CN103480954A - Autonomous mobile robot system for welding in narrow space - Google Patents
Autonomous mobile robot system for welding in narrow space Download PDFInfo
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- CN103480954A CN103480954A CN201310425319.4A CN201310425319A CN103480954A CN 103480954 A CN103480954 A CN 103480954A CN 201310425319 A CN201310425319 A CN 201310425319A CN 103480954 A CN103480954 A CN 103480954A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/173—Arc welding or cutting making use of shielding gas and of a consumable electrode
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
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- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
An autonomous mobile robot system for welding in narrow space comprises a mobile robot body, a control system and an MIG (metal-inert gas)/MAG (metal active-gas) welding system, wherein the mobile robot body comprises a robot moving platform and a welding torch adjusting device; the control system comprises a sensing system and a robot control box; the MIG/MAG welding system comprises a welding gun, a welding power source, a wire feeder and protecting gas; and the mobile robot body, the control system and the MIG/MAG welding system are connected to one another through cables. The autonomous mobile robot system for welding in the narrow space has the advantages that the robot is small in structure, a three-wheel differential driving wheel type moving mode is adopted, the robot system can autonomously and flexibly move in the narrow space, can automatically identify weld joints and then implements welding operation, and the system is easy to operate and convenient to use, and is particularly suitable for automatic welding of a steel structural component in the narrow space.
Description
Technical field
The invention belongs to the Robotics field, relate to particularly a kind of Autonomic Mobile Robot System for the welding of narrow space structural member.
Background technology
Along with the requirement of the quality to welding and welding efficiency is more and more higher, artificial welding cost improves, and makes the demand of welding robot and uses also more and more extensive.
Welding due to narrow space, welding as cabin, internal container, have working space narrow and small, during welder's operation, health can not freely stretch, and condition of work is very severe, in addition, the most top seal of these structures, light is more dim, and flue dust during welding is difficult to discharge, actual bodily harm to the welder is very large, even causes the characteristics such as dead.
For existing industrial robot, its arm length is generally 1.5-2.0m, because its base can not move, so can not weld large-sized workpiece.For the planer-type welding robot, although weld size is larger, also only limit in the spatial dimension in workshop.And the said structure stock size is very large, majority will be welded outside workshop.In addition, the welding robot of applying in industry at present need to carry out work with programming or teach mode, huge for this build, need to be difficult to adapt in building site and the on-the-spot workpiece welded.Although also developed a lot of Mobile welding machine people both at home and abroad, in order to solve the job site automatic welding problem of large-scale workpiece, but these robots are all the weld jobs for large-scale open area, system complex, use and move inconvenience, being difficult to adapt to the Automation of Welding requirement of narrow space.
Summary of the invention
The objective of the invention is for the narrow space welding requirements, a kind of autonomous welding robot system is provided.Be particularly related to a kind of autonomous welding robot system that can realize steel construction piece welding under narrow space, enclosed environment.
Autonomic Mobile Robot System for the narrow space welding of the present invention comprises: mobile apparatus human body, control system and MIG/MAG welding system;
The mobile apparatus human body comprises the robot chassis, welding torch adjusting device and welding cable fixer;
Control system comprises sensor-based system and robot control cabinet;
The MIG/MAG welding system comprises welding gun, the source of welding current, wire-feed motor and protection gas;
The mobile apparatus human body, control system is connected by cable with MIG/MAG welding system three.
