CN219465193U - Wall climbing welding robot - Google Patents

Abstract

The utility model relates to a multipurpose wall climbing welding robot, which comprises a welding device and a wall climbing device, wherein the wall climbing device comprises a precursor device and a steering wheel device, the precursor device comprises a front box body connected with the welding device, the steering wheel device comprises a rear box body, and wheels are rotatably connected to two sides of the front box body and the rear box body; the front box body and the rear box body are connected through a traction device, a support is arranged on the rear box body, a through hole is formed in the front box body, the traction device comprises a traction pulling plate, one end of the traction pulling plate is rotatably connected in the through hole, the other end of the traction pulling plate is hinged with the support through a steering shaft, the steering shaft is driven to rotate by a steering motor, and the axis of the steering shaft is perpendicular to the axis of the through hole. The utility model can flexibly adjust the moving gesture, improves the movement flexibility of the robot, and can be suitable for welding operation under various different working conditions.

Description

Wall climbing welding robot

Technical Field

The utility model relates to the technical field of welding robots, in particular to a wall climbing welding robot.

Background

The welding process can produce a large amount of heat, radiation, poisonous gas and the like, can cause great harm to the body of workers, and in order to improve the safety of welding operation and reduce the manual operation intensity, a welding robot can be adopted to replace manual welding operation in the prior art. The wall climbing welding robot is a robot capable of realizing wall climbing welding, can automatically move to a welding position to weld workpieces, and can be suitable for welding various types of workpieces. However, the existing welding robot is inconvenient to adjust the moving gesture, has poor movement flexibility, cannot adapt to the welding operation under the complex working condition, and cannot meet the use requirement.

Disclosure of Invention

Therefore, the technical problem to be solved by the utility model is to overcome the defect that the welding robot in the prior art is inconvenient to adjust the moving gesture and has poor movement flexibility.

In order to solve the technical problems, the utility model provides a wall climbing welding robot, which comprises,

a welding device;

the wall climbing device comprises a precursor device and a steering wheel device, the precursor device comprises a front box body connected with the welding device, the steering wheel device comprises a rear box body, and wheels are rotatably connected to two sides of the front box body and the rear box body;

the front box body and the rear box body are connected through a traction device, a support is arranged on the rear box body, a through hole is formed in the front box body, the traction device comprises a traction pulling plate, one end of the traction pulling plate is rotatably connected in the through hole, the other end of the traction pulling plate is hinged to the support through a steering shaft, the steering shaft is driven to rotate by a steering motor, and the axis of the steering shaft is perpendicular to the axis of the through hole.

In one embodiment of the utility model, a limiting plate is connected to the inner wall of the front box body, a limiting groove is formed in the limiting plate, a rotary limiting piece is connected to one end of the traction pulling plate extending into the through hole, and the rotary limiting piece is slidably connected to the limiting groove.

In one embodiment of the present utility model, the limit slot is arc-shaped, and the rotation limiter has an arc-shaped end slidably connected in the limit slot.

In one embodiment of the utility model, the welding device comprises a mechanical arm, one end of the mechanical arm is connected with the front box body, and the other end of the mechanical arm is connected with a welding gun.

In one embodiment of the utility model, an anti-collision sensor is connected between the welding gun and the mechanical arm.

In one embodiment of the utility model, the upper part of the front box body is connected with a bearing plate, a wire feeder is connected to the bearing plate, and the wire feeder is connected with the welding gun through a wire pipe.

In one embodiment of the utility model, the bearing plate is connected with a support frame, the upper part of the support frame is connected with a hoop, and the wire tube is arranged inside the hoop in a penetrating way.

In one embodiment of the utility model, a laser range finder and a camera are connected to the bearing plate.

In one embodiment of the utility model, a gyroscope is connected to the bottom surface of the carrier plate.

In one embodiment of the utility model, the bottoms of the front box body and the rear box body are connected with electromagnets.

Compared with the prior art, the technical scheme of the utility model has the following advantages:

the wall-climbing welding robot disclosed by the utility model can flexibly adjust the moving gesture, improves the movement flexibility of the robot, and can be suitable for welding operations under various different working conditions.

Drawings

In order that the utility model may be more readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof that are illustrated in the appended drawings.

