Dexterous four-foot cooperation robot welding system based on industrial large model

Abstract

The invention discloses a dexterous four-foot cooperation robot welding system based on an industrial large model, belongs to the technical field of industrial robot welding, and provides the following scheme that the dexterous four-foot cooperation robot welding system comprises a four-foot robot body and is characterized in that a mounting base is arranged at the upper end of the four-foot robot body, and a mechanical arm body is arranged at the upper end of the mounting base; the arc-shaped guide groove formed in the outer side of the rolling cylinder is matched with the guide rod on one side of the positioning plate, so that the first spray head can flexibly swing left and right, the blowing cleaning range is remarkably expanded, and it is ensured that the periphery of a welding area is subjected to comprehensive and effective dust removal treatment; and meanwhile, the mounting plate and the cleaning brush at one end of the mounting plate are driven to synchronously swing, deep cleaning and removal of impurities on the surface of the iron plate are achieved, the adverse effect of the impurities on the welding quality is effectively avoided, and a solid technical support is provided for efficient and accurate welding operation of the four-foot cooperation robot in a complex environment.

Description

Technical Field

[0001] The invention relates to the technical field of industrial robot welding, and in particular to a dexterous quadruped collaborative robot welding system based on an industrial large model. Background Art

[0002] The dexterous quadruped collaborative robot welding system based on industrial large models is a complex system that integrates multiple advanced technologies. It combines the flexibility of quadruped robots, the safety and intelligence of collaborative robots, and the precision of welding technology, bringing revolutionary changes to the field of industrial automation. The system consists of a quadruped robot platform, a collaborative robot arm, a welding module, and an intelligent control system based on industrial large models. It can achieve accurate, efficient, and safe welding operations in complex and changeable working environments, and is widely used in automobile manufacturing, aerospace, heavy machinery manufacturing and other fields. By using the quadruped collaborative robot welding system, not only can the welding efficiency be significantly improved and the labor cost be reduced, but also the precise positioning and stable movement of the welding gun head can be ensured, thereby improving the consistency and stability of the welding quality.

[0003] Chinese patent announcement number CN116604243B discloses a welding robot arm for intelligent construction and a welding method thereof, which relates to the technical field of welding robot arms and solves the problems that the existing welding robot arms need to manually clean the welds of metal parts in advance when welding, which is time-consuming and labor-intensive, and it is not convenient to remove the smoke generated by welding in time. A welding robot arm for intelligent construction and a welding method thereof, including a first drive mechanism, a second drive mechanism and a transmission adjustment mechanism, the upper end of the first drive mechanism is rotatably connected to the second drive mechanism, the inner side of the upper end of the second drive mechanism is fixedly installed with a transmission adjustment mechanism, and the outer side of the upper end of the transmission adjustment mechanism is installed with a welding self-cleaning mechanism. The invention uses the welding robot arm to adjust the welding gun at multiple angles, and can pre-clean the weld while welding, maintain the quality of the weld, and facilitate the timely removal of welding smoke and dust.

