A caterpillar mobile welding robot apparatus

Abstract

This application relates to the field of welding robots and discloses a tracked mobile welding robot device, including a mobile walking mechanism. A welding execution mechanism is mounted on the mobile walking mechanism, which includes a programmable controllable robotic arm. A welding torch is mounted at the end of the robotic arm. A welding wire feeding mechanism is also mounted on the mobile walking mechanism, comprising a welding wire spool and a welding wire grinding component. The welding wire grinding component includes a sanding sleeve, the inner wall of which is lined with sandpaper. The sandpaper is fitted onto the welding wire and is responsible for grinding the oxide layer on the surface of the welding wire. This invention, through the cyclical, pre-reserved wire pulling and releasing, allows the welding work to proceed in an orderly manner. This ensures that the thickness of the weld wire is the required set thickness and is uniform; it also ensures that the wire feed is continuous and uninterrupted during the welding process; and it saves time waiting for wire grinding.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, specifically to a tracked mobile welding robot device. Background Technology

[0002] Tracked mobile welding robots mainly consist of a chassis frame, a robotic arm, and a welding mechanism. By controlling the chassis frame and the robotic arm, they can perform automatic welding at any position autonomously, which is practical and convenient. The core of the current welding mechanism is the use of welding wire. When using welding wire, the welding wire needs to be pulled from the wire spool to the end of the welding gun. Under the action of high temperature or current, it melts onto the welding material to achieve the purpose of welding.

[0003] Since the main component of welding wire is iron, after a period of non-use, not only will an oxide film appear on the outer wall, but also a small amount of rust and dust will be distributed. If it is not cleaned in time before use, it will not only cause wire jamming and inconvenience to users, but also affect the welding quality due to the presence of oxide film. The existing main solution is to use sandpaper or steel wool to polish the outer wall of the welding wire. According to the announcement number CN119658227B published by the Chinese Patent Office, entitled "Automatic Welding Device for Forgings", its innovation is that when the conveyor roller rotates, the conveyor roller drives two assembly rings to reciprocate linearly along the welding wire conveying route through the transmission component. The two steel wire rings can reciprocate to clean the surface of the welding wire, which can remove impurities such as oxide film and rust from the surface of the welding wire. This allows the conveyor box to automatically feed wire while cleaning impurities on the surface of the welding wire, thereby improving the quality of automated welding of forgings.

[0004] However, the aforementioned patent has certain drawbacks. The wire feeding speed and the wire cleaning speed are not compatible. Wire feeding is continuous, but if wire cleaning is also continuous, the wire grinding time in the area near the feeding end of the wire coil is too short, while the wire grinding time in the area far from the feeding end of the wire coil is too long. This results in differences in wire thickness, causing the thicker parts to get stuck and the thinner parts to be over-ground, reducing the thickness of the wire itself and thus affecting the welding quality. In addition, the surface friction during wire feeding can easily lead to uneven feeding and the risk of wire jamming. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a tracked mobile welding robot that solves the problem of inconsistent welding wire thickness caused by continuous wire grinding.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a tracked mobile welding robot device, comprising a mobile walking mechanism, a welding execution mechanism mounted on the mobile walking mechanism, the welding execution mechanism including a programmable controllable robotic arm, a welding torch mounted at the end of the robotic arm, and a welding wire feeding mechanism mounted on the mobile walking mechanism, the welding wire feeding mechanism including: a welding wire spool; and a welding wire grinding component, the welding wire grinding component including a sanding sleeve, the inner wall of the sanding sleeve being provided with sandpaper, the sandpaper being fitted onto the welding wire and responsible for grinding the welding wire. The components include: an oxide layer on the surface; a wire input component comprising a pair of first extrusion rollers that rotate intermittently to drive the wire to be fed backward in segments for pre-processing of wire of a set length; a wire straightening component comprising multiple straightening rollers and wire support rollers that are driven to move up and down reciprocally to ensure that the wire remains straight; a triggering component; and a wire output component comprising a pair of second extrusion rollers that rotate automatically under the action of the triggering component to begin wire feeding and welding.

