WO2024000952A1

WO2024000952A1 - High-altitude steel beam welding robot, welding head adjusting mechanism, and welding method

Info

Publication number: WO2024000952A1
Application number: PCT/CN2022/127570
Authority: WO
Inventors: 金仁才; 宋江一; 房政; 钱元弟; 李丹; 程安春; 徐飞虎; 章争生; 王慢慢
Original assignee: 中国十七冶集团有限公司
Priority date: 2022-06-28
Filing date: 2022-10-26
Publication date: 2024-01-04
Also published as: CN114888494A; CN114888494B

Abstract

A welding head adjusting mechanism, comprising a first horizontal adjusting assembly (4), a second horizontal adjusting assembly (5), a first vertical adjusting assembly (6), a second vertical adjusting assembly (7), and a welding head fixing assembly (8). The first horizontal adjusting assembly (4) adjusts a welding head to move in the horizontal X direction. The second horizontal adjusting assembly (5) adjusts the welding head to move in the horizontal Y direction. The first vertical adjusting assembly (6) adjusts the welding head to move in the vertical Z direction. The second vertical adjusting assembly (7) adjusts the welding head to move in the vertical Z direction or the horizontal X direction. The welding head fixing assembly (8) is connected to the second vertical adjusting assembly (7), and the first horizontal adjusting assembly (4), the second horizontal adjusting assembly (5), the first vertical adjusting assembly (6), and the second vertical adjusting assembly (7) each use a structure that a motor drives a lead screw to achieve welding head movement. Further involved are a high-altitude steel beam welding robot comprising the welding head adjusting mechanism, and a welding method. The welding head adjusting mechanism is small in size, ingenious in structure, safe and reliable, the robot is conveyed to a high-altitude steel beam for welding, the labor cost is reduced, the upper and lower surfaces of the steel beam can be welded respectively, and the robot welding efficiency is guaranteed.

Description

A high-altitude steel beam welding robot, welding head adjustment mechanism and welding method

Technical field

The present invention relates to the field of welding technology, and more specifically, to a high-altitude steel beam welding robot, a welding head adjustment mechanism and a welding method.

Background technique

Welding of steel beams is an essential step in modern mechanical processing manufacturing industry. Industrial robots have made great progress in the field of welding. At present, ordinary industrial welding robots are difficult to be widely used to perform welding tasks at high altitudes due to their large size, limited working range and high price of a single industrial robot.

Existing mobile welding robots are also unable to achieve double-sided welding of high-altitude beams due to various problems. Therefore, the welding of aerial steel beams still requires manual operations. With the continuous improvement of welding technology, people have higher and higher requirements for the precision and quality of steel beam welding. At the same time, the arc, sparks and smoke during welding cause harm to human health. The high-altitude steel beam welding task is arduous and has certain risks. It is dangerous, and it is increasingly difficult to do this job purely by manual labor.

After searching, Chinese patent application number 2015105185225, the patent name is: truss branch pipe welding robot; the application includes a box body, a circumferential adjustment mechanism, an axial adjustment mechanism, a radial adjustment mechanism and a welding gun mechanism. The circumferential adjustment mechanism includes a first motor and a welding gun mechanism. a rotating shaft, the rotating shaft is installed on the first motor, the axial adjustment mechanism includes a second motor and a first screw, the second motor is rotatably installed on the rotating shaft, the first screw is installed on the second motor, and the first The screw is parallel to the rotation axis, the first screw is connected with a slider through threads, the radial adjustment mechanism includes a third motor and a second screw, the third motor is fixed on the slider, the second screw is installed on the third motor, and the The two screw rods are perpendicular to the first screw rod, and the second screw rod is connected with a sliding rod through threads. The welding gun mechanism includes a fourth motor and a welding gun installed on the fourth motor. The welding gun is hinged with the bottom end of the sliding rod. This application realizes automatic control of the welding gun through the structural design of the motor-driven screw, saving labor; however, this application is not suitable for the welding of aerial steel beams, especially the double-sided welding of aerial steel beams.

