gun head portion mechanism is provided with visual identity tack weld tracker and welding self tuning regulator.The movable-type intelligent welding robot of said structure, which solve the heavy machinery industry such as current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery metal structure connect electric arc welding skilled worker is rare, quality is unstable, the problem that efficiency is low, cost is high.
Description
Technical field
This utility model relates to a kind of movable-type intelligent welding robot, particularly relates to a kind of for shipbuilding, ocean work
The metal structure of the heavy machinery industry such as journey, steel structure bridge, steel building, chemical machinery and hoisting machinery connects arc welding
The intelligent robot connect.
Background technology
Present industrial welding robot major part is fixed welding robot, great majority teaching to be relied on programming and
Frock clamp or robot workstation could realize automatic welding.Major part is for motor vehicle bodywork component assembly production line
Spot welding, arc-welding, fraction is used for component spot welding or the arc-welding of other production line.This welding robot is compiled due to teaching to be used
Journey controls mechanical hand and welds, and requires the highest to frock clamp, only as the biggest type products such as automobiles
It is suitable for application.
For heavy-duty machineries such as shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machineries
Manufacture major part be not batch production, great majority are single production, seldom use standardized production line to be processed, assemble,
Manufacture.Because the hardware overall dimensions of these industries are big, Heavy Weight, different, the complicated little employing of crossbar structure
Fixed frock clamp assembles, and welding process there are many and carries out in enclosed construction or semi-closed structure, and weld seam is big
Majority is fillet weld in the flat position and fillet weld in the vertical position, be all rely on a lot of welders move to metal structure welding position weld, institute
So that fixed welding robot can not be used.Meanwhile, the position while welding that the reasons such as part processing, assembling construction, deformation cause
It is the most with the phenomenon of gap deviation；The multilamellar multiple tracks continuous arc welding of metal structure slab component；And cost and efficiency side
Face can not rely on the reasons such as teaching programming, off-line programing and frock clamp, causes at present these industries substantially not have or seldom
Apply above-mentioned this industrial welding robot.
At present, electric welding skilled worker's labour cost of enterprise rises year by year, and this arduous labor of electric welding is ready the people that does
Fewer and feweri, the electric welding skilled worker that technology is good is increasingly difficult to look for.And human weld's mass is unstable, and efficiency is low.But enterprise product
Competition more and more stronger, product requirement is more and more higher, and product quality is more and more tighter.
Utility model content
The purpose of this utility model is to overcome weak point of the prior art, it is provided that a kind of movable-type intelligent welding robot
People, solves the heavy-duty machinery row such as current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery
Skilled worker is rare, quality is unstable in the electric arc welding that the metal structure of industry connects, the problem that efficiency is low, cost is high.
The purpose of this utility model is achieved through the following technical solutions:
A kind of movable-type intelligent welding robot, including: mobile dolly, lowering or hoisting gear, mechanical hand, welding gun and welding gun head
Mechanism；
Described lowering or hoisting gear is installed on described mobile dolly, and described mechanical hand is installed on described lowering or hoisting gear, described
Welding gun and arc welding gun head portion mechanism are installed on described mechanical hand, and described mechanical hand includes arm, ancon and the hand being sequentially connected with；
Being provided with position measurement device on described mobile dolly, described arc welding gun head portion mechanism is provided with visual identity tack weld
Tracker and welding self tuning regulator.
Wherein in an embodiment, described mobile dolly is running on wheels structure.
Wherein in an embodiment, described mobile dolly is crawler-type traveling structure.
Wherein in an embodiment, described mobile dolly is legged walking structure.
Wherein in an embodiment, institute's position measurement device is geodimeter.
Wherein in an embodiment, described visual identity tack weld tracker is provided with electric arc optical filter.
The movable-type intelligent welding robot of said structure, which solve current shipbuilding, ocean engineering, bridge steel structure,
The electric arc welding skilled worker that the metal structure of the heavy machinery industry such as steel building, chemical machinery and hoisting machinery connects is rare,
Quality is unstable, the problem that efficiency is low, cost is high.
Accompanying drawing explanation
Fig. 1 is the movable-type intelligent welding robot schematic diagram of this utility model one embodiment.
