A wall-climbing welding robot

Abstract

The present invention discloses a wall-climbing welding seam manipulator, and the key points of its technical solution are: it comprises a wall-climbing main body, two first mounting plates are fixedly mounted on the wall-climbing main body, magnets are fixedly mounted on the two first mounting plates, a driving mechanism is fixedly mounted on the lower surface of the wall-climbing main body, a rotating wheel is fixedly mounted on the driving mechanism, a rotating shaft is rotatably mounted on the lower surface of the wall-climbing main body through a bearing, a steering wheel is fixedly mounted on the lower end of the rotating shaft, a fixing mechanism is fixedly mounted on one side of the steering wheel, a second mounting plate is fixedly mounted on the upper surface of the wall-climbing main body, and the output shaft of the second servo motor fixedly mounted on the support plate drives the first screw rod to rotate through gears, thereby adjusting the horizontal movement of the welder to facilitate welding, and an electric telescopic rod is provided to facilitate the adjustment of the vertical movement position, thereby improving the welding effect.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a wall-climbing welding seam manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and having the advantages of both human and mechanical machines in terms of structure and performance. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] When the existing welding manipulator is in use, it is unable to operate at a high position, is inconvenient to climb the wall, and is inconvenient to adjust the working position and working angle of the welder, resulting in poor use effect. Summary of the invention

[0004] The purpose of the present invention is to provide a wall-climbing welding robot to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A wall-climbing welding seam manipulator comprises a wall-climbing main body, on which two first mounting plates are fixedly mounted, magnets are fixedly mounted on the two first mounting plates, a driving mechanism is fixedly mounted on the lower surface of the wall-climbing main body, a rotating wheel is fixedly mounted on the driving mechanism, a rotating shaft is rotatably mounted on the lower surface of the wall-climbing main body through a bearing, a steering wheel is fixedly mounted on the lower end of the rotating shaft, a fixing mechanism is fixedly mounted on one side of the steering wheel, a second mounting plate is fixedly mounted on the upper surface of the wall-climbing main body, a moving mechanism is fixedly mounted on the second mounting plate, a first adjusting mechanism is fixedly mounted on the moving mechanism, the first adjusting mechanism comprises a mounting seat, a first servo motor, and a turntable, and the mounting seat is fixedly mounted on the moving machine The turntable is rotatably mounted on the mounting seat via a bearing, the output shaft of the first servo motor is transmission-connected to the turntable via a gear, the first servo motor is fixedly mounted on the mounting seat, an articulated seat is fixedly mounted on the mounting seat, a support plate is fixedly mounted on the upper end of the articulated seat, a second adjusting mechanism is arranged between the support plate and the turntable, a first screw rod is rotatably mounted on the support plate via a bearing, a second servo motor is fixedly mounted on the upper surface of the support plate, the output shaft of the second servo motor is transmission-connected to the first screw rod via a gear, a first slider is threadedly connected to the first screw rod, an electric telescopic rod is fixedly mounted on the lower surface of the first slider, and a welder is fixedly mounted on the output end of the electric telescopic rod.

[0007] Preferably, the driving mechanism includes a third servo motor, a reducer, and a rotating shaft. The reducer is fixedly mounted on the lower end surface of the wall-climbing main body, the third servo motor is fixedly mounted on the reducer, the output shaft of the third servo motor is transmission-connected to the reducer via gears, the rotating shaft is mounted on the reducer, and the rotating wheel is fixedly mounted on the rotating shaft.

[0008] Preferably, the fixing mechanism comprises a servo electric cylinder and a suction cup, the servo electric cylinder is fixedly mounted on the lower end of the wall-climbing main body, and the suction cup is fixedly mounted on the output end of the servo electric cylinder.

[0009] Preferably, the moving mechanism includes a second screw rod, a guide rod, a second slider and a fourth servo motor, the second screw rod is rotatably mounted on the second mounting plate via a bearing, the guide rod is fixed on the second mounting plate, the second slider is threadedly connected to the second screw rod, the guide rod is slidably mounted on the second slider, the fourth servo motor is transmission connected to the second screw rod via a coupling, and the fourth servo motor is fixed on the second mounting plate.