[0007] Preferably, the welding wire spool includes a roller and a welding wire, and a wire storage box is provided on the moving walking mechanism. The welding wire spool is rotatably connected to the inside of the wire storage box. A hollow tube is fixedly connected to the outer end of the wire storage box. The hollow tube is connected to the outside of the welding torch and communicates with the inside of the welding torch. One end of the welding wire travels between the hollow tube and the inside of the welding torch.

[0008] Preferably, the welding wire input component further includes a first motor, which operates intermittently. A first rotating rod is fixedly connected inside each pair of first extrusion rollers, and a first drive wheel is fixedly sleeved on the outside of each pair of first rotating rods. The pair of first drive wheels are meshed with each other, and the end of one of the rotating rods is fixedly connected to the output end of the first motor.

[0009] Preferably, the welding wire straightening component includes an electric guide rail, with a guide rail block slidably connected to the inner wall of the electric guide rail. The outer ends of the multiple straightening rollers are jointly provided with a drive frame, which is fixedly connected to the guide rail block. During the up-and-down reciprocating process of the guide rail block, the reserved welding wire is straightened.

[0010] Preferably, the wire storage box is further fixedly connected to a plurality of support rods, the bottom ends of the plurality of support rods are fixedly connected to a support frame, and the support frame is rotatably connected to a plurality of wire support rollers wound with welding wire, and the plurality of wire support rollers are rotatably connected to the inner wall of the support frame.

[0011] Preferably, the welding wire output component includes a second motor, a second rotating rod fixedly connected inside each of the pair of second extrusion rollers, a second drive wheel fixedly sleeved on the outside of each of the pair of second rotating rods, the pair of second drive wheels meshing with each other, and the end of one of the second rotating rods fixedly connected to the output end of the second motor.

[0012] Preferably, the welding wire grinding component includes a third motor, the output end of which is fixedly connected to a first bevel gear, and the outer end of the grinding sleeve is fixedly sleeved with a second bevel gear. The first bevel gear and the second bevel gear are meshed and connected. When the third motor is working, the output end rotates alternately in both forward and reverse directions.

[0013] Preferably, the triggering component includes a fixing plate, and a first touch switch and a second touch switch are fixedly connected to the side end of the fixing plate. Both the first touch switch and the second touch switch are electrically connected to a controller, and the controller is electrically connected to a third motor.

[0014] Preferably, the wire storage box is further provided with a lubrication component, the lubrication component includes a liquid storage tank, a negative pressure pump is fixedly connected to the top of the liquid storage tank, an inlet pipe and an outlet pipe are fixedly connected to both ends of the negative pressure pump respectively, one end of the inlet pipe is fixedly connected to the liquid storage tank, and one end of the outlet pipe is fixedly connected to an atomizing nozzle.

[0015] Preferably, it also includes a first control switch and a second control switch, both of which are electrically connected to the controller. The controller is also electrically connected to the first motor and the second motor. A tension sensor is provided on the electric guide rail to detect the driving force on the guide rail block.

[0016] This invention provides a tracked mobile welding robot. It has the following advantages: 1. The present invention sets up abrasive paper and a pair of first extrusion rollers, and controls the first extrusion rollers to work intermittently to drive the welding wire to be fed backward in segments. Then, the abrasive paper is used to rub each segment of the welding wire for an equal time, thereby achieving the purpose of the same grinding time for all parts of the welding wire and the purpose of keeping the surface thickness of the welding wire constant. 2. By setting up a welding wire straightening component, the welding wire to be used is pre-treated before welding and kept straight at all times. This not only allows for the uninterrupted feeding of the polished welding wire during welding, but also allows the reserved welding wire of a certain length to be neatly arranged, facilitating smooth wire feeding. 3. The present invention, by setting a first touch switch, automatically reminds the user that welding can start normally after the reserved welding wire of a set length has been ground. At the same time, while the user is using the reserved welding wire, the grinding area on the left side will continue to grind new welding wire, saving waiting time. When the reserved welding wire is about to be used up, the second touch switch will remind the user in time, effectively avoiding the welding work from being suddenly terminated and affecting the welding quality. 4. By repeatedly pulling and releasing the welding wire, the welding work can be carried out in an orderly manner, ensuring that the thickness of the welding wire is the required set thickness and is uniform; it also ensures that the welding wire feed is continuous and uninterrupted during the welding process; and it also saves the time waiting for the welding wire to be ground. 5. By setting up a lubrication component, the present invention can automatically spray atomized lubricating fluid when the welding wire is pulled to its lowest point, so that the lubricating fluid can come into contact with more of the welding wire surface area; this not only effectively prevents the welding wire from being oxidized again, but also greatly reduces the friction on the surface of the welding wire, further helping to make the wire feed smoother. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall external structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the present invention from another perspective; Figure 3 This is a cross-sectional view of the wire storage box of the present invention; Figure 4 This is a schematic diagram of the internal structure of the wire storage box of the present invention; Figure 5 This is a schematic diagram of the left-side chamber structure of the partition in this invention; Figure 6 This is a schematic diagram of the welding wire grinding component and welding wire input component of the present invention; Figure 7 This is a schematic diagram of the welding wire straightening component of the present invention; Figure 8 For the present invention Figure 7 A magnified structural diagram at point A; Figure 9 This is a schematic diagram of the trigger component structure of the present invention; Figure 10 This is a block diagram of the signal transmission of the present invention.