[0004] Due to the simple structure of the above welding system, in the existing industrial welding field, especially when dealing with welding tasks in complex environments and large iron plate structures, traditional welding robots have encountered significant technical bottlenecks. First, facing a large amount of impurities attached to the surface of the iron plate to be welded, the cleaning nozzles equipped by traditional robots are often fixed in position. This design limitation causes the cleaning operation to cover only a limited area, making it difficult to achieve a comprehensive and thorough removal of impurities on the surface of the iron plate, thereby increasing the risk of welding defects. Secondly, regarding the control of the surface temperature of the iron plate, the existing welding system generally lacks an effective preheating and cooling mechanism. Insufficient preheating will cause the molten pool to be unstable during welding, affecting the welding quality; and the lack of timely cooling treatment after welding may cause deformation or stress concentration of the iron plate, prolonging the welding cycle. These problems not only reduce work efficiency, but also weaken the practicality of the quadruped collaborative robot to perform efficient and precise welding operations in complex environments, making it difficult to meet the high standards of modern industry for welding quality and efficiency. In response to the above problems, the present invention document proposes a dexterous quadruped collaborative robot welding system based on an industrial large model. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings existing in the prior art, and to propose a dexterous four-legged collaborative robot welding system based on an industrial large model, which can comprehensively clean the impurities on the surface of the iron plate to be welded, preheat the unwelded area, and promptly cool and shape the welded area, thereby ensuring the overall efficiency and stability of the four-legged collaborative robot welding system when handling iron plate welding tasks.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A dexterous quadruped collaborative robot welding system based on an industrial large model comprises a quadruped robot body, a mounting seat is provided at the upper end of the quadruped robot body, a mechanical arm body is provided at the upper end of the mounting seat, a welding gun head is provided at one end of the mechanical arm body, a heat preservation sleeve is provided on the outer side of the welding gun head, the heat preservation sleeve is provided at one end of the mechanical arm body, one end of the welding gun head penetrates the heat preservation sleeve and extends to the outside, a copper tube is provided in the heat preservation sleeve located outside the welding gun head, the copper tube is spirally provided, and the two ends of the copper tube respectively penetrate the two sides of the heat preservation sleeve and extend to the outside; The outer side of the insulation sleeve is rotatably connected with a positioning plate, one side of the insulation sleeve is provided with a fixing plate, one end of the fixing plate is provided with a "U"-shaped mounting frame, a mounting shaft is provided between the mounting frames, and the outer side of the mounting shaft is provided with a same rolling cylinder through multiple mounting rods; A cooling box is provided on one side of the upper end of the robot arm body, a filter box is provided on the upper end of the cooling box, an air pump is provided on one side of the filter box, an air inlet end of the air pump is connected to the bottom end of the filter box, and an exhaust pipe is provided on the air outlet end of the air pump.

[0007] Preferably, support plates are provided on both sides of the inner wall of the mounting frame, and the two support plates are respectively against the two ends of the rolling cylinder. The two support plates are penetrated by mounting holes adapted to the mounting shaft, and the mounting shaft penetrates the two mounting holes and is slidably connected to the side walls of the mounting holes.

[0008] Preferably, rubber rings are provided on both sides of the outer wall of the rolling drum, and a plurality of air suction holes are penetrated through the rolling drum between the two rubber rings, and the plurality of air suction holes are evenly arranged on the rolling drum.

[0009] Preferably, an air intake pipe is provided through the support plate at one side, one end of the air intake pipe is located in the rolling drum, and the other end of the air intake pipe is connected to one side of the upper end of the filter box.

[0010] Preferably, both sides of the inner wall of the filter box are provided with snap-in grooves, and the two snap-in grooves are provided with the same matching filter plate, and one end of the filter plate passes through one side of the snap-in groove and extends to the outside.

[0011] Preferably, a guide groove is provided on the outer side of the rolling cylinder, and the guide groove is arranged in an arc shape. A guide rod adapted to the guide groove is provided on one side of the positioning plate, and one end of the guide rod is located in the guide groove and is slidably connected to the side wall of the guide groove.

[0012] Preferably, a water inlet pipe is provided on one side of the upper end of the cooling box, a drain pipe is provided on one side of the cooling box located at the bottom end of the water inlet pipe, a cooling pipe is provided in the cooling box, and the cooling pipe is arranged in a curved shape.

[0013] Preferably, one end of the cooling pipe extends to the outside and is connected to the exhaust pipe, and the other end of the cooling pipe extends to the outside and is provided with an air supply pipe. One end of the air supply pipe passes through the main body of the robotic arm and is located on one side of the insulation sleeve, and is provided with an air outlet pipe, which is located on one side of the welding gun head.

[0014] Preferably, a ventilation pipe is provided on one side of the exhaust pipe, the other end of the ventilation pipe passes through the main body of the robotic arm and is connected to one end of the copper tube, a main air pipe is provided on the other end of the copper tube, a first nozzle is provided at one end of the main air pipe, the first nozzle is arranged on one side of the positioning plate, a second nozzle is penetrated on one side of the fixing plate, a secondary air pipe is provided on one side of the main air pipe, one end of the secondary air pipe is connected to the second nozzle, the first nozzle and the second nozzle are respectively located on both sides of the rolling cylinder.

[0015] Preferably, a mounting plate is provided on one side of the positioning plate, a cleaning brush is provided at one end of the mounting plate, and the cleaning brush is located on one side of the rolling drum.

