Welding robot for iron tower steel structure

Abstract

The invention relates to the technical field of iron tower welding, and discloses a welding robot for an iron tower steel structure, the welding robot comprises a welding robot body, the welding robot body walks on a welding track, and the execution end of the welding robot body is connected with a welding gun; the welding platform is arranged on one side of the welding track and used for bearing the angle steel tower foot; the posture adjusting unit is connected with the welding platform and used for overturning and rotating the welding platform; and the image acquisition unit is arranged above the angle steel tower foot and used for acquiring an image of the angle steel tower foot, and the controller controls the posture adjusting unit to act according to the acquired image. The welding platform is turned over and rotated, the welding platform and the welding robot body cooperate to enable the welding gun to directly face the welding position of the angle steel tower foot, and the problems that the angle steel tower foot is irregular in shape and large in welding difficulty are effectively solved; and according to an image acquisition result, the deviation in the posture adjusting process is compensated, so that the welding accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of iron tower welding, and more specifically, to a welding robot used for an iron tower steel structure. Background Art

[0002] Angle steel tower is a commonly used iron tower structure. The stability of the tower foot of the angle steel tower is an important factor affecting the stability of the iron tower steel structure. The tower foot of the angle steel tower is generally welded by a cross tower foot and a tower foot base plate. During processing, the cross-shaped structure formed by welding four independent steel plates is welded to the steel base plate.

[0003] In the prior art, for example, the utility model patent with application number CN202320337274.4 discloses an angle steel tower foot welding device, including a workbench and a welding robot, the welding robot is installed on the upper side wall of the workbench, a fixed plate is fixedly connected to the upper side wall of the workbench, a support plate is fixedly connected to one side wall of the fixed plate, a rotating motor is installed on the support plate, the output shaft of the rotating motor rotates through the fixed plate, a clamping assembly is provided on the other side of the fixed plate, and a cleaning assembly is provided on the upper side wall of the fixed plate. During the use of this device, the output shaft of the rotating motor can drive the rotating plate to rotate, making it more convenient for the welding robot to weld. However, in actual use, the simple rotation of the rotating plate has limited adjustment angles, and when welding irregular tower foot structures, it cannot effectively cooperate with the welding robot, and there are still positions that are inconvenient for welding.

[0004] Therefore, it is necessary to propose a welding robot for iron tower steel structure to at least partially solve the problems existing in the prior art. Summary of the invention

[0005] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0006] In order to at least partially solve the above problems, the present invention provides a welding robot for a steel tower structure, comprising:

[0007] The welding robot body moves on the welding track, and the execution end of the welding robot body is connected to a welding gun;

[0008] Welding platform, which is arranged on one side of the welding track and is used to carry the angle steel tower foot;

[0009] A posture adjustment unit, which is connected to the welding platform and is used to flip and rotate the welding platform;

[0010] The image acquisition unit is arranged above the angle steel tower foot and is used to acquire images of the angle steel tower foot. The controller controls the action of the posture adjustment unit according to the acquired images.

[0011] Preferably, a protective cover is provided on the outside of the welding platform, and an opening for the welding robot body to enter is provided on the side of the protective cover.

[0012] Preferably, the posture adjustment unit includes a flip assembly, and the flip assembly includes:

[0013] A fixing frame, wherein a turning space is arranged at the center of the fixing frame;

[0014] A turning frame, the turning frame is rotatably connected to the center of the fixing frame through a first rotating shaft, and the welding platform is installed on the turning frame;

[0015] The flip motor is installed on one side of the fixing frame, and the first rotating shaft is connected to the output end of the flip motor.

[0016] Preferably, the posture adjustment unit includes a rotating assembly, and the rotating assembly includes:

[0017] The rotating base is connected to the center of the flip frame, and a rotating motor is arranged inside the flip frame; the welding platform is rotatably connected to the top of the rotating base through a second rotating shaft, and the second rotating shaft is connected to the output shaft of the rotating motor through a clutch mechanism, and a clamping mechanism for fixing the angle steel tower foot is arranged on the welding platform.