[0018] The components include: 1. Chassis; 2. Robotic arm; 3. Welding torch; 4. Welding wire spool; 41. Roller body; 42. Welding wire; 5. Welding wire grinding component; 51. Grinding sleeve; 52. Sandpaper; 53. Third motor; 54. First bevel gear; 55. Second bevel gear; 6. Welding wire input component; 61. First motor; 62. First rotating rod; 63. First drive wheel; 64. First extrusion wheel; 65. First shaped plate; 66. First support plate; 7. Welding wire straightening component; 71. Electric guide rail; 72. Guide rail block; 73. Drive frame; 74. Straightening roller; 75. Support frame; 76. Wire support roller; 8. Triggering component; 81. Fixing plate; 82. First touch switch; 83. Second touch switch; 9. Welding wire output component; 91. Second motor; 92. Second rotating rod; 93. Second drive wheel; 94. Second extrusion wheel; 95. Second support plate; 96. Second shaped plate; 10. Lubrication component; 101. Liquid storage tank; 102. Negative pressure pump; 103. Liquid inlet pipe; 104. Liquid outlet pipe; 105. Atomizing nozzle; 11. Wire storage box; 12. Hollow tube; 14. Slag suction component; 141. Vacuum pump; 142. Air outlet pipe; 143. Air inlet pipe; 144. Slag storage box; 15. Partition plate. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see the appendix Figure 1 - Appendix Figure 3 This invention provides a tracked mobile welding robot device, including a mobile walking mechanism, a welding execution mechanism on the mobile walking mechanism, a programmable controllable robotic arm 2, a welding torch 3 at the end of the robotic arm 2, and a welding wire feeding mechanism on the mobile walking mechanism.

[0021] The mobile walking mechanism includes a chassis 1, which consists of a shell and a track mechanism. It can automatically move to a set position. The robotic arm 2 is programmed and can bend and rotate with multiple degrees of freedom, making the welding process more convenient. At the same time, workers can stay away from the welding area to ensure their safety.

[0022] The welding wire feeding mechanism includes: a welding wire spool 4; a welding wire grinding component 5, which includes a grinding sleeve 51, with abrasive paper 52 installed on the inner wall of the grinding sleeve 51. The abrasive paper 52 is fitted onto the welding wire and is responsible for grinding the oxide layer on the surface of the welding wire; a welding wire input component 6, which includes a pair of first extrusion rollers 64. The pair of first extrusion rollers 64 rotate intermittently during operation, driving the welding wire to be fed backward in segments to pre-process the welding wire of a set length; a welding wire straightening component 7, which includes multiple straightening rollers 74 and wire support rollers 76. The straightening rollers 74 are driven to move up and down reciprocally to ensure that the welding wire remains straight; a triggering component 8; and a welding wire output component 9, which includes a pair of second extrusion rollers 94. The pair of second extrusion rollers 94 rotate automatically under the action of the triggering component 8 to start wire feeding and welding.

[0023] Specifically, the sandpaper 52 is fine sandpaper, which is wrapped around the outer wall of the welding wire. Depending on your needs, you can set it to rotate 2-5 times.

