CN102489838B - Obstacle-crossing all-position automatic welding robot - Google Patents
Obstacle-crossing all-position automatic welding robot Download PDFInfo
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- CN102489838B CN102489838B CN 201110421711 CN201110421711A CN102489838B CN 102489838 B CN102489838 B CN 102489838B CN 201110421711 CN201110421711 CN 201110421711 CN 201110421711 A CN201110421711 A CN 201110421711A CN 102489838 B CN102489838 B CN 102489838B
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Abstract
The invention discloses an obstacle-crossing all-position automatic welding robot, which comprises a robot moving system (400), a welding equipment system (300), an intelligent sensing system (500), a central control system (100) and a communication system (200), wherein the robot moving system (400) is used for moving the welding robot, the welding equipment system (300) is used for welding, the intelligent sensing system (500) is used for detecting information about obstacles in front of the welding robot, trailing the position of a welding workpiece and controlling welding quality in real time, the central control system (100) is used for controlling the robot moving system (400), the welding equipment system (300) and the intelligent sensing system (500), and the communication system (200) is used for realizing data communication of the robot moving system (400), the welding equipment system (300) and the intelligent sensing system (500) with the central control system (100). The obstacle-crossing all-position automatic welding robot is capable of automatically crossing obstacles and automatically travelling and welding in an all-position manner.
Description
Technical field
The present invention relates to a kind of welding robot, particularly a kind of obstacle-crossing all-position automatic welding robot.
Background technology
Welding robot is a kind of automation equipment that can complete welding operation.Welding robot generally adopts the mechanical arm in a plurality of joints, to realize that in working space, move optional position and attitude.In industry, welding robot generally adopts magnetic-type welding robot to hold the surface of welding work pieces, then completes weld task on the welding job surface.Magnetic-type welding robot, general is all directly to contact or directly do not contact the magnetic of realizing with welding job with workpiece, to weld, for example China Patent Publication No. CN102079339A discloses a kind of robot operated on surface of oil storage tank, and this kind machine artificially contacts magnetic-type welding robot with welding job.China Patent Publication No. CN1739925 discloses a kind of non-contact magnetically adsorbed wall climbing robot, and this kind machine is not direct contact type magnetic robot artificially.
Above two kinds of robots when there is barrier on the welding work pieces surface, all can not realize the across obstacle welding, exist walking less than the dead angle, position; Welding gun handle sturcture free degree restriction welding job position and attitude, when running into the angle seam welding, welding gun can not move to the position while welding of welding work pieces, exists to weld the dead angle; In addition, above two kinds of robot sensing's modes are single, can not realize autonomous continuous welding work.
Summary of the invention
Technical problem to be solved by this invention is, overcomes above deficiency, provides a kind of obstacle-crossing all-position automatic welding robot, independently to realize the weld job of the full position of obstacle detouring.
In order to solve the problems of the technologies described above, technical scheme of the present invention is: a kind of obstacle-crossing all-position automatic welding robot comprises
The robot motion system comprises vehicle frame, is positioned at the mechanical arm that is comprised of a plurality of joints of described vehicle frame top, is used for regulating the interior optional position of working range and attitude; Be positioned at many groups driving shaft of described vehicle frame below, every group of driving shaft is two and is located along the same line, the end of the close frame outside of each driving shaft is connected with driving wheel, also slidably connect line slide rail between described each driving shaft and vehicle frame, described line slide rail is positioned at the inboard of described driving wheel, described each driving shaft is connected with for the drive motors of controlling driving wheel, is provided with magnetic adsorption device between described every group of driving shaft and vehicle frame, is used for the absorption welding work pieces surperficial;
the welding equipment system, comprise welding machine, be connected with welder circuit wire feeder, described wire feeder is arranged on the first joint of mechanical arm, and the welding gun that is arranged on a joint, described mechanical arm end, described wire feeder, comprise the wire feeding cable with welding wire, described wire feeding cable is given welding gun along mechanical arm with welding wire, the bottom of described welding machine is provided with water tank, be provided with water pump in described water tank, described water pump is connected with water pipe, described water pipe is connected on welding gun, temperature for reducing welding gun, described welding machine gas circuit connects the gas cylinder that protective gas is housed, described water tank, gas cylinder is arranged on accessory cart,
Intelligent Sensing System, comprise and be arranged on respectively welding gun forward-and-rearward ccd image sensor, the crater image information that is used for tracking welding work pieces and welded seam area position thereof and gathers welding process is so that described robot motion system accurately locates, and detects in real time the Pool feature welding work pieces and welded seam area thereof; Be arranged on the video camera of vehicle frame front upper, be used for the image information of the barrier of collection vehicle frame direction of advance, accurately detect the range information of vehicle frame and barrier, and the geometry size of definite barrier; Be arranged on the range sensor of vehicle frame front portion, be used for the rough range information that detects the barrier of vehicle frame and its direction of advance;
Central control system is used for controlling the action of described robot motion system, welding equipment system, Intelligent Sensing System;
Communication system is used for realizing the data communication of described robot motion system, welding equipment system, Intelligent Sensing System and central control system.
