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1. WO2020113956 - CRAWLING WELDING ROBOT AND CONTROL METHOD THEREOF

Publication Number WO/2020/113956
Publication Date 11.06.2020
International Application No. PCT/CN2019/095300
International Filing Date 09.07.2019
IPC
B23K 37/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
37Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the other main groups of this subclass
02Carriages for supporting the welding or cutting element
B23K 37/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
37Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the other main groups of this subclass
CPC
B23K 37/00
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
37Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
B23K 37/0247
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
37Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
02Carriages for supporting the welding or cutting element
0247Driving means
B23K 37/0294
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
37Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
02Carriages for supporting the welding or cutting element
0294Transport carriages or vehicles
B62D 55/075
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
55Endless track vehicles
06with tracks without ground wheels
075Tracked vehicles for ascending or descending stairs, ; steep slopes or vertical surfaces
B62D 55/265
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
55Endless track vehicles
08Endless track units; Parts thereof
18Tracks
26Ground engaging parts or elements
265having magnetic or pneumatic adhesion
Applicants
  • 北京博清科技有限公司 BEIJING BO TSING TECH CO., LTD [CN]/[CN]
Inventors
  • 冯消冰 FENG, Xiaobing
  • 潘际銮 PAN, Jiluan
  • 高力生 GAO, Lisheng
  • 汪名峰 WANG, Mingfeng
  • 潘百蛙 PAN, Baiwa
  • 段瑞民 DUAN, Ruimin
  • 李海龙 LI, Hailong
Agents
  • 北京超凡宏宇专利代理事务所(特殊普通合伙) CHOFN INTELLECTUAL PROPERTY
Priority Data
201811496503.707.12.2018CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) CRAWLING WELDING ROBOT AND CONTROL METHOD THEREOF
(FR) ROBOT DE SOUDAGE RAMPANT ET PROCÉDÉ DE COMMANDE ASSOCIÉ
(ZH) 爬行焊接机器人及其控制方法
Abstract
(EN)
Provided is a crawling welding robot, comprising an adjustable magnetic adsorption module (9), wheel-covered travelling mechanisms (2), a crawling machine frame (1) and a welding load device (11), the welding load device (11) is arranged on the crawling machine frame (1); the wheel-covered travelling mechanisms (2) are arranged at the two opposite ends of the crawling machine frame (1) and are used for providing crawling power for the crawling machine frame (1); the adjustable magnetic adsorption module (9) is arranged on the crawling machine frame (1) and is arranged between the two wheel-covered travelling mechanisms (2). Through the wheel-covered travelling mechanisms (2), rail-free and guide-free crawling is realized, which is capable of moving on a large and medium-sized plane or the surface of a cambered surface welding structural part, vertical crawling on walls is realized, welding operation can be conducted during forward moving or backward moving, full-position welding of large and medium-sized structural part can be realized, the welding auxiliary time can be obviously reduced, and the production efficiency is high; the magnitude of the magnetic adsorption force is adjusted through the adjustable magnetic adsorption module (9), the crawling on flat plates and large-curvature arc plates can be realized, and working environment adaptability is high.
(FR)
La présente invention concerne un robot de soudage rampant comprenant un module d'adsorption magnétique réglable (9), des mécanismes de déplacement recouverts de roues (2), un cadre de machine rampant (1) et un dispositif de charge de soudure (11), le dispositif de charge de soudure (11) étant agencé sur le cadre de machine rampant (1) ; les mécanismes de déplacement recouverts de roues (2) sont agencés au niveau des deux extrémités opposées du cadre de machine rampant (1) et sont utilisés pour fournir une puissance de rampage pour le cadre de machine rampant (1) ; le module d'adsorption magnétique réglable (9) est agencé sur le cadre de machine rampant (1) et est agencé entre les deux mécanismes de déplacement recouverts de roues (2). Par l'intermédiaire des mécanismes de déplacement recouverts de roues (2), un rampage sans rail et sans guide est réalisé, qui est capable de se déplacer sur un plan de grande taille et de taille moyenne ou la surface d'une pièce structurale de soudure à surface cambrée, un rampage vertical sur des murs est réalisé, une opération de soudage peut être réalisée pendant un déplacement vers l'avant ou un déplacement vers l'arrière, un soudage en pleine position d'une pièce structurale de grande taille et de taille moyenne peut être réalisé, le temps auxiliaire de soudage peut être évidemment réduit et l'efficacité de production est élevée ; l'amplitude de la force d'adsorption magnétique est réglée par l'intermédiaire du module d'adsorption magnétique réglable (9), le rampage sur des plaques plates et des plaques arquées à grande courbure peut être réalisé et l'adaptabilité de l'environnement de travail est élevée.
(ZH)
一种爬行焊接机器人,包括可调式磁吸附模块(9)、轮覆式行走机构(2)、爬行机车架(1)和焊接负载装置(11),焊接负载装置(11)设置在爬行机车架(1)上;轮覆式行走机构(2)设置在爬行机车架(1)的相对两端,用于给爬行机车架(1)提供爬行动力;可调式磁吸附模块(9)设置在爬行机车架(1)上,且设置在两个轮覆式行走机构(2)之间。通过轮覆式行走机构(2),实现无轨道、无导向爬行,能够在大中型平面或弧面焊接结构件表面运动,可垂直爬壁,在前进或后退的运动时均能进行焊接作业,实现大中型结构件的全位置焊接,可明显减少焊接辅助时间,生产效率高;通过可调式磁吸附模块(9)来调节磁吸附力大小,可实现平板及大曲率弧板爬行,工作环境适应性高。
Also published as
EP2019832267
KR1020197034733
KRKR1020197034733
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