CN111922476A

CN111922476A - High altitude welding robot

Info

Publication number: CN111922476A
Application number: CN202010581435.5A
Authority: CN
Inventors: 刘时球; 唐贤林; 谭冬; 张少华; 王义飞; 陈建中; 侯晓刚
Original assignee: Fujian Gas Holder Equipment Installation Co ltd
Current assignee: Fujian Gas Holder Equipment Installation Co ltd
Priority date: 2020-06-23
Filing date: 2020-06-23
Publication date: 2020-11-13
Anticipated expiration: 2040-06-23
Also published as: CN111922476B

Abstract

The invention discloses a high altitude welding robot, which belongs to the technical field of welding devices and comprises a moving box, wherein a vertical through groove is formed in the moving box, a moving support mechanism is arranged in the through groove, the moving support mechanism comprises a rack rod with a rack arranged on one side, a moving motor is arranged on the moving box close to the rack, a gear is arranged at the output end of the moving motor, the gear is meshed with the rack, and the gear and the moving motor are connected with the side wall of the moving box through a telescopic rod with a spring. According to the invention, the infrared flaw detector, the processor, the moving motor, the conveying motor and the electromagnetic valve in the welding box form a control system, and automatic welding operation on high-altitude pipelines, large supports and the like is completed through an infrared detection technology, so that the use cost of manpower and machines is reduced, the operation risk is reduced, and high-altitude operation is avoided.

Description

High altitude welding robot

Technical Field

The invention relates to a welding robot, in particular to a high altitude welding robot, and belongs to the technical field of welding devices.

Background

Welding, also known as fusion, melt, is a manufacturing process and technique that joins metal or other thermoplastic materials such as plastics in a manner of heating, high temperature or high pressure, and modern welding's energy sources are many, including gas flame, electric arc, laser, electron beam, friction and ultrasonic wave, except using in the factory, welding can also be carried out under multiple environment, such as field, underwater and space, wherever, the welding all can bring danger to the operator, so must take appropriate safeguard measure when welding, the welding is including burning, electrocution, visual damage, inhale toxic gas, ultraviolet irradiation excessive etc. that the injury that probably causes for the human body;

in the process of high-altitude operation, the traditional welding device is adopted, so that the danger coefficient is high, and meanwhile, the welding efficiency is low.

Disclosure of Invention

The invention mainly aims to provide a high-altitude welding robot to solve the problem of high risk coefficient of manual welding in the prior art.

The purpose of the invention can be achieved by adopting the following technical scheme:

a high altitude welding robot comprises a moving box, wherein a vertical through groove is formed in the moving box, a moving support mechanism is arranged in the through groove, the moving support mechanism comprises a rack rod with a rack arranged on one side, a moving motor is arranged at the position, close to the rack, of the moving box, a gear is arranged at the output end of the moving motor, the gear is meshed with the rack, the gear and the moving motor are connected with the side wall of the moving box through a telescopic rod with a spring, the telescopic rod is arranged in the horizontal direction, a roller is arranged at the side, away from the rack, of the through groove, a horizontal moving mechanism is arranged on the side, close to the roller, of the moving box, a welding box is arranged at the moving end of the horizontal moving mechanism, a nozzle is arranged at the side, away from the horizontal moving mechanism, an infrared flaw detector and a camera are arranged outside the side, close to the nozzle, the inside of welding case is rotated and is installed the coil of wire, and the outside of coil of wire is provided with the welding wire, the inside one side symmetry that is close to the nozzle of welding case is provided with send a gyro wheel, the welding wire is located between sending a gyro wheel, and the welding wire extends to the inside of nozzle, the internally mounted of welding case has conveying motor, and conveying motor's output and send a gyro wheel fixed connection, the interior bottom of welding case is provided with the inflator, and the top of inflator installs the conveyer pipe, the one end of conveyer pipe extends to the inside of nozzle, be provided with the solenoid valve on the conveyer pipe, the inside of movable box is provided with the treater, the output of infrared flaw detector and the output and the treater electric connection of camera, the output of treater passes through wire and movable motor, horizontal migration mechanism, conveying motor and solenoid valve electric connection, the treater is connected with wireless transmitting and receiving unit, the wireless transmitting and receiving unit is connected with the remote controller through a wireless signal, the remote controller comprises a touch display screen, the processor is used for acquiring image data of the camera and transmitting the image data to the remote controller through the wireless transmitting and receiving unit, the remote controller is used for receiving the image data to be displayed on the touch display screen, the remote controller is used for acquiring a touch moving coordinate of the touch display screen and transmitting the touch moving coordinate to the processor, the processor starts the conveying motor and the electromagnetic valve to start welding according to a detection signal of the infrared flaw detector, and the processor controls the moving motor and the horizontal moving mechanism to move the nozzle according to the touch moving coordinate.

