The invention discloses a dot-matrix curved surface shape follow-up magnetic adsorption mobile welding robot which comprises a frame, and a detection system, a control system, a four-wheel independent driving system, a walking system, a welding device and a shape follow-up adsorption device which are arranged on the frame, the detection system sends collected welding seam information and the distance between a welding wire and a curved surface welding piece to the control system, and the control system cooperates with the four-wheel independent drive system to control the walking system to conduct automatic welding seam tracking on the basis of the received welding seam information. The control system is further matched with the welding device to control the height and swing of a welding gun in the welding device based on the received distance between the welding wire and the curved surface welding piece. And the control system is also connected with the shape follow-up adsorption device, so that the dot-matrix magnetic conductive core rod in the shape follow-up adsorption device is always kept to be just contacted with the curved surface welding piece under the operation of the electric control hydraulic cylinder. The device can adapt to a curved wall surface with irregularly changed curvature, and can guarantee the stability of magnetic adsorption force along with the shape of the curved surface.
本发明公开了一种点阵式曲面随形磁吸附移动焊接机器人,包括车架,以及设于所述车架上的检测系统、控制系统、四轮独立驱动系统、行走系统、焊接装置和随形吸附装置;所述检测系统将采集到的焊缝信息和焊丝到曲面焊接件之间的距离发送给控制系统,所述控制系统基于接收到的焊缝信息,配合四轮独立驱动系统控制行走系统进行焊缝自动跟踪;所述控制系统还基于接收到的焊丝到曲面焊接件之间的距离,配合焊接装置控制焊接装置中焊枪高度和摆动;所述控制系统还与所述随形吸附装置相连,使所述随形吸附装置内的点阵式导磁芯棒在电控液压缸作业下始终保持与曲面焊接件刚好接触。本发明能够适应曲率不规则变化的曲面壁面,且能够跟随曲面形状来保证磁吸附力稳定。
Dot-matrix curved surface shape follow-up magnetic adsorption mobile welding robot
一种点阵式曲面随形磁吸附移动焊接机器人
2023-01-10
Patent
Elektronische Ressource
Chinesisch
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