Described robot chassis comprises the employing drive unit, directive wheel, the body of adjustable permanent magnetism gap adsorbent equipment and installation said apparatus; Described robot chassis adopts three-wheel differential drives structure form, and two driving wheels and directive wheel form the robot body plane of movement; Utilize two rear drive sprocket differentials to realize moving and turning to of robot body; Described drive unit comprises that a driving shaft, two stepper motors, two decelerators, two pairs of travelling gears, two driving wheels and two driving shaft bearings form; Installing insulating rubber tyre on described driving wheel, the coefficient of friction on increase and welding work pieces surface makes robot body and welding work pieces insulation simultaneously; Described directive wheel comprises multi-directional ball and insulation sleeve, adopts bolt to be installed on front part of a body, with two driving wheels, forms the robot plane of motion, and by insulation sleeve and body insulation; Described multi-directional ball comprises directive wheel body, steel ball, gland, elastic scheibe, steel ball; Described permanent magnetism gap adsorbent equipment comprises magnet regulating handle, magnet camshaft, magnet cam sleeve, magnet driver plate, magnetic support, permanent magnet, magnetic support bearing block, magnetic support axle, permanent magnet is fixedly mounted in magnetic support by the magnet driver plate, magnetic support is connected with chassis supported by the magnetic support bearing block, and can rotate around the magnetic support axle, the magnet regulating handle is connected with the magnet camshaft; Described permanent magnetism gap adsorbent equipment is installed between directive wheel and driving shaft, and the absorption affinity between adsorbent equipment and magnetic conduction work is regulated its air gap realization between the two by the rotor magnet regulating handle;
Described welding torch adjusting device comprises crosshead shoe and welding torch jockey; Crosshead shoe is comprised of cross sliding clock and vertical slipper, and cross sliding clock is comprised of a ball screw guide rail and stepper motor, but vertical slipper by the screw rod of a manual adjustments, formed, and be installed on body by connecting plate; Described welding torch jockey structure comprises: welding torch Connection Block, pad, welding torch connecting axle, regulating handle, welding torch connecting plate and nut; The welding torch connecting plate is installed on cross sliding clock by bolt; Welding torch and welding torch Connection Block are with bolts, and the welding torch Connection Block is installed on connecting plate by the welding torch connecting axle, and by a nut screwing clamping; Welding torch connecting axle one end is connected with regulating handle;
Described welding cable fixer comprises holder, cable tray, cable tray axle, cable flap, fishbolt, binding nut; Described holder is secured by bolts on the welding robot human organism; Described holder is connected with the attaching nut by connecting bolt with cable tray, and can relatively rotate; Described cable tray is connected by the cable tray axle with the cable flap; The welding cable is installed between cable tray and cable flap, and fixes to clamp by fishbolt and binding nut;
Described sensor-based system by rotary arc sensor, current Hall sensor, keep away barrier sensor and dropproof sensor, rotary arc sensor is installed on welding torch jockey front end with welding gun composition one; Described Hall element is fixed on welding cable, for detection of the current signal in welding process; The described barrier sensor of keeping away adopts sonac, is installed on front part of a body; Described dropproof sensor adopts photoelectric sensor, is installed on the body surrounding;
Described robot control cabinet comprises master controller and stepper motor driver, and is installed on mobile platform; Described master controller is connected by cable with sensor-based system, stepper motor driver; Described stepper motor driver is connected by cable with stepper motor;
Described MIG/MAG welding system comprises that welding gun, the source of welding current, wire-feed motor and protection gas are connected by cable with the welding gun in robot;
The working method of the described Autonomic Mobile Robot System for the narrow space welding is as follows:
Described robot first by the manually-operated touch-screen to weld start position, welding process requirement according to workpiece, use the vertical slipper adjusting handle to regulate the welding stem elongation, the welding torch jockey is adjusted the welding torch pivot angle, it is V-arrangement or angle welding that the weld seam style number is set, speed of welding, the parameter such as welding current and voltage, play arc welding, the industrial control computer setup control cycle, in rotary scanning welding torch, welding gun at the uniform velocity rotates the generation pulse signal, for data collecting card provides sampling trigger signal, industrial control computer gathers current value according to Hall current sensor and realizes weld seam deviation identification, calculate the controlled quentity controlled variable of controlling each drive motors, input to motion control card and convert direction and the pulse signal of controlling drive motors to, then the motion of motor driver control chassis and each motor of welding torch adjusting device, thereby control, welding gun moves and welding, realize autonomous and automatic welding in welding process,