FIG. 1 is a schematic structural view of a wall climbing welding robot of the present utility model;

FIG. 2 is a schematic view of another angle of the wall climbing welding robot shown in FIG. 1;

FIG. 3 is a schematic view of the welding apparatus of FIG. 1;

FIG. 4 is a schematic view of the wall climbing device of FIG. 1;

FIG. 5 is a schematic view of another angle of the wall climbing device of FIG. 1;

FIG. 6 is a schematic diagram of the precursor apparatus of FIG. 4;

FIG. 7 is a schematic view of the precursor device of FIG. 6 at another angle;

FIG. 8 is a schematic view of the structure of the front case of FIG. 6;

FIG. 9 is a schematic view of the front housing and traction device assembly of FIG. 6;

FIG. 10 is a front view of the structure of FIG. 9;

FIG. 11 is a schematic view of the steering wheel assembly of FIG. 4;

FIG. 12 is a schematic view of the structure of the rear case in FIG. 11;

FIG. 13 is a schematic view of a wall climbing welding robot according to the present utility model in a right turn position;

FIG. 14 is a schematic view of a wall climbing welding robot according to the present utility model in a left turn position;

FIG. 15 is a schematic view showing an upward swing state of the steering wheel device of the present utility model;

FIG. 16 is a rear view of the wall climbing welding robot of the present utility model;

FIG. 17 is a top view of the wall climbing welding robot shown in FIG. 16;

FIG. 18 is an isometric view of the wall-climbing welding robot shown in FIG. 16;

FIG. 19 is a schematic view of the ground welding state of the wall climbing welding robot of the present utility model;

FIG. 20 is a schematic view of a wall climbing welding robot of the present utility model placed on a turn-over trolley;

FIG. 21 is a schematic diagram of a welding robot flipped to a vertical position;

FIG. 22 is a schematic view of a welding robot wheel being abutted against a vertical wall of a structural member;

FIG. 23 is a schematic view of a welding robot climbing a wall;

FIG. 24 is a schematic view of the welding state inside a welding robot pipe;

description of the specification reference numerals:

10. a welding device; 101. a mechanical arm; 102. a welding gun; 103. an anti-collision sensor; 104. a laser weld tracker; 105. a wire feeder; 106. a conduit;

20. a wall climbing device;

201. a precursor device; 2011. a front case; 2012. a through hole; 2013. a carrying plate; 20131. a support frame; 20132. a hoop; 2014. a laser range finder; 2015. a camera; 2016. a gyroscope; 2017. a hanging ring; 2018. a signal receiver;

202. steering wheel device; 2021. a rear case; 2022. a support; 203. a wheel; 204. a traction device; 2041. traction pulling plate; 2042. a steering shaft; 2043. a limiting plate; 20431. a limit groove; 2044. a rotation limiting member; 20441. an arc end; 205. an electromagnet; 206. a visual sensor;

30. overturning the trolley; 40. a remote supply cart; 50. structural members; 501. a protrusion; 60. a pipeline.

Detailed Description

The present utility model will be further described with reference to the accompanying drawings and specific examples, which are not intended to be limiting, so that those skilled in the art will better understand the utility model and practice it.

Referring to fig. 1, 2, 16, 17 and 18, the utility model discloses a wall climbing welding robot, which comprises a welding device 10 and a wall climbing device 20, wherein the welding device 10 is connected to the wall climbing device 20 so as to drive the welding device 10 to flexibly move by using the wall climbing device 20;

as shown in fig. 4-5, the wall climbing device 20 includes a front driving device 201 and a steering wheel device 202, the front driving device 201 includes a front box 2011 connected with the welding device 10, the steering wheel device 202 includes a rear box 2021, and wheels 203 are rotatably connected to two sides of the front box 2011 and the rear box 2021;

as shown in fig. 8-12, the front case 2011 and the rear case 2021 are connected by a traction device 204, a support 2022 is provided on the rear case 2021, a through hole 2012 is provided on the front case 2011, the traction device 204 includes a traction pull plate 2041, one end of the traction pull plate 2041 is rotatably connected in the through hole 2012, so that the traction pull plate 2041 can swing around the axis of the through hole 2012, the other end of the traction pull plate 2041 is hinged to the support 2022 by a steering shaft 2042, the steering shaft 2042 is driven to rotate by a steering motor, and the axis of the steering shaft 2042 is perpendicular to the axis of the through hole 2012, so that the rear case 2021 can swing left and right and swing up and down.

