Crawling welding robot

Abstract

The present invention is applicable to the field of welding technology and provides a crawling welding robot, which includes a frame and two track wheels arranged on both sides of the frame. The wheel frames of the two track wheels and the frame are movably connected, so that when the crawling welding robot walks on a non-planar welding surface, the two track wheels can freely adjust their postures relative to the frame to adapt to the welding surface, thereby improving the fit between the two track wheels and the welding surface, making the walking direction of the crawling welding robot easier to control, and reducing the probability of the crawling welding robot slipping or falling from the welding plane.

Description

Technical Field

[0001] The invention belongs to the technical field of welding, and in particular relates to a crawling welding robot. Background Art

[0002] With the development of robot technology and welding technology, in the field of metal structure welding, crawling welding robots are usually used for welding steel storage tanks, spherical tanks, and pipeline arc surface equipment. At present, there is a type of crawling welding robot, which is driven by crawler wheels and walks on the welding surface. However, for the above-mentioned arc surfaces, spherical surfaces and other non-planar welding surfaces, the crawler wheels of the crawling welding robot usually cannot fully contact the welding surface, making it difficult to control the walking direction of the welding robot, and it may even slip or fall from the welding plane. Summary of the invention

[0003] The purpose of the present invention is to provide a crawling welding robot, aiming to solve the problem in the prior art that when the crawling welding robot walks on a non-planar welding surface, the walking direction is difficult to control and the robot may even slip or fall from the welding surface.

[0004] The present invention is implemented as follows: a crawling welding robot is used to crawl on a workpiece to be welded and weld the workpiece to be welded. The crawling welding robot includes a frame, two track wheels respectively connected to both sides of the frame, and a welding gun connected to the frame and used for welding. The track wheels include a wheel frame, a first sprocket and a second sprocket respectively rotatably connected to both ends of the wheel frame, and a chain looped around the first sprocket and the second sprocket. The wheel frames of the two track wheels are respectively movably connected to both sides of the frame.

[0005] Furthermore, the crawling welding robot includes a hinge, the two wheel frames are connected to the frame via the hinge, the hinge is rotatably connected to the wheel frames and / or the frame, and the rotation axis of the hinge extends along the walking direction of the crawler wheels.

[0006] Furthermore, the crawling welding robot also includes a molten pool observation module for observing the welding condition of the welding gun, the molten pool observation module includes a camera assembly for photographing the molten pool and a shielding assembly for shielding spatters, the shielding assembly includes a first blocking member having a first light-transmitting hole and a light-transmitting blocking sheet located between the first blocking member and the camera assembly and covering the first light-transmitting hole and used to shield spatters, the camera assembly photographs the molten pool through the first light-transmitting hole, the area of ​​the light-transmitting blocking sheet is at least twice the area of ​​the first light-transmitting hole and can be moved relative to the first light-transmitting hole so that different areas of the light-transmitting blocking sheet cover the first light-transmitting hole.

[0007] Furthermore, the molten pool observation module also includes a rotating shaft, and the light-transmitting baffle is rotatably connected to the rotating shaft.

[0008] Furthermore, the shielding assembly also includes a second blocking member located between the first blocking member and the camera assembly, the second blocking member is provided with a second light-transmitting hole opposite to the first light-transmitting hole, the camera assembly photographs the molten pool through the first light-transmitting hole and the second light-transmitting hole, the first blocking member and the second blocking member together form an accommodating space, the light-transmitting blocking piece is located in the accommodating space, and the rotating shaft is connected to the first blocking piece and / or the second blocking piece.

[0009] Furthermore, the light-transmitting baffle is in a circular column shape, the rotating shaft is rotatably connected to the center position of the light-transmitting baffle, the accommodating space has a notch, and the light-transmitting baffle is exposed at the notch.

[0010] Furthermore, the crawling welding robot also includes a magnetic adsorption device for adsorbing the workpiece to be welded and a lifting mechanism arranged on the frame and used to drive the magnetic adsorption device to rise and fall. The frame is provided with a through hole. The lifting mechanism includes an adjusting screw that is arranged through the through hole and one end is connected to the magnetic adsorption device, and an adjusting nut that is located on the side of the frame facing away from the magnetic adsorption device and is threadedly connected to the adjusting screw. The lifting mechanism also includes a circumferential limiting member fixedly arranged on the frame and used to limit the rotation of the adjusting screw.

