Autonomous mobile robot system for metal-inert-gas (MIG)/metal-active-gas (MAG) multilayer multipass welding of large thick plate

Abstract

The invention belongs to the technical field of welding of robots, and in particular relates to an autonomous mobile robot system for metal-inert-gas (MIG) / metal-active-gas (MAG) multilayer multipass welding of a large thick plate. The system comprises a robot body, a control system and an MIG / MAG welding system, wherein the robot body comprises a crawling mechanism and an operating mechanism; the control system comprises a sensing system, a robot body control box and a robot master control system; the MIG / MAG welding system comprises an MIG / MAG welding gun, an MIG / MAG welding power supply, a wire feeding machine, shielding gas and a weld cooling system; and the robot body, the control system and the MIG / MAG welding system are connected with one another through cables. The system has the advantages that a contact type magnet-wheel adsorption and non-contact type clearance adsorption composite mode and a three-wheel full-drive wheel type movement mode are used by the crawling mechanism, so that a robot can autonomously and flexibly move at all positions on the surface of an operating object, can be reliably adsorbed and can perform all-position welding operation, and the system is high in comprehensive performance.

Description

technical field [0001] The invention belongs to the technical field of robot welding, and specifically relates to an autonomous mobile robot system for MIG / MAG multi-layer and multi-pass welding of large thick plates. Background technique [0002] The welding of large steel structures affects its manufacturing efficiency and quality. Robot automation and intelligent welding are the main means to solve this problem. For the welding of large steel structures, the structure and weight of the components themselves are not suitable for rotation or rotation, so they are not suitable for special-purpose planes or fixed manipulators. On the important parts of the machine, ensuring stable welding quality is the key issue. Affected by welding workers' emotions and welding labor intensity, it is difficult to stabilize the quality of manual MIG / MAG multi-layer multi-pass welding. [0003] The robot welding system generally consists of a welding carrying mechanism, a welding system, an...

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Problems solved by technology

[0008] In order to overcome the problem that the existing autonomous mobile robot for MIG / MAG multi-layer and multi-pass welding of large thick plates cannot have both motion flexibility and adsorption capacity, it is now specially proposed to meet the full-position, high-efficiency and high-quality intelligence of large steel structures. Welding An autonomous mobile robot system for MIG / MAG multi-layer multi-pass welding of large thick plates

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