Preferably: an annular sliding groove is formed in one side, close to the nozzle, of the moving box, and an arc-shaped plate is slidably mounted inside the annular sliding groove.

Preferably: the movable supporting mechanism further comprises an L-shaped plate, a screw rod is installed on the outer side of the L-shaped plate in a threaded mode, a screw motor is connected to one end, close to the rack rod, of the screw rod, an electric sucker is installed at one end, far away from the screw motor, of the screw rod, and the screw motor and the electric sucker are connected with the processor.

Preferably: the infrared flaw detector is provided with two groups, and the infrared flaw detector is respectively positioned at the top and the bottom of the nozzle.

Preferably: the rack bar is including many, and many rack bars cup joint each other, and inside is provided with hydraulic telescoping rod, and the both sides at rack bar's top are provided with the transition bevel connection, and the inclined plane of transition bevel connection is inclined toward the side of inboard rack bar by the side of the rack bar in the outside.

Preferably: the bottom of rack bar is provided with removes the seat, the bottom of removing the seat is provided with the gyro wheel.

The invention has the beneficial effects that:

according to the high-altitude welding robot, the infrared flaw detector, the processor, the moving motor, the conveying motor and the electromagnetic valve in the welding box form a control system, automatic welding operation on high-altitude pipelines, large supports and the like is completed through an infrared detection technology, the use cost of manpower and machines is reduced, meanwhile, the operation risk is reduced, and high-altitude operation is avoided.

Drawings

FIG. 1 is a front cross-sectional view of the present invention;

FIG. 2 is a view showing the internal structure of the mobile box according to the present invention;

FIG. 3 is a diagram of a control system of the present invention;

fig. 4 is a top view structural view of the moving motor and the gear of the present invention.

In the figure: 1. a mobile box; 2. a through groove; 3. a mobile support mechanism; 4. a moving motor; 5. a gear; 6. a nozzle; 7. an infrared flaw detector; 8. coiling the wire; 9. welding wires; 10. a wire feeding roller; 11. a conveying motor; 12. an air cylinder; 13. a delivery pipe; 14. an electromagnetic valve; 15. a processor; 16. an annular chute; 17. an arc-shaped plate; 18. a rack bar; 19. an L-shaped plate; 21. a screw; 22. a screw motor; 23. an electric suction cup; 30. a spring; 31. a telescopic rod; horizontal 32, moving mechanism; 42. a wireless transmitting/receiving unit; 60. a roller; 43. a remote controller; 44. a touch display screen; 40. welding a box; 41. a camera; 34. a transition bevel opening; 35. a movable seat; 36. and a roller.

Detailed Description

In order to make the technical solutions of the present invention more clear and definite for those skilled in the art, the present invention is further described in detail below with reference to the following examples and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