In the above structure, the traction plate 2041 and the steering shaft 2042 are fixed together, and when the steering shaft 2042 rotates, the traction plate 2041 is driven to rotate together, so that a certain angle swing occurs between the front case 2011 and the rear case 2021, and the steering purpose is achieved (see fig. 13-14); in addition, when the welding robot sometimes encounters some uneven conditions during the walking process, the wheels 203 deflect up and down, so as to drive the traction plate 2041 to rotate in the through hole 2012, that is, swing up and down relative to the front box 2011 (see fig. 15), so that the welding robot can adapt to the uneven crawling working condition well.

The wall-climbing welding robot with the structure can flexibly adjust the moving gesture, and the movement flexibility of the robot is improved.

In one embodiment, as shown in fig. 9-10, a limiting plate 2043 is connected to an inner wall of the front case 2011, a limiting groove 20431 is provided on the limiting plate 2043, a rotation limiting member 2044 is fixed at one end of the traction plate 2041 extending into the through hole 2012, and the rotation limiting member 2044 is slidably connected in the limiting groove 20431, so that when the traction plate 2041 swings, the rotation limiting member 2044 is driven to swing in the limiting groove 20431, and the swing angle of the rotation limiting member 2044 is limited by the rotation limiting groove 20431, so as to limit the vertical swing angle of the traction plate 2041.

The rotation limiting member 2044 and the traction plate 2041 may be fixed by bolts.

Preferably, the pull plate 2041 is swung at an angle of 10 ° relative to the axis of the through hole 2012, and can be swung up by 5 ° and down by 5 °.

Preferably, the rear housing 2021 swings at an angle of 50 ° relative to the front housing 2011, which may swing 25 ° to the left and 25 ° to the right.

In one embodiment, the limiting groove 20431 is arc-shaped, the rotation limiting member 2044 has an arc-shaped end 20441, and the arc-shaped end 20441 is slidably connected in the limiting groove 20431, so as to better ensure the swing stability of the rotation limiting member 2044.

In one embodiment, as shown in fig. 3, the welding apparatus 10 includes a robot arm 101, one end of the robot arm 101 is connected to a front case 2011, and the other end is connected to a welding gun 102 for performing welding operation.

In one embodiment, an anti-collision sensor 103 is connected between the welding gun 102 and the mechanical arm 101, so as to sense the collision force of the front end of the welding gun 102, and thus the actions of the robot arm and the wire feeder 105 are adjusted in real time according to the signals of the anti-collision sensor 103.

Further, a laser weld tracker 104 is also coupled to the welding gun 102 to track the weld position in real time.

In one embodiment, as shown in fig. 6-7, the upper portion of the front housing 2011 is connected to a carrier plate 2013, and the carrier plate 2013 is connected to a wire feeder 105, where the wire feeder 105 and the welding gun 102 are connected through a wire pipe 106, and the wire feeder 105 can feed welding wire to the welding gun 102 through the wire pipe 106.

The conduit 106 may be an integrated tube of carbon dioxide gas delivery tubing, power cable and signal cable, all threaded into the same conduit 106-hose.

Wherein the bearing plate 2013 and the front case 2011 may be fixed together by bolts.

To provide better protection to the wire feeder 105, a protective cover is provided outside the wire feeder 105.

In one embodiment, a supporting frame 20131 is connected to the supporting plate 2013, a hoop 20132 is connected to the upper portion of the supporting frame 20131, and the conduit 106 is threaded inside the hoop 20132. This structure can effectively support the conduit 106 by the support frame 20131.

In one embodiment, the side surface of the bearing plate 2013 is connected with a laser range finder 2014 and a camera 2015 to quickly acquire three-dimensional coordinate information of a target and size information of the target, so that quick tracking and positioning of the target are realized, and planning and guiding of a path of the welding robot in the travelling process are facilitated.