[0024] Please see the appendix Figure 3-4 The welding wire spool 4 includes a roller body 41 and a welding wire 42. A wire storage box 11 is fixedly connected to the moving and traveling mechanism. The welding wire spool 4 is rotatably connected inside the wire storage box 11. A hollow tube 12 is fixedly connected to the outer end of the wire storage box 11. The hollow tube 12 is connected to the outside of the welding torch 3 and communicates with the inside of the welding torch 3. One end of the welding wire 42 travels through the hollow tube 12 and inside the welding torch 3 until it reaches the end of the welding torch 3. The solid welding wire 3 is energized through the conductive tip and comes into contact with the workpiece to generate a high-temperature electric arc. The electric arc melts the welding wire and the workpiece metal to form a molten pool. With the help of the protective gas, the air is isolated to prevent oxidation. As the welding torch 3 moves, the molten pool automatically cools and solidifies to form a weld, thereby completing the welding.

[0025] The wire storage box 11 is externally connected to a door, which allows for easy replacement of the welding wire reel 4.

[0026] Please see the appendix Figure 5 - Appendix Figure 9 The welding wire input component 6 includes a first motor 61, which operates intermittently. A first rotating rod 62 is fixedly connected inside each of a pair of first extrusion rollers 64. A first drive wheel 63 is fixedly sleeved on the outside of each pair of first rotating rods 62. The pair of first drive wheels 63 are meshed with each other. The end of one of the rotating rods is fixedly connected to the output end of the first motor 61.

[0027] Please see the appendix Figure 6 The wire grinding component 5 includes a third motor 53. The output end of the third motor 53 is fixedly connected to a first bevel gear 54. The outer end of the grinding sleeve 51 is fixedly sleeved with a second bevel gear 55. The first bevel gear 54 and the second bevel gear 55 are meshed and connected. When the third motor 53 is working, the output end rotates alternately in forward and reverse directions.

[0028] Specifically, the sandpaper 52 is detachably connected inside the sanding sleeve 51, and the sandpaper 52 is inspected or replaced after each sanding session.

[0029] Please see the appendix Figure 6 A first support plate 66 is provided on the first rotating rod 62, and the first support plate 66 is fixedly connected to the wire storage box 11. The first support plate 66 is responsible for supporting the first motor 61, the first drive wheel 63, and the first drive wheel 63. A first irregular plate 65 is fixedly connected to the side end of the first support plate 66, which is responsible for supporting the welding wire 42. The first motor 61 drives one of the first rotating rods 62 to rotate, which in turn drives a pair of first drive wheels 63 to rotate in opposite directions. This causes the welding wire 42 to move backward by the squeezing force exerted by the two first drive wheels 63. In actual operation, the output end of the first motor 61 operates intermittently, and the distance that the welding wire 42 moves each time is the length of the abrasive sleeve 51, thereby achieving the purpose of intermittently grinding the welding wire 42 of a constant length.

[0030] Please see the appendix Figure 5 and attached Figure 7 The welding wire straightening component 7 includes an electric guide rail 71, with a guide block 72 slidably connected to the inner wall of the electric guide rail 71. A drive frame 73 is shared at the outer ends of multiple straightening rollers 74, and the drive frame 73 is fixedly connected to the guide block 72. During the reciprocating motion of the guide block 72, the pre-reserved welding wire is straightened. A tension sensor is installed on the electric guide rail 71 to detect the driving force on the guide block 72.

[0031] The electric guide rail 71 works in conjunction with the first motor 61. Each time the first motor 61 drives the welding wire 42 to be conveyed a certain distance, the electric guide rail 71 will move the guide rail block 72 downwards. The guide rail block 72 will move the straightening roller 74 downwards through the drive frame 73, so that the straightening roller 74 moves downwards and straightens the reserved welding wire 42, so that the welding wire 42 can be continuously and uninterruptedly conveyed for subsequent welding.

[0032] Please see the appendix Figure 5 The wire storage box 11 is also fixedly connected to a plurality of support rods 74, and the bottom ends of the plurality of support rods 74 are fixedly connected to a support frame 75. The support frame 75 is rotatably connected to a plurality of wire support rollers 76 that are wound with welding wire 42, and the plurality of wire support rollers 76 are rotatably connected to the inner wall of the support frame 75.