Described mobile welding robot body chassis move and turn to by control two independently the drive motors rotating speed realize, when two drive motors rotating speeds identical, the Robot rectilinear motion; As need turn to, can control two drive motors rotating speed differences and realize;
When described obstacle avoidance apparatus detects the place ahead barrier is arranged, sonac signals to robot controller, and then controller turns to and keeps away barrier by controlling two drive motors differentials.When described fall-proofing device detects the place ahead without workpiece planarization, sensor signals to robot controller, and then controller makes robot chassis stop motion by controlling two drive motors;
Described permanent magnetism gap adsorbent equipment can realize that absorption affinity can regulate, the specific works principle is: during the normal operation of mobile robot's body chassis, the basic circle of the cam of magnet camshaft contacts with the magnet driver plate, now magnetic adsorption device and magnetic conduction workpiece are apart from minimum, the magnetic adsorbability maximum, increase robot driving force and stability; When rotor magnet regulating handle certain angle, the cam of the magnet camshaft jack-up magnet driver plate that makes progress, make magnetic support rotate around the magnetic support axle, thereby make the distance increase of permanent magnet and magnetic conduction workpiece, thereby magnetic adsorbability is reduced.When operating personnel need transfer robot, can make the magnet regulating handle rotate the angle of 90 degree, now the distance of permanent magnet and magnetic conduction workpiece is maximum, the magnetic adsorbability minimum;
The welding cable is installed between cable tray and cable flap, by fishbolt and binding nut, is fixed to clamp; Welding robot, when moving process, because cable tray and holder can relatively rotate around connecting bolt, makes to weld cable in relatively large bending radius, reduces wire-feeder resistance;
Described welding torch jockey, when welding robot starts, is regulated the welding torch pivot angle as need, oppositely unscrews regulating handle, now, but be welded to connect seat boxing torch connecting plate, relatively rotate, after adjusting to required angle, forward is tightened regulating handle, thereby make to be welded to connect seat, with the welding torch connecting plate, fixes.
Beneficial effect of the present invention:
Adopt the two-wheeled differential to drive, can realize that original place 360 degree turn to and move, effectively reduced the dead angle of working space, control simple; Adopt permanent magnetism gap adsorbent equipment, adhesive force is large, improves driving force and stability; Simultaneously, because absorption affinity can be regulated, make robot safe in handling process, laborsaving; Adopt sonac to detect body the place ahead barrier, there is the barrier of keeping away ability; Because the body surrounding has been installed photoelectric sensor, can detect robot environment of living in, prevent that robot from falling damage; The welding torch pivot angle can be adjusted arbitrarily by regulating handle, without welding torch is separated with robot body; Adopt arc sensor to realize weld seam recognition in welding process, can reach ± 0.5mm of tracking accuracy; Robot appearance and size is little, lightweight, can be under the narrow space working environment flexible motion; Robot control system is integrated on robot body, easy to use.
The accompanying drawing explanation
The structural representation that Fig. 1 is the Autonomic Mobile Robot System for the narrow space welding of the present invention;
In figure: 1, rotary arc sensor 2, mobile apparatus human body 3, robot low-tension supply 4, stube cable 5, job site distribution box 6, electric welding machine 7, wire-feed motor 8, protection gas cylinder 9, be welded to connect cable 10, welding work pieces;
Fig. 2 is the autonomous mobile robot mobile robot body construction schematic diagram for the narrow space welding of the present invention;
In figure: 11, robot chassis 12, sonac 13, body cover 14, magnetic force regulating handle 15, driving wheel 16, motor cover 17, machine body cover 18, handle 19, vertical slipper adjusting handle 20, touch-screen 21, dust cover 22, welding torch adjusting device 23, welding cable fixer;
