CN115740888B - Mobile carrier and welding robot - Google Patents
Mobile carrier and welding robot Download PDFInfo
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- CN115740888B CN115740888B CN202211466288.2A CN202211466288A CN115740888B CN 115740888 B CN115740888 B CN 115740888B CN 202211466288 A CN202211466288 A CN 202211466288A CN 115740888 B CN115740888 B CN 115740888B
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- 238000003466 welding Methods 0.000 title claims abstract description 121
- 230000033001 locomotion Effects 0.000 claims abstract description 40
- 230000005540 biological transmission Effects 0.000 claims description 38
- 230000007246 mechanism Effects 0.000 claims description 34
- 238000001816 cooling Methods 0.000 claims description 24
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 238000000034 method Methods 0.000 description 5
- 238000005498 polishing Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000010953 base metal Substances 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 239000002826 coolant Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000004021 metal welding Methods 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The invention provides a mobile carrier vehicle and a welding robot, wherein the mobile carrier vehicle comprises a mounting frame, a moving device, a magnetic device and a magnetic device, wherein the mounting frame is arranged on the moving device, the moving device drives the mounting frame to move on a second plate body, the magnetic device is arranged on the mounting frame, the magnetic device adsorbs a first plate body through magnetic force to restrain the mobile carrier vehicle to move along the first plate body, and an included angle is formed between the first plate body and the second plate body. Through setting up the magnetic means and adsorbing first plate body, effectively retrained the surface motion of motion device along first plate body, guaranteed to remove the track of marcing of bearing car and closely laminate first plate body, for follow-up welding robot or other type robot's track of marcing closely laminate first plate body provides structural support, and then improve welding robot to the welding quality of groove department between first plate body and the second plate body, perhaps improve the operating quality of other type robots.
Description
Technical Field
The invention relates to the technical field of welding devices, in particular to a mobile carrier vehicle and a welding robot.
Background
At present, in the field of welding of metal structures, when welding is performed on large-scale engineering structural members (such as large and medium-scale plane or cambered surface equipment of steel storage tanks, spherical tanks, pipelines, ship bodies and the like), manual work is usually adopted as a main part, but the large-scale engineering structural members are complex in structure, a large number of circular arc-shaped angle welding seams, particularly circular angle welding seams, exist inside and outside the large-scale engineering structural members, such as welding seams at grooves between a cylinder body and a web plate, or welding seams between other similar first plate bodies and second plate bodies, particularly T-shaped welding seams formed by splicing thick plates, are extremely large in welding workload, so that a plurality of workers are required to cooperatively complete the welding, the labor intensity is high, the welding skill requirements of the welding workers are high, meanwhile, the welding quality of the large-scale engineering structural members is influenced by various external factors, the manual work cannot be guaranteed on the welding quality of the large-scale engineering structural members, and the welding efficiency is low.
In the prior art, a plurality of welding robots for fillet welding do exist, the defects of large volume, low load and continuous manual intervention and adjustment in the welding process generally exist, and the welding robots in the prior art cannot be well adapted to welding working conditions such as a plurality of particularly narrow spaces and high altitudes due to the limitation of a mobile carrier (namely a moving platform of the robot) for driving the whole mobile carrier, and meanwhile, the advancing track of the mobile carrier of the existing welding robots cannot be tightly attached to a first plate body, so that the welding quality of a groove between the first plate body and a second plate body is lower. For operations such as polishing and cutting, under similar use environments, the existing mobile carrier has the problem that the advancing track cannot be tightly attached to the workpiece to be processed, and the operation quality is affected.
Disclosure of Invention
The invention provides a mobile carrier vehicle and a welding robot, which are used for solving the problem that the running track of the mobile carrier vehicle in the prior art cannot be tightly attached to a workpiece to be processed, and the operation quality is affected.
In order to solve the problems, according to one aspect of the invention, the mobile carrier comprises a mounting frame, a moving device and a magnetic device, wherein the mounting frame is arranged on the moving device, the moving device drives the mounting frame to move on the second plate body, the magnetic device is arranged on the mounting frame, and the magnetic device adsorbs the first plate body through magnetic force to restrain the mobile carrier from moving along the first plate body, and an included angle is formed between the first plate body and the second plate body.