[0018] Preferably, a nozzle is rotatably arranged on the rotating base, the bottom end of the nozzle is connected to the gas source equipment through a pipeline, the air outlet end of the nozzle is connected to a nozzle, the nozzle is arranged outside the welding platform, and the nozzle blows airflow toward the welding platform.

[0019] Preferably, an air blowing rotating unit is provided on the rotating base, and the air blowing rotating unit comprises:

[0020] The gear ring is rotatably connected to the cavity of the rotating base, the gear ring is concentrically arranged on the outside of the nozzle, and the outer ring end of the gear ring is evenly connected with latch teeth;

[0021] A plug socket, the plug socket is connected to the inner ring end of the gear ring, and a plug column is connected to the top of the plug socket, and the plug socket is magnetic;

[0022] The plug-in sleeve is connected to the outer wall of the nozzle, and the plug-in column is installed in the plug-in sleeve.

[0023] Preferably, a guide groove is provided at the top of the rotating base, the guide groove is concentric with the gear ring, and the guide groove is provided close to the welding platform; the socket is slidably connected in the guide groove, and magnetic blocks are provided at both ends of the guide groove, and the magnetic blocks have an attractive force on the socket.

[0024] Preferably, a tooth plate assembly is meshedly connected to the outer side of the gear ring, and the tooth plate assembly includes: a first fan-shaped plate and a second fan-shaped plate, the first fan-shaped plate is configured as a fan-shaped tooth plate, the first fan-shaped plate is meshedly connected to the gear ring, the second fan-shaped plate is arranged at an end of the first fan-shaped plate away from the gear ring, a rotating shaft is arranged at the connection between the first fan-shaped plate and the second fan-shaped plate, and the rotating shaft is rotatably connected to the rotating base, and the second fan-shaped plate extends to below the welding platform.

[0025] Preferably, the air blowing rotating unit further comprises:

[0026] An annular groove is arranged at the top of the rotating base, and the annular groove is arranged concentrically with the welding platform, and the second sector plate extends into the annular groove;

[0027] The shifting block is connected to the bottom end of the welding platform and is slidably connected in the annular groove.

[0028] Preferably, the air blowing rotating unit further includes an air guide component, and the air guide component includes:

[0029] Air guide vane groups, multiple air guide vane groups are evenly connected to the welding platform, each air guide vane group includes two symmetrically arranged air guide vanes, the edges of the air guide vanes are curled, and the inclination directions of the two air guide vanes in each group are opposite;

[0030] An annular air guide hood is connected to the rotating base and is concentrically arranged on the outside of the welding platform. A notch is arranged on the annular air guide hood near the nozzle position. The annular air guide hood and the welding platform are sealed. An annular nozzle is connected to the top of the annular air guide hood, and the annular nozzle is connected to the gas source equipment.

[0031] Preferably, the rotating assembly further comprises two sets of limiting mechanisms symmetrically arranged on the second rotating shaft, and the limiting mechanisms comprise:

[0032] Gear, the gear is rotatably connected to the rotating base through a gear shaft, and the gear shaft is connected to the output end of the power source;

[0033] A first arc-shaped rack, the first arc-shaped rack is meshed and connected to a side of the gear close to the second rotating shaft, and a sliding groove for the first arc-shaped rack to slide is provided on the rotating base;

[0034] A second arc-shaped rack, the second arc-shaped rack is meshed and connected to a side of the gear away from the second rotating shaft, a sliding groove for the second arc-shaped rack to slide is provided on the rotating base, and the second arc-shaped rack is concentrically arranged with the first arc-shaped rack;

[0035] A first clamping rod, the first clamping rod being connected to a first end of the first arc-shaped rack;

[0036] A second clamping rod, the second clamping rod is connected to the first end of the second arc-shaped rack, and the first end of the second clamping rod is far away from the first end of the first clamping rod; the second clamping rod is arranged crosswise with the first clamping rod, and the intersection is connected by a hinge shaft;

[0037] The limit block is connected to the second ends of the first clamping rod and the second clamping rod. The limit block is made of rubber material. The two limit blocks are respectively arranged at the front and rear of the same side of the second rotating shaft.