Fig. 3 is the human body of the Autonomic Mobile Robot System travel mechanism internal structure schematic diagram for the narrow space welding of the present invention;
In figure: 102, photoelectric sensor 106, control cabinet 111, body 221, welding torch jockey 222, cross sliding clock 224, vertical slipper;
Fig. 4 is the Autonomic Mobile Robot System mobile apparatus human body chassis structure schematic diagram for the narrow space welding of the present invention;
In figure: 112, drive unit 113, adjustable permanent magnetism gap adsorbent equipment 114, photoelectric sensor 115, directive wheel;
Fig. 5 is the Autonomic Mobile Robot System mobile robot ontology-driven apparatus structure schematic diagram for the narrow space welding of the present invention;
In figure: 51, stepper motor 52, motor contiguous block 53, decelerator 54, screw 55, driving shaft bearing 56, driving gear 57, driven gear 58, adapter sleeve 59, driving shaft 60, driving gear setting-up piece;
Fig. 6 is the adjustable permanent magnetism of the Autonomic Mobile Robot System mobile apparatus human body gap adsorbent equipment structural representation for the narrow space welding of the present invention;
In figure: 61, magnetic support axle 62, magnetic support bearing block 63, magnetic support 64, magnet camshaft 65, magnet cam sleeve 66, magnet driver plate 67, permanent magnet;
The cutaway view that Fig. 7 is the Autonomic Mobile Robot System mobile apparatus human body wheel design for the narrow space welding of the present invention;
In figure: 701, directive wheel body 702, gland 703, elastic scheibe 704, multi-directional ball;
Fig. 8 is the Autonomic Mobile Robot System mobile apparatus human body sealing wire cable fixture structure schematic diagram for the narrow space welding of the present invention;
In figure: 81, holder 82, connecting bolt 83, attaching nut 84, cable tray axle 85, cable flap 86, fishbolt 87, binding nut 88, connecting axle 89, cable tray;
The structural representation that Fig. 9 is the Autonomic Mobile Robot System mobile apparatus human body welding torch jockey for the narrow space welding of the present invention;
In figure: 91, welding torch Connection Block 92, pad 93, welding torch connecting axle 94, regulating handle 95, welding torch connecting plate;
The control system hardware configuration schematic diagram that Figure 10 is the Autonomic Mobile Robot System for the narrow space welding of the present invention.
The specific embodiment
Accompanying drawings is as follows:
Autonomic Mobile Robot System for the narrow space welding of the present invention, comprise the mobile apparatus human body, control system and MIG/MAG welding system.It is characterized in that:
The mobile apparatus human body comprises the robot chassis, welding torch adjusting device and welding cable fixer;
Control system comprises sensor-based system and robot control cabinet;
The MIG/MAG welding system comprises welding gun, the source of welding current, wire-feed motor and protection gas;
The mobile apparatus human body, control system is connected by cable with MIG/MAG welding system three.
Described robot chassis comprises the employing drive unit, directive wheel, the body of adjustable permanent magnetism gap adsorbent equipment and installation said apparatus; Described robot chassis adopts three-wheel differential drives structure form, and two driving wheels and directive wheel form the robot body plane of movement; Utilize two rear drive sprocket differentials to realize moving and turning to of robot body; Described drive unit comprises that a driving shaft, two stepper motors, two decelerators, two pairs of travelling gears, two driving wheels and two driving shaft bearings form; Installing insulating rubber tyre on described driving wheel, the coefficient of friction on increase and welding work pieces surface makes robot body and welding work pieces insulation simultaneously; Described directive wheel comprises multi-directional ball and insulation sleeve, adopts bolt to be installed on front part of a body, with two driving wheels, forms the robot plane of motion, and by insulation sleeve and body insulation; Described multi-directional ball comprises directive wheel body, steel ball, gland, elastic scheibe, steel ball.Described permanent magnetism gap adsorbent equipment comprises magnet regulating handle, magnet camshaft, magnet cam sleeve, magnet driver plate, magnetic support, permanent magnet, magnetic support bearing block, magnetic support axle, permanent magnet is fixedly mounted in magnetic support by the magnet driver plate, magnetic support is connected with chassis supported by the magnetic support bearing block, and can rotate around the magnetic support axle, the magnet regulating handle is connected with the magnet camshaft; Described permanent magnetism gap adsorbent equipment is installed between directive wheel and driving shaft, and the absorption affinity between adsorbent equipment and magnetic conduction work is regulated its air gap realization between the two by the rotor magnet regulating handle.