Further, the mobile carrier vehicle further comprises a supporting device, wherein the supporting device is arranged on the mounting frame or the moving device and is in butt joint with the first plate body, so that the magnetic force device and the first plate body are ensured to be spaced by a set distance.
The supporting device comprises a supporting seat, an adjusting piece, an adjusting rod and a first plate body, wherein the supporting seat is fixedly arranged on a mounting frame or a moving device, the supporting seat is provided with a mounting cavity and a mounting hole, the mounting hole is communicated with the mounting cavity, one end of the adjusting piece is movably arranged in the mounting cavity and is elastically connected with the mounting cavity, the other end of the adjusting piece penetrates through the mounting hole, the adjusting rod sequentially penetrates through the mounting cavity and the mounting hole and is matched with the adjusting piece, the adjusting rod is abutted with the first plate body, and the axial position of the adjusting rod is adjusted through the adjusting piece to adjust the set distance.
Further, the adjusting piece is provided with internal threads, the adjusting rod comprises a universal ball and a screw rod, the universal ball is rotatably arranged at one end of the screw rod, the universal ball is in butt joint with the first plate body, the screw rod is in threaded fit with the adjusting piece, the supporting device further comprises a disc spring sleeved on the adjusting rod, and the adjusting piece is elastically connected with the mounting cavity through the disc spring.
Further, the magnetic force device comprises a magnet seat and a magnet assembly, wherein the magnet seat is arranged on the mounting frame, and the magnet assembly is arranged on the magnet seat.
Further, the magnet assembly comprises a plurality of permanent magnets which are detachably arranged on the magnet seat.
The moving device further comprises a chassis, a mounting frame, a driving unit, a front wheel assembly and a rear wheel assembly, wherein the mounting frame is arranged on the chassis, the driving unit is arranged on the chassis, and the front wheel assembly and the rear wheel assembly are arranged on the chassis side by side, and are driven to move by the driving unit.
The front wheel assembly comprises a first transmission mechanism, a second transmission mechanism and a front wheel which are sequentially connected, the first transmission mechanism is connected with a driving unit belt to drive the front wheel to move, the rear wheel assembly comprises a third transmission mechanism and a rear wheel which are sequentially connected, the third transmission mechanism is connected with the second transmission mechanism belt to drive the rear wheel to move, the driving unit drives the second transmission mechanism and the front wheel to jointly rotate through the first transmission mechanism, and the second transmission mechanism drives the rear wheel to rotate through the third transmission mechanism.
The driving unit further comprises a driving motor, a driving speed reducer, the driving speed reducer comprises an input shaft and an output shaft in speed reduction connection with the input shaft, a rotating shaft of the driving motor is in driving connection with the input shaft, and the output shaft is in driving connection with the front wheel assembly.
Further, magnets are arranged in the front wheel and the rear wheel, and the front wheel and the rear wheel are guaranteed to be adsorbed on the second plate body through the magnetic force of the magnets.
Further, the front wheel and the rear wheel are both positioned on one side of the chassis away from the magnetic device, and the driving unit is positioned between the front wheel assembly and the rear wheel assembly.
Further, the mobile carrier vehicle further comprises an attitude sensor, wherein the attitude sensor is arranged on the mounting frame or the movement device and is used for detecting the movement attitude of the movement device.
According to another aspect of the invention, the invention further provides a welding robot comprising the mobile carrier vehicle, and the welding robot further comprises a welding device arranged on the mounting frame.
Further, the welding robot further comprises a laser tracking device, the laser tracking device is used for detecting the position of the position to be welded relative to the welding device, and the laser tracking device is arranged on the mounting frame.
Further, the welding robot further comprises a cooling device, the cooling device is used for cooling the laser tracking device, and the cooling device is arranged on the mounting frame.
Further, the welding device comprises an adjusting device and a welding gun which are arranged on the mounting frame, the adjusting device is provided with a movable end, the welding gun is arranged on the movable end, and the movable end drives the welding gun to move in multiple degrees of freedom.
Further, the welding robot further comprises an electric interface and a data interface, wherein the electric interface and the data interface are respectively arranged on the mounting frame, the electric interface is connected with an external power supply, the data interface is electrically connected with external equipment, the welding device, the laser tracking device and the moving device are respectively electrically connected with the electric interface, and the welding device, the laser tracking device and the moving device are respectively electrically connected with the data interface.