[0038] Compared with the prior art, the present invention has at least the following beneficial effects:

[0039] The present invention provides a welding robot for a steel tower structure. The welding platform is flipped and rotated by a posture adjustment unit. The welding platform and the welding robot body are coordinated to enable the welding gun to face the position where the angle steel tower foot needs to be welded, thereby effectively solving the problem of irregular shape of the angle steel tower foot and high welding difficulty. At the same time, based on the image acquisition result, the position deviation of the angle steel tower foot is analyzed, and the posture adjustment unit is moved in a small amplitude to compensate for the deviation in the posture adjustment process, thereby further improving the welding accuracy.

[0040] The welding robot for tower steel structure described in the present invention, other advantages, objectives and features of the present invention will be reflected in part through the following description, and in part will be understood by technicians in this field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0042] Figure 1 It is a structural schematic diagram of the present invention;

[0043] Figure 2 The schematic diagram of the structure of the welding robot body in the present invention is

[0044] Figure 3 It is a structural schematic diagram of the welding platform in the present invention;

[0045] Figure 4 A top view of the rotating base in the present invention;

[0046] Figure 5 For the present invention Figure 4 A schematic diagram of the local enlarged structure at point A in the middle;

[0047] Figure 6 For the present invention Figure 4 Schematic diagram of the cross-sectional structure at A in the middle (partial cross-section of the nozzle);

[0048] Figure 7 It is a schematic diagram of the structure of the nozzle and the gear ring in the present invention;

[0049] Figure 8It is a structural schematic diagram of the bottom of the welding platform in the present invention;

[0050] Fig. 9 It is a structural schematic diagram of the limiting mechanism in the present invention.

[0051] In the figure: 1. welding robot body; 2. welding track; 3. welding gun; 4. welding platform; 5. angle steel tower foot; 6. protective cover; 11. fixed frame; 12. flip frame; 13. flip motor; 15. rotating base; 17. second rotating shaft; 21. nozzle; 22. nozzle; 23. pipeline; 24. gear ring; 25. socket; 26. socket; 27. guide groove; 28. first sector plate; 29. ​​second sector plate; 31. annular groove; 32. shift block; 33. air guide plate; 34. annular air guide cover; 35. annular nozzle; 41. gear; 42. first arc rack; 43. second arc rack; 44. first clamping rod; 45. second clamping rod; 46. limit block. DETAILED DESCRIPTION

[0052] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0053] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0054] Embodiment 1:

[0055] like Figure 1 , 2 As shown, the present invention provides a welding robot for a tower steel structure, comprising:

[0056] A welding robot body 1, the welding robot body 1 moves on a welding track 2, and an execution end of the welding robot body 1 is connected to a welding gun 3;

[0057] The welding platform 4 is arranged on one side of the welding track 2 and is used to carry the angle steel tower foot 5;

[0058] A posture adjustment unit, which is connected to the welding platform 4 and is used to flip and rotate the welding platform 4;

[0059] The image acquisition unit is arranged above the angle steel tower foot 5 and is used to acquire the image of the angle steel tower foot 5. The controller controls the action of the posture adjustment unit according to the acquired image.

[0060] The working principle and beneficial effects of the above technical solution are:

[0061] A welding robot for a steel tower structure is provided. A welding robot body 1 is provided on the equipment. The welding robot body 1 is provided with a multi-degree-of-freedom manipulator. The execution end of the multi-degree-of-freedom manipulator can adjust the angle according to a preset welding path, thereby adjusting the angle of a welding gun 3; the welding robot body 1 can walk along a welding track 2, thereby adjusting the horizontal relative position of the welding robot body 1 and a welding platform 4; a posture adjustment unit is provided on the welding platform 4, and the angle between the welding platform 4 and the horizontal line is adjusted by flipping the welding platform 4; the placement angle of the welding platform 4 itself is adjusted by rotating the welding platform 4 itself; the welding position of an angle steel tower foot 5 on the welding platform 4 is adapted to the welding gun 3; after the adjustment is in place, an image of the angle steel tower foot 5 is collected by an image collection unit, a controller extracts edge features of the welding position, analyzes and calculates the deviation between the welding position and the preset position after the angle of the angle steel tower foot 5 is adjusted, and the posture adjustment unit is controlled to perform another adjustment, so that the angle steel tower foot 5 is accurately aligned.