Described welding torch adjusting device comprises crosshead shoe and welding torch jockey; Crosshead shoe is comprised of cross sliding clock and vertical slipper, and cross sliding clock is comprised of a ball screw guide rail and stepper motor, but vertical slipper by the screw rod of a manual adjustments, formed, and be installed on body by connecting plate; Described welding torch jockey structure comprises: welding torch Connection Block, pad, welding torch connecting axle, regulating handle, welding torch connecting plate and nut; The welding torch connecting plate is installed on cross sliding clock by bolt; Welding torch and welding torch Connection Block are with bolts, and the welding torch Connection Block is installed on connecting plate by the welding torch connecting axle, and by a nut screwing clamping; Welding torch connecting axle one end is connected with regulating handle.
Described welding cable fixer comprises holder, cable tray, cable tray axle, cable flap, fishbolt, binding nut; Described holder is secured by bolts on the welding robot human organism; Described holder is connected with the attaching nut by connecting bolt with cable tray, and can relatively rotate; Described cable tray is connected by the cable tray axle with the cable flap; The welding cable is installed between cable tray and cable flap, and fixes to clamp by fishbolt and binding nut.
Described sensor-based system by rotary arc sensor, current Hall sensor, keep away barrier sensor and dropproof sensor, rotary arc sensor is installed on welding torch jockey front end with welding gun composition one; Described Hall element is fixed on welding cable, for detection of the current signal in welding process; The described barrier sensor of keeping away adopts sonac, is installed on front part of a body; Described dropproof sensor adopts photoelectric sensor, is installed on the body surrounding;
Described robot control cabinet comprises master controller and stepper motor driver, and is installed on mobile platform; Described master controller is connected by cable with sensor-based system, stepper motor driver; Described stepper motor driver is connected by cable with stepper motor.
Described MIG/MAG welding system comprises that welding gun, the source of welding current, wire-feed motor and protection gas are connected by cable with the welding gun in robot.
The working method of the described Autonomic Mobile Robot System for the narrow space welding is as follows:
Described robot first by the manually-operated touch-screen to weld start position, welding process requirement according to workpiece, use the vertical slipper adjusting handle to regulate the welding stem elongation, the welding torch jockey is adjusted the welding torch pivot angle, weld seam style number (V-arrangement or angle welding) is set, speed of welding, the parameter such as welding current and voltage, play arc welding, the industrial control computer setup control cycle, in rotary scanning welding torch, welding gun at the uniform velocity rotates the generation pulse signal, for data collecting card provides sampling trigger signal, industrial control computer gathers current value according to Hall current sensor and realizes weld seam deviation identification, calculate the controlled quentity controlled variable of controlling each drive motors, input to motion control card and convert direction and the pulse signal of controlling drive motors to, then the motion of motor driver control chassis and each motor of welding torch adjusting device, thereby control, welding gun moves and welding, realize autonomous and automatic welding in welding process.
Described mobile welding robot body chassis move and turn to by control two independently the drive motors rotating speed realize, when two drive motors rotating speeds identical, the Robot rectilinear motion; As need turn to, can control two drive motors rotating speed differences and realize.
When described obstacle avoidance apparatus detects the place ahead barrier is arranged, sonac signals to robot controller, and then controller turns to and keeps away barrier by controlling two drive motors differentials.When described fall-proofing device detects the place ahead without workpiece planarization, sensor signals to robot controller, and then controller makes robot chassis stop motion by controlling two drive motors.
Described permanent magnetism gap adsorbent equipment can realize that absorption affinity can regulate, the specific works principle is: during the normal operation of mobile robot's body chassis, the basic circle of the cam of magnet camshaft contacts with the magnet driver plate, now magnetic adsorption device and magnetic conduction workpiece are apart from minimum, the magnetic adsorbability maximum, increase robot driving force and stability; When rotor magnet regulating handle certain angle, the cam of the magnet camshaft jack-up magnet driver plate that makes progress, make magnetic support rotate around the magnetic support axle, thereby make the distance increase of permanent magnet and magnetic conduction workpiece, thereby magnetic adsorbability is reduced.When operating personnel need transfer robot, can make the magnet regulating handle rotate the angle of 90 degree, now the distance of permanent magnet and magnetic conduction workpiece is maximum, the magnetic adsorbability minimum.