Further, described communication system comprises
The robot communication module is realized the data communication of central control system and robot motion system by the CAN bus protocol;
The welding communication module is realized the data communication of central control system and welding equipment system by programmable logic controller (PLC);
Data acquisition module comprises image pick-up card, data collecting card and router, and described image pick-up card is used for sending the image information of the ccd image sensor Real-time Collection of described Intelligent Sensing System to central control system; Described data collecting card is used for sending the ultrasonic distance sensor of described Intelligent Sensing System and the range information of the described welding robot of infrared ray range sensor Real-time Collection and barrier to central control system; Described router is used for sending the image information of the barrier of the camera acquisition of described Intelligent Sensing System to central control system.
Further, described magnetic adsorption device comprises the magnet assemblies that is positioned at the driving shaft bottom, is provided with screw mechanism between described magnet assemblies and vehicle frame, and described screw mechanism is used for the height between regulating magnet assembly and ground.
Further, described magnetic adsorption device also comprises the both sides that are fixed on each driving shaft length direction and is fixed on two sliding guides on described magnet assemblies, and the spring that is linked in each sliding guide outside.
Further, described magnet assemblies comprises a yoke, and the polylith permanent magnet that is arranged on described yoke bottom.
Further, described screw mechanism comprises the leading screw that is connected between magnet assemblies and vehicle frame, is connected with the first screw mandrel and the second screw mandrel with described threads of lead screw, and described the first screw mandrel is positioned at the top of leading screw, and described the second screw mandrel is positioned at the bottom of leading screw.
Further, described range sensor is ultrasonic distance sensor and/or infrared ray range sensor.
Further, described protective gas is carbon dioxide.
Further, be provided with direct current generator in described accessory cart, be used for driving the walking of accessory cart.
Further, described driving shaft is hollow tubular, and described drive motors is arranged in the driving shaft of hollow tubular.
Compared with prior art, welding equipment of the present invention system realizes weld job by the data communication of central control system by communication system and welding equipment system;
After welding robot of the present invention starts, the image information of the welding work pieces of the ccd image sensor Real-time Collection of Intelligent Sensing System sends central control system to, and image information and the range information of the barrier of video camera, range sensor Real-time Collection send central control system to; By craspedodrome, turning, the across obstacle of central control system control kinematic system or hold welding work pieces, to complete the position movement of robot motion system.The drive motors of robot motion system, driving shaft, driving wheel are realized the straight line moving of robot motion system, by the speed of each driving wheel being controlled the turning walking that realizes the robot motion system.When video camera, the range sensor of Intelligent Sensing System detects the place ahead barrier arranged, according to size, the shape of barrier, mention the height of driving shaft and driving wheel by line slide rail, realize the walking of across obstacle.When running into the non-horizontal surface weld job, particularly during the vertical welding operation, hold the surface of welding work pieces by magnetic adsorption device, then coordinate drive motors to control the walking of driving shaft and driving wheel, to realize the position movement of non-horizontal surface.Therefore, the present invention do not exist welding robot move less than the position, dead angle, realized the walking of full position.Optional position and the attitude motion of mechanical arm in working space guaranteed the flexibility of welding posture and the getatability of complex part weld seam, realized the welding of full position.Mechanical arm collects position and the shape of welding work pieces by the ccd image sensor of Intelligent Sensing System, the location of realization to the weld seam of welding work pieces, behind the location, the welding gun of welding equipment system begins weld job is carried out in welding job, and in welding process, central control system is carried out intellectuality welding control.