As shown in fig. 1-4, the present embodiment provides a high altitude welding robot, comprising a moving box 1, wherein a vertical through groove 2 is formed inside the moving box 1, a moving support mechanism 3 is arranged inside the through groove 2, the moving support mechanism 3 comprises a rack bar 18 with a rack arranged on one side, a moving motor 4 is installed near the rack of the moving box 1, a gear 5 is installed at the output end of the moving motor 4, the gear 5 is engaged with the rack, the gear 5 and the moving motor 4 are connected with the side wall of the moving box 1 through a telescopic rod 31 with a spring 30, the telescopic rod 31 is arranged in a horizontal direction, a roller 60 is arranged on one side of the through groove 2 far from the rack, a horizontal moving mechanism 32 is arranged on one side of the moving box 1 near the roller 60, and a welding box 40 is arranged at the moving end of the horizontal moving mechanism 32, the welding case 40 is kept away from one side of horizontal migration mechanism 32 and is installed nozzle 6, the externally mounted that welding case 40 is close to nozzle 6 one side has infrared flaw detector 7 and camera 41, the inside rotation of welding case 40 installs the line book 8, and the outside of line book 8 is provided with welding wire 9, the inside one side symmetry that is close to nozzle 6 of welding case 40 is provided with a wire feeding roller 10, welding wire 9 is located between the wire feeding roller 10, and welding wire 9 extends to the inside of nozzle 6, the internally mounted of welding case 50 has conveying motor 11, and conveying motor 11's output and a wire feeding roller 10 fixed connection, the interior bottom of welding case 40 is provided with inflator 12, and the top of inflator 12 installs conveyer pipe 13, the one end of conveyer pipe 13 extends to the inside of nozzle 6, be provided with solenoid valve 14 on conveyer pipe 13, the inside of moving case 1 is provided with treater 15, the output end of the infrared flaw detector 7 and the output end of the camera 41 are electrically connected with the processor 15, the output end of the processor 15 is electrically connected with the mobile motor 4, the horizontal moving mechanism 32, the conveying motor 11 and the electromagnetic valve 14 through conducting wires, the processor 15 is connected with the wireless transmitting and receiving unit 42, the wireless transmitting and receiving unit 42 is connected with the remote controller 43 through wireless signals, the remote controller 43 comprises a touch display screen 44, the processor 15 is used for acquiring image data of the camera 41 and transmitting the image data to the remote controller 43 through the wireless transmitting and receiving unit 42, the remote controller 43 is used for receiving the image data and displaying the image data on the touch display screen 44, the remote controller 43 is used for acquiring touch moving coordinates of the touch display screen 44 and transmitting the touch moving coordinates to the processor 15, the processor 15 starts the conveying motor 11 and the electromagnetic valve 14 to weld according to a detection signal of, and controls the moving motor 4 and the horizontal moving mechanism 32 to move the nozzle 6 according to the touch movement coordinates.

Wherein: the moving motor 4 rotates the gear 5, so that the welding box 40 and the nozzle 6 move up and down. The horizontal movement mechanism 32 moves the welding tank 40 and the nozzle 6 to the left and right, i.e., in the horizontal direction. The present application allows the moving motor 4 and the horizontal movement mechanism 32 to move by a remote controller. Thereby driving the welding box 40 and the nozzle 6 to move up and down and left and right. When the movement is controlled, the position of the nozzle can be set at the middle of the picture of the touch display screen, and the size of the movement of the finger on the touch display screen is the same as the size of the movement of the picture of the camera after the movement of the moving motor 4 and the horizontal moving mechanism 32 are controlled. When welding is needed, only the picture needs to be dragged on the touch screen, the nozzle corresponding to the camera is kept still, the place where the background needs to be welded moves along with the finger, the nozzle is always kept in the middle, and the control is convenient. In a specific implementation, the moving direction controlled by the moving motor 4 and the horizontal moving mechanism 32 is opposite to the touch direction, and if the finger touches upwards, the moving motor drives the nozzle to move downwards. So that the background picture moves up following the finger. The welding head can correspondingly move over the welding ground for detection, if the infrared flaw detector detects a welding seam, the welding is automatically started, and the welding process is greatly facilitated. In some embodiments, the forced welding can be controlled by a remote controller, so that the welding can be carried out without detection of an infrared flaw detector.

The horizontal moving mechanism can be realized by adopting a horizontal moving structure of the existing machine tool, such as an electric sliding rod.