[0016] Compared with the prior art, the present invention provides a dexterous quadruped collaborative robot welding system based on an industrial large model, which has the following beneficial effects: 1. The dexterous quadruped collaborative robot welding system based on the industrial large model has an arc-shaped guide groove on the outside of the rolling cylinder and a guide rod on one side of the positioning plate. During the welding operation of the quadruped collaborative robot welding system, as the rolling cylinder rolls smoothly on the edge of the iron plate, the interaction between the guide groove and the guide rod guides the positioning plate to swing back and forth, which not only enables the first nozzle to swing flexibly left and right, but also significantly expands the scope of air blowing and cleaning, ensuring that the area around the welding area is fully and effectively dust-removed; at the same time, it also drives the mounting plate and the cleaning brush at one end of it to swing synchronously, realizing deep cleaning and removal of impurities on the surface of the iron plate, effectively avoiding the adverse effects of impurities on welding quality, and providing solid technical support for the efficient and precise welding operations of the quadruped collaborative robot in complex environments.

[0017] 2. The dexterous four-legged collaborative robot welding system based on the industrial large model can realize the function of the first nozzle and the second nozzle to efficiently spray uniform warm air by setting the copper tube inside the insulation sleeve. It not only cleverly uses the airflow force of the warm air to effectively remove impurities attached to the surface of the iron plate, but its temperature can also successfully soften the stubborn oil stains on the surface of the iron plate, making it easy to peel off, laying a clean foundation for subsequent welding work, and simultaneously preheating the iron plate to improve the weldability of the iron plate and ensure the stability of the molten pool during welding, thereby greatly improving the welding quality and efficiency of the welding system for the iron plate. At the same time, through the cooling box and cooling pipe set on the upper side of the main body of the robot arm, the outlet pipe can release cold air, which directly acts on the surface of the iron plate after welding, achieving a fast and uniform cooling effect, which not only helps to quickly solidify the weld and reduce deformation or stress concentration that may be caused by overheating, but also greatly shortens the overall welding cycle, ensuring the overall efficiency and stability of the four-legged collaborative robot welding system when handling iron plate welding tasks.

[0018] 3. This dexterous four-legged collaborative robot welding system based on the industrial large model can effectively capture and adsorb the fine dust scattered on the iron plate and impurities in the surrounding environment by setting multiple evenly arranged suction holes on the outside of the rolling drum and cooperating with the suction pipe connected to the upper end of the support plate on one side, and quickly and without omission guide the dust and impurities collected by the suction holes into the filter box. It not only significantly improves the working efficiency of the four-legged collaborative robot welding system, ensures the cleanliness of the iron plate surface during welding, but also greatly enhances the safety of the working environment, effectively prevents the workers from being exposed to harmful dust for a long time, and provides a solid guarantee for their health. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A three-dimensional view of a dexterous quadruped collaborative robot welding system based on an industrial large model proposed by the present invention; Figure 2A view of the main connecting structure of the robot arm of the present invention; Figure 3 A view of the connection structure of the positioning plate, the mounting frame and the rolling drum of the present invention; Figure 4 A view of the connecting structure of the rolling drum and the guide groove of the present invention; Figure 5 A view of the connection structure of the welding gun head, the insulation sleeve and the copper pipe of the present invention; Figure 6 A view of a cooling box and a cooling pipe connection structure of the present invention; Figure 7 A view of the connection structure of the filter box, the air pump and the filter plate of the present invention; Figure 8 For the present invention Figure 1 A magnified view of .