The technical scheme includes that the mobile carrier comprises a mounting frame, a moving device, a magnetic device and a magnetic device, wherein the mounting frame is arranged on the moving device, the moving device drives the mounting frame to move on a second plate body, the magnetic device is arranged on the mounting frame and adsorbs a first plate body through magnetic force to restrain the mobile carrier from moving along the first plate body, and an included angle is formed between the first plate body and the second plate body. Through setting up magnetic means and adsorbing first plate body, effectively retrained the surface motion of motion device along first plate body, guaranteed to remove the track of marcing of bearing car and closely laminate first plate body, for follow-up welding robot or other types robot (e.g. cutting robot, polishing robot) the track of marcing closely laminate first plate body provides structural support, and then improve welding robot to the welding quality of groove department between first plate body and the second plate body, perhaps improve the operating quality of other types robot.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
fig. 1 is a schematic view showing an external structure of a welding robot according to an embodiment of the present invention;
FIG. 2 shows a top view of the overall structure of a welding robot provided by an embodiment of the invention;
FIG. 3 illustrates a left side view of the overall structure of a welding robot provided by an embodiment of the invention;
fig. 4 is a schematic view showing an external structure of a supporting device provided by an embodiment of the present invention;
fig. 5 shows a front view of a support device provided by an embodiment of the invention;
FIG. 6 shows a cross-sectional view at A-A in FIG. 5;
FIG. 7 is a schematic perspective view of a magnetic device according to an embodiment of the present invention;
FIG. 8 illustrates a front view of a magnetic device provided by an embodiment of the present invention;
FIG. 9 shows a cross-sectional view at B-B in FIG. 8;
Fig. 10 is a schematic perspective view of a movement device according to an embodiment of the present invention;
FIG. 11 shows a top view of FIG. 10;
fig. 12 shows a rear view of fig. 10;
fig. 13 is a schematic perspective view showing a driving unit according to an embodiment of the present invention;
fig. 14 shows a left side view of fig. 13;
FIG. 15 illustrates a schematic perspective view of a front wheel assembly provided in accordance with an embodiment of the present invention;
fig. 16 shows a front view of fig. 15;
FIG. 17 is a schematic perspective view of a rear wheel assembly according to an embodiment of the present invention;
FIG. 18 is a schematic view showing the upper part of the structure of the mounting frame according to the embodiment of the invention;
Fig. 19 shows a working schematic diagram of a welding robot for welding a first plate body and a second plate body according to an embodiment of the present invention;
fig. 20 is a schematic view showing a position of a welding robot according to an embodiment of the present invention when performing a welding operation.
Wherein the above figures include the following reference numerals:
10. a mounting frame;
20. Welding device, 21, welding gun, 22, adjusting device, 2252, locking ring;
30. a laser tracking device;
40. Motion device 41, chassis 42, driving unit 421, driving support 422, driving motor 423, driving reducer 4231, input shaft 4232, output shaft 43, front wheel assembly 431, first transmission mechanism 432, second transmission mechanism 433, front wheel 44, rear wheel assembly 441, third transmission mechanism 442, rear wheel;
50. magnetic force device, 51, magnet seat, 52, magnet assembly, 521, permanent magnet;
60. support device 61, support seat 611, installation cavity 62, regulating piece 63, regulating rod 631, universal ball 632, screw rod 64 and disk spring;
70. A cooling device;
80. an attitude sensor;
100. an electrical interface;
110. And a data interface.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 20, the embodiment of the invention provides a mobile carrier, which comprises a mounting frame 10, a moving device 40, a magnetic device 50 and a magnetic device 50, wherein the mounting frame 10 is arranged on the moving device 40, the moving device 40 drives the mounting frame 10 to move on a second plate (such as a web), the magnetic device 50 is arranged on the mounting frame 10, and the magnetic device 50 adsorbs a first plate (such as a cylinder) through magnetic force so as to restrain the mobile carrier from moving along the first plate, and an included angle is formed between the first plate and the second plate.
Through setting up magnetic means 50 and adsorbing first plate body, effectively retrained the surface motion of motion device 40 along first plate body, guaranteed the track of marcing of removal carrier vehicle and closely laminate first plate body, for follow-up welding robot or other types of robot (e.g. cutting robot, polishing robot) the track of marcing closely laminate first plate body provides structural support, and then improve welding robot to the welding quality of groove department between first plate body and the second plate body, perhaps improve the operating quality of other types of robots.