[0062] Through the above structural design, a welding robot for tower steel structure is provided, which uses a posture adjustment unit to flip and rotate the welding platform 4. Through the coordinated cooperation of the welding platform 4 and the welding robot body 1, the welding gun 3 can be directly facing the position where the angle steel tower foot 5 needs to be welded, effectively solving the problem of irregular shape of the angle steel tower foot 5 and high welding difficulty; at the same time, based on the image acquisition result, the position deviation of the angle steel tower foot 5 is analyzed, and the posture adjustment unit is used to make a small movement to compensate for the deviation in the posture adjustment process, thereby further improving the welding accuracy.

[0063] Embodiment 2:

[0064] like Figure 1 As shown, on the basis of the above-mentioned embodiment 1, a protective cover 6 is arranged on the outside of the welding platform 4, and an opening for the welding robot body 1 to enter is arranged on the side of the protective cover 6.

[0065] The working principle and beneficial effects of the above technical solution are:

[0066] A protective cover 6 is arranged outside the welding platform 4, and a suction unit is arranged inside the protective cover 6, which can concentrate the welding smoke generated by welding inside the protective cover 6 and perform centralized suction treatment to avoid the overflow of high-temperature welding smoke to cause harm to the workers and reduce the pollution to the environment caused by direct emission of welding smoke.

[0067] Embodiment 3:

[0068] like Figure 1 , 3 As shown, based on the above embodiment 1, the posture adjustment unit includes a flip component, and the flip component includes:

[0069] A fixing frame 11, the fixing frame 11 is connected to the base 5, and a turning space is provided at the center of the fixing frame 11;

[0070] A turning frame 12, the turning frame 12 is rotatably connected to the center of the fixed frame 11 through a first rotating shaft, and the welding platform 4 is installed on the turning frame 12;

[0071] The flip motor 13 is installed at one side of the fixing frame 11 , and the first rotating shaft is connected to the output end of the flip motor 13 .

[0072] The working principle and beneficial effects of the above technical solution are:

[0073] When the flip assembly is in use, the flip motor 13 is started, and the output shaft of the flip motor 13 drives the first rotating shaft to rotate, so that the flip frame 12 rotates accordingly, thereby adjusting the angle between the welding platform 4 and the horizontal line; the flip motor 13 serves as a power source to provide power for the rotation of the flip frame 12, and the fixed frame 11 provides support for both sides of the flip frame 12.

[0074] Embodiment 4:

[0075] like Figure 1 , 3 As shown, based on the above embodiment 2, the posture adjustment unit includes a rotating component, and the rotating component includes:

[0076] The rotating base 15 is connected to the center of the turning frame 12, and a rotating motor is arranged inside the turning frame 12; the welding platform 4 is rotatably connected to the top of the rotating base 15 through a second rotating shaft 17, and the second rotating shaft 17 is connected to the output shaft of the rotating motor through a clutch mechanism, and a clamping mechanism for fixing the angle steel tower foot 5 is arranged on the welding platform 4.

[0077] The working principle and beneficial effects of the above technical solution are:

[0078] When the rotating assembly is in use, the rotating motor is started, the clutch mechanism is in a locked state, and the output shaft of the rotating motor drives the second rotating shaft 17 to rotate, thereby driving the welding platform 4 to rotate; the rotation center of the welding platform 4 coincides with the center of the angle steel tower foot 5, so that the angle steel tower 5 structure rotates, thereby realizing the adjustment of the angle of the angle steel tower foot 5 structure itself, ensuring that all positions of the angle steel tower foot 5 can be effectively welded.

[0079] Embodiment 5:

[0080] like Figure 4 , 5 As shown, on the basis of the above-mentioned embodiment 4, a nozzle 21 is rotatably arranged on the rotating base 15, the bottom end of the nozzle 21 is connected to the air source equipment through a pipeline 23, the air outlet end of the nozzle 21 is connected to a nozzle 22, the nozzle 21 is arranged on the outside of the welding platform 4, and the nozzle 22 sprays airflow toward the welding platform 4.