[0020] In the figure: 1. quadruped robot body; 2. mounting seat; 3. mechanical arm body; 4. welding gun head; 5. insulation sleeve; 6. copper tube; 7. positioning plate; 8. fixing plate; 9. mounting frame; 10. mounting shaft; 11. mounting rod; 12. rolling cylinder; 13. cooling box; 14. filter box; 15. air pump; 16. exhaust pipe; 17. support plate; 18. rubber ring; 19. suction hole; 20. suction pipe; 21. filter plate; 22. guide groove; 23. guide rod; 24. water inlet pipe; 25. drainage pipe; 26. cooling pipe; 27. air supply pipe; 28. air outlet pipe; 29. ​​ventilation pipe; 30. main air pipe; 31. first nozzle; 32. second nozzle; 33. secondary air pipe; 34. mounting plate; 35. cleaning brush. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0022] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0023] Example 1: Reference Figure 1-Figure 8A dexterous quadruped collaborative robot welding system based on an industrial large model comprises a quadruped robot body 1, a mounting seat 2 is arranged at the upper end of the quadruped robot body 1, a mechanical arm body 3 is arranged at the upper end of the mounting seat 2, a welding gun head 4 is arranged at one end of the mechanical arm body 3, a heat preservation sleeve 5 is arranged on the outer side of the welding gun head 4, the heat preservation sleeve 5 is arranged at one end of the mechanical arm body 3, one end of the welding gun head 4 penetrates the heat preservation sleeve 5 and extends to the outside, a copper tube 6 is arranged in the heat preservation sleeve 5 located outside the welding gun head 4, and the copper tube 6 is arranged in a spiral shape, and the two ends of the copper tube 6 respectively penetrate the two sides of the heat preservation sleeve 5 and extend to the outside; The outer side of the insulation sleeve 5 is rotatably connected with a positioning plate 7, a fixing plate 8 is provided on one side of the insulation sleeve 5, a "U"-shaped mounting frame 9 is provided at one end of the fixing plate 8, a mounting shaft 10 is provided between the mounting frames 9, and a same rolling cylinder 12 is provided on the outer side of the mounting shaft 10 through a plurality of mounting rods 11; A cooling box 13 is provided on one side of the upper end of the robot arm body 3, a filter box 14 is provided on the upper end of the cooling box 13, an air pump 15 is provided on one side of the filter box 14, the air inlet end of the air pump 15 is connected to the bottom end of the filter box 14, and an exhaust pipe 16 is provided on the air outlet end of the air pump 15.

[0024] In the present invention, support plates 17 are provided on both sides of the inner wall of the mounting frame 9, and the two support plates 17 are respectively against the two ends of the rolling drum 12. The two support plates 17 are penetrated by mounting holes compatible with the mounting shaft 10. The mounting shaft 10 penetrates the two mounting holes and is slidably connected to the side walls of the mounting holes. By arranging the support plates 17 on both sides of the rolling drum 12, the air tightness of the rolling drum 12 can be guaranteed without affecting the rotation of the rolling drum 12 and limiting its position, so that the rolling drum 12 can effectively absorb impurities in the iron plate and the working environment.

[0025] In the present invention, rubber rings 18 are provided on both sides of the outer wall of the rolling drum 12, and a plurality of air suction holes 19 are penetrated by the rolling drum 12 between the two rubber rings 18. The plurality of air suction holes 19 are evenly arranged on the rolling drum 12. By arranging the rubber rings 18 on both sides of the outer wall of the rolling drum 12, not only can the rolling drum 12 roll more stably on the outside of the iron plate, but also the plurality of air suction holes 19 can maintain a certain distance from the iron plate, so that it can better absorb impurities on the iron plate. When the rolling drum 12 rotates, the plurality of air suction holes 19 can comprehensively absorb impurities on the iron plate and in the working environment.

[0026] In the present invention, a support plate 17 located on one side is penetrated by an air intake pipe 20, one end of the air intake pipe 20 is located in the rolling drum 12, and the other end of the air intake pipe 20 is connected to one side of the upper end of the filter box 14. The air intake pipe 20 arranged on a support plate 17 on one side can be used to extract air in the rolling drum 12, so that the rolling drum 12 is in a negative pressure state, so that the multiple air intake holes 19 can be used to achieve the effect of dust collection, and the absorbed dust can be guided into the filter box 14.

[0027] In the present invention, both sides of the inner wall of the filter box 14 are provided with snap-in grooves, and the two snap-in grooves are provided with the same matching filter plate 21. One end of the filter plate 21 passes through one side snap-in groove and extends to the outside. By setting the snap-in groove in the filter box 14, not only the position of the filter plate 21 can be limited, but also the filter plate 21 can be conveniently installed or disassembled, so that the staff can conveniently clean the impurities on the filter plate 21, thereby ensuring the effect of the filter plate 21 in filtering impurities.

[0028] In the present invention, a guide groove 22 is provided on the outer side of the rolling drum 12, and the guide groove 22 is arranged in an arc shape. A guide rod 23 adapted to the guide groove 22 is provided on one side of the positioning plate 7, and one end of the guide rod 23 is located in the guide groove 22 and is slidably connected to the side wall of the guide groove 22. By providing the guide groove 22 provided on the outer side of the rolling drum 12, the guide groove 22 arranged in an arc shape can drive the guide rod 23 to move back and forth left and right during the rotation of the rolling drum 12, thereby driving the positioning plate 7 to swing back and forth left and right.

