Creeping type welding robot system

Abstract

The invention belongs to the welding field, and particularly relates to a creeping type welding robot system. The system comprises a welding power source; a laser image sensing system, which obtains image information of a welding seam from the site; a cross-shaped slide block control system, which is used for processing the image information obtained by the laser image sensing system, and extracting a deviation signal of the welding seam after processing; a cross-shaped slide block, which is moved after receiving the deviation signal provided by the cross-shaped slide block control system; a creeping mechanism, which controls the movement direction of the welding robot; a man-machine interface, which sets every parameter; a programmable controller. The system controls the movement of the welding robot by the creeping mechanism and the cross-shaped slide block, so that the welding robot is good in maneuverability, good in stability and convenient to operate; an image is obtained by a laser imaging sensing system, so that the welding is accurate; the cooling system is arranged for cooling a work piece which is required to rapidly cool after welding.

Description

technical field [0001] The invention belongs to the field of welding, in particular to a crawling welding robot system. Background technique [0002] Welding robots are industrial robots engaged in welding (including cutting and spraying). According to the definition of the International Organization for Standardization (ISO) industrial robot term standard welding robot, an industrial robot is a multipurpose, reprogrammable automatic control manipulator (Manipulator) with three or more programmable axes for field of industrial automation. In order to adapt to different purposes, the mechanical interface of the last axis of the robot is usually a connecting flange, which can be connected to different tools or end effectors. The welding robot is equipped with welding tongs or welding (cutting) guns on the flange of the final axis of the industrial robot, so that it can perform welding, cutting or thermal spraying. [0003] At present, the types of mobile mechanisms used by ...

AI Technical Summary

Problems solved by technology

The wheel type has the advantages of stable movement, high maneuverability and easy manipulation, etc., and cannot climb slopes; the walking type can also walk on uneven ground and has good mobility, but has problems such as poor stability.

Both of these two moving mechanisms cannot meet the actual requirements of welding

The crawler type can walk on uneven ground, has good stability, and can climb large slopes, which is suitable for welding site needs. However, the operation of its movement direction is controlled by the speed difference between the left and right crawlers, and there will be slippage when turning, and the resistance is relatively high. Large, poor steering radius and center accuracy, and some difficulties in motion control

Images