In sum, welding robot of the present invention can be autonomous carries out across obstacle, autonomous carries out all-position walking and welding, and the main weld job that carries out.
Description of drawings
Fig. 1 is the frame structure schematic diagram of the embodiment of the present invention;
Fig. 2 is the frame structure schematic diagram of the communication system of the embodiment of the present invention;
Fig. 3 is the frame structure schematic diagram of data acquisition module of the communication system of the embodiment of the present invention;
Fig. 4 is the perspective view of the robot motion system of the embodiment of the present invention;
Fig. 5 is the right TV structure schematic diagram of the robot motion system of the embodiment of the present invention;
Fig. 6 is the local enlarged diagram of I section in Fig. 5;
Fig. 7 is the perspective view of the magnet assemblies of the embodiment of the present invention;
Fig. 8 is the robot kinematic system walking of the embodiment of the present invention and the schematic diagram of across obstacle;
Fig. 9 is the general structure schematic diagram of the embodiment of the present invention.
shown in figure: 100, central control system, 200, communication system, 210, the robot communication module, 220, the welding communication module, 230, data acquisition communication module, 231, image pick-up card, 232, data collecting card, 233, router, 300, the welding equipment system, 301, welding machine, 302, wire feeder, 303, welding gun, 3020, wire feeding cable, 304, water tank, 305, water pipe, 306, gas cylinder, 307, accessory cart, 400, the robot motion system, 401, vehicle frame, 402, mechanical arm, 403, driving shaft, 404, driving wheel, 405, line slide rail, 406, drive motors, 410, magnet assemblies, 411, yoke, 412, permanent magnet, 420, screw mechanism, 421, leading screw, 422, the first screw mandrel, 423, the second screw mandrel, 430, sliding guide, 440, spring, 500, Intelligent Sensing System, 501, ccd image sensor, 502, video camera, 503, range sensor, 5031, the ultrasonic distance sensor, 5032, the infrared ray range sensor.
The specific embodiment
The present invention is described in detail below in conjunction with accompanying drawing:
Please refer to shown in Fig. 1-9, obstacle-crossing all-position automatic welding robot of the present invention comprises central control system 100, communication system 200, welding equipment system 300, robot motion system 400, Intelligent Sensing System 500.
Please refer to Fig. 4 to 9, robot motion system 400, comprise vehicle frame 401, be positioned at the mechanical arm 402 that is formed by a plurality of joints of described vehicle frame 401 tops, be used for regulating optional position and attitude in working range, the optional position comprises the free degree position of X, Y, Z direction, attitude, moved by each joint of mechanical arm 402 and produce, realize the full position movement to the movement locus of welding work pieces; Be positioned at many groups driving shaft 403 of described vehicle frame 401 belows, every group of driving shaft 403 is two and is located along the same line, the end in close vehicle frame 401 outsides of each driving shaft 403 is connected with driving wheel 404, also slidably connect line slide rail 405 between described each driving shaft 403 and vehicle frame 401, described line slide rail 405 is positioned at the inboard of described driving wheel 404, described each driving shaft 403 is connected with for the drive motors 406 of controlling driving wheel 404, be provided with magnetic adsorption device between described every group of driving shaft 403 and vehicle frame 401, be used for the absorption welding work pieces surperficial.
The drive motors 406 of robot motion system 400, driving shaft 403, driving wheel 404 are realized the straight line moving of robot motion system 400, by the speed of each driving wheel 404 being controlled the turning walking that realizes robot motion system 400; When running into barrier, mention the height of driving shaft 403 and driving wheel 404 by line slide rail 405, realize the walking of across obstacle; When running into the non-horizontal surface weld job, particularly during the vertical welding operation, hold the surface of welding work pieces by magnetic adsorption device, then coordinate drive motors 406 to control the walking of driving shafts 403 and driving wheel 404, to realize the position movement of non-horizontal surface.Therefore, the present invention do not exist welding robot move less than the position, dead angle, realized the walking of full position.That is to say, drive motors 406, driving shaft 403, driving wheel 404, direct current slide rail 405, magnetic adsorption device have been realized the movement locus of the long distance of robot motion system.Wherein, long apart from movement locus, comprise the movement locus of straight line, turning, across obstacle.