As shown in fig. 1,2,3 and 18, the mobile carrier further includes a supporting device 60, where the supporting device 60 is disposed on the mounting frame 10 or the moving device 40, and the supporting device 60 abuts against the first plate to ensure that a set distance is formed between the magnetic device 50 and the first plate. The magnetic force device 50 is adsorbed on the surface of the first plate body through magnetic force when the support device 60 is not provided, namely the magnetic force device is tangent to the arc-shaped surface of the first plate body at all times, when some protrusions or pits appear on the surface of the first plate body, the magnetic force device is separated from the arc-shaped surface of the first plate body to further cause the travelling deviation of the travelling carrier, and therefore, the support device 60 is arranged, and when some protrusions or pits appear on the surface of the first plate body, the magnetic force device 50 is not in direct contact with the surface of the first plate body at the moment, so that the travelling influence on the travelling carrier is limited.
As shown in fig. 1, 2 and 3, in one embodiment of the present invention, two supporting devices 60 are provided at both ends of the moving device 40, and by providing two supporting devices 60, it is ensured that when one of the supporting devices 60 is out of contact with the surface of the first plate body due to the influence of the protrusion or the depression on the surface of the first plate body, the other supporting device 60 is not affected, and still reliable support between the magnetic device 50 and the first plate body is ensured.
As shown in fig. 4, 5 and 6, the supporting device 60 comprises a supporting seat 61, wherein the supporting seat 61 is fixedly arranged on the mounting frame 10 or the moving device 40, the supporting seat 61 is provided with a mounting cavity 611 and a mounting hole, the mounting hole is communicated with the mounting cavity 611, one end of the adjusting piece 62 is movably arranged in the mounting cavity 611 and is elastically connected with the mounting cavity 611, the other end of the adjusting piece 62 penetrates through the mounting hole, the adjusting rod 63 sequentially penetrates through the mounting cavity 611 and the mounting hole and is matched with the adjusting piece 62, the adjusting rod 63 is abutted against the first plate body, and the axial position of the adjusting rod 63 is adjusted through the adjusting piece 62 to adjust the set distance. Through the cooperation of setting adjustment piece 62 and regulation pole 63, both guaranteed the simplification and the miniaturization of strutting arrangement 60 overall structure, guaranteed again through the mode of manual regulation strutting arrangement 60 can nimble control magnetic force device 50 and the size of the setting distance between the first plate body. Meanwhile, in the scheme, the adjusting piece 62 is elastically connected with the mounting cavity 611, so that the adjusting rod 63 can bear a certain axial elastic action, when the adjusting rod 63 moves to a convex or concave position on the surface of the first plate body, the axial position of the adjusting rod 63 can be automatically adjusted under the action of elastic force, thus not only ensuring that the adjusting rod 63 keeps in contact with the surface of the first plate body, but also avoiding the blocking of the supporting device 60 to prevent the moving carrier from moving.
Specifically, as shown in fig. 6, the adjusting member 62 has an internal thread, the adjusting lever 63 includes a universal ball 631 and a screw 632, the universal ball 631 is rotatably disposed at one end of the screw 632, the universal ball 631 abuts against the first plate, the screw 632 is in threaded engagement with the adjusting member 62, the supporting device 60 further includes a disc spring 64 sleeved on the adjusting lever 63, and the adjusting member 62 is elastically connected with the mounting cavity 611 through the disc spring 64. The screw 632 is in threaded fit with the adjusting piece 62, so that the manual adjustment reliability of the supporting device 60 is effectively guaranteed, and the universal ball 631 structure is arranged, so that the flexibility of abutting the supporting device 60 with the first plate body is effectively improved, and the friction between the supporting device 60 and the first plate body is reduced.
As shown in fig. 7, 8 and 9, the magnetic device 50 includes a magnet holder 51 and a magnet assembly 52, the magnet holder 51 is provided on the mounting frame 10, and the magnet assembly 52 is provided on the magnet holder 51. This arrangement ensures simplification and miniaturization of the overall structure of the magnetic device 50.