Chinese patent application number 2019103157375, the patent name is: Metal wall adaptive climbing robot; the application includes a frame and multiple wheels located at the bottom of the frame, at least one wheel is equipped with a driving device, and multiple wheels at the bottom of the frame At least two of the wheels are installed in pairs, and at least one magnetic adsorption module is provided between the two wheels installed in pairs. The magnetic adsorption module includes an upper bracket, a lower bracket and a permanent magnet. The upper bracket is relatively fixedly installed on The bottom of the frame, the lower bracket is installed on the bottom of the upper bracket with a degree of rotational freedom, the permanent magnet is fixedly installed on the lower end of the lower bracket, the bottom height of the permanent magnet is lower than the height of the bottom of the wheel, the permanent magnet includes a A flat yoke and a plurality of rectangular NdFeB permanent magnet arrays fixed to the bottom of the flat yoke. This application uses a magnetic adsorption module with axial degrees of freedom to improve the adaptability of the robot's climbing. However, the application is large in size and has a complex structure. Its application in the field of high-altitude steel beam welding has high costs and insufficient safety factors. High defects.

Contents of the invention

1. The technical problem to be solved by the invention

In view of the shortcomings of the existing technology, the present invention provides a high-altitude steel beam welding robot, a welding head adjustment mechanism and a welding method; the present invention can send the robot to the high-altitude steel beam for welding through a lifting platform, which reduces labor costs and can The upper and lower surfaces of the steel beam are welded separately to ensure the efficiency of robot welding, and it has the advantages of small size, smart structure, safety and reliability.

2.Technical solutions

In order to achieve the above objects, the technical solutions provided by the present invention are:

A welding head adjustment mechanism of the present invention includes a first horizontal adjustment component, a second horizontal adjustment component, a first vertical adjustment component, a second vertical adjustment component and a welding head fixing component. The first horizontal adjustment component adjusts the welding head along the horizontal direction. To move in the X direction, the second horizontal adjustment component adjusts the welding head to move in the horizontal Y direction, the first vertical adjustment component adjusts the welding head to move in the vertical Z direction, and the second vertical adjustment component adjusts the welding head to move in the vertical Z direction or the horizontal X direction. Move, the welding head fixing component is connected to the second vertical adjustment component; the first horizontal adjustment component, the second horizontal adjustment component, the first vertical adjustment component, and the second vertical adjustment component all use a motor-driven screw rod structure to achieve welding. Head moves.

Furthermore, the first horizontal adjustment component includes a first screw rod and a first connecting piece. The first screw rod is connected to a motor, the first screw rod passes through the first connecting piece, and the motor drives the first screw rod to drive the first screw rod. A connecting piece moves, and the first connecting piece is connected to the second level adjustment component.

Furthermore, the second horizontal adjustment component includes a second screw rod and a second connecting piece. The second screw rod is connected to the motor. The second screw rod passes through the second connecting piece. The motor drives the second screw rod to drive the second screw rod. The two connecting parts move; the second connecting part is connected to the first connecting part.

Furthermore, the first vertical adjustment component includes a third screw rod, the third screw rod is connected to the motor, a third connecting piece is provided at one end of the second connecting piece, the third screw rod passes through the third connecting piece, and the motor drives The third screw rod moves in the vertical Z direction.

Furthermore, the second vertical adjustment component includes a fourth screw rod and a fourth connecting piece. The fourth screw rod is connected to the motor. One end of the fourth connecting piece is connected to the first vertical adjusting component. The fourth screw rod passes through the first vertical adjusting component. At one end of the four connecting parts, the motor drives the fourth screw rod to move.

Furthermore, the first vertical adjustment component is also provided with a third mounting seat. The third mounting seat is provided at one end of the third screw rod. A first rotation axis is provided on both sides of the third mounting seat. The first rotation axis The fourth connecting piece is connected, and the first rotating shaft is connected to the motor at the same time. The motor drives the first rotating shaft, which in turn drives the fourth connecting piece to rotate.

Furthermore, the welding head fixing assembly includes a fifth connecting piece, a fourth mounting seat is provided at one end of the fourth screw rod, a second rotating shaft is provided on both sides of the fourth mounting seat, and the second rotating shaft is connected to the fifth connection. The second rotating shaft is connected to the motor at the same time, and the motor drives the second rotating shaft, thereby driving the fifth connecting piece to rotate. An industrial camera and a welding head are provided on the fifth connecting piece.

A high-altitude steel beam welding robot of the present invention includes a robot body and the welding head adjustment mechanism. The robot body is provided with a rotating support platform, and the welding head adjustment mechanism is provided on the rotating support platform.

Furthermore, the robot body is equipped with four wheels, and the wheels adopt permanent magnet wheels; the end of the bottom of the robot body away from the welding head adjustment mechanism is provided with an electro-permanent magnet opening, and the electro-permanent magnet is arranged in the electro-permanent magnet opening. middle.