[0081] The working principle and beneficial effects of the above technical solution are:

[0082] The nozzle 21 is installed on the rotating base 15, and a high-pressure airflow is delivered into the nozzle 21 through the air source device. The airflow is ejected through the nozzle 22 of the nozzle 21 and blown to the surface of the welding platform 4, blowing off the welding slag and dust on the bottom plate of the angle steel tower foot, eliminating the need for manual cleaning and improving work efficiency.

[0083] Embodiment 6:

[0084] like Figure 3-7 As shown, based on the above-mentioned embodiment 5, an air blowing rotating unit is provided on the rotating base 15, and the air blowing rotating unit includes:

[0085] The gear ring 24 is rotatably connected to the cavity of the rotating base 15. The gear ring 24 is concentrically arranged outside the nozzle 21. The outer ring end of the gear ring 24 is evenly connected with latch teeth.

[0086] The plug socket 25 is connected to the inner ring end of the gear ring 24, and a plug post is connected to the top of the plug socket 25. The plug socket 25 is magnetic;

[0087] The plug sleeve 26 is connected to the outer wall of the nozzle 21 , and the plug post is installed in the plug sleeve 26 .

[0088] A guide groove 27 is provided at the top of the rotating base 15 , which is concentric with the gear ring 24 and close to the welding platform 4 ; the socket 25 is slidably connected in the guide groove 27 , and magnetic blocks are provided at both ends of the guide groove 27 , and the magnetic blocks have an attractive force on the socket 25 .

[0089] The working principle and beneficial effects of the above technical solution are:

[0090] When installing the nozzle 21, the nozzle 21 is installed on the rotating base 15, and the plug-in column on the outer wall of the nozzle 21 is aligned with the plug-in sleeve 26 and then plugged in, so that the nozzle 21 and the gear ring 24 are stably connected and can rotate synchronously. When the nozzle 21 rotates, the magnetic blocks at both ends of the guide groove 27 attract the plug-in seat 25, so that the nozzle 21 maintains a downward trend under the action of the attraction, improves the installation stability of the nozzle 21, and prevents the nozzle 21 from shaking or falling out due to the airflow pressure during the airflow spraying process.

[0091] Embodiment 7:

[0092] like Figure 3-7As shown, on the basis of the above-mentioned embodiment 6, a tooth plate assembly is meshedly connected to the outer side of the gear ring 24, and the tooth plate assembly includes: a first fan plate 28 and a second fan plate 29, the first fan plate 28 is set as a fan-shaped tooth plate, the first fan plate 28 is meshedly connected to the gear ring 24, the second fan plate 29 is set at the end of the first fan plate 28 away from the gear ring 24, a rotating shaft is set at the connection between the first fan plate 28 and the second fan plate 29, and the rotating shaft is rotatably connected to the rotating base 15, and the second fan plate 29 extends to the bottom of the welding platform 4.

[0093] The air blow rotating unit also includes:

[0094] An annular groove 31, which is disposed at the top of the rotating base 15, and the annular groove 31 is disposed concentrically with the welding platform 4, and the second sector plate 29 extends into the annular groove 31;

[0095] The shift block 32 is connected to the bottom end of the welding platform 4 and is slidably connected in the annular groove 31 .

[0096] The working principle and beneficial effects of the above technical solution are:

[0097] When the gear ring 24 rotates, it meshes with the teeth on the first sector plate 28, driving the gear plate assembly to rotate around the rotating shaft, causing the second sector plate 29 to rotate accordingly. The second sector plate 29 extends into the annular groove 31 below the welding platform 4, and the shift block 32 slides along the annular groove 31. The second sector plate 29 blocks the shift block 32, and the shift block 32 can push the second sector plate 29 to rotate.

[0098] Embodiment 8:

[0099] like Figure 3 , 8 As shown, based on the above-mentioned embodiment 7, the air blowing rotation unit further includes an air guide component, and the air guide component includes:

[0100] Air guide vane groups, multiple air guide vane groups are evenly connected to the welding platform 4, each air guide vane group includes two symmetrically arranged air guide vanes 33, the edges of the air guide vanes 33 are curled, and the inclination directions of the two air guide vanes 33 in each group are opposite;

[0101] The annular air guide hood 34 is connected to the rotating base 15 and is concentrically arranged on the outside of the welding platform 4. A notch is arranged on the annular air guide hood 34 near the nozzle 21. The annular air guide hood 34 and the welding platform 4 are sealed. An annular nozzle 35 is connected to the top of the annular air guide hood 34, and the annular nozzle 35 is connected to the gas source equipment.