Detailed description of the invention
For the ease of understanding this utility model, below with reference to relevant drawings, this utility model is more fully retouched
State.Accompanying drawing gives better embodiment of the present utility model.But, this utility model can come in many different forms
Realize, however it is not limited to embodiments described herein.On the contrary, providing the purpose of these embodiments is to make to this practicality newly
It is more thorough comprehensive that the disclosure of type understands.
It should be noted that when element is referred to as " being fixed on " another element, and it can be directly on another element
Or element placed in the middle can also be there is.When an element is considered as " connection " another element, and it can be to be directly connected to
To another element or may be simultaneously present centering elements.Term as used herein " vertical ", " level ", " left ",
For illustrative purposes only, being not offered as is unique embodiment for " right " and similar statement.
Unless otherwise defined, all of technology used herein and scientific terminology are led with belonging to technology of the present utility model
The implication that the technical staff in territory is generally understood that is identical.At term used in the description of the present utility model it is simply herein
The purpose of specific embodiment is described, it is not intended that in limiting this utility model.Term as used herein " and/or " bag
Include the arbitrary and all of combination of one or more relevant Listed Items.
As it is shown in figure 1, the schematic diagram of the movable-type intelligent welding robot 10 that it is this utility model one embodiment.
A kind of movable-type intelligent welding robot 10, including: mobile dolly 100, lowering or hoisting gear 200, mechanical hand 300, weldering
Rifle 500 and arc welding gun head portion mechanism 600.
Lowering or hoisting gear 200 is installed on mobile dolly 100, and mechanical hand 300 is installed on lowering or hoisting gear 200, welding gun 500 and
Arc welding gun head portion mechanism 600 is installed on mechanical hand 300, and mechanical hand 300 includes arm 310, ancon 320 and the hand being sequentially connected with
330。
Being provided with position measurement device 110 on mobile dolly 100, arc welding gun head portion mechanism 600 is provided with visual identity tack welding
Seam tracker 610 and welding self tuning regulator 620.
Such as, mobile dolly 100 is running on wheels structure, and mobile dolly 100 can also be crawler-type traveling structure, mobile
Dolly 100 can also be legged walking structure.
In the present embodiment, position measurement device 110 is geodimeter.
In the present embodiment, visual identity tack weld tracker 610 is provided with electric arc optical filter.
In order to solve current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery etc.
Skilled worker is rare, quality is unstable in the electric arc welding that the metal structure of heavy machinery industry connects, the problem that efficiency is low, cost is high,
Such as, move dolly 100 can move at XY coordinate direction, mainly by X-axis longitudinal moving mechanism and Y-axis transverse moving mechanism
Composition.Mainly: the accurate mobile of X longitudinal direction and Y transverse direction can be realized, mobile accuracy is in the range of ± 2mm.Mobile dolly
100 move modes can be wheeled or crawler type or lower limb formula.Mobile dolly 100 can press robot fortune with welding robot human body
The XY move that autocontrol system sends moves.Thus solve current shipbuilding, ocean engineering, bridge steel structure, steel knot
Build build, electric arc welding skilled worker that the metal structure of the heavy machinery industry such as chemical machinery and hoisting machinery connects is rare, quality
Instability, the problem that efficiency is low, cost is high.
In order to solve current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery etc.
Skilled worker is rare, quality is unstable in the electric arc welding that the metal structure of heavy machinery industry connects, the problem that efficiency is low, cost is high,
Such as, lowering or hoisting gear 200 is arranged on planar central position on mobile dolly 100, along Z-direction liftable.Mainly: can be with
Mechanical hand 300, visual identity tack weld tracker 610, welding self tuning regulator 620, welding gun 500 and arc welding gun head portion mechanism 600
Along Z-direction lifting moving, can move by the Z move that robot movement-control system sends, it is achieved eminence or low
The metal structure seam welds at place.Thus solve current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery
Skilled worker is rare, quality is unstable in the electric arc welding connected with the metal structure of the heavy machinery industry such as hoisting machinery, and efficiency is low, become
This high problem.
In order to solve current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery etc.