The welding cable is installed between cable tray and cable flap, by fishbolt and binding nut, is fixed to clamp; Welding robot, when moving process, because cable tray and holder can relatively rotate around connecting bolt, makes to weld cable in relatively large bending radius, reduces wire-feeder resistance.
Described welding torch jockey, when welding robot starts, is regulated the welding torch pivot angle as need, oppositely unscrews regulating handle, now, but be welded to connect seat boxing torch connecting plate, relatively rotate, after adjusting to required angle, forward is tightened regulating handle, thereby make to be welded to connect seat, with the welding torch connecting plate, fixes.
Claims (6)
1. the Autonomic Mobile Robot System for narrow space welding, it is characterized in that: described system comprises mobile apparatus human body, control system and MIG/MAG welding system;
The mobile apparatus human body comprises the robot chassis, welding torch adjusting device and welding cable fixer;
Control system comprises sensor-based system and robot control cabinet;
The MIG/MAG welding system comprises welding gun, the source of welding current, wire-feed motor and protection gas;
The mobile apparatus human body, control system is connected by cable with MIG/MAG welding system three;
Described robot chassis comprises the body that adopts drive unit, directive wheel, adjustable permanent magnetism gap adsorbent equipment and said apparatus is installed; Described robot chassis adopts three-wheel differential drives structure form, and two driving wheels and directive wheel form the robot body plane of movement; Utilize two rear drive sprocket differentials to realize moving and turning to of robot body;
Described drive unit comprises that a driving shaft, two stepper motors, two decelerators, two pairs of travelling gears, two driving wheels and two driving shaft bearings form;
Installing insulating rubber tyre on described driving wheel, the coefficient of friction on increase and welding work pieces surface makes robot body and welding work pieces insulation simultaneously;
Described directive wheel comprises multi-directional ball and insulation sleeve, adopts bolt to be installed on front part of a body, with two driving wheels, forms the robot plane of motion, and by insulation sleeve and body insulation;
Described multi-directional ball comprises directive wheel body, steel ball, gland, elastic scheibe, steel ball;
Described permanent magnetism gap adsorbent equipment comprises magnet regulating handle, magnet camshaft, magnet cam sleeve, magnet driver plate, magnetic support, permanent magnet, magnetic support bearing block, magnetic support axle, permanent magnet is fixedly mounted in magnetic support by the magnet driver plate, magnetic support is connected with chassis supported by the magnetic support bearing block, and can rotate around the magnetic support axle, the magnet regulating handle is connected with the magnet camshaft;
Described permanent magnetism gap adsorbent equipment is installed between directive wheel and driving shaft, and the absorption affinity between adsorbent equipment and magnetic conduction work is regulated its air gap realization between the two by the rotor magnet regulating handle.
2. a kind of Autonomic Mobile Robot System for narrow space welding according to claim 1, it is characterized in that: described welding torch adjusting device comprises crosshead shoe and welding torch jockey; Crosshead shoe is comprised of cross sliding clock and vertical slipper, and cross sliding clock is comprised of a ball screw guide rail and stepper motor, but vertical slipper by the screw rod of a manual adjustments, formed, and be installed on body by connecting plate; Welding torch jockey structure comprises: welding torch Connection Block, pad, welding torch connecting axle, regulating handle, welding torch connecting plate and nut; The welding torch connecting plate is installed on cross sliding clock by bolt; Welding torch and welding torch Connection Block are with bolts, and the welding torch Connection Block is installed on connecting plate by the welding torch connecting axle, and by a nut screwing clamping; Welding torch connecting axle one end is connected with regulating handle.