In one embodiment, a gyroscope 2016 is attached to the bottom surface of the carrier plate 2013 to orient the welding robot in operation. The gyroscope 2016 is a kind of "horizontal azimuth gyroscope 2016 sensor", and by performing a dynamic attitude algorithm on the angular velocity of the gyroscope 2016, the horizontal azimuth angle, the angular velocity and the forward axial body acceleration of the welding robot are output in real time, so as to achieve the effect of monitoring and controlling the overall operation stability of the welding robot.

Further, the bearing plate 2013 is further provided with a hanging ring 2017 and a signal receiver 2018. The signal receiver 2018 is configured to receive a job instruction issued by the control system. The suspension ring 2017 can be used for hoisting on one hand; on the other hand, the suspension ring 2017 may also be used to tie down a safety line when working aloft.

In one embodiment, the bottoms of the front case 2011 and the rear case 2021 are connected with electromagnets 205, so as to adsorb the crawling wall surface and ensure the running stability of the robot.

In one embodiment, the front housing 2011 and the rear housing 2021 are each connected with a vision sensor 206 to detect obstacles in the way of the welding robot to better guide the welding robot to travel, back, or turn.

In one embodiment, each wheel 203 of the front case 2011 is driven to rotate by an independent motor, and each wheel 203 of the rear case 2021 may also be driven to rotate by an independent motor, so that the overall robot realizes a four-wheel drive structure; the two sets of powered wheels 203 on the rear housing 2021 may also be changed to non-powered, purely directional wheels (driven wheels) depending on different environmental conditions and operational requirements.

The wall climbing welding robot of the above embodiment can be applied to various functional requirements of the structural member 50 in performing horizontal combination seam welding, inner and outer combination seam welding of the pipe 60, climbing wall welding, and the like.

When the welding robot performs horizontal welding operation on the ground, the welding robot can perform short-distance walking displacement among stations by utilizing the walking function of the welding robot and the workshop equipped travelling crane. When the long distance shift is performed and the vertical wall climbing state is adjusted from the horizontal state, the overturning trolley 30 can be used for realizing the long distance shift.

The following specifically describes a method for using the wall climbing welding robot:

steering of the welding robot during walking is achieved by means of swinging of the rear housing 2021. When the welding robot is about to turn left, as shown in fig. 14, firstly, the adsorption force of the electromagnet 205 at the bottom of the steering wheel device 202 is reduced to about 50% to reduce the adsorption resistance of the steering wheel device 202 rotating around the shaft, then the steering motor is started, and the steering shaft 2042 is driven by the steering motor to rotate, so that the traction plate 2041 and the rear box 2021 relatively swing, and the rear box 2021 rotates clockwise; when the welding robot is to turn right, as shown in fig. 13, the steering motor drives the steering shaft 2042 to rotate, so that the rear case 2021 rotates in the counterclockwise direction. When the welding robot walks to the part to be welded, the steering motor can be turned off, and the adsorption force of the electromagnet 205 at the bottom of the steering wheel device 202 can be synchronously restored to 100%;

the distance between the adsorption surface of the electromagnet 205 at the bottom of the welding robot and the adsorption surface of the web or panel of the structural member 50 is set to 5mm, so that the adsorption force utilization rate of the electromagnet 205 is improved, and meanwhile, the tread of the wheel 203 of the welding robot cannot be suspended due to the fact that the magnet is too high, and the tight contact between the tread of the wheel 203 and the panel of the structural member 50 is affected.

As shown in fig. 15, the welding robot sometimes encounters some uneven conditions on the surface of the structural member 50 during the walking process, for example, the surface of the structural member 50 has protrusions 501, which often prevent the welding robot from walking normally, or cause the adsorption surface of the electromagnet 205 at the bottom of the welding robot to separate from the surface of the steel plate, so that the welding robot falls down while the traction plate 2041 in the embodiment can swing up and down relative to the front box 2011, which can effectively avoid the above problems.

When the welding robot walks on the surface of the rugged structural member 50, the wheels 203 deflect up and down, so that the traction plate 2041 is driven to rotate in the through hole 2012 of the front box 2011, and the rear box 2021 can swing up and down to a certain extent, so that the welding robot is well suitable for rugged working conditions.