Skilled worker is rare, quality is unstable in the electric arc welding that the metal structure of heavy machinery industry connects, the problem that efficiency is low, cost is high,
Such as, the geodimeter in tri-directions of XYZ that position measurement device 110 is mounted on mobile dolly 100.Mainly: can be right
Assembly that mobile dolly 100 center is combined at structural metal parts or parts (planar structure etc.) or segmentation module (framework
Structure etc.) or the distance of relative tri-coordinate directions of XYZ of the component (part or parts) of integrally-built weld job scope
Measure, calculate the mobile dolly 100 weld job scope at above-mentioned metal weldedstructure by computer system
Position coordinates, to movable-type intelligent welding robot real-time positioning.Thus solve current shipbuilding, ocean engineering, bridge steel knot
The electric arc welding skilled worker that the metal structure of the heavy machinery industry such as structure, steel building, chemical machinery and hoisting machinery connects is dilute
Scarce, quality instability, the problem that efficiency is low, cost is high.
In order to solve current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery etc.
Skilled worker is rare, quality is unstable in the electric arc welding that the metal structure of heavy machinery industry connects, the problem that efficiency is low, cost is high,
Such as, mechanical hand 300 is arranged on along Z-direction liftable lowering or hoisting gear 200 upper end.Mainly: can be fixed with visual identity
Position Weld joint tracker 610, welding self tuning regulator 620, welding gun 500 and arc welding gun head portion mechanism 600 are by robot movement-control system
Mechanical hand 100 motion control instruction sent is carried out the adjustment of welding gun pose by the requirement of welding procedure, makes welding gun 500 and welding gun
Head 600 mechanism, including visual identity tack weld tracker 610, welding self tuning regulator 620 can be along the welding of metal structure
Seam path is moved by the requirement of welding procedure.Thus solve current shipbuilding, ocean engineering, bridge steel structure, steel construction are built
Build, skilled worker is rare, quality is unstable for electric arc welding that the metal structure of the heavy machinery industry such as chemical machinery and hoisting machinery connects
Fixed, the problem that efficiency is low, cost is high.
In order to solve current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery etc.
Skilled worker is rare, quality is unstable in the electric arc welding that the metal structure of heavy machinery industry connects, the problem that efficiency is low, cost is high,
Such as, visual identity tack weld tracker 610 is arranged on arc welding gun head portion mechanism 600.Mainly: one, to mobile dolly 100
Assembly that center is combined at structural metal parts or parts (planar structure etc.) or segmentation module (frame structure etc.) or whole
The distance of tri-coordinate directions of XYZ that the component of the weld job scope of body structure is relative carries out vision measurement, passes through computer
System-computed draws the mobile dolly 100 position coordinates in the weld job scope of above-mentioned metal weldedstructure, to movable type
Intelligent welding robot real-time positioning.Two, the soldered of metal structure can be carried out real-time weld seam recognition and welding inspection, band
Welding gun 500 carry out weld joint tracking and to the soldered path of metal structure of CAD CAM design definition and weld gap due to
The deviation Real-time Feedback that the reasons such as part processing, assembling construction, deformation cause is to welder system.Three, welded in metal structure
The quality followed the tracks of to improve visual identity tack weld in journey to install electric arc optical filter before vision lens additional.Thus solve mesh
The metal of the heavy machinery industry such as front shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery
Skilled worker is rare, quality is unstable in the electric arc welding that structure connects, the problem that efficiency is low, cost is high.
In order to solve current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery etc.
Skilled worker is rare, quality is unstable in the electric arc welding that the metal structure of heavy machinery industry connects, the problem that efficiency is low, cost is high,
Such as, welding self tuning regulator 610 is arranged on arc welding gun head portion mechanism 600.Mainly: the soldered of metal structure was being welded
The welding condition change Real-time Feedback produced in journey is to welder system.Thus solve current shipbuilding, ocean engineering, bridge steel
The electric arc welding skilled worker that the metal structure of the heavy machinery industry such as structure, steel building, chemical machinery and hoisting machinery connects
Rare, quality is unstable, the problem that efficiency is low, cost is high.
In order to solve current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery etc.