It should be noted that, as shown in fig. 7, the magnet seat 51 has a protruding structure, the protruding structure is disposed on one surface of the outer surface of the magnet seat 51 near the mounting frame 10, and the protruding structure is fixedly connected with the mounting frame 10, so that convenience in mounting and dismounting the magnetic device 50 on the mounting frame 10 is ensured by setting the protruding structure.
Specifically, as shown in fig. 7 and 9, the magnet assembly 52 includes a plurality of permanent magnets 521, and the plurality of permanent magnets 521 are detachably provided on the magnet holder 51. By arranging the plurality of permanent magnets 521, the magnetic force device 50 is not affected under the condition that the whole mobile carrier is powered off, and the magnetic force of the magnetic force device 50 can be flexibly controlled by manually arranging the number of the permanent magnets 521.
In one embodiment of the present invention, permanent magnet 521 is a neodymium-iron-boron magnet, and the material has a large magnetic force, so that the reliability of operation is ensured, and the cost is reduced.
As shown in fig. 10, 11 and 12, the moving device 40 includes a chassis 41 on which the mount 10 is provided, a driving unit 42 provided on the chassis 41, and a front wheel assembly 43 and a rear wheel assembly 44 provided side by side on the chassis 41, the driving unit 42 driving the front wheel assembly 43 and the rear wheel assembly 44 to move along the second plate. This arrangement ensures simplification and miniaturization of the overall structure of the exercise device 40.
In one embodiment of the present invention, as shown in fig. 3 and 12, the movement device 40 further includes a universal wheel, the universal wheel is disposed on the chassis 41 and located between the chassis 41 and the second plate, the universal wheel, the front wheel assembly 43 and the rear wheel assembly 44 move together along the second plate, and by disposing the universal wheel, the movement freedom of the movement device 40 is further improved, so as to ensure reliable movement (including steering and other movements) of the movement device 40 on the second plate.
As shown in fig. 11, 15 and 16, the front wheel assembly 43 comprises a first transmission mechanism 431, a second transmission mechanism 432 and a front wheel 433 which are sequentially connected, wherein the first transmission mechanism 431 is connected with a driving unit 42 in a belt mode to drive the front wheel 433 to move, the rear wheel assembly 44 comprises a third transmission mechanism 441 and a rear wheel 442 which are sequentially connected, the third transmission mechanism 441 is connected with the second transmission mechanism 432 in a belt mode to drive the rear wheel 442 to move, the driving unit 42 drives the second transmission mechanism 432 and the front wheel 433 to rotate together through the first transmission mechanism 431, and the second transmission mechanism 432 drives the rear wheel 442 to rotate through the third transmission mechanism 441. By providing a first gear 431 in belt connection with the drive unit 42 and a third gear 441 in belt connection with the second gear 432. Namely, the two-stage belt transmission mode ensures that the driving unit 42 effectively drives the front wheel 433 and the rear wheel 442, reduces transmission noise, further simplifies transmission structure and further ensures the overall miniaturization of the movement device.
It should be noted that the belt connection in the present application may be a common chain connection, belt connection or synchronous belt connection, and in a specific embodiment of the present application, a synchronous belt connection is adopted to perform transmission, so that overall weight saving and miniaturization are further ensured, and transmission noise is reduced.
As shown in fig. 13 and 14, the driving unit 42 includes a driving motor 422, a driving decelerator 423, the driving decelerator 423 including an input shaft 4231 and an output shaft 4232 deceleration-connected with the input shaft 4231, a rotation shaft of the driving motor 422 is drivingly connected with the input shaft 4231, and the output shaft 4232 is drivingly connected with the front wheel assembly 43. The drive connection in the present application may be in the form of a belt connection (chain connection, belt connection or timing belt connection). The driving motor 422 is fixedly arranged outside the driving reducer 423, and the speed is reduced in a mode that the input shaft 4231 is connected with a rotating shaft belt of the driving motor 422 in a mode that the driving motor 422 is connected with the rotating shaft belt of the driving motor unlike the traditional mode that the rotating shaft of the motor is directly connected with a reducing mechanism in series, the input shaft 4231 and the output shaft 4232 are guaranteed to be parallel to the rotating shaft of the driving motor 422, the overall size of the driving unit 42 is effectively reduced (particularly, the length size is reduced compared with a direct serial connection mode), the occupied space of the driving unit 42 is reduced, and the overall miniaturization of the mobile carrier is facilitated.