Please refer to Fig. 4 to 7, described magnetic adsorption device, comprise the magnet assemblies 410 that is positioned at driving shaft 403 bottoms, be provided with screw mechanism 420 between described magnet assemblies 410 and vehicle frame 401, the height that described screw mechanism 420 is used between regulating magnet assembly 410 and ground; Hence one can see that, and magnetic adsorption device of the present invention is not contact with ground; Also comprise the both sides that are fixed on each driving shaft 403 length direction and be fixed on two sliding guides 430 on described magnet assemblies 410, and the spring 440 that is linked in each sliding guide 430 outsides.When mentioning magnet assemblies 410, spring 440 is compressed on sliding guide 430, and the height distance between magnet assemblies 410 and ground is higher at this moment; When putting down magnet assemblies 410, spring 440 keeps a lower height distance because resilient force stretches and applies downward elastic force to magnet assemblies 410 thereby make between magnet assemblies 410 and ground or jig on sliding guide 430.Height by magnet assemblies 410 is regulated, and realizes the attached ability of magnetic of magnet assemblies 410 and different welding job material.
Please refer to Fig. 7, described magnet assemblies 410 comprises a yoke 411, and the polylith permanent magnet 412 that is arranged on described yoke 411 bottoms.
Please refer to Fig. 5 to 6, described screw mechanism 420, comprise the leading screw 421 that is connected between magnet assemblies 410 and vehicle frame 401, the first screw mandrel 422 and the second screw mandrel 423 have been threaded with described leading screw 421, described the first screw mandrel 422 is positioned at the top of leading screw 421, and described the second screw mandrel 423 is positioned at the bottom of leading screw 421.Screw mechanism 420 moving upward and moving downward by leading screw 421, the first screw mandrel 422, the second screw mandrel 423, drives magnet assemblies 410 and upwards lifts or fall earthward.
As better embodiment, described driving shaft 403 is hollow tubular, and described drive motors 406 is arranged in the driving shaft 403 of hollow tubular.This kind structure can make the structure of robot motion system 400 compacter.
Please refer to Fig. 9, welding equipment system 300, comprise welding machine 301, be connected with welding machine 301 circuit wire feeder 302, described wire feeder 302 is arranged on the first joint of mechanical arm 402, and the welding gun 303 that is arranged on described mechanical arm 402 joint, end, by each joint motions of mechanical arm 402, realize that welding gun 303 tops put the motion of the point of welding work pieces, straight line, circle; That is to say, mechanical arm 402 drives welding gun 303 and has realized short-range movement locus; Wherein, the small distance movement track refers to that welding gun 303 tops put the motion of the point of welding work pieces, straight line, circle.Described wire feeder 302; comprise the wire feeding cable 3020 with welding wire; described wire feeding cable 3020 is given welding gun 303 along mechanical arm 402 with welding wire; the bottom of described welding machine 301 is provided with water tank 304; be provided with water pump in described water tank 304; described water pump is connected with water pipe; described water pipe is connected on welding gun 303; reduce the temperature of welding gun 303 by water circulation; described welding machine 301 gas circuits connect the gas cylinder 306 that the protective gas such as carbon dioxide are housed, and described water tank 304, gas cylinder 306 are arranged on accessory cart 307.
Wherein, described protective gas can be carbon dioxide, can be also other GPF (General Protection False gas in welding technology field.
As better embodiment, described accessory cart 307 is interior can be provided with direct current generator, is used for driving the walking of accessory cart 307; Described accessory cart 307 also can be pulled by rope by robot motion system 400 and realize walking.Of particular note, robot motion system 400 is when non-horizontal surface is walked, and accessory cart 307 still is in the walking of horizontal plane, as long as the rope long enough of accessory cart 307 and robot motion system 400.