[0011] Furthermore, the circumferential limiting member has a clamping hole and is arranged in a ring around the adjusting screw. The clamping hole is clamped on the outer circumference of the adjusting screw to limit the rotation of the adjusting screw. The clamping hole is "D"-shaped. The adjusting screw includes a sliding section that slides with the clamping hole. The cross-sectional shape of the sliding section corresponds to the shape of the clamping hole and is "D"-shaped.

[0012] Furthermore, the track wheel also includes a first tensioning mechanism connected to the wheel frame and used to adjust the tension of the chain in a first direction, and a second tensioning mechanism connected to the wheel frame and used to adjust the tension of the chain in a second direction, and the first direction and the second direction are in different directions.

[0013] Furthermore, the first direction is a transverse direction consistent with the walking direction of the track wheel, and the second direction is a longitudinal direction perpendicular to the transverse direction.

[0014] The technical effect of the present invention relative to the prior art is as follows: the crawling welding robot provided by the present invention includes a frame and two track wheels arranged on both sides of the frame, and the wheel frames of the two track wheels are movably connected to the frame, so that when the crawling welding robot walks on a non-planar welding surface, the two track wheels can freely adjust their posture relative to the frame to adapt to the welding surface, thereby improving the fit between the two track wheels and the welding surface, making the walking direction of the crawling welding robot easier to control, and reducing the probability of the crawling welding robot slipping or falling from the welding plane. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments of the present invention or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 is a three-dimensional diagram of a crawling welding robot provided by an embodiment of the present invention;

[0017] Figure 2 is a three-dimensional diagram of a crawling welding robot provided by an embodiment of the present invention;

[0018] Figure 3 is a three-dimensional diagram of a crawling welding robot provided by an embodiment of the present invention;

[0019] Figure 4 is a three-dimensional diagram of a frame provided by an embodiment of the present invention;

[0020] Figure 5 Schematic diagram of the use status of the molten pool observation module provided by an embodiment of the present invention;

[0021] Figure 6 is a stereoscopic diagram of a molten pool observation module provided in an embodiment of the present invention;

[0022] Figure 7 is an exploded view of a molten pool observation module provided in an embodiment of the present invention;

[0023] Figure 8 is a cross-sectional view of a molten pool observation module provided by an embodiment of the present invention;

[0024] Fig. 9 is a three-dimensional diagram of a light-transmitting baffle provided by an embodiment of the present invention;

[0025] Fig.10 It is a schematic diagram of the installation of the magnetic adsorption device and the frame provided by an embodiment of the present invention;

[0026] Fig.11It is a schematic diagram of the installation of the magnetic adsorption device and the frame provided by an embodiment of the present invention;

[0027] Fig.12 It is a schematic diagram of the installation of the lifting mechanism and the magnetic adsorption device provided in an embodiment of the present invention;

[0028] Fig.13 is a three-dimensional diagram of a circumferential limiting member provided in an embodiment of the present invention;

[0029] Fig.14 is a stereoscopic diagram of an adjusting screw provided by an embodiment of the present invention;

[0030] Fig.15 is a cross-sectional view of a sliding section provided by an embodiment of the present invention;

[0031] Fig.16 is an exploded view of a lifting mechanism provided by an embodiment of the present invention;

[0032] Fig.17 It is a stereoscopic diagram of a track wheel provided by an embodiment of the present invention.

[0033] Description of reference numerals:

[0034] 10 Frame 4231 gap 20 Hinge 43 Transparent baffle 30 Track wheels 44 Shaft 31 Wheel frame 50 Magnetic adsorption device 32 First sprocket 51 Lifting mechanism 33 Second sprocket 52 Through hole 34 Chain 53 Adjusting screw 40 Molten pool observation module 531 Sliding section 41 Camera Components 54 Adjusting nut 421 First stop 55 Circumferential limiter 4211 The first light hole 551 Card hole 422 Second stopper 60 The first tensioning mechanism 4221 The second light hole 70 The second tensioning mechanism 423 Accommodation space 80 Welding gun 90 Molten Pool DETAILED DESCRIPTION

[0035] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0036] In the description of the present invention, it should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0037] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" 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, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0041] See also Figures 1 to 4 The crawling welding robot provided in an embodiment of the present invention is used to crawl on a workpiece to be welded and weld the workpiece to be welded. The crawling welding robot includes a frame 10, two track wheels 30 respectively connected to both sides of the frame 10, and a welding gun 80 connected to the frame 10 and used for welding. The track wheels 30 include a wheel frame 31, a first sprocket 32 ​​and a second sprocket 33 respectively rotatably connected to both ends of the wheel frame 31, and a chain 34 looped around the first sprocket 32 ​​and the second sprocket 33. The wheel frames 31 of the two track wheels 30 are respectively movably connected to both sides of the frame 10.