[0033] Specifically, bearings are provided inside both the straightening roller 74 and the wire support roller 76, so that the friction between the straightening roller 74 and the wire support roller 76 can be reduced when the welding wire 42 moves.

[0034] Initially, the straightening roller 74 is located at the upper end and close to the wire support roller 76. The wire support roller 76 is stabilized at the top under the action of the support frame 75. After the welding wire 42 is pulled out a small section by the first extrusion roller 64, the electric guide rail 71 is driven by the controller to move the drive frame 73 downward, so that the welding wire 42 is always in a straightened state.

[0035] Please see the appendix Figure 7-8 The welding wire output component 9 includes a second motor 91, a pair of second extrusion rollers 94, each of which is fixedly connected to a second rotating rod 92, and a pair of second rotating rods 92 are fixedly sleeved on the outside of each other. The pair of second driving wheels 93 are meshed with each other, and the end of one of the second rotating rods 92 is fixedly connected to the output end of the second motor 91.

[0036] Similarly, the welding wire output component 9 also includes a second support plate 95 and a second irregular plate 96 fixedly connected to the outer end of the second support plate 95. There is a pair of second support plates 95, both of which are fixedly connected to the inner top surface of the wire storage box 11. The second motor 91 drives one of the second rotating rods 92 to rotate, which in turn drives a pair of second drive wheels 93 to rotate in opposite directions. This causes the welding wire 42 to start moving towards the end of the welding gun 3 in preparation for welding due to the squeezing force exerted by the two wheels. The active end of the second motor 91 operates continuously and its speed can be adjusted as needed.

[0037] Please see the appendix Figure 10 The triggering component 8 includes a fixing plate 81. A first touch switch 82 and a second touch switch 83 are fixedly connected to the side of the fixing plate 81. Both the first touch switch 82 and the second touch switch 83 are electrically connected to a controller. The controller is electrically connected to the third motor 53. The device is equipped with a remote control, which has a first control switch and a second control switch. Both the first control switch and the second control switch are electrically connected to the controller. The controller is also electrically connected to the first motor 61 and the second motor 91. The drive rail is also electrically connected to the controller. An alarm is installed on the top of the wire storage box 11. The controller is also connected to a delay module.

[0038] The first and second control switches are activated by signals issued by the operator, which are then transmitted to the controller. Upon receiving the signals, the controller activates the first motor 61 and the third motor 53. After a period of time, the first touch switch 82 is pressed, sending a signal back to the controller. Upon receiving the command, the controller shuts down the first motor 61 and the third motor 53, while awaiting the operator's next command. The operator maneuvers the chassis to the set position, moves the robotic arm 2 to the work area with the welding torch, and then presses the second control switch. The controller then activates the second motor 91, preparing for wire feeding welding. Under the action of the delay module, the first motor 61 and the second motor 91 also start after the set time. The second motor 91 continues until the second touch switch 83 is pressed, triggering an alarm. The second motor 91 can automatically shut down if necessary, or it will automatically shut down after the set time.