Furthermore, the robot body is equipped with four wheels, and the wheels include permanent magnet wheel bodies. An electro-permanent magnet opening is opened on the connecting shaft between the wheels and the robot body, and the electro-permanent magnet is arranged in the electro-permanent magnet opening.

Furthermore, the permanent magnet wheel includes a magnetic wheel outer part, a first magnetic yoke, a magnetic core, a second magnetic yoke and a flange. The magnetic core is disposed between the first magnetic yoke and the second magnetic yoke. The first magnetic yoke further A magnetic wheel outer part is provided on one side, and a flange is provided on the other side of the second magnetic yoke. The magnetic wheel outer part, the first magnetic yoke, the magnetic core, the second magnetic yoke and the flange are assembled into one body through fastening nuts.

Furthermore, claws are provided on both sides of the robot body, and force sensors are provided on opposite sides of the two claws.

Furthermore, protective covers are installed on the four wheels of the robot body.

Furthermore, the robot body is provided with a first welding head adjustment mechanism and a second welding head adjustment mechanism. The first welding head adjustment mechanism is provided at the front end of the robot in the moving direction, and the second welding head adjustment mechanism is provided at the side of the robot body. side.

A high-altitude steel beam welding method of the present invention uses the robot to weld the high-altitude steel beam.

Furthermore, the welding position is identified through the industrial camera, and the robot is guided to move near the welding position through the controller. The controller controls the first horizontal adjustment component, the second horizontal adjustment component, the first vertical adjustment component, and the second vertical adjustment component. , so that the welding head is welded on the surface of the steel beam. After the welding of one surface is completed, the controller controls the fourth connecting piece to drive the second vertical adjustment component to rotate, and controls the fifth connecting piece to drive the welding head to rotate, and continues to rotate on the other side of the steel beam. surface for welding.

3. Beneficial effects

The technical solution provided by the present invention has the following significant effects compared with the existing known technology:

(1) A welding head adjustment mechanism of the present invention is provided with a first horizontal adjustment component, a second horizontal adjustment component, a first vertical adjustment component, and a second vertical adjustment component. Through the cooperation of the horizontal adjustment component and the vertical adjustment component, the adjustment mechanism is adjusted The welding head can be set up and down, left and right, and rotated to control the end welding head to weld the upper and lower surfaces of the steel beam, which can adapt to the welding of steel beams of different thicknesses.

(2) A high-altitude steel beam welding robot of the present invention achieves reliable fixation of the robot on the steel beam through the combination of permanent magnets and electro-permanent magnets. It adopts a lightweight design to reduce the difficulty of balancing the robot, and has a simple structure. It is smart and lightweight and can move and weld autonomously at high altitudes.

(3) A high-altitude steel beam welding robot of the present invention can be equipped with a high-temperature protective shell outside the four permanent magnet wheels of the robot body to prevent spatter from being adsorbed on the wheels when performing welding tasks, thereby increasing the adsorption force of the wheels. weaken; at the same time, a telescopic clamping mechanism is set up on both sides of the robot body, and a force sensor is set at the end of the clamping mechanism. When performing a welding task, the clamping mechanism is firmly clamped on the steel beam through the force sensor to avoid adsorption caused by high temperature during the welding process. Insufficient strength.

(4) The high-altitude steel beam welding robot of the present invention can be equipped with a welding head adjustment mechanism at the front end and the side in the moving direction of the robot body. When performing a welding task, the two welding head adjustment mechanisms can be controlled to move up and down the steel beam. The surfaces are relatively welded, and the two welding head adjustment mechanisms can also be controlled to weld at different locations on the steel beam, improving work efficiency.

Description of drawings

Figure 1 is a schematic structural diagram of a high-altitude steel beam welding robot according to Embodiment 1 of the present invention;

Figure 2 is a schematic structural diagram of the rotating support assembly in the present invention;

Figure 3 is a schematic structural diagram of the horizontal adjustment assembly in the present invention;

Figure 4 is a schematic structural diagram of the vertical adjustment assembly in the present invention;

Figure 5 is a schematic structural diagram of the welding head fixing assembly in the present invention;

Figure 6 is a side view of the wheel of the present invention;

Figure 7 is a schematic structural diagram of the robot body according to Embodiment 6 of the present invention;

Figure 8 is a schematic structural diagram of the robot body according to Embodiment 7 of the present invention;

Figure 9 is a schematic structural diagram of the high-altitude steel beam welding robot according to Embodiment 8 of the present invention;

Figure 10 is a schematic diagram of the welding robot in the present invention welding the lower surface of a high-altitude steel beam.

