Obstacle-crossing all-position automatic welding robot

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, theintelligent 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 [0001] The invention relates to a welding robot, in particular to an obstacle-surmounting all-position autonomous welding robot. Background technique [0002] A welding robot is an automated device that can complete welding operations. Welding robots generally use a multi-joint robotic arm to achieve arbitrary position and posture movement in the workspace. In the industry, welding robots generally use magnetic suction welding robots to absorb the surface of the welding workpiece, and then complete the welding task on the welding work surface. Magnetic suction welding robots are generally in direct contact with the workpiece or without direct contact with the magnetic attraction of the welding work to perform welding. For example, Chinese Patent Publication No. CN02079339A discloses a robot for working on the surface of an oil storage tank. This robot is Get in touch with the magnetic welding robot for welding work. Chinese Patent Publication No. CN1739925...

AI Technical Summary

Problems solved by technology

[0003] The above two robots, when there are obstacles on the surface of the welding workpiece, cannot achieve welding across the obstacle, and there are dead spots where they cannot walk; the degree of freedom of the welding torch holding mechanism limits the welding work position and posture. When encountering corner welding, The welding torch cannot be moved to the weld seam position of the welding workpiece, and there is a welding dead angle; in addition, the above two robots have a single sensing method and cannot achieve autonomous continuous welding work

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