3. a kind of Autonomic Mobile Robot System for narrow space welding according to claim 1, it is characterized in that: described welding cable fixer comprises holder, cable tray, cable tray axle, cable flap, fishbolt, binding nut; Holder is secured by bolts on the welding robot human organism; Holder is connected with the attaching nut by connecting bolt with cable tray, and can relatively rotate; Described cable tray is connected by the cable tray axle with the cable flap; The welding cable is installed between cable tray and cable flap, and fixes to clamp by fishbolt and binding nut.
4. a kind of Autonomic Mobile Robot System for narrow space welding according to claim 1, it is characterized in that: described sensor-based system by rotary arc sensor, current Hall sensor, keep away barrier sensor and dropproof sensor, rotary arc sensor is installed on welding torch jockey front end with welding gun composition one; Hall element is fixed on welding cable, for detection of the current signal in welding process; Keep away the barrier sensor and adopt sonac, be installed on front part of a body; Dropproof sensor adopts photoelectric sensor, is installed on the body surrounding.
5. a kind of Autonomic Mobile Robot System for narrow space welding according to claim 1, it is characterized in that: described robot control cabinet comprises master controller and stepper motor driver, and is installed on mobile platform; Master controller is connected by cable with sensor-based system, stepper motor driver; Stepper motor driver is connected by cable with stepper motor.
6. a kind of Autonomic Mobile Robot System for narrow space welding according to claim 1, it is characterized in that: described MIG/MAG welding system comprises that welding gun, the source of welding current, wire-feed motor and protection gas are connected by cable with the welding gun in robot.
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| CN104308344A (en) * | 2014-10-08 | 2015-01-28 | 浙江工业大学 | Welding robot for inner cavity of narrow and deep box body |
| CN106141520A (en) * | 2016-08-01 | 2016-11-23 | 珠海东方重工有限公司 | Portable welding machine people and welding procedure thereof |
| CN106513954A (en) * | 2016-12-20 | 2017-03-22 | 柳州振业焊接机电设备制造有限公司 | Control system for automatic soldering tin machine |
| CN106735745A (en) * | 2016-12-20 | 2017-05-31 | 柳州振业焊接机电设备制造有限公司 | One kind is based on rotating the arc welding equipment |
| CN110640276A (en) * | 2019-09-16 | 2020-01-03 | 江南造船(集团)有限责任公司 | Submerged arc welding device and welding method thereof |
| CN112743510A (en) * | 2019-10-31 | 2021-05-04 | 精工爱普生株式会社 | Control method and computing device |
| CN117901139A (en) * | 2024-02-02 | 2024-04-19 | 重庆建工集团股份有限公司 | Pipeline inner wall welding robot suitable for pipelines of different sizes |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104308344A (en) * | 2014-10-08 | 2015-01-28 | 浙江工业大学 | Welding robot for inner cavity of narrow and deep box body |
| CN104308344B (en) * | 2014-10-08 | 2016-04-13 | 浙江工业大学 | Narrow dark cabinets cavity welding robot |
| CN106141520A (en) * | 2016-08-01 | 2016-11-23 | 珠海东方重工有限公司 | Portable welding machine people and welding procedure thereof |
| CN106513954A (en) * | 2016-12-20 | 2017-03-22 | 柳州振业焊接机电设备制造有限公司 | Control system for automatic soldering tin machine |
| CN106735745A (en) * | 2016-12-20 | 2017-05-31 | 柳州振业焊接机电设备制造有限公司 | One kind is based on rotating the arc welding equipment |
| CN110640276A (en) * | 2019-09-16 | 2020-01-03 | 江南造船(集团)有限责任公司 | Submerged arc welding device and welding method thereof |
| CN112743510A (en) * | 2019-10-31 | 2021-05-04 | 精工爱普生株式会社 | Control method and computing device |
| CN112743510B (en) * | 2019-10-31 | 2023-11-03 | 精工爱普生株式会社 | Control method and computing device |
| CN117901139A (en) * | 2024-02-02 | 2024-04-19 | 重庆建工集团股份有限公司 | Pipeline inner wall welding robot suitable for pipelines of different sizes |
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| CN103480954B (en) | 2016-04-13 |
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