Label description in the schematic diagram:

1. Robot body; 2. Wheels; 21. Permanent magnet wheel body; 211. Magnet wheel outer parts; 212. First magnetic yoke; 213. Magnetic core; 214. Second magnetic yoke; 215. Flange; 22. Electrical Permanent magnet; 23. Protective cover;

3. Rotating support platform; 31. Rotating bearing; 32. Support seat; 321. First limiting hole; 322. Second limiting hole; 323. Third limiting hole;

4. The first horizontal adjustment component; 41. The first screw rod; 42. The first mounting base; 43. The first connecting piece;

5. The second horizontal adjustment component; 51. The second screw rod; 52. The second mounting base; 53. The second connecting piece; 54. The third connecting piece; 55. The first limiting pin;

6. The first vertical adjustment component; 61. The third screw rod; 62. The third mounting base; 63. The first limit frame; 64. The first rotation axis;

7. The second vertical adjustment component; 71. The fourth screw rod; 72. The fourth mounting base; 73. The second limiting frame; 74. The second limiting pin; 75. The fourth connecting piece;

8. Welding head fixing component; 81. Fifth connector; 82. Second rotation axis; 83. Industrial camera; 84. Welding head;

91. Claw; 92. Force sensor;

I. The first welding head adjustment mechanism; II. The second welding head adjustment mechanism.

Detailed ways

In order to make the above objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It is obvious that the described embodiments are part of the embodiments of the present invention, not all of them. Example. Based on the embodiments of the present invention, all other embodiments obtained by ordinary people in the art without creative efforts should fall within the protection scope of the present invention.

Many specific details are set forth in the following description to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described here. Those skilled in the art can do so without departing from the connotation of the present invention. Similar generalizations are made, and therefore the present invention is not limited to the specific embodiments disclosed below. The horizontal X direction, the horizontal Y direction and the vertical Z direction in the present invention are the directions displayed when the robot is placed on a horizontal plane, and the X direction, Y direction and Z direction are perpendicular to each other.

Example 1

With reference to the drawings, a welding head adjustment mechanism in this embodiment includes a first horizontal adjustment component 4, a second horizontal adjustment component 5, a first vertical adjustment component 6, a second vertical adjustment component 7 and a welding head fixing component 8, The first horizontal adjustment component 4 is connected to the second horizontal adjustment component 5. The first horizontal adjustment component 4 adjusts the welding head to move in the horizontal X direction, and the second horizontal adjustment component 5 adjusts the welding head to move in the horizontal Y direction. The second horizontal adjustment component 5 is connected to the first vertical adjustment component 6, and the first vertical adjustment component 6 adjusts the movement of the welding head along the vertical Z direction. The first vertical adjustment component 6 is connected to the second vertical adjustment component 7. The second vertical adjustment component 7 itself can adjust the welding head to move in the vertical Z direction. At the same time, the second vertical adjustment component 7 can move 90 degrees relative to the first vertical adjustment component 6. ° rotation, in this way, the second vertical adjustment component 7 can adjust the welding head to move in the horizontal X direction. The welding head fixing component 8 is connected to the second vertical adjustment component 7. The welding head fixing component 8 can also adjust the welding head to rotate within a certain angle range.

A welding head adjustment mechanism in this embodiment. First, the first horizontal adjustment component 4, the second horizontal adjustment component 5, the first vertical adjustment component 6, and the second vertical adjustment component 7 are all implemented using a classic motor-driven screw rod structure. The welding head moves, and this structure enables the welding head to move flexibly and stably. On the other hand, through the cooperation of the horizontal adjustment component and the vertical adjustment component, this embodiment can set the welding head up and down, left and right, and rotate, and control the end welding head to weld the upper and lower surfaces of the steel beam. This is true in high-altitude steel beams. The advantages in the welding process are very obvious, which greatly improves the efficiency of robot welding.

Example 2

Combined with Figures 2-5, a welding head adjustment mechanism in this embodiment is specifically designed as follows:

The first horizontal adjustment component 4 and the second horizontal adjustment component 5 are arranged on the support base 32. The first limit hole 321, the second limit hole 322, and the third limit hole are respectively opened on the three side walls of the support base 32. hole 323, wherein the second limiting hole 322 and the third limiting hole 323 are arranged oppositely. The first limiting hole 321, the second limiting hole 322, and the third limiting hole 323 are all waist-shaped holes.