In one embodiment of the present invention, the driving unit 42 further includes a driving bracket 421, the driving bracket 421 is disposed on the chassis 41, the driving motor 422 is adjustably disposed on the driving bracket 421, and the driving decelerator 423 is fixed on the chassis 41 or another separate frame. The tension of the connection of the input shaft 4231 of the driving decelerator 423 with the rotation shaft belt of the driving motor 422 is adjusted by the position of the driving motor 422 on the driving bracket 421.
Specifically, magnets are disposed in the front wheel 433 and the rear wheel 442, and the front wheel 433 and the rear wheel 442 are ensured to be attracted to the second plate body by the magnetic force of the magnets. This arrangement further ensures the stability of the movement means 40 on the second plate.
As shown in FIG. 20, the front wheel 433 and the rear wheel 442 are each located on a side of the chassis 41 remote from the magnetic device 50, and the drive unit 42 is located between the front wheel assembly 43 and the rear wheel assembly 44. By arranging the front wheel 433 and the rear wheel 442 on one side of the chassis 41 far away from the magnetic device 50, the front wheel 433 and the rear wheel 442 are prevented from being blocked between the welding gun 21 and the groove, the welding gun 21 is further ensured to be close to the groove, the welding quality is improved, and by arranging the driving unit 42 between the front wheel assembly 43 and the rear wheel assembly 44, the overall miniaturization of the movement device 40 is ensured, the overall gravity center of the movement device 40 is positioned in the middle position, and the movement stability of the movement device 40 is improved.
It should be noted that, for the front wheel 433 and the rear wheel 442 in the present application, the shapes of the wheel surfaces of the front wheel 433 and the rear wheel 442 (such as adding a taper design to the wheel surface) may be designed to further adapt to the surface of the first plate or the second plate, so as to ensure the overall motion stability of the mobile carrier, and improve the application range of the mobile carrier.
As shown in fig. 13, the mobile vehicle further includes an attitude sensor 80, the attitude sensor 80 being provided on the mounting frame 10 or the movement device 40, the attitude sensor 80 being configured to detect a movement attitude of the movement device 40. By arranging the attitude sensor 80, the motion attitude parameters such as the whole inclination angle of the mobile carrier vehicle are detected in real time, and the safety is improved.
The invention also provides a welding robot which comprises the movable carrier vehicle and further comprises a welding device 20, wherein the welding device 20 is arranged on the mounting frame 10.
Specifically, the welding robot further includes a laser tracking device 30, the laser tracking device 30 is used for detecting the position of the position to be welded relative to the welding device 20, and the laser tracking device 30 is disposed on the mounting frame 10.
The invention effectively restricts the movement of the movement device 40 along the surface of the first plate body by arranging the magnetic device 50 to adsorb the first plate body, ensures that the advancing track of the welding robot is tightly attached to the first plate body, further realizes the welding of the inner angle weld joint of the curved hub of the first plate body, improves the welding quality of the groove between the first plate body and the second plate body, and ensures the movement of the welding robot along the extending direction of the groove by arranging the laser tracking device 30 to detect the position of the groove relative to the welding robot in real time so as to facilitate the efficient welding of the groove between the first plate body and the second plate body by the welding device 20, thereby improving the welding quality of the groove.
As shown in fig. 1, 2 and 3, the welding robot further includes a cooling device 70, the cooling device 70 is used for cooling the laser tracking device 30, and the cooling device 70 is provided on the mounting frame 10. By arranging the cooling device 70, the working reliability of the laser tracking device 30 is ensured, the laser tracking device 30 is cooled by adopting a mode of externally connecting a cooling tube, the whole welding work can be influenced by leakage of the coolant in the welding process, and the problem is avoided by integrating the cooling device 70 on the mounting frame 10. The cooling device 70 may be cooled by water cooling or air cooling.
In one embodiment of the present invention, the cooling device 70 is an integrated cooling device that is commonly used in a computer to cool the CPU, and the integrated cooling device is disposed at a portion where the laser tracking device 30 concentrates heat (for example, a laser emitting portion, etc.), so that the reliability of cooling is ensured, and the overall size of the cooling device 70 tends to be miniaturized. In practical use, the cooling device 70 is used for ensuring that the welding robot can still normally perform welding operation under the condition that the base metal is preheated to a high temperature of more than 180 ℃.