Please refer to Fig. 9, Intelligent Sensing System 500, comprise and be arranged on respectively welding gun 303 forward-and-rearward ccd image sensors 501, the crater image information that is used for tracking welding work pieces and welded seam area position thereof and gathers welding process is so that 400 pairs of welding work pieces of described robot motion system and welded seam area is accurately located, and detect in real time the Pool feature; Be arranged on the video camera 502 of vehicle frame 401 front upper, be used for the image information of the barrier of collection vehicle frame 401 directions of advance, accurately detect the range information of vehicle frame 401 and barrier, and the geometry size of definite barrier; Be arranged on the range sensor 503 of vehicle frame 401 front portions, be used for the rough range information that detects the barrier of vehicle frame 401 and its direction of advance.
Wherein, described range sensor 503 is ultrasonic distance sensor 5031 and/or infrared ray range sensor 5032.Present embodiment is arranged at infrared ray range sensor 5032 below of ultrasonic distance sensor 5031.Due to the device physics characteristics determined, ultrasonic distance sensor 5031 is longer than the distance that infrared ray range sensor 5032 gathers.That is to say, infrared ray range sensor 5032 detect apart from length than ultrasonic distance sensor 5031 detect short apart from length.Therefore, ultrasonic distance sensor 5031 is applicable to the detection of long-distance barrier thing, and infrared ray range sensor 5032 is applicable to the closely detection of barrier.
Central control system 100 is used for controlling the action of described robot motion system 400, welding equipment system 300, Intelligent Sensing System 500.
Described central control system 100 comprises robot control module, the steady control module of complicated track, active obstacle module, welding equipment control module, arc-welding bag module, intelligent welding module.
Wherein, the robot control module is used for the walking of control kinematic system 400 and the movement locus of mechanical arm 402;
Wherein, the steady control module of complicated track, for different weld task, best path of welding is set, by the movement locus (trajectory planning the when welding when being included in obstacle detouring and fillet weld seam) of mechanical arm 402 of described robot control module's control kinematic system 400 so that be arranged on welding gun 303 on mechanical arm 402 according to the steady orderly capable weld job of the best path of welding that arranges;
Wherein, the active obstacle module is according to the video camera 502 of Intelligent Sensing System 500, the obstacle information that range sensor 503 transmits, by described robot control module's control kinematic system 400, to realize independently across obstacle stably;
Wherein, the welding equipment control module is set the welding conditions such as welding current, voltage, pulse width, is used for regulating welding equipment system's 300 technological parameters and reading the welding equipment system running state according to different weld task;
Wherein, arc-welding bag module stores the welding procedure knowledge base, and the image information of the welding work pieces that gathers according to ccd image sensor 501 determines that weld task or man-machine interaction choose the weldment model, output welding action sequence and welding condition; That is to say, arc-welding bag module provides corresponding technological specification for different weld task;
Wherein, intelligent welding module transmits the overall process of the image information control welding of returning according to the ccd image sensor 501 of Intelligent Sensing System.It comprises information sensing, modeling and the Based Intelligent Control from master program, robot motion's TRAJECTORY CONTROL, welding process of weld task.Wherein information sensing comprises that weld start position identification, the front autonomous guiding of weldering, weld seam real-time tracking, molten bath behavioral characteristics obtain, appearance of weld is predicted and controls, and uses the image processing techniques such as template matches, grey level histogram conversion, automatic threshold segmentation, edge extracting, Hough transformation.