The first horizontal adjustment assembly 4 includes two first screw rods 41 and a first connecting piece 43. The first screw rod 41 passes through the first limiting hole 321, and a motor is provided on the other side of the first limiting hole 321. , the motor output shaft is connected to the first screw rod 41 through a coupling, and a first mounting base 42 can also be provided on the other side of the first limiting hole 321, and the first mounting base 42 is used to fix the motor. The first screw rod 41 passes through the first connecting member 43, and the motor drives the first screw rod 41 to drive the first connecting member 43 to move.

The second horizontal adjustment component 5 includes a second screw rod 51 and a second connecting piece 53. The second screw rod 51 passes through the second limit hole 322 and the third limit hole 323 respectively. The third limit hole 323 A motor is provided on one side of the motor, and the motor output shaft is connected to the second screw rod 51 through a coupling. A second mounting base 52 may also be provided on one side of the third limiting hole 323, and the second mounting base 52 is used to fix the motor. The second screw rod 51 passes through the second connecting member 53 , and the second connecting member 53 is connected to the first connecting member 43 . When the motor drives the first screw rod 41 and drives the first connecting member 43 to move, the second screw rod 51 moves along the length direction of the second limiting hole 322 and the third limiting hole 323 . When the motor drives the second screw rod 51 and drives the second connecting member 53 to move, the first screw rod 41 moves along the length direction of the first limiting hole 321. In this way, the first horizontal adjustment assembly 4 and the second horizontal adjustment assembly are moved. Component 5 is organically combined.

A third connecting piece 54 is provided at one end of the second connecting piece 53 away from the first mounting base 42. The third connecting piece 54 is two sleeves with internal threads. The first vertical adjustment component 6 includes a third screw rod 61 and a third mounting seat 62. The third mounting seat 62 is provided at one end of the third screw rod 61. The third screw rod 61 passes through the third connecting member in turn. 54. The third mounting base 62 is connected to the motor. The motor drives the third screw rod 61. The third connecting member 54 remains stationary in the vertical Z direction, and the third screw rod 61 moves in the vertical Z direction. A first limit pin 55 and a first limit frame 63 are provided on both sides of the third connecting member 54. The first limit frame 63 is provided with a strip limit hole, and the first limit pin 55 is inserted into the strip limit hole. In the hole, the range of movement of the third screw rod 61 along the vertical Z direction is limited.

The second vertical adjustment component 7 includes a fourth screw rod 71 and a fourth connecting piece 75. One end of the fourth screw rod 71 is provided with a fourth mounting seat 72. The fourth screw rod 71 passes through the fourth connecting piece 75 in turn. One end and the fourth mounting base 72 are connected to a motor, and the motor drives the fourth screw rod 71 to move. First rotating shafts 64 are provided on both sides of the third mounting base 62. The first rotating shaft 64 is connected to one end of the fourth connecting member 75. The first rotating shaft 64 is also connected to a motor. The motor can be disposed in the third mounting base 62. The motor drives the first rotating shaft 64, thereby driving the fourth connecting member 75 to rotate within a range of 90°. The fourth connecting member 75 can drive the entire second vertical adjustment assembly 7 to rotate. The second limiting pin 74 and the second limiting frame 73 are provided on both sides of the fourth connecting member 75. The second limiting frame 73 is provided with a strip-shaped limiting hole, and the second limiting pin 74 is inserted into the strip. The movement range of the fourth screw rod 71 is limited in the limited hole.

The welding head fixing assembly includes a fifth connecting piece 81, and a second rotating shaft 82 is provided on both sides of the fourth mounting base 72. The second rotating shaft 82 is connected to the fifth connecting piece 81, and the second rotating shaft 82 is also connected to the motor. The motor can be disposed inside the fourth mounting base 72, and the motor drives the second rotation shaft 82, thereby driving the fifth connecting member 81 to rotate. The industrial camera 83 and the welding head 84 are provided on the fifth connecting member 81. The industrial camera 83 identifies the welding position of the steel beam and guides the welding robot to move to the welding place to perform the welding task.

In the welding head adjustment mechanism of this embodiment, after one surface welding is completed, the controller controls the fourth connecting piece to drive the second vertical adjustment component to rotate, and controls the fifth connecting piece to drive the welding head to rotate, so that it can continue to work on the steel beam. Welding is carried out on the other opposite side, realizing the welding of the upper and lower sides of high-altitude steel beams, and can adapt to the welding of steel beams of different thicknesses.