When the ground structural member 50 is welded, the welding robot is moved to the position close to the front of the structural member 50 to be welded; as shown in fig. 19, and connects the welding robot and the gas pipe and cable of the remote supply cart 40 (gas, electric power remote supply); after the welding procedure is set, the welding robot can be started to weld the combination seam of the structural member 50;

in the case of wall climbing welding, as shown in fig. 20, a welding robot is first placed on a turn-over carriage 30; then the overturning trolley 30 is utilized to drive the whole welding robot to overturn by 90 degrees, as shown in fig. 21, so that the welding robot is converted from a horizontal state to a vertical state; then pushing the overturning trolley 30 to be close to the vertical wall direction of the structural member 50, as shown in fig. 22, and finally enabling four wheels 203 at the bottom of the welding robot to be propped against the vertical wall panel of the structural member 50; starting all electromagnets 205 of the welding robot to be adsorbed on the surface of the structural member 50, starting a walking driving system of the welding robot to climb upwards, and stopping crawling when the welding robot climbs to the position of the to-be-welded combined seam; finally, the turning carts 30 are withdrawn, as shown in fig. 23, and the target assembly seams are welded one by the welding robot.

In addition, as shown in fig. 24, the welding robot may be used for repairing and welding the combination seam in the pipe 60; the welding is performed only inside the pipe 60.

The wall climbing device in the welding robot can also be used as a carrier to perform other types of tasks. For example, if polishing equipment or spraying equipment is arranged on the mechanical arm, polishing treatment or coating treatment can be carried out on the inner wall and the outer wall of the pipeline and other structural parts; if the welding line detection equipment is arranged on the mechanical arm, the welding line of the pipeline or the combined welding line of the steel plate can be detected.

The wall climbing welding robot of the embodiment can flexibly adjust the moving gesture, can meet all functional requirements during horizontal structural member welding, high-altitude wall climbing welding and pipeline inner and outer part combination seam welding, and is wide in application.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations and modifications of the present utility model will be apparent to those of ordinary skill in the art in light of the foregoing description. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present utility model.

Claims (10)

1. Wall climbing welding robot, its characterized in that: comprising the steps of (a) a step of,

a welding device;

the wall climbing device comprises a precursor device and a steering wheel device, the precursor device comprises a front box body connected with the welding device, the steering wheel device comprises a rear box body, and wheels are rotatably connected to two sides of the front box body and the rear box body;

the front box body and the rear box body are connected through a traction device, a support is arranged on the rear box body, a through hole is formed in the front box body, the traction device comprises a traction pulling plate, one end of the traction pulling plate is rotatably connected in the through hole, the other end of the traction pulling plate is hinged to the support through a steering shaft, the steering shaft is driven to rotate by a steering motor, and the axis of the steering shaft is perpendicular to the axis of the through hole.

2. The wall climbing welding robot of claim 1, wherein: the inner wall of the front box body is connected with a limiting plate, the limiting plate is provided with a limiting groove, one end of the traction pulling plate extending into the through hole is connected with a rotary limiting piece, and the rotary limiting piece is slidably connected in the limiting groove.

3. The wall climbing welding robot of claim 2, wherein: the limiting groove is arc-shaped, the rotary limiting piece is provided with an arc-shaped end, and the arc-shaped end is slidably connected in the limiting groove.

4. The wall climbing welding robot of claim 1, wherein: the welding device comprises a mechanical arm, one end of the mechanical arm is connected with the front box body, and the other end of the mechanical arm is connected with a welding gun.

5. The wall climbing welding robot of claim 4, wherein: and an anti-collision sensor is connected between the welding gun and the mechanical arm.

6. The wall climbing welding robot of claim 4, wherein: the upper portion of preceding box is connected the loading board, be connected with the wire feeder on the loading board, the wire feeder with welder is connected through the spool.

7. The wall climbing welding robot of claim 6, wherein: the bearing plate is connected with a supporting frame, the upper portion of the supporting frame is connected with a hoop, and the wire tube penetrates through the hoop.

8. The wall climbing welding robot of claim 6, wherein: and the bearing plate is connected with a laser range finder and a camera.

9. The wall climbing welding robot of claim 6, wherein: and the bottom surface of the bearing plate is connected with a gyroscope.

10. The wall climbing welding robot of claim 1, wherein: the bottoms of the front box body and the rear box body are connected with electromagnets.