[0102] The working principle and beneficial effects of the above technical solution are:

[0103] When the air guide assembly is in use, the airflow in the nozzle 21 is blown and enters the annular air guide cover 34. The airflow is concentrated between the inner wall of the annular air guide cover 34 and the welding platform 4. The airflow acts on the air guide plate 33, which can drive the welding platform 4 to rotate; the airflow in the annular nozzle 35 blows onto the angle steel tower foot 5 to clean the welding slag on the angle steel tower foot 5.

[0104] The working principle of the air blowing rotary unit is:

[0105] The second rotating shaft 17 of the welding platform 4 is separated from the output shaft of the rotating motor by the clutch mechanism, so that the welding platform 4 is in a free rotating state; in the initial position, the socket 25 is located at the first end of the guide groove 27, and is attracted by the magnetic block at the first end, and stably maintains the position at the first end. At this time, the direction of the nozzle 22 is toward the first end of the wind guide cover 34; a high-pressure airflow is delivered to the nozzle 21 through the air source device, and the airflow is blown into the wind guide cover 34 through the nozzle 22. The airflow acts on the air guide plate 33, pushing the welding platform 4 to rotate, and as the airflow entering the wind guide cover 34 increases, the speed of the welding platform 4 increases; the shift block 32 on the welding platform 4 slides along the annular groove 31, and when the shift block 32 moves to contact with the second fan-shaped plate 29, it is moved by the second fan The blocking plate 29 stops rotating, and pushes the second sector plate 29 to rotate, so that the first sector plate 28 on the other side rotates accordingly. The first sector plate 28 meshes with the gear ring 24 for transmission. The gear ring 24 rotates and drives the connector 25 to slide toward the second end of the guide groove 27 until it contacts the second end of the guide groove 27 and is stably maintained at the position at the second end under the attraction of the magnetic block at the second end. At this time, the direction of the nozzle 22 is toward the second end of the wind guide cover 34, that is, the airflow is reversed; the airflow drives the welding platform 4 to rotate in the opposite direction until the shifting block 32 contacts the second sector plate 29 again, and the above action is repeated; therefore, the air blowing rotating unit drives the welding platform 4 to rotate under the action of wind force, and performs a cycle of forward acceleration, stop, reverse acceleration, and stop.

[0106] Through the above-mentioned structural design, on the one hand, after the welding is completed or part of the welding is completed, the blowing and rotating unit is started, and the welding platform 4 is driven to rotate under the action of wind. Every time the welding platform 4 stops rotating, the shift block 32 collides with the second fan-shaped plate 29 to generate vibration, which is transmitted to the angle steel tower foot 25, so that the welding slag on the angle steel tower foot 25 is loosened, exposing the welding defects; the image of the angle steel tower foot 5 is collected by the image acquisition unit, and the controller analyzes and obtains the deformation position and welding defect position of the angle steel tower foot 5, and re-welding can be performed at the welding station without the need for secondary clamping and positioning.

[0107] On the other hand, after the welding is completed or part of the welding is completed, the posture adjustment unit is started to flip the welding platform 4 so that the welding slag slides down under the action of gravity; at the same time, the air blowing rotation unit is used to drive the welding platform 4 to rotate under the action of wind force, and performs a cycle of forward acceleration, stop, reverse acceleration, and stop. The welding slag on the welding platform 4 and the angle steel tower structure is effectively shaken off by a non-uniform rotation method, thereby avoiding the problem of the welding slag being concentrated in the corner of the angle steel tower foot 5 under the action of uniform airflow; the airflow is sprayed onto the welding platform 4 and the angle steel tower foot 5 through the annular nozzle 35, and the airflow is concentrated toward the center of the welding platform 4. Under the combined action of airflow and rotation, the welding slag is easier to slide down under the action of airflow, thereby reducing the waste of wind force when the blowing method is used alone, and improving the self-cleaning ability of the welding robot.