Example 3

With reference to Figure 1, a high-altitude steel beam welding robot in this embodiment includes a robot body 1 and a welding head adjustment mechanism as described in Embodiment 2. A rotating support platform 3 is provided on the robot body 1. The rotating support platform 3 It includes a rotating bearing 31 and a support seat 32. The support seat 32 is arranged on the rotating bearing 31 and can rotate under the driving of the rotating bearing 31. The first horizontal adjustment component 4 and the second horizontal adjustment component 5 are arranged on the support seat 32. In this way, the welding head adjustment mechanism can achieve 360° rotation (actually it is not limited to 360° rotation, it can be set as needed, and the maximum 360° rotation can be achieved).

The high-altitude steel beam welding robot in this embodiment can send the robot to the high-altitude steel beam for welding through a lifting platform, which reduces labor costs, can realize separate welding of the upper and lower surfaces of the steel beam, ensures the robot welding efficiency, and has the volume It has the advantages of small size, smart structure, safety and reliability.

Example 4

A high-altitude steel beam welding robot in this embodiment is basically the same as in Embodiment 3, except that the robot body 1 is equipped with four wheels 2, and the wheels 2 use permanent magnet wheels; the permanent magnet wheels use servo motors Driving, there is a controller on one side of the robot body, and a power supply on the other side of the robot body. The permanent magnet wheel, servo motor, industrial camera, welding head, and electro-permanent magnet are all controlled by the controller.

The permanent magnet wheel includes a magnetic wheel outer part 211, a first magnetic yoke 212, a magnetic core 213, a second magnetic yoke 214 and a flange 215. The magnetic core 213 is arranged between the first magnetic yoke 212 and the second magnetic yoke 214. The other side of the first magnetic yoke 212 is provided with a magnetic wheel outer part 211, the other side of the second magnetic yoke 214 is provided with a flange 215, the magnetic wheel outer part 211, the first magnetic yoke 212, the magnetic core 213, the second magnetic yoke 214 and the method The flange 215 is assembled into one body through fastening nuts, and the flange 215 is used to connect the driving motor.

The welding head adjustment mechanism of this embodiment is arranged at the front end of the robot in the moving direction. The end of the bottom of the robot body 1 away from the welding head adjustment mechanism (that is, the rear end of the robot in the moving direction) is provided with an electro-permanent magnet opening. A magnetic isolation layer is provided between the opening and the robot body, and the electro-permanent magnet 22 is arranged in the electro-permanent magnet opening (not shown in the figure). As an auxiliary electromagnet, the electro-permanent magnet 22 has the characteristics of magnetization when energized and de-magnetization when power is turned off. It is installed at the electro-permanent magnet opening at the rear end of the robot in the direction of movement. On the one hand, it increases the adsorption force of the robot, and on the other hand, it can also The effect of a counterweight balances the force on the front and rear ends of the robot to prevent it from tipping over.

This embodiment achieves reliable fixation of the robot on the steel beam through the combination of permanent magnets and electro-permanent magnets. It adopts a lightweight design, which reduces the difficulty of balancing the robot. The structure is simple, smart and lightweight, and can be moved and welded autonomously at high altitudes.

Example 5

With reference to Figure 6, a high-altitude steel beam welding robot in this embodiment is basically the same as Embodiment 3. The difference is that the robot body 1 is equipped with four wheels 2, and the wheels 2 include a permanent magnet wheel body 21. The structure of the magnet wheel body 21 is the same as that of the wheel 2 described in Embodiment 4. The output shaft of the permanent magnet wheel body 21 is provided with an electro-permanent magnet opening, and the electro-permanent magnet 22 is arranged in the electro-permanent magnet opening. As for the electro-permanent magnet 22, being placed at the bottom of the chassis will cause a certain degree of electromagnetic interference to the internal electrical components (although a magnetic isolation layer is provided, there is also a risk of electromagnetic interference), so it can be placed between the robot body 1 and the permanent magnet wheel body 21 An auxiliary electromagnet is installed on the connected output shaft, which can avoid electromagnetic interference and increase the adsorption force during the movement of the robot.

Example 6

7 , a high-altitude steel beam welding robot of this embodiment is provided with claws 91 on both sides of the robot body 1 , and force sensors 92 are provided on the opposite sides of the two claws 91 . The claw 91 can extend and contract in the horizontal direction, and the force sensor 92 can transmit detection data to the controller. By setting a telescopic clamping mechanism on both sides of the robot body 1, and a force sensor at the end of the clamping mechanism, the clamping mechanism firmly clamps the steel beam through the force sensor when performing a welding task, avoiding the adsorption force caused by the influence of high temperature during the welding process. insufficient.