[0042] See also Figures 1 to 4 The crawling welding robot provided by the embodiment of the present invention includes a frame 10 and two track wheels 30 arranged on both sides of the frame 10. The wheel frames 31 of the two track wheels 30 are movably connected to the frame 10. In this way, when the crawling welding robot walks on a non-planar welding surface, the two track wheels 30 can freely adjust their posture relative to the frame 10 to adapt to the welding surface, thereby improving the fit between the two track wheels 30 and the welding surface, making the walking direction of the crawling welding robot easier to control, and reducing the probability of the crawling welding robot slipping or falling from the welding plane.

[0043] See also Figures 1 to 4Further, the crawling welding robot includes a hinge 20, and the two wheel frames 31 are connected to the frame 10 through the hinge 20. The hinge 20 is rotatably connected to the wheel frames 31 and / or the frame 10, and the rotation axis of the hinge 20 extends along the traveling direction of the track wheel 30. In the embodiment of the present invention, the wheel frame 31 is connected to the frame 10 through the hinge 20. The hinge 20 can be rotatably connected to the wheel frame 31 only, can be rotatably connected to the frame 10 only, or can be rotatably connected to both the wheel frame 31 and the frame 10. This structure can enable the track wheel 30 to adjust its own posture relative to the frame 10, and the rotation axis of the hinge 20 extends along the traveling direction of the track wheel 30, that is, the track wheel 30 can swing in the vertical direction relative to the frame 10, such as Figure 3 As shown, this is to adapt to different non-planar welding surfaces.

[0044] See also Figures 5 to 9 Furthermore, the crawling welding robot also includes a molten pool observation module 40 for observing the welding condition of the welding gun 80, the molten pool observation module 40 includes a camera assembly 41 for photographing the molten pool 90 and a shielding assembly for shielding spatters, the shielding assembly includes a first blocking member 421 having a first light-transmitting hole 4211 and a light-transmitting blocking piece 43 located between the first blocking member 421 and the camera assembly 41 and covering the first light-transmitting hole 4211 and used to shield spatters, the camera assembly 41 photographs the molten pool 90 through the first light-transmitting hole 4211, the area of ​​the light-transmitting blocking piece 43 is at least twice the area of ​​the first light-transmitting hole 4211 and can be moved relative to the first light-transmitting hole 4211 so that different areas of the light-transmitting blocking piece 43 cover the first light-transmitting hole 4211.

[0045] See also Figures 5 to 9The molten pool observation module 40 provided by the embodiment of the present invention includes a camera assembly 41, a first blocking member 421 having a first light-transmitting hole 4211, and a light-transmitting baffle 43 covering the first light-transmitting hole 4211, wherein the area of ​​the light-transmitting baffle 43 is at least twice the area of ​​the first light-transmitting hole 4211, and the light-transmitting baffle 43 can be moved relative to the first light-transmitting hole 4211. During the welding process, the spatter will pass through the first light-transmitting hole 4211 and adhere to the side of the light-transmitting baffle 43 facing the molten pool 90, and the spatter will only adhere to the area of ​​the light-transmitting baffle 43 opposite to the first light-transmitting hole 4211. When the spatter adheres too much and affects the shooting effect of the camera assembly 41, the light-transmitting baffle 43 can be moved so that the other areas of the light-transmitting baffle 43 that are not adhered with the spatter are covered on the first light-transmitting hole 4211, so that the transmittance of the light-transmitting baffle 43 can be improved, thereby improving the shooting effect of the camera assembly 41. The molten pool observation module 40 provided by the embodiment of the present invention has the following advantages: when too much spatter is adhered to the area of ​​the light-transmitting baffle 43 corresponding to the first light-transmitting hole 4211, it is only necessary to move the light-transmitting baffle 43 so that the clean area of ​​the light-transmitting baffle 43 is aligned with the first light-transmitting hole 4211, and the welding work can be continued. The light-transmitting baffle 43 needs to be cleaned or replaced only when all areas of the light-transmitting baffle 43 are contaminated, which greatly reduces the frequency of cleaning or replacing the light-transmitting baffle 43, reduces labor costs, and improves work efficiency.