As shown in fig. 1,2 and 3, the welding device 20 includes an adjusting device 22 and a welding gun 21 on the mounting frame 10, the adjusting device 22 has a movable end, the welding gun 21 is disposed on the movable end, and the movable end drives the welding gun 21 to move in multiple degrees of freedom. This arrangement ensures flexible adjustment of the welding gun 21.
As shown in fig. 2 and 3, the adjusting device 22 includes a locking ring 2252 for locking and fixing the welding gun 21, and the locking ring 2252 is fixedly provided at the movable end. The welding gun 21 is detachably arranged in the locking ring 2252, and quick installation, disassembly and replacement of the welding gun 21 are realized by arranging the locking ring 2252.
As shown in fig. 18, the welding robot further includes an electrical interface 100 and a data interface 110, the electrical interface 100 and the data interface 110 are respectively provided on the mounting frame 10, the electrical interface 100 is connected with an external power source, the data interface 110 is electrically connected with an external device, the welding device 20, the laser tracking device 30 and the moving device 40 are respectively electrically connected with the electrical interface 100, and the welding device 20, the laser tracking device 30 and the moving device 40 are respectively electrically connected with the data interface 110. By providing the electrical interface 100 and the data interface 110, reliable connection of the welding robot with external devices is facilitated, and the application range of the welding robot is improved.
In summary, the invention provides a mobile carrier and a welding robot, wherein the welding robot adsorbs a first plate body by arranging a magnetic device 50, so that the movement of a moving device 40 along the surface of the first plate body is effectively restrained, the advancing track of the welding robot is tightly attached to an arc-shaped first plate body, the welding quality of a groove between the first plate body and a second plate body is further improved, the position of the groove relative to the welding robot is detected in real time by arranging a laser tracking device 30, the movement of the welding robot along the extending direction of the groove is ensured, the welding device 20 can weld the groove between the first plate body and the second plate body efficiently, the welding quality of the groove is further improved, and the welding robot provided by the invention effectively replaces a manual welding mode, not only saves labor and reduces manual working strength, but also ensures the welding efficiency on the premise of improving the welding quality. The welding robot provided by the invention is miniaturized as a whole, and after being externally connected with control equipment, the whole work is intelligent, so that the application range is wide.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of the present invention, and the azimuth terms "inside and outside" refer to inside and outside with respect to the outline of each component itself.
Spatially relative terms, such as "above," "upper" and "upper surface," "above" and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the process is carried out, the exemplary term "above" may be included. Upper and lower. Two orientations below. The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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| CN202211466288.2A CN115740888B (en) | 2022-11-22 | 2022-11-22 | Mobile carrier and welding robot |
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| CN112548275A (en) * | 2020-12-08 | 2021-03-26 | 江南造船(集团)有限责任公司 | Automatic welding equipment suitable for high-strength steel structure multi-pole longitudinal bone |
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| JP4763573B2 (en) * | 2006-10-27 | 2011-08-31 | 株式会社ユーシン | Electric steering lock device |
| US8660692B2 (en) * | 2011-11-18 | 2014-02-25 | State Grid Corporation Of China | Current alternating robot system and method of electric bus |
| CN107780744A (en) * | 2016-08-31 | 2018-03-09 | 赵芬 | Angle positioning and self-closing hinge can be adjusted |
| CN209115734U (en) * | 2018-09-30 | 2019-07-16 | 华帝股份有限公司 | Magnetic one-way valve opened under pressure and gas water heater thereof |
| CN110759218A (en) * | 2019-06-13 | 2020-02-07 | 蔡敏 | Movable hanging platform and hanging device for balancing gravity and hanging trolley chassis comprising same |
| CN112198046B (en) * | 2020-09-28 | 2022-02-22 | 北京理工大学 | Automatic loading rod assembling device for SHPB (split Homey bar) test |
| CN213438102U (en) * | 2020-11-03 | 2021-06-15 | 孙靖东 | Semi-automatic surfacing auxiliary device for inner wall of connecting pipe |
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| CN112548275A (en) * | 2020-12-08 | 2021-03-26 | 江南造船(集团)有限责任公司 | Automatic welding equipment suitable for high-strength steel structure multi-pole longitudinal bone |
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