Autonomous mobile robot for welding in narrow space

Abstract

An autonomous mobile robot for welding in narrow space comprises a robot body, a rotational scanning welding torch and a control system, wherein the robot body comprises a mobile robot chassis, a crosshead shoe adjusting device, a welding torch connecting device and a welding cable fixing device; by the rotational scanning welding torch, a welding gun rotates at constant speed and generates a sampling triggering signal for a controller in a welding process; the control system recognizes deviation of weld joints in the welding process according to current signals acquired by a Hall current sensor, and autonomously completes welding operation; the movement of the robot chassis and the movement of the crosshead shoe adjusting device are controlled; and a welding cable pipeline is reliably fixed on the robot body by the welding cable fixing device. The welding robot can flexibly move on a directing plane workpiece, is small in boundary dimension, and is particularly suitable for automatic welding in the narrow space.

Description

Technical field [0001] The invention belongs to the technical field of robots, and particularly relates to an autonomous mobile robot used for welding in narrow spaces. Background technique [0002] As the requirements for welding quality and welding efficiency become higher and higher, the cost of manual welding increases, making the demand and use of welding robots more and more widespread. [0003] Due to the narrow space welding, such as the welding inside the cabin and the container, the working space is narrow, the body of the welding worker cannot extend freely during the operation, and the working conditions are very bad. In addition, most of these structures are sealed at the top, the light is relatively dim, and the smoke and dust during welding are difficult. Drainage will cause great harm to the welder’s body and even cause death. [0004] For existing industrial robots, the arm length is generally 1.5-2.0m. Because the base cannot be moved, large-size workpieces can...

AI Technical Summary

Problems solved by technology

[0003] Due to the welding of narrow spaces, such as the welding inside the cabin and container, the working space is narrow, the body of the welder cannot be stretched freely, and the working conditions are very bad. In addition, most of these structures are sealed at the top, and the light is relatively dim, so the smoke and dust during welding are difficult. Discharge, the welding workers are very harmful to the body, and even lead to death and other characteristics

[0004] For the existing industrial robots, the arm length is generally 1.5-2.0m, and the base cannot be moved, so large-sized workpieces cannot be welded

For the gantry welding robot, although the welding size is large, it is limited to the space of the workshop

The above-mentioned structures are generally large in size, and most of them need to be welded outside the workshop.

In addition, the welding robots currently used in the industry need to use programming or teaching methods to work. It is difficult to adapt to such a large workpiece that needs to be welded on the construction site and on site.

Although many mobile welding robots have been developed at home and abroad to solve the problem of automatic welding of large workpieces at construction sites, these robots are aimed at welding operations in large open areas. The systems are complex, inconvenient to use and move, and difficult to adapt to narrow spaces. welding automation requirements

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