[0108] Embodiment 9:

[0109] like Fig. 9 As shown, based on the above-mentioned embodiment 8, the rotating assembly further includes two sets of limiting mechanisms symmetrically arranged on the second rotating shaft 17, and the limiting mechanisms include:

[0110] Gear 41, gear 41 is rotatably connected to the rotating base 15 via a gear shaft, and the gear shaft is connected to the output end of the power source;

[0111] A first arc-shaped rack 42, the first arc-shaped rack 42 is meshed and connected to a side of the gear 41 close to the second rotating shaft 17, and a sliding groove for the first arc-shaped rack 42 to slide is provided on the rotating base 15;

[0112] A second arc-shaped rack 43, the second arc-shaped rack 43 is meshedly connected to a side of the gear 43 away from the second rotating shaft 17, and a sliding groove for the second arc-shaped rack 43 to slide is provided on the rotating base 15, and the second arc-shaped rack 43 is concentrically arranged with the first arc-shaped rack 42;

[0113] A first clamping rod 44, the first clamping rod 44 is connected to a first end of the first arc-shaped rack 42;

[0114] A second clamping rod 45, the second clamping rod 45 is connected to the first end of the second arc-shaped rack 43, and the first end of the second clamping rod 45 and the first end of the first clamping rod 44 are far away from each other; the second clamping rod 45 and the first clamping rod 44 are arranged to cross each other, and the intersection is connected by a hinge shaft;

[0115] The limit block 46 is connected to the second ends of the first clamping rod 44 and the second clamping rod 45 . The limit block 46 is made of rubber material. The two limit blocks 46 are respectively arranged at the front and rear of the same side of the second rotating shaft 17 .

[0116] The working principle and beneficial effects of the above technical solution are:

[0117] When the welding platform 4 is adjusted to a preset angle, the power source is started to drive the gear 41 to rotate. The power source can be set to a motor structure and connected to the gear shaft of the gear 41 through gear transmission, belt transmission and other transmission methods. The two sides of the gear 41 are respectively meshed with the first arc-shaped rack 42 and the second arc-shaped rack 43 for transmission, driving the first arc-shaped rack 42 and the second arc-shaped rack 43 to move in opposite directions. The slide groove set on the rotating base 15 guides the first arc-shaped rack 42 and the second arc-shaped rack 43. The first arc-shaped rack 42 drives the first clamping rod 44 to rotate, and the second arc-shaped rack 43 drives the second clamping rod 45 to rotate. The first end of the first clamp rod 44 and the second clamp rod 45 move away from each other, so that the second ends of the first clamp rod 44 and the second clamp rod 45 approach each other, and the two limit blocks 46 are clamped on the second rotating shaft 17, so as to limit the second rotating shaft 17 and play a role of auxiliary support for the second rotating shaft 17, thereby reducing the load on the output shaft of the rotating motor during welding in the current position, improving the stability of the welding platform 4 after the posture adjustment, and reducing the deflection during the welding process; the limit mechanism is set to a scissor-type transmission form, which reduces the force acting on the gear 41, and at the same time reduces the load of the power source connected to the gear shaft, and has higher reliability.

[0118] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0119] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0120] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A welding robot for a steel tower structure, characterized in that: include: A welding robot body (1), the welding robot body (1) moves on a welding track (2), and an execution end of the welding robot body (1) is connected to a welding gun (3); A welding platform (4), which is arranged on one side of the welding track (2) and is used to support the angle steel tower foot (5); A posture adjustment unit, the posture adjustment unit is connected to the welding platform (4) and is used to flip and rotate the welding platform (4); An image acquisition unit is arranged above the angle steel tower foot (5) and is used to acquire an image of the angle steel tower foot (5); a controller controls the action of the posture adjustment unit according to the acquired image.

2. A welding robot for a steel tower structure according to claim 1, characterized in that: A protective cover (6) is arranged on the outside of the welding platform (4), and an opening for the welding robot body (1) to enter is arranged on the side of the protective cover (6).

3. A welding robot for a steel tower structure according to claim 1, characterized in that: The posture adjustment unit includes a flip assembly, and the flip assembly includes: A fixing frame (11), wherein a turning space is arranged at the center of the fixing frame (11); A turning frame (12), the turning frame (12) is rotatably connected to the center of the fixed frame (11) via a first rotating shaft, and the welding platform (4) is installed on the turning frame (12); The flip motor (13) is installed on one side of the fixing frame (11), and the first rotating shaft is connected to the output end of the flip motor (13).