[0029] In the present invention, a mounting plate 34 is provided on one side of the positioning plate 7, and a cleaning brush 35 is provided at one end of the mounting plate 34. The cleaning brush 35 is located on one side of the rolling drum 12. By arranging the mounting plate 34 and the cleaning brush 35 on one side of the positioning plate 7, the positioning plate 7 can clean impurities on the iron plate through the cleaning brush 35 during the reciprocating swing process, thereby ensuring the quality and efficiency of the iron plate welding by the quadruped collaborative robot welding system.

[0030] Example 2: Reference Figure 1-Figure 8 A dexterous quadruped collaborative robot welding system based on an industrial large model comprises a quadruped robot body 1, a mounting seat 2 is arranged at the upper end of the quadruped robot body 1, a mechanical arm body 3 is arranged at the upper end of the mounting seat 2, a welding gun head 4 is arranged at one end of the mechanical arm body 3, a heat preservation sleeve 5 is arranged on the outer side of the welding gun head 4, the heat preservation sleeve 5 is arranged at one end of the mechanical arm body 3, one end of the welding gun head 4 penetrates the heat preservation sleeve 5 and extends to the outside, a copper tube 6 is arranged in the heat preservation sleeve 5 located outside the welding gun head 4, and the copper tube 6 is arranged in a spiral shape, and the two ends of the copper tube 6 respectively penetrate the two sides of the heat preservation sleeve 5 and extend to the outside; The outer side of the insulation sleeve 5 is rotatably connected with a positioning plate 7, a fixing plate 8 is provided on one side of the insulation sleeve 5, a "U"-shaped mounting frame 9 is provided at one end of the fixing plate 8, a mounting shaft 10 is provided between the mounting frames 9, and a same rolling cylinder 12 is provided on the outer side of the mounting shaft 10 through a plurality of mounting rods 11; A cooling box 13 is provided on one side of the upper end of the robot arm body 3, a filter box 14 is provided on the upper end of the cooling box 13, an air pump 15 is provided on one side of the filter box 14, the air inlet end of the air pump 15 is connected to the bottom end of the filter box 14, and an exhaust pipe 16 is provided on the air outlet end of the air pump 15.

[0031] In the present invention, a water inlet pipe 24 is provided on one side of the upper end of the cooling box 13, a drain pipe 25 is provided on one side of the cooling box 13 located at the bottom end of the water inlet pipe 24, a cooling pipe 26 is provided in the cooling box 13, and the cooling pipe 26 is arranged in a curved shape. The air drawn by the air pump 15 can be cooled by the cooling pipe 26 arranged in the cooling box 13. The cooling pipe 26 arranged in a curved shape can enable the air to more fully contact the cooling water in the cooling box 13, thereby ensuring the air cooling effect.

[0032] In the present invention, one end of the cooling pipe 26 extends to the outside and is connected to the exhaust pipe 16, and the other end of the cooling pipe 26 extends to the outside and is provided with an air supply pipe 27. One end of the air supply pipe 27 passes through the robot arm body 3 and is located on one side of the insulation sleeve 5, and is provided with an air outlet pipe 28. The air outlet pipe 28 is located on one side of the welding gun head 4. By setting the air outlet pipe 28 on one side of the welding gun head 4, the cooled air can enter the air outlet pipe 28 through the air supply pipe 27 and be sprayed on the welded iron plate, which can help to quickly solidify the weld, reduce deformation or stress concentration that may be caused by overheating, and greatly shorten the overall welding cycle.

[0033] In the present invention, a ventilation pipe 29 is provided on one side of the exhaust pipe 16, and the other end of the ventilation pipe 29 penetrates the robot arm body 3 and is connected to one end of the copper tube 6. A main air pipe 30 is provided on the other end of the copper tube 6. A first nozzle 31 is provided on one end of the main air pipe 30. The first nozzle 31 is arranged on one side of the positioning plate 7, and a second nozzle 32 is penetrated on one side of the fixing plate 8. A secondary air pipe 33 is provided on one side of the main air pipe 30, and one end of the secondary air pipe 33 is connected to the second nozzle 32. The first nozzle 31 and the second nozzle 32 are respectively located on both sides of the rolling cylinder 12. The copper tube 6 is arranged on the outside of the welding gun head 4, and the heat generated by the welding gun head 4 can be used to heat the air in the copper tube 6. Heat, the copper tube 6 has an excellent thermal conductivity and can effectively heat the air. The insulation sleeve 5 is made of aluminum silicate fiber material, which can insulate the heat generated by the welding gun head 4. The main air pipe 30 and the secondary air pipe 33 at one end of the copper tube 6 can allow the hot air to evenly enter the first nozzle 31 and the second nozzle 32. The first nozzle 31 and the second nozzle 32, which are respectively located on both sides of the rolling drum 12, can not only thoroughly clean the impurities on the iron plate, but also effectively preheat the iron plate, thereby improving the weldability of the iron plate and ensuring the stability of the molten pool during welding, thereby greatly improving the welding quality and efficiency of the welding system for the iron plate.