Example 7

Referring to Figure 8, a high-altitude steel beam welding robot in this embodiment is equipped with high temperature resistant protective covers 23 on the four wheels 2 of the robot body 1 to prevent spatter from being adsorbed on the wheels when performing welding tasks, so that the adsorption of the wheels Strength weakens.

Example 8

With reference to Figure 9, this embodiment is a high-altitude steel beam welding robot. The robot body 1 is provided with a first welding head adjustment mechanism I and a second welding head adjustment mechanism II. The first welding head adjustment mechanism I is provided when the robot moves. At the front end of the direction, the second welding head adjustment mechanism II is provided on the side of the robot body 1. When performing a welding task, the two welding head adjustment mechanisms can be controlled to weld relative to each other on the upper and lower surfaces of the steel beam, or the two welding head adjustment mechanisms can be controlled to weld at different locations on the steel beam, thereby improving work efficiency.

At the same time, in this embodiment, the electro-permanent magnet 22 of the left wheel in front of the robot can be removed to avoid instability of the center of gravity when driving. In this embodiment, a welding head will cause the center of gravity to shift when welding the lower surface of the steel beam, causing the robot to tip over. Adding a welding head adjustment mechanism can also avoid the center of gravity to shift, making the robot welding process more stable and safer.

Example 9

A method for welding high-altitude steel beams in this embodiment uses the robot to weld the high-altitude steel beams. Use an elevator to send the robot to a high-altitude steel beam. The permanent magnet wheel and electro-permanent magnet are adsorbed on the surface of the steel beam. The industrial camera 83 identifies the welding position. The controller guides the robot to move near the welding position. The controller adjusts the first level. Component 4, the second horizontal adjustment component 5, the first vertical adjustment component 6, and the second vertical adjustment component 7 are controlled so that the welding head 84 is welded on the surface of the steel beam. After the first surface welding is completed, the controller controls the fourth connector 75 drives the second vertical adjustment component 7 to rotate, and controls the fifth connecting piece 81 to drive the welding head 84 to rotate, and continue to weld on the other opposite side of the steel beam. See Figure 10 for a schematic diagram of the welding robot performing welding on the lower surface of the high-altitude steel beam. After the welding is completed, the electro-permanent magnet receives instructions from the controller and loses its magnetic force when the power is turned off, making it easier to remove the welding robot from the steel beam.