[0046] See also Figures 5 to 9 It can be understood that the light-transmitting baffle 43 can be moved relative to the first light-transmitting hole 4211 by translation, rotation, etc., as long as the clean area of ​​the light-transmitting baffle 43 can be aligned with the first light-transmitting hole 4211. The movement of the light-transmitting baffle 43 can be manual or electric, and is not limited thereto. The light-transmitting baffle 43 can allow all light to pass through, or only allow light of a specific wavelength to pass through, as long as the camera assembly 41 can capture the welding situation.

[0047] See also Figures 5 to 9 Furthermore, the molten pool observation module 40 further includes a rotating shaft 44, and the light-transmitting baffle 43 is rotatably connected to the rotating shaft 44. Based on this structure, the embodiment of the present invention moves the light-transmitting baffle 43 by rotating, which can greatly save the installation space required for the light-transmitting baffle 43, and is conducive to the miniaturization of the design of the molten pool observation module 40. This embodiment does not limit the setting position of the rotating shaft 44, as long as the light-transmitting baffle 43 can rotate around it and move relative to the first light-transmitting hole 4211.

[0048] See also Figures 5 to 9Furthermore, the shielding assembly also includes a second blocking member 422 located between the first blocking member 421 and the camera assembly 41, the second blocking member 422 is provided with a second light-transmitting hole 4221 opposite to the first light-transmitting hole 4211, the camera assembly 41 photographs the molten pool 90 through the first light-transmitting hole 4211 and the second light-transmitting hole 4221, the first blocking member 421 and the second blocking member 422 are surrounded to form a receiving space 423, the light-transmitting baffle 43 is located in the receiving space 423, and the rotating shaft 44 is connected to the first baffle and / or the second baffle. In the embodiment of the present invention, by arranging the light-transmitting baffle 43 in the receiving space 423, the light-transmitting baffle 43 can be prevented from being contaminated by external impurities, thereby further extending the service life of the light-transmitting baffle 43, reducing the frequency of cleaning or replacing the light-transmitting baffle 43, reducing labor costs, and improving work efficiency.

[0049] See also Figures 5 to 9 , further, the light-transmitting baffle 43 is in a circular column shape, the rotating shaft 44 is rotatably connected to the center position of the light-transmitting baffle 43, the accommodating space 423 has a notch 4231, and the light-transmitting baffle 43 is exposed at the notch 4231. The light-transmitting baffle 43 is in a circular column shape, the rotating shaft 44 is rotatably connected to the center position of the light-transmitting baffle 43, the accommodating space 423 has a notch 4231, and the light-transmitting baffle 43 is exposed at the notch 4231. Based on the above structure, a part of the light-transmitting baffle 43 is exposed at the notch 4231 of the accommodating space 423, so that when the light-transmitting baffle 43 needs to be rotated, it is only necessary to manually push the exposed part of the light-transmitting baffle 43 to drive the light-transmitting baffle 43 to rotate, so that the clean area of ​​the light-transmitting baffle 43 is aligned with the first light-transmitting hole 4211, and the operation is simple and quick.

[0050] See also Figures 10 to 16 Furthermore, the crawling welding robot also includes a magnetic adsorption device 50 for adsorbing the workpiece to be welded and a lifting mechanism 51 arranged on the frame 10 and used to drive the magnetic adsorption device 50 to rise and fall. The frame 10 is provided with a through hole 52. The lifting mechanism 51 includes an adjusting screw 53 that is arranged through the through hole 52 and one end of which is connected to the magnetic adsorption device 50, and an adjusting nut 54 that is located on the side of the frame 10 facing away from the magnetic adsorption device 50 and is threadedly connected to the adjusting screw 53. The lifting mechanism 51 also includes a circumferential limiting member 55 that is fixedly arranged on the frame 10 and used to limit the rotation of the adjusting screw 53.