[0039] Pre-treatment process: Before welding begins, welding wire 42 needs to be pre-treated. Press the first control switch to start the first motor 61 via the controller. The first motor 61 pulls the welding wire 42 of a set length through the first extrusion roller 64. Then, the third motor 53 starts rotating the abrasive sleeve 51 to rub and polish the internal welding wire 42 to remove the oxide film. At the same time, the drive guide rail is also opened, and the straightening roller 74 is driven down through the drive frame 73 to straighten the welding wire 42 pulled out by the first extrusion roller 64. After the set time is reached (that is, the polishing time, which is related to the number of rotations required by the abrasive sleeve 51), the first motor 61 is started again and the above actions are repeated until the straightening roller 74 touches the first touch switch 82. The first motor 61 and the third motor 53 stop working, and the pre-treatment work is completed. Welding process: The first switch drives the guide rail to enter the unloading state through the controller. The guide rail is equipped with a tension sensor, so that the force applied by the guide rail to the guide rail block 72 is less than the driving force of the second motor 91. At this time, the second control switch is pressed, the second motor 91 starts, and pulls the welding wire 42 to move through the second drive wheel 93 for welding. At the same time, the controller continues to turn on the first motor 61 and the third motor 53 after a set time through the delay module, that is, to continue to grind the subsequent welding wire 42. It realizes that welding the ground welding wire 42 is carried out at the same time as grinding the new welding wire 42, saving time. Because the speed of the third motor 53 is slightly faster and it is working continuously, the input is less than the output, so the length of the reserved welding wire 42 gradually shortens. The drive frame 73 begins to rise until it touches the second touch switch 83. Through the controller, the alarm sounds to remind the staff that the reserved welding wire 42 is about to be used up. After the current welding wire 42 is completed, the second motor 91 must be stopped. Then the second motor 91 stops, and the first motor 61 continues to work, causing the drive frame 73 to move down again. This cycle repeats, ultimately achieving the effect of continuous wire feeding and uniform thickness of the welding wire 42 during the welding process.

[0040] Please see the appendix Figure 4 The wire storage box 11 is also equipped with a lubrication component 10, which includes a liquid storage tank 101. A negative pressure pump 102 is fixedly connected to the top of the liquid storage tank 101. An inlet pipe 103 and an outlet pipe 104 are fixedly connected to both ends of the negative pressure pump 102, respectively. One end of the inlet pipe 103 is fixedly connected to the liquid storage tank 101, and one end of the outlet pipe 104 is fixedly connected to an atomizing nozzle 105.

[0041] When the drive frame 73 touches the first switch, the negative pressure pump 102 is turned on by the controller. The negative pressure pump 102 sprays lubricating fluid from the atomizing nozzle 105 through the inlet pipe 103 and the outlet pipe 104. The atomized liquid is sprayed onto the straightened welding wires 42, which can not only prevent them from being oxidized in a short time, but also reduce the friction on the surface of the welding wires 42, helping the welding wires 42 to move more smoothly; at the same time, the lubricating fluid can clean and reduce resistance, make the conductivity more stable, and prevent the arc from drifting.

[0042] Furthermore, when the liquid adheres to the welding wire 42, it also pushes the fine debris adhering to the surface of the welding wire 42 downwards, helping the welding wire 42 to remove the fine debris.

[0043] The top of the wire storage box 11 is also provided with a chip suction component 14. The chip suction component 14 includes a vacuum pump 141 fixedly connected to the top of the wire storage box 11. A slag storage box 144 is fixedly connected to the outside of the wire storage box 11. One end of the vacuum pump 141 is fixedly connected to an air inlet pipe 143, which extends to the area of ​​the abrasive sleeve 51. The other end of the vacuum pump 141 is fixedly connected to an air outlet pipe 142, which communicates with the slag storage box 144. A partition 15 is also fixedly connected to the inner wall of the wire storage box 11. The left side of the partition 15 is a grinding working chamber, and the right side is a lubrication working chamber. One end of the air inlet pipe 143 extends to the grinding working chamber to collect the fine chips generated during grinding into the slag storage box 144, which is beneficial to the internal cleaning of the wire storage box 11.

[0044] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A tracked mobile welding robot device, comprising a mobile walking mechanism, wherein a welding execution mechanism is provided on the mobile walking mechanism, the welding execution mechanism comprising a programmable controllable robotic arm (2), wherein a welding torch (3) is provided at the end of the robotic arm (2), characterized in that, The mobile walking mechanism is also equipped with a welding wire feeding mechanism, which includes: Welding wire spool (4); The welding wire grinding component (5) includes a sanding sleeve (51), and the inner wall of the sanding sleeve (51) is provided with sandpaper (52). The sandpaper (52) is sleeved on the welding wire and is responsible for grinding the oxide layer on the surface of the welding wire. The welding wire input component (6) includes a pair of first extrusion rollers (64). The pair of first extrusion rollers (64) rotate intermittently during operation, driving the welding wire to be fed backward in segments, and pre-processing the welding wire of a set length. The welding wire straightening component (7) includes multiple straightening rollers (74) and wire support rollers (76). The straightening rollers (74) are driven to move up and down reciprocally to ensure that the welding wire remains straight. Triggering component (8); The wire output component (9) includes a pair of second extrusion rollers (94). Under the action of the trigger component (8), the pair of second extrusion rollers (94) rotate automatically and start wire feeding welding.