Skilled worker is rare, quality is unstable in the electric arc welding that the metal structure of heavy machinery industry connects, the problem that efficiency is low, cost is high,
Such as, welding gun 500 and arc welding gun head portion mechanism 600 are mounted on the end joint of mechanical hand 300, can make respectively with mechanical hand 300
Plant the motion of pose.Mainly: welding gun 500 carries out electric arc with protective gas to metal structure seam by metal welding wire and welds,
Arc welding gun head portion mechanism has welding wire feeding mechanism and protective gas to supply gas mechanism, and is provided with visual identity tack weld tracker
With welding self tuning regulator.Thus solve current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and lifting
Skilled worker is rare, quality is unstable in the electric arc welding that the metal structure of the heavy machinery industry such as machinery connects, and efficiency is low, cost is high
Problem.
In order to solve current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery etc.
Skilled worker is rare, quality is unstable in the electric arc welding that the metal structure of heavy machinery industry connects, the problem that efficiency is low, cost is high,
Such as, movable-type intelligent welding robot 10 also includes that computer control system 700, computer control system 700 are portable
The capital equipment that Intelligent welding robot periphery is supporting, including computer control system and robot movement-control system.Mainly
It is: from CAD of Metal Structure data, one, recall the assembly or parts (planar structure etc.) or segmentation module (framework needing to weld
Structure etc.) or integrally-built relevant cad data, generate two by welding CAM software definition welding position and welding condition
Individual motor control file and a welding procedure message file.First is that path of welding file is supplied to kinetic control system control
Robot movement processed, second be to control mobile dolly and lowering or hoisting gear carries out XYZ coordinate and moves file, the effect of this file
Being when the field position of movable-type intelligent welding robot, mechanical hand catches welding gun can't touch Welding Seam of Metallic Structure, this
Time kinetic control system control mobile dolly according to XYZ move and lowering or hoisting gear carries out XYZ coordinate and moves, make gripper of manipulator
Live welding gun and can touch Welding Seam of Metallic Structure, and meet mechanical hand and catch welding gun to carry out the requirement welded；3rd is to generate weldering
Connecing technique information file and be supplied to welder system, welder system is according to welding procedure information regulation welding condition and controls weldering
Connect enforcement.Two, with welding CAM software definition movable-type intelligent welding robot job initiation datum mark (X0、Y0、Z0), with vision
Identify the movable-type intelligent welding robot central point (X that tack weld tracker or position measurement device are measuredi、Yi、Zi) carry out right
Ratio, 2 inconsistent computer-chronograph system-computed go out phase difference and issue a command to the mobile dolly of kinetic control system control and lifting dress
Put and carry out XYZ coordinate and move, as job initiation datum mark (X0、Y0、Z0) and movable-type intelligent welding robot central point (Xi、Yi、
Zi) consistent time, and when the XYZ axle of movable-type intelligent welding robot is consistent with the XYZ axle welding hardware, computer
System has positioned with movable-type intelligent welding robot job initiation datum mark.Thus solve current shipbuilding, ocean engineering, bridge
The electric arc welding that the metal structure of the heavy machinery industry such as joist steel structure, steel building, chemical machinery and hoisting machinery connects
Skilled worker is rare, quality is unstable, the problem that efficiency is low, cost is high.
In order to solve current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery etc.
Skilled worker is rare, quality is unstable in the electric arc welding that the metal structure of heavy machinery industry connects, the problem that efficiency is low, cost is high,
Such as, movable-type intelligent welding robot 10 also includes that welder system 800, welder system 800 are movable-type intelligent welding robots
The capital equipment that people's periphery is supporting.Specifically include that the source of welding current and controller, wire reel and wire feeder, welding protection gas
Gas cylinder and supply gas mechanism.Mainly: the Welding Seam of Metallic Structure morpheme that one, is given according to visual identity tack weld tracker and
Gap deviation signal is adjusted welding condition, and controls the amplitude of oscillation that welding gun moves, and meets the prescription of welding；
Two, the signal provided the welding condition change produced in welding process in real time according to welding self tuning regulator regulates weldering in time
Connect technological parameter.Thus solve current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery
Skilled worker is rare, quality is unstable in the electric arc welding connected Deng the metal structure of heavy machinery industry, and efficiency is low, cost is high asks
Topic.
In order to solve current shipbuilding, ocean engineering, bridge steel structure, steel building, chemical machinery and hoisting machinery etc.