In this embodiment, as shown in fig. 1, an annular chute 16 is opened on one side of the moving box 1 close to the nozzle 6, an arc-shaped plate 17 is slidably mounted inside the annular chute 16, the welding ash can be collected by the arc-shaped plate 17, and the arc-shaped plate 17 can be always located at the bottom of the moving box 1 in the using process of the device through the sliding connection between the arc-shaped plate 17 and the annular chute 16.

In this embodiment, as shown in fig. 1, the movable supporting mechanism 3 includes an L-shaped plate 19, a screw 21 is installed on the outer side of the L-shaped plate 19 in a threaded manner, one end of the screw 21 close to the rack bar 18 is connected with a screw motor 22, one end of the screw 21 far away from the screw motor 22 is provided with an electric suction cup 23, the screw motor 22 and the electric suction cup 23 are connected with the processor 15, the top of the robot can be close to a fixed object by using the screw motor 22 and the screw 21, then the fixed object is extruded, and finally the surface of the fixed object is sucked by the electric suction cup, so that the upper end of the robot is fixed, and the welding is.

In the present embodiment, as shown in fig. 1, two sets of infrared flaw detectors 7 are provided, and the infrared flaw detectors 7 are respectively located at the top and bottom of the nozzle 6, so that the flaw detection effect during welding is improved.

In this embodiment, the rack bar 18 is including many, and many rack bars 18 cup joint each other, and inside is provided with hydraulic telescoping rod 33, and the both sides at the top of rack bar 18 are provided with the oblique mouth 34 of transition, and the inclined plane of the oblique mouth 34 of transition is by the side slope of the rack bar 18 in the outside toward the side slope of the rack bar 18 of inboard. Through hydraulic telescoping rod, can increase welding robot's height, realize the welding of higher position. And the inclined plane of the transition inclined opening 34 is used for enabling the gear 5 and the roller 60 to pass through the transition of different rack rods, when the diameters of the rack rods are changed, the telescopic rod 31 of the spring 30 can also push the gear against the rack, so that the gear and the rack can be meshed, and the horizontally arranged telescopic rod 31 can ensure that the gear can only horizontally move, so that the vertical movement is avoided.

In order to facilitate the movement of the robot, a moving seat 35 is provided at the bottom of the rack bar 18, and a roller 36 is provided at the bottom of the moving seat 35.

As shown in fig. 1 to 4, the present embodiment provides a high altitude welding robot working process as follows:

step 1: the robot is powered up through wires or a storage battery arranged in the welding box. Then, when welding vertical cracks on the high-altitude pipeline and the support, the L-shaped plate 19 is leaned against the top wall of the pipeline or the support, then the welding position is found, the electric sucker 23 is started to drive the screw 21 to rotate, and the screw motor 22 and the electric sucker are utilized to adsorb and fix a fixed object;

step 2: the camera collects images, and the remote controller displays the images. The finger drags the image background, i.e. the welding position, past the nozzle in the middle. The processor 15 controls the moving motor 4 to drive the gear 5 to rotate, the gear 5 is meshed with the rack rod 18, the moving box 1 moves, in the moving process, the infrared flaw detector 7 searches for cracks, when the cracks are found, signals are transmitted to the inside of the processor 15, the processor 15 starts the conveying motor 11 to control the rotation of the wire feeding roller 10, the welding wires are conveyed, meanwhile, the electromagnetic valve 14 is opened to convey gas, then the welding seams are welded, and automatic detection and welding are achieved. Of course, to achieve gas ignition, there is typically a pre-fired ignition head near the nozzle. In some embodiments, ignition may also be provided by an electrically controlled ignition needle connected to the processor.

And step 3: in the welding process, the falling welding dust falls into the top of the arc-shaped plate 17 to be collected uniformly.

The above description is only for the purpose of illustrating the present invention and is not intended to limit the scope of the present invention, and any person skilled in the art can substitute or change the technical solution of the present invention and its conception within the scope of the present invention.