Please refer to Fig. 2 to 3, described communication system 200 is used for realizing the data communication of described central control system 100, welding equipment system 300, Intelligent Sensing System 500 and robot motion system 400.Wherein, described communication system 200 comprises
operation principle of the present invention is: welding robot is positioned on jig, central control system 100 is as the host computer of welding robot, robot motion system 400, welding equipment system 300, Intelligent Sensing System 500 is as the slave computer of welding robot, form the master-slave control pattern by data communication system 200, after robot starts, video camera 502 is started working, and analyze macroscopical scene information by Intelligent Sensing System 500, do craspedodrome by central control system 100 control kinematic systems 400, the action of turning, when video camera 502 detects barrier and disturbance of analysis thing shape, length, highly, after the width size, 100 pairs of central control systems robot motion system 400 does to slow down and controls, ultrasonic distance sensor 5031 start working and detection machine people kinematic system 400 and barrier between distance and position as the initial survey distance, robot motion system 400 continues to be forwarded to half of initial survey distance, infrared ray range sensor 5032 is started working and range information and the positional information of detection and barrier, range information and positional information between the barrier that central control system 100 is measured according to infrared ray range sensor 5032 and robot motion system 400, and the shape size of the barrier that obtains according to video camera 502 calls the robot control module and locates main obstacle detouring module 103 and realize the across obstacle walking, industrial CCD imageing sensor 501 obtains topography's information, when welding work pieces being detected, main control computer central control system 100 is analyzed workpiece type and size, call arc-welding bag module and calculate technological parameter, call the steady control module of complicated track and formulate motion scheme, calling intelligent welding module realizes guiding before weldering, setting welding equipment system 300 relevant parameters, robot motion system 400 and welding equipment system 300 begin the starting the arc under main control computer central control system 100 is coordinated, call intelligent welding module in welding process welding process is carried out intellectuality control, comprise weld joint tracking, welding parameter is adjusted in real time, welding posture adjustment etc.
Present embodiment butt welding machine device people carries out modular division, and functional structure is clear simple; Welding robot can realize climbing the walking of wall, obstacle detouring and turning, possesses the welding function of the long distance in full position; Climb wall, mainly rely on magnetic adsorption device and coordinate the walking of driving wheel to realize; Obstacle detouring mainly relies on line slide rail 405 to lift the walking that driving shaft 403 and driving wheel 404 are realized across obstacle; Turning is to rely between every group of driving wheel two of 404 left and right wheel speed difference to realize.Arc-welding bag module can provide abundant welding procedure knowledge base, and the steady control module of track can reduce the impact of kinematic error welding quality; Each module of communication system 200 adopts general interface protocol, facilitates secondary development, and real-time is good; Intelligent Sensing System 500 adopts the multiple sensors assembled schemes, realizes the tracking of weld seam after the collection of the collection of barrier and welding job and welding, and sensor can Real-time Obtaining information, satisfies the requirement that autonomous welding and working environment detect; The achievements such as the workpiece identification of intelligent welding field, autonomous guiding, weld joint tracking, penetration control that welding robot is integrated have broad field of application; Can satisfy the non-structure space welding of main equipment demand, welding robot intellectuality and independence ability have been improved, control research for mobile robot's welding process is intelligent a kind of reliable experiment porch is provided, the special mobile welding robot that is applicable to special occasions for exploitation provides reference, has important function expanding the application facet of robot in the Automation of Welding field.
In sum, welding robot of the present invention can be realized the walking of across obstacle, full position and welding, autonomous weld job.
Claims (10)
1. an obstacle-crossing all-position automatic welding robot, is characterized in that: comprise
robot motion system (400) comprises vehicle frame (401), is positioned at the mechanical arm (402) that is comprised of a plurality of joints of described vehicle frame (401) top, is used for regulating the interior optional position of working range and attitude, be positioned at many groups driving shaft (403) of described vehicle frame (401) below, every group of driving shaft (403) is two, and be located along the same line, end outside the close vehicle frame (401) of each driving shaft (403) is connected with driving wheel (404), also slidably connect line slide rail (405) between described each driving shaft (403) and vehicle frame (401), described line slide rail (405) is positioned at the inboard of described driving wheel (404), described each driving shaft (403) is connected with for the drive motors (406) of controlling driving wheel (404), be provided with magnetic adsorption device between described every group of driving shaft (403) and vehicle frame (401), be used for the absorption welding work pieces surperficial,
welding equipment system (300), comprise welding machine (301), be connected with welding machine (301) circuit wire feeder (302), described wire feeder (302) is arranged on the first joint of mechanical arm (402), and the welding gun (303) that is arranged on a joint, described mechanical arm (402) end, described wire feeder (302), comprise the wire feeding cable (3020) with welding wire, described wire feeding cable (3020) is given welding gun (303) along mechanical arm (402) with welding wire, the bottom of described welding machine (301) is provided with water tank (304), described water tank is provided with water pump in (304), described water pump is connected with water pipe, described water pipe is connected on welding gun (303), reduce the temperature of welding gun (303) by water circulation, described welding machine (301) gas circuit connects the gas cylinder (306) that protective gas is housed, described water tank (304), gas cylinder (306) is arranged on accessory cart (307),
Intelligent Sensing System (500), comprise and be arranged on respectively welding gun (303) forward-and-rearward ccd image sensor (501), for the crater image information that tracks welding work pieces and welded seam area position thereof and gather welding process, so that the shape characteristic in molten bath is accurately located, detects in real time by described robot motion system (400) to welding work pieces and welded seam area thereof; Be arranged on the video camera (502) of vehicle frame (401) front upper, the image information that is used for the barrier of collection vehicle frame (401) direction of advance, accurately detect the range information of vehicle frame (401) and barrier, and the geometry size of definite barrier; Be arranged on the anterior range sensor (503) of vehicle frame (401), be used for the rough range information that detects the barrier of vehicle frame (401) and its direction of advance;
Central control system (100) is used for controlling the action of described robot motion system (400), welding equipment system (300), Intelligent Sensing System (500);
Communication system (200) is for the data communication that realizes between described robot motion system (400), welding equipment system (300), Intelligent Sensing System (500) and central control system (100).