Claims

A welding head adjustment mechanism, characterized by: including a first horizontal adjustment component (4), a second horizontal adjustment component (5), a first vertical adjustment component (6), a second vertical adjustment component (7) and a welding head The fixed component (8), the first horizontal adjustment component (4) adjusts the welding head to move in the horizontal X direction, the second horizontal adjustment component (5) adjusts the welding head to move in the horizontal Y direction, and the first vertical adjustment component (6) adjusts the welding head to move in the horizontal The head moves in the vertical Z direction, the second vertical adjustment component (7) adjusts the welding head to move in the vertical Z direction or the horizontal X direction, and the welding head fixing component (8) is connected to the second vertical adjustment component (7); The first horizontal adjustment component (4), the second horizontal adjustment component (5), the first vertical adjustment component (6), and the second vertical adjustment component (7) all adopt a motor-driven screw rod structure to realize the movement of the welding head.
A welding head adjustment mechanism according to claim 1, characterized in that: the first horizontal adjustment component (4) includes a first screw rod (41) and a first connecting piece (43). (41) is connected to the motor, and the first screw rod (41) passes through the first connecting piece (43). The motor drives the first screw rod (41) and drives the first connecting piece (43) to move. The first connecting piece (43) 43) Connect the second level adjustment component (5).
A welding head adjustment mechanism according to claim 2, characterized in that: the second horizontal adjustment component (5) includes a second screw rod (51) and a second connecting piece (53). (51) is connected to the motor, the second screw rod (51) passes through the second connecting piece (53), and the motor drives the second screw rod (51) to drive the second connecting piece (53) to move; the second connecting piece (53) 53) Connect with the first connecting piece (43).
A welding head adjustment mechanism according to claim 3, characterized in that: the first vertical adjustment component (6) includes a third screw rod (61), the third screw rod (61) is connected to the motor, and the second screw rod (61) is connected to the motor. A third connecting piece (54) is provided at one end of the connecting piece (53). The third screw rod (61) passes through the third connecting piece (54). The motor drives the third screw rod (61). The third screw rod (61) Move in the vertical Z direction.
A welding head adjustment mechanism according to claim 4, characterized in that: the second vertical adjustment component (7) includes a fourth screw rod (71) and a fourth connecting piece (75), and the fourth screw rod (71) (71) is connected to the motor, one end of the fourth connecting piece (75) is connected to the first vertical adjustment component (6), the fourth screw rod (71) passes through one end of the fourth connecting piece (75), and the motor drives the fourth screw rod (71) MOVE.
A welding head adjustment mechanism according to claim 4 or 5, characterized in that: the first vertical adjustment component (6) is also provided with a third mounting seat (62), and the third mounting seat (62) is provided with At one end of the third screw rod (61), a first rotating shaft (64) is provided on both sides of the third mounting seat (62). The first rotating shaft (64) is connected to the fourth connecting piece (75). (64) is connected to the motor at the same time, and the motor drives the first rotating shaft (64), which in turn drives the fourth connecting piece (75) to rotate.
A welding head adjustment mechanism according to claim 6, characterized in that: the welding head fixing assembly includes a fifth connector (81), and a fourth mounting seat (72) is provided at one end of the fourth screw rod (71). ), a second rotating shaft (82) is provided on both sides of the fourth mounting base (72), the second rotating shaft (82) is connected to the fifth connecting piece (81), the second rotating shaft (82) is also connected to the motor, and the motor drives The second rotating shaft (82) further drives the fifth connecting piece (81) to rotate. The fifth connecting piece (81) is provided with an industrial camera (83) and a welding head (84).
A high-altitude steel beam welding robot, characterized by: including a robot body (1) and a welding head adjustment mechanism as claimed in any one of claims 1 to 7, with a rotating support platform (3) provided on the robot body (1), The welding head adjustment mechanism is arranged on the rotating support platform (3).
A high-altitude steel beam welding robot according to claim 8, characterized in that: the robot body (1) is equipped with four wheels (2), and the wheels (2) adopt permanent magnet wheels; the robot body (1) An electro-permanent magnet opening is provided at one end of the bottom away from the welding head adjustment mechanism, and the electro-permanent magnet (22) is arranged in the electro-permanent magnet opening.
A high-altitude steel beam welding robot according to claim 8, characterized in that: the robot body (1) is equipped with four wheels (2), and the wheels (2) include a permanent magnet wheel body (21). (2) An electro-permanent magnet opening is provided on the connecting shaft with the robot body (1), and the electro-permanent magnet (22) is arranged in the electro-permanent magnet opening.
A high-altitude steel beam welding robot according to claim 9 or 10, characterized in that: the permanent magnet wheel includes a magnetic wheel outer part (211), a first magnetic yoke (212), a magnetic core (213), a second magnetic wheel Yoke (214) and flange (215), the magnetic core (213) is arranged between the first magnetic yoke (212) and the second magnetic yoke (214), and the other side of the first magnetic yoke (212) is arranged outside the magnetic wheel. (211), a flange (215) is provided on the other side of the second yoke (214), the outer part of the magnetic wheel (211), the first yoke (212), the magnetic core (213), the second yoke (214) ) and flange (215) are assembled into one body by fastening nuts.
A high-altitude steel beam welding robot according to any one of claims 8-10, characterized in that: the robot body (1) is provided with claws (91) on both sides, and the two claws (91) A force sensor (92) is provided on the opposite side.
A high-altitude steel beam welding robot according to any one of claims 8-10, characterized in that: protective covers (23) are installed on the four wheels (2) of the robot body (1).
A high-altitude steel beam welding robot according to any one of claims 8-10, characterized in that: the robot body (1) is provided with a first welding head adjustment mechanism (I) and a second welding head adjustment mechanism (I). II), the first welding head adjustment mechanism (I) is arranged at the front end of the robot in the moving direction, and the second welding head adjustment mechanism (II) is arranged at the side of the robot body (1).
A method for welding high-altitude steel beams, characterized by using a robot according to any one of claims 8 to 14 to weld high-altitude steel beams.
A high-altitude steel beam welding method according to claim 15, characterized by: identifying the welding position through an industrial camera (83), guiding the robot to move near the welding position through a controller, and the controller adjusts the first horizontal adjustment component (4 ), the second horizontal adjustment component (5), the first vertical adjustment component (6), and the second vertical adjustment component (7) are controlled so that the welding head (84) is welded on the surface of the steel beam. After the first surface is welded, The controller controls the fourth connecting piece (75) to drive the second vertical adjustment component (7) to rotate, and controls the fifth connecting piece (81) to drive the welding head (84) to rotate to continue welding on the other opposite surface of the steel beam.