[0034] Working principle: When using a four-legged collaborative robot welding system to weld iron plates, firstly, it is necessary to use the moving function of the four-legged collaborative robot welding system to move it to the iron plate to be welded. By starting the mechanical arm body 3, the welding gun head 4 can be moved to the position of the iron plate to be welded. Before welding, it is necessary to clean the impurities on the iron plate and start the air pump 15. The air pump 15 can use the suction pipe 20 to extract the air in the rolling drum 12, so that the rolling drum 12 is in a negative pressure state, so that the impurities on the iron plate and in the working environment can be absorbed through a plurality of suction holes 19. The air containing impurities will enter the filter box 14 through the suction pipe 20. The filter plate 21 in the filter box 14 can filter the impurities in the air, and the filtered air will enter the exhaust pipe 16 through the air pump 15; Part of the air in the exhaust pipe 16 will enter the copper tube 6 through the vent pipe 29. The copper tube 6 is located in the insulation sleeve 5. The heat generated by the welding gun head 4 will heat the air in the copper tube 6. The heated air will enter the main air pipe 30. Part of the hot air will be sprayed on the iron plate through the first nozzle 31, and the other part of the hot air will enter the second nozzle 32 through the secondary air pipe 33 and be sprayed on the iron plate through the second nozzle 32. The hot air can not only clean the impurities on the iron plate, but also preheat the iron plate, so that the welding gun head 4 can better weld the iron plate. Part of the air in the exhaust pipe 16 will enter the cooling pipe 26 in the cooling box 13. The cooling water in the cooling box 13 can cool the air in the cooling pipe 26. The cooled cold air will enter the outlet pipe 28 through the air delivery pipe 27. The cold air will be sprayed on the welded iron plate through the outlet pipe 28 to cool the welded iron plate, which helps to quickly solidify the weld, reduce deformation or stress concentration that may be caused by overheating, and greatly shorten the overall welding cycle. When the welding gun head 4 is welding the iron plate, the rolling cylinder 12 will roll on the iron plate. When the rolling cylinder 12 rotates, the outer guide groove 22 will be used to drive the guide rod 23 to move back and forth. The guide rod 23 will drive the positioning plate 7 to swing back and forth. The positioning plate 7 will drive the first nozzle 31 to swing back and forth, thereby expanding the scope of air blowing and cleaning, ensuring that the area around the welding area is fully and effectively dust-removed. During the reciprocating swing, the positioning plate 7 will also drive the mounting plate 34 and the cleaning brush 35 to move, thereby cleaning the stubborn impurities on the iron plate and ensuring the cleanliness of the iron plate surface during welding.

[0035] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A dexterous quadruped collaborative robot welding system based on an industrial large model, comprising a quadruped robot body (1), characterized in that: A mounting seat (2) is provided at the upper end of the quadruped robot body (1), a mechanical arm body (3) is provided at the upper end of the mounting seat (2), a welding gun head (4) is provided at one end of the mechanical arm body (3), a heat preservation sleeve (5) is provided on the outer side of the welding gun head (4), the heat preservation sleeve (5) is arranged at one end of the mechanical arm body (3), one end of the welding gun head (4) passes through the heat preservation sleeve (5) and extends to the outside, a copper tube (6) is provided inside the heat preservation sleeve (5) located outside the welding gun head (4), the copper tube (6) is arranged in a spiral shape, and the two ends of the copper tube (6) respectively pass through the two sides of the heat preservation sleeve (5) and extend to the outside; The outer side of the thermal insulation sleeve (5) is rotatably connected to a positioning plate (7), one side of the thermal insulation sleeve (5) is provided with a fixing plate (8), one end of the fixing plate (8) is provided with a "U"-shaped mounting frame (9), a mounting shaft (10) is provided between the mounting frames (9), and the outer side of the mounting shaft (10) is provided with a common rolling cylinder (12) via a plurality of mounting rods (11); A cooling box (13) is provided on one side of the upper end of the robot arm body (3), a filter box (14) is provided on the upper end of the cooling box (13), an air pump (15) is provided on one side of the filter box (14), an air inlet end of the air pump (15) is connected to the bottom end of the filter box (14), and an exhaust pipe (16) is provided on the air outlet end of the air pump (15).