Claims

1. The utility model provides a high altitude welding robot which characterized in that: comprises a movable box (1), a vertical through groove (2) is formed in the movable box (1), a movable supporting mechanism (3) is arranged in the through groove (2), the movable supporting mechanism (3) comprises a rack rod (18) with a rack arranged on one side, a movable motor (4) is arranged at the position, close to the rack, of the movable box (1), a gear (5) is arranged at the output end of the movable motor (4), the gear (5) is meshed with the rack, the gear (5) and the movable motor (4) are connected with the side wall of the movable box (1) through an expansion link (31) with a spring (30), the expansion link (31) is arranged in the horizontal direction, a roller (60) is arranged on one side, away from the rack, of the through groove (2), a horizontal moving mechanism (32) is arranged on one side, close to the roller (60), of the movable box (1), the motion end of horizontal migration mechanism (32) is provided with welding box (40), welding box (40) are kept away from nozzle (6) are installed to one side of horizontal migration mechanism (32), the externally mounted that welding box (40) are close to nozzle (6) one side has infrared flaw detector (7) and camera (41), the inside rotation of welding box (40) installs line book (8), and the outside of line book (8) is provided with welding wire (9), the inside one side symmetry that is close to nozzle (6) of welding box (40) is provided with and send a gyro wheel (10), welding wire (9) are located and send between a gyro wheel (10), and welding wire (9) extend to the inside of nozzle (6), the internally mounted of welding box (40) has conveying motor (11), and the output of conveying motor (11) and send a gyro wheel (10) fixed connection, be provided with inflator (12) in the bottom of welding box (40), and the top of inflator (12) is installed conveyer pipe (13), the one end of conveyer pipe (13) extends to the inside of nozzle (6), be provided with solenoid valve (14) on conveyer pipe (13), the inside of removal case (1) is provided with treater (15), the output and the treater (15) electric connection of camera (41) of infrared flaw detector (7), the output of treater (15) passes through wire and mobile motor (4), horizontal migration mechanism (32), conveying motor (11) and solenoid valve (14) electric connection, treater (15) are connected with wireless transmit-receive unit (42), and wireless transmit-receive unit (42) are connected with remote controller (43) through radio signal, and remote controller (43) are including touch display screen (44), treater (15) are used for obtaining the image data of camera (41) and send remote controller (43) through wireless transmit-receive unit (42), the remote controller (43) is used for receiving image data and displaying the image data on the touch display screen (44), the remote controller (43) is used for acquiring touch moving coordinates of the touch display screen (44) and sending the touch moving coordinates to the processor (15), the processor (15) starts the conveying motor (11) and the electromagnetic valve (14) to start welding according to detection signals of the infrared flaw detector, and controls the moving motor (4) and the horizontal moving mechanism (32) to move the nozzle (6) according to the touch moving coordinates.

2. The high altitude welding robot according to claim 1, characterized in that: an annular sliding groove (16) is formed in one side, close to the nozzle (6), of the moving box (1), and an arc-shaped plate (17) is slidably mounted inside the annular sliding groove (16).

3. The high altitude welding robot according to claim 1, characterized in that: remove supporting mechanism (3) and still include L template (19), screw rod (21) are installed to the outside screw thread of L template (19), the one end that screw rod (21) are close to rack bar (18) is connected with screw motor (22), screw motor (22) are kept away from in screw rod (21) one end installs electric chuck (23), and screw motor (22) and electric chuck (23) are connected with treater (15).

4. The high altitude welding robot according to claim 1, characterized in that: the infrared flaw detectors (7) are arranged in two groups, and the infrared flaw detectors (7) are respectively positioned at the top and the bottom of the nozzle (6).

5. The high altitude welding robot according to claim 1, characterized in that: the rack rods (18) are sleeved with the plurality of rack rods (18) and are internally provided with hydraulic telescopic rods (33), transition inclined openings (34) are formed in two sides of the top of each rack rod (18), and inclined planes of the transition inclined openings (34) are inclined from the side edge of the rack rod (18) on the outer side to the side edge of the rack rod (18) on the inner side.

6. The high altitude welding robot according to claim 1, characterized in that: the bottom of the rack bar (18) is provided with a moving seat (35), and the bottom of the moving seat (35) is provided with a roller (36).