2. obstacle-crossing all-position automatic welding robot according to claim 1, it is characterized in that: described magnetic adsorption device, comprise the magnet assemblies (410) that is positioned at driving shaft (403) bottom, be provided with screw mechanism (420) between described magnet assemblies (410) and vehicle frame (401), described screw mechanism (420) is used for the height between regulating magnet assembly (410) and ground.
3. obstacle-crossing all-position automatic welding robot according to claim 2, it is characterized in that: described magnetic adsorption device, also comprise the both sides that are fixed on each driving shaft (403) length direction and be fixed on two sliding guides (430) on described magnet assemblies (410), and the spring (440) that is linked in each sliding guide (430) outside.
4. according to claim 2 or 3 described obstacle-crossing all-position automatic welding robots, it is characterized in that: described magnet assemblies (410), comprise a yoke (411), and the polylith permanent magnet (412) that is arranged on described yoke (411) bottom.
5. obstacle-crossing all-position automatic welding robot according to claim 4, it is characterized in that: described screw mechanism (420), comprise the leading screw (421) that is connected between magnet assemblies (410) and vehicle frame (401), the first screw mandrel (422) and the second screw mandrel (423) have been threaded with described leading screw (421), described the first screw mandrel (422) is positioned at the top of leading screw (421), and described the second screw mandrel (423) is positioned at the bottom of leading screw (421).
6. obstacle-crossing all-position automatic welding robot according to claim 1, it is characterized in that: described range sensor (503) is ultrasonic distance sensor (5031) and/or infrared ray range sensor (5032).
7. obstacle-crossing all-position automatic welding robot according to claim 1, it is characterized in that: described protective gas is carbon dioxide.
8. obstacle-crossing all-position automatic welding robot according to claim 1, it is characterized in that: described accessory cart is provided with direct current generator in (307), is used for driving the walking of accessory cart (307).
9. obstacle-crossing all-position automatic welding robot according to claim 1, it is characterized in that: described communication system (200) comprises
Robot communication module (210) is realized the data communication of central control system (100) and robot motion system (400) by the CAN bus protocol;
Weld communication module (220), realize the data communication of central control system (100) and welding equipment system (300) by programmable logic controller (PLC);
Data acquisition module (230), comprise image pick-up card (231), data collecting card (232) and router (233), described image pick-up card (231) is used for sending the image information of ccd image sensor (501) Real-time Collection of described Intelligent Sensing System (500) to central control system (100); Described data collecting card (232) is used for sending the ultrasonic distance sensor (5031) of described Intelligent Sensing System (500) and the range information of the described welding robot of infrared ray range sensor (5032) Real-time Collection and barrier to central control system (100); Described router (233), the image information that is used for the barrier that the video camera (502) with described Intelligent Sensing System (500) gathers sends central control system (100) to.
10. obstacle-crossing all-position automatic welding robot according to claim 1, it is characterized in that: described driving shaft (403) is hollow tubular, and described drive motors (406) is arranged in the driving shaft (403) of hollow tubular.
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