[0051] See also Figures 10 to 16In the crawling welding robot provided by the embodiment of the present invention, the lifting mechanism 51 that drives the magnetic adsorption device 50 to rise and fall includes an adjusting screw 53 and an adjusting nut 54 screwed on the adjusting screw 53, and the present invention adds a circumferential limiting member 55 on the frame 10 that can limit the rotation of the adjusting screw 53, so that in the process of rotating the nut to adjust the lifting and lowering of the magnetic adsorption device 50, the circumferential limiting member 55 can limit the rotation of the adjusting screw 53, forcing the adjusting screw 53 to move only along its axial direction, thereby avoiding the situation that the lifting and lowering adjustment is invalid. In addition, since the circumferential limiting member 55 limits the rotation of the adjusting screw 53, the situation that the magnetic adsorption device 50 rotates with the adjusting screw 53 is also avoided, further avoiding the technical problem that the magnetic adsorption device 50 hits the track wheel 30 of the crawling welding robot and interferes with the walking of the crawling welding robot.

[0052] See also Figures 10 to 16 The circumferential limiting component in the embodiment of the present invention is: a component that can prevent the screw from rotating during the rotation of the nut, and this component does not hinder the movement of the adjusting screw 53 along its axial direction, that is, the lifting movement. It can be understood that the adjusting screw 53 and the adjusting nut 54 are provided with mutually matching threads, and when the nut is rotated, the adjusting screw 53 can be prompted to move up and down, thereby driving the magnetic adsorption device 50 to move up and down. The magnetic adsorption device 50 in the embodiment of the present invention can be a permanent magnet or an electromagnet.

[0053] See also Figures 10 to 16 , further, the circumferential limiting member 55 has a clamping hole 551 and is arranged around the adjusting screw 53, and the clamping hole 551 is clamped on the outer circumference of the adjusting screw 53 to limit the rotation of the adjusting screw 53. Specifically, when the adjusting nut 54 is rotated, the clamping hole 551 limits the rotation of the adjusting screw 53, so that the screw performs a lifting movement relative to the frame 10, thereby driving the magnetic adsorption device 50 to lift. Specifically, the clamping hole 551 is "D"-shaped, and the adjusting screw 53 includes a sliding section 531 that is slidably matched with the clamping hole 551. The cross-sectional shape of the sliding section 531 corresponds to the shape of the clamping hole 551, and is "D"-shaped. The cross-sectional shape diagram is shown in the figure. It can be understood that, since the clamping hole 551 is in a "D" shape and the cross section of the sliding section 531 is also in a "D" shape, the adjusting screw 53 cannot rotate relative to the circumferential limiting member 55, but it can move relative to the circumferential limiting member 55 along its axial direction, thereby achieving the adjustment screw 53 to perform lifting and lowering movements without rotating, thereby achieving effective lifting and lowering adjustment and avoiding the problem of the rotation of the magnetic adsorption device 50 interfering with the movement of the track wheel 30. The above-mentioned circumferential limiting member 55 has a simple structure and a low manufacturing cost. The circumferential limiting member 55 is fixedly arranged on the side of the frame 10 that is away from the adjusting nut 54.

[0054] See also Figures 10 to 16 Furthermore, the track wheel 30 also includes a first tensioning mechanism 60 connected to the wheel frame 31 and used to adjust the tensioning force of the chain 34 in a first direction, and a second tensioning mechanism 70 connected to the wheel frame 31 and used to adjust the tensioning force of the chain 34 in a second direction, and the first direction and the second direction are in different directions.