4. A welding robot for a steel tower structure according to claim 3, characterized in that: The posture adjustment unit includes a rotating assembly, and the rotating assembly includes: A rotating base (15) is connected to the center of the turning frame (12), and a rotating motor is arranged inside the turning frame (12); the welding platform (4) is rotatably connected to the top of the rotating base (15) via a second rotating shaft (17), and the second rotating shaft (17) is connected to the output shaft of the rotating motor via a clutch mechanism; and a clamping mechanism for fixing the angle steel tower foot (5) is arranged on the welding platform (4).

5. A welding robot for a steel tower structure according to claim 4, characterized in that: A nozzle (21) is rotatably arranged on the rotating base (15); the bottom end of the nozzle (21) is connected to an air source device via a pipeline (23); the air outlet end of the nozzle (21) is connected to a nozzle (22); the nozzle (21) is arranged outside the welding platform (4), and the nozzle (22) sprays airflow toward the welding platform (4).

6. A welding robot for a steel tower structure according to claim 4, characterized in that: An air blowing rotating unit is arranged on the rotating base (15), and the air blowing rotating unit comprises: A gear ring (24), the gear ring (24) is rotatably connected to the cavity of the rotating base (15), the gear ring (24) is concentrically arranged on the outside of the nozzle (21), and the outer ring end of the gear ring (24) is evenly connected with latch teeth; A plug socket (25), the plug socket (25) is connected to the inner ring end of the gear ring (24), and a plug post is connected to the top of the plug socket (25), and the plug socket (25) is magnetic; The plug sleeve (26) is connected to the outer wall of the nozzle (21), and the plug post is installed in the plug sleeve (26).

7. A welding robot for a steel tower structure according to claim 6, characterized in that: A guide groove (27) is arranged at the top of the rotating base (15), the guide groove (27) is arranged concentrically with the gear ring (24), and the guide groove (27) is arranged close to the welding platform (4); the plug socket (25) is slidably connected in the guide groove (27), and magnetic blocks are arranged at both ends of the guide groove (27), and the magnetic blocks have an attractive force on the plug socket (25).

8. The welding robot for a steel tower structure according to claim 6, characterized in that: A toothed plate assembly is meshedly connected to the outer side of the toothed ring (24), and the toothed plate assembly comprises: a first sector plate (28) and a second sector plate (29), wherein the first sector plate (28) is configured as a sector-shaped toothed plate, the first sector plate (28) is meshedly connected to the toothed ring (24), the second sector plate (29) is disposed at one end of the first sector plate (28) away from the toothed ring (24), a rotating shaft is disposed at the connection between the first sector plate (28) and the second sector plate (29), and the rotating shaft is rotatably connected to the rotating base (15), and the second sector plate (29) extends to below the welding platform (4).

9. A welding robot for a steel tower structure according to claim 8, characterized in that: The air blow rotating unit also includes: An annular groove (31), the annular groove (31) is arranged at the top of the rotating base (15), and the annular groove (31) is arranged concentrically with the welding platform (4), and the second sector plate (29) extends into the annular groove (31); The shifting block (32) is connected to the bottom end of the welding platform (4), and the shifting block (32) is slidably connected in the annular groove (31).

10. A welding robot for a steel tower structure according to claim 9, characterized in that: The air blowing rotating unit also includes an air guide component, which includes: Air guide vane groups, wherein a plurality of air guide vane groups are evenly connected to the welding platform (4), each air guide vane group comprises two symmetrically arranged air guide vanes (33), the edges of the air guide vanes (33) are curled, and the two air guide vanes (33) in each group are inclined in opposite directions; An annular air guide cover (34) is connected to the rotating base (15) and is coaxially arranged outside the welding platform (4). A notch is arranged on the annular air guide cover (34) near the nozzle (21). The annular air guide cover (34) and the welding platform (4) are sealed. An annular nozzle (35) is connected to the top of the annular air guide cover (34), and the annular nozzle (35) is connected to the gas source equipment.

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