Skilled worker is rare, quality is unstable in the electric arc welding that the metal structure of heavy machinery industry connects, the problem that efficiency is low, cost is high,
Such as, movable-type intelligent welding robot 10 also includes controlling and welding cable 900, and it is portable for controlling and welding cable 900
The control cable of Intelligent welding robot, the source of welding current and source of the gas cable.Thus solve current shipbuilding, ocean engineering, bridge steel
The electric arc welding skilled worker that the metal structure of the heavy machinery industry such as structure, steel building, chemical machinery and hoisting machinery connects
Rare, quality is unstable, the problem that efficiency is low, cost is high.
The movable-type intelligent welding robot 10 of said structure, which solves current shipbuilding, ocean engineering, bridge steel knot
The electric arc welding skilled worker that the metal structure of the heavy machinery industry such as structure, steel building, chemical machinery and hoisting machinery connects is dilute
Scarce, quality instability, the problem that efficiency is low, cost is high.
The above embodiment only have expressed several embodiments of the present utility model, and it describes more concrete and detailed
Carefully, but therefore can not be interpreted as the restriction to this utility model the scope of the claims.It should be pointed out that, general for this area
For logical technical staff, without departing from the concept of the premise utility, it is also possible to make some deformation and improvement, these are all
Belong to protection domain of the present utility model.Therefore, the protection domain of this utility model patent should be as the criterion with claims.
Claims (6)
1. a movable-type intelligent welding robot, it is characterised in that including: mobile dolly, lowering or hoisting gear, mechanical hand, welding gun
And arc welding gun head portion mechanism；
Described lowering or hoisting gear is installed on described mobile dolly, and described mechanical hand is installed on described lowering or hoisting gear, described welding gun
And arc welding gun head portion mechanism is installed on described mechanical hand, described mechanical hand includes arm, ancon and the hand being sequentially connected with；
Being provided with position measurement device on described mobile dolly, described arc welding gun head portion mechanism is provided with visual identity tack weld and follows the tracks of
Device and welding self tuning regulator.
Movable-type intelligent welding robot the most according to claim 1, it is characterised in that described mobile dolly is wheeled row
Walk structure.
Movable-type intelligent welding robot the most according to claim 1, it is characterised in that described mobile dolly is crawler type
Walking structure.
Movable-type intelligent welding robot the most according to claim 1, it is characterised in that described mobile dolly is lower limb formula row
Walk structure.
Movable-type intelligent welding robot the most according to claim 1, it is characterised in that institute's position measurement device is photoelectricity
Diastimeter.
Movable-type intelligent welding robot the most according to claim 1, it is characterised in that described visual identity tack weld
Electric arc optical filter is installed on tracker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620573119.2U CN205764375U (en) | 2016-06-14 | 2016-06-14 | A kind of movable-type intelligent welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620573119.2U CN205764375U (en) | 2016-06-14 | 2016-06-14 | A kind of movable-type intelligent welding robot |
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| CN205764375U true CN205764375U (en) | 2016-12-07 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106077900A (en) * | 2016-06-14 | 2016-11-09 | 苏汉明 | A kind of movable-type intelligent welding robot |
| CN114406560A (en) * | 2022-02-11 | 2022-04-29 | 湖北天高钢桥智造科技有限公司 | Double-head interval stepless adjustable welding trolley for longitudinal seam of plate unit |
-
2016
- 2016-06-14 CN CN201620573119.2U patent/CN205764375U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106077900A (en) * | 2016-06-14 | 2016-11-09 | 苏汉明 | A kind of movable-type intelligent welding robot |
| CN106077900B (en) * | 2016-06-14 | 2018-10-16 | 苏汉明 | A kind of movable-type intelligent welding robot |
| CN114406560A (en) * | 2022-02-11 | 2022-04-29 | 湖北天高钢桥智造科技有限公司 | Double-head interval stepless adjustable welding trolley for longitudinal seam of plate unit |
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| TR01 | Transfer of patent right |
Effective date of registration: 20210425 Address after: 510660 room 6006, 2nd floor, area D, 26 Huangcun North Road, Tianhe District, Guangzhou City, Guangdong Province Patentee after: Guangzhou Alfi Graphene Energy Co.,Ltd. Address before: Chen Jiang Huifeng Street West three road 516006 in Guangdong province Huizhou City Zhongkai high tech Zone No. 108 B building, first floor Patentee before: Su Hanming |