2. According to the industrial large-scale model-based dexterous quadruped collaborative robot welding system of claim 1, it is characterized in that: Support plates (17) are provided on both sides of the inner wall of the mounting frame (9), and the two support plates (17) are respectively against the two ends of the rolling cylinder (12), and the two support plates (17) are penetrated by mounting holes that are compatible with the mounting shaft (10), and the mounting shaft (10) passes through the two mounting holes and is slidably connected to the side walls of the mounting holes.

3. The dexterous quadruped collaborative robot welding system based on industrial large model according to claim 1 is characterized in that: Rubber rings (18) are provided on both sides of the outer wall of the rolling cylinder (12); a plurality of air suction holes (19) are provided through the rolling cylinder (12) between the two rubber rings (18); and the plurality of air suction holes (19) are evenly arranged on the rolling cylinder (12).

4. The dexterous quadruped collaborative robot welding system based on industrial large model according to claim 2 is characterized in that: An air intake pipe (20) is provided through the support plate (17) located on one side. One end of the air intake pipe (20) is located in the rolling drum (12), and the other end of the air intake pipe (20) is connected to one side of the upper end of the filter box (14).

5. The dexterous quadruped collaborative robot welding system based on industrial large model according to claim 1 is characterized in that: The filter box (14) has a clamping groove on both sides of its inner wall, and the two clamping grooves are provided with a matching filter plate (21), and one end of the filter plate (21) passes through one side of the clamping groove and extends to the outside.

6. The dexterous quadruped collaborative robot welding system based on industrial large model according to claim 1 is characterized in that: A guide groove (22) is provided on the outer side of the rolling cylinder (12), and the guide groove (22) is arranged in an arc shape. A guide rod (23) adapted to the guide groove (22) is provided on one side of the positioning plate (7), and one end of the guide rod (23) is located in the guide groove (22) and is slidably connected to the side wall of the guide groove (22).

7. The dexterous quadruped collaborative robot welding system based on industrial large model according to claim 1 is characterized in that: A water inlet pipe (24) is provided on one side of the upper end of the cooling box (13), a drainage pipe (25) is provided on one side of the cooling box (13) at the bottom end of the water inlet pipe (24), and a cooling pipe (26) is provided in the cooling box (13), wherein the cooling pipe (26) is arranged in a curved shape.

8. The dexterous quadruped collaborative robot welding system based on industrial large model according to claim 7 is characterized in that: One end of the cooling pipe (26) extends to the outside and is connected to the exhaust pipe (16); the other end of the cooling pipe (26) extends to the outside and is provided with an air supply pipe (27); one end of the air supply pipe (27) passes through the robot arm body (3), is located on one side of the insulation sleeve (5), and is provided with an air outlet pipe (28); the air outlet pipe (28) is located on one side of the welding gun head (4).

9. The dexterous quadruped collaborative robot welding system based on industrial large model according to claim 1 is characterized in that: A ventilation pipe (29) is provided on one side of the exhaust pipe (16), the other end of the ventilation pipe (29) passes through the robot arm body (3) and is connected to one end of the copper pipe (6), the other end of the copper pipe (6) is provided with a main air pipe (30), one end of the main air pipe (30) is provided with a first nozzle (31), the first nozzle (31) is arranged on one side of the positioning plate (7), a second nozzle (32) is passed through one side of the fixing plate (8), a secondary air pipe (33) is provided on one side of the main air pipe (30), one end of the secondary air pipe (33) is connected to the second nozzle (32), and the first nozzle (31) and the second nozzle (32) are respectively located on both sides of the rolling cylinder (12).

10. The dexterous quadruped collaborative robot welding system based on industrial large model according to claim 1, characterized in that: A mounting plate (34) is provided on one side of the positioning plate (7), a cleaning brush (35) is provided on one end of the mounting plate (34), and the cleaning brush (35) is located on one side of the rolling drum (12).

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