2. The tracked mobile welding robot equipment according to claim 1, characterized in that, The welding wire spool (4) includes a roller body (41) and a welding wire (42). A wire storage box (11) is provided on the moving walking mechanism. The welding wire spool (4) is rotatably connected to the inside of the wire storage box (11). A hollow tube (12) is fixedly connected to the outer end of the wire storage box (11). The hollow tube (12) is connected to the outside of the welding gun (3) and communicates with the inside of the welding gun (3). One end of the welding wire (42) travels between the hollow tube (12) and the inside of the welding gun (3).

3. The tracked mobile welding robot equipment according to claim 2, characterized in that, The welding wire input component (6) also includes a first motor (61), which operates intermittently. A first rotating rod (62) is fixedly connected inside each of the pair of first extrusion rollers (64), and a first drive wheel (63) is fixedly sleeved on the outside of each of the pair of first rotating rods (62). The pair of first drive wheels (63) are meshed with each other, and the end of one of the rotating rods is fixedly connected to the output end of the first motor (61).

4. The tracked mobile welding robot equipment according to claim 3, characterized in that, The wire straightening component (7) includes an electric guide rail (71), and a guide rail block (72) is slidably connected to the inner wall of the electric guide rail (71). The outer ends of multiple straightening rollers (74) are jointly provided with a drive frame (73). The drive frame (73) is fixedly connected to the guide rail block (72). During the up-and-down reciprocating process of the guide rail block (72), the reserved welding wire is straightened.

5. The tracked mobile welding robot equipment according to claim 4, characterized in that, The wire storage box (11) is also fixedly connected to a plurality of support rods (74), and the bottom ends of the plurality of support rods (74) are fixedly connected to a support frame (75). The support frame (75) is rotatably connected to a plurality of wire support rollers (76) that are wound with welding wire (42), and the plurality of wire support rollers (76) are rotatably connected to the inner wall of the support frame (75).

6. The tracked mobile welding robot equipment according to claim 5, characterized in that, The welding wire output component (9) includes a second motor (91), a second rotating rod (92) is fixedly connected inside each of the two second extrusion rollers (94), a second drive wheel (93) is fixedly sleeved on the outside of each of the two second rotating rods (92), the two second drive wheels (93) are meshed with each other, and the end of one of the second rotating rods (92) is fixedly connected to the output end of the second motor (91).

7. The tracked mobile welding robot equipment according to claim 6, characterized in that, The wire grinding component (5) includes a third motor (53), the output end of which is fixedly connected to a first bevel gear (54), and the outer end of the grinding sleeve (51) is fixedly sleeved with a second bevel gear (55). The first bevel gear (54) and the second bevel gear (55) are meshed together. When the third motor (53) is working, the output end rotates in both forward and reverse directions.

8. The tracked mobile welding robot equipment according to claim 7, characterized in that, The triggering component (8) includes a fixing plate (81), on the side of which a first touch switch (82) and a second touch switch (83) are fixedly connected. The first touch switch (82) and the second touch switch (83) are both electrically connected to a controller, and the controller is electrically connected to a third motor (53).

9. A tracked mobile welding robot device according to claim 8, characterized in that, The wire storage box (11) is also provided with a lubrication component (10). The lubrication component (10) includes a liquid storage tank (101). A negative pressure pump (102) is fixedly connected to the top of the liquid storage tank (101). An inlet pipe (103) and an outlet pipe (104) are fixedly connected to both ends of the negative pressure pump (102). One end of the inlet pipe (103) is fixedly connected to the liquid storage tank (101), and one end of the outlet pipe (104) is fixedly connected to an atomizing nozzle (105).

10. A tracked mobile welding robot device according to claim 9, characterized in that, It also includes a first control switch and a second control switch, both of which are electrically connected to the controller. The controller is also electrically connected to the first motor (61) and the second motor (91). A tension sensor is provided on the electric guide rail (71) to detect the driving force on the guide rail block (72).

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