[0055] See also Fig.17 The crawler assembly provided in the embodiment of the present invention includes a first tensioning mechanism 60 and a second tensioning mechanism 70. The first tensioning mechanism 60 can adjust the tensioning force of the chain 34 in the first direction, and the second tensioning mechanism 70 can adjust the tensioning force of the chain 34 in the second direction. When the crawling welding robot does not reserve enough space for the swing of the chain 34 in the first direction, the chain 34 can be tensioned from the second direction by the second tensioning mechanism 70; or the first tensioning mechanism 60 can be used to provide a part of the tensioning amount, and the second tensioning mechanism 70 can provide the remaining tensioning amount, and the sum of the two tensioning amounts can be used to meet the tensioning of the chain 34. The crawler assembly provided in the embodiment of the present invention can be tensioned by the second tensioning mechanism 70 when the first tensioning mechanism 60 does not have enough space to fully tension the chain 34, and the tensioning method is more flexible. Preferably, the first direction is a lateral direction consistent with the walking direction of the track wheel 30, see the attached Fig.17 The second direction is the longitudinal direction perpendicular to the transverse direction, see the attached Fig.17 The tensioning method of the first tensioning mechanism 60 and the second tensioning mechanism 70 is the same as the existing tensioning method, as long as the chain 34 can be tensioned, which will not be described here.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A crawling welding robot, used for crawling on a workpiece to be welded and welding the workpiece to be welded, the crawling welding robot comprises a frame, two crawler wheels respectively connected to both sides of the frame, a welding gun connected to the frame and used for welding, the crawler wheels comprise a wheel frame, a first sprocket and a second sprocket respectively rotatably connected to both ends of the wheel frame, and a chain looped outside the first sprocket and the second sprocket, characterized in that: The wheel frames of the two track wheels are movably connected to the two sides of the frame, and the two track wheels can freely adjust their posture relative to the frame to adapt to the welding surface and improve the fit between the two track wheels and the welding surface; The crawling welding robot comprises a hinge, the two wheel frames are connected to the frame via the hinge, the hinge is rotatably connected to the wheel frames and / or the frame, the rotating shaft of the hinge extends along the walking direction of the track wheel, and the track wheel can swing in the vertical direction relative to the frame; The track wheel further comprises a first tensioning mechanism connected to the wheel frame and used for adjusting the tension of the chain in a first direction, and a second tensioning mechanism connected to the wheel frame and used for adjusting the tension of the chain in a second direction, wherein the first direction and the second direction are in different directions; The first direction is a transverse direction consistent with the walking direction of the track wheel, and the second direction is a longitudinal direction perpendicular to the transverse direction.

2. The crawling welding robot according to claim 1, characterized in that: The crawling welding robot also includes a molten pool observation module for observing the welding condition of the welding gun, the molten pool observation module includes a camera assembly for photographing the molten pool and a shielding assembly for shielding spatters, the shielding assembly includes a first blocking member having a first light-transmitting hole and a light-transmitting blocking sheet located between the first blocking member and the camera assembly and covering the first light-transmitting hole and used to shield spatters, the camera assembly photographs the molten pool through the first light-transmitting hole, the area of ​​the light-transmitting blocking sheet is at least twice the area of ​​the first light-transmitting hole and can be moved relative to the first light-transmitting hole so that different areas of the light-transmitting blocking sheet cover the first light-transmitting hole.

3. The crawling welding robot according to claim 2, characterized in that: The molten pool observation module also includes a rotating shaft, and the light-transmitting baffle is rotatably connected to the rotating shaft.

4. The crawling welding robot according to claim 3, characterized in that: The shielding assembly also includes a second blocking member located between the first blocking member and the camera assembly, the second blocking member is provided with a second light-transmitting hole opposite to the first light-transmitting hole, the camera assembly photographs the molten pool through the first light-transmitting hole and the second light-transmitting hole, the first blocking member and the second blocking member together form an accommodating space, the light-transmitting blocking piece is located in the accommodating space, and the rotating shaft is connected to the first blocking member and / or the second blocking member.

5. The crawling welding robot according to claim 4, characterized in that: The light-transmitting baffle is in a circular column shape, the rotating shaft is rotatably connected to the center position of the light-transmitting baffle, the accommodating space has a notch, and the light-transmitting baffle is exposed at the notch.

6. The crawling welding robot according to claim 1, characterized in that: The crawling welding robot also includes a magnetic adsorption device for adsorbing the workpiece to be welded and a lifting mechanism arranged on the frame and used to drive the magnetic adsorption device to rise and fall. The frame is provided with a through hole. The lifting mechanism includes an adjusting screw that is arranged through the through hole and one end is connected to the magnetic adsorption device, and an adjusting nut that is located on the side of the frame facing away from the magnetic adsorption device and is threadedly connected to the adjusting screw. The lifting mechanism also includes a circumferential limiting member fixedly arranged on the frame and used to limit the rotation of the adjusting screw.

7. The crawling welding robot according to claim 6, characterized in that: The circumferential limiting member has a clamping hole and is arranged in a ring around the adjusting screw. The clamping hole is clamped on the outer periphery of the adjusting screw to limit the rotation of the adjusting screw. The clamping hole is "D" shaped. The adjusting screw includes a sliding section that slides with the clamping hole. The cross-sectional shape of the sliding section corresponds to the shape of the clamping hole and is "D" shaped.

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