[0010] Preferably, the second adjustment mechanism includes a servo hydraulic cylinder and two fork frames, one of the fork frames is fixedly mounted on the lower surface of the support plate, and the other fork frame is fixedly mounted on the upper surface of the turntable, and the servo hydraulic cylinder is hinged on the two fork frames respectively.

[0011] Preferably, sliding grooves are provided on both side surfaces of the support plate, and a fixed block is slidably installed in the sliding groove, and one end of the fixed block is fixedly installed on the first sliding block.

[0012] Preferably, a laser locator is provided on the fixing block, and a camera is provided on one side of the laser locator.

[0013] Preferably, a storage compartment is provided on the wall-climbing main body, and a battery pack is provided in the storage compartment.

[0014] Preferably, a plurality of symmetrical spring groups are fixedly installed in the placement bin, wherein limiting plates are fixedly installed on two of the spring groups.

[0015] Preferably, a bin cover is hingedly connected to one side of the storage bin, and a rubber plate is fixedly mounted on the surface of the bin cover.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] In the wall-climbing welding manipulator, a magnet is provided to facilitate the wall-climbing main body to be adsorbed on the outer wall of the metal, a fixedly installed rotating wheel is convenient for the wall-climbing main body to move, a steering wheel is provided to facilitate the adjustment of the direction of movement during walking, and an output shaft of a first servo motor fixedly installed on the mounting seat is connected to a turntable through a gear transmission, so as to facilitate the horizontal rotation and adjustment of the position of the welder, and an output shaft of a second servo motor fixedly installed on the support plate drives the first screw rod to rotate through a gear, thereby adjusting the horizontal movement of the welder for welding, and an electric telescopic rod is provided to facilitate the adjustment of the vertical movement position, thereby improving the welding effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is one of the structural schematic diagrams of the present invention;

[0019] Figure 2 This is the second structural schematic diagram of the present invention;

[0020] Figure 3 This is the third structural schematic diagram of the present invention;

[0021] Figure 4 This is the fourth structural schematic diagram of the present invention;

[0022] Figure 5 for Figure 1 Enlarged view of point A in the middle.

[0023] In the figure: 1, wall climbing body; 2, first mounting plate; 3, magnet; 4, driving mechanism; 41, third servo motor; 42, reducer; 43, axle; 5, rotating wheel; 6, rotating shaft; 7, steering wheel; 8, fixing mechanism; 81, servo electric cylinder; 82, suction cup; 9, second mounting plate; 10, moving mechanism; 101, second screw rod; 102, guide rod; 103, second slider; 104, fourth servo motor; 11, battery pack; 12, first adjusting mechanism; 121, safety Mounting seat; 122, first servo motor; 123, turntable; 13, hinged seat; 14, rubber plate; 15, support plate; 16, second adjusting mechanism; 161, servo hydraulic cylinder; 162, fork frame; 17, first screw rod; 18, second servo motor; 19, first slider; 20, electric telescopic rod; 21, welder; 22, slide; 23, fixing block; 24, laser position finder; 25, camera; 26, storage bin; 27, spring group; 28, limit plate; 29, bin cover. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] See also Figure 1-Figure 5 The present invention provides a wall-climbing welding manipulator, wherein the technical solution is as follows:

[0026] The invention comprises a wall climbing body 1, on which two first mounting plates 2 are fixedly mounted, on which magnets 3 are fixedly mounted, a driving mechanism 4 is fixedly mounted on the lower surface of the wall climbing body 1, on which a rotating wheel 5 is fixedly mounted, a rotating shaft 6 is rotatably mounted on the lower surface of the wall climbing body 1 through a bearing, a steering wheel 7 is fixedly mounted on the lower end of the rotating shaft 6, and a fixing mechanism 8 is fixedly mounted on one side of the steering wheel 7, a second mounting plate 9 is fixedly mounted on the upper surface of the wall climbing body 1, on which a moving mechanism 10 is fixedly mounted, and a moving mechanism 10 is fixedly mounted. The first adjusting mechanism 12 is fixedly mounted on the moving mechanism 10, and the first adjusting mechanism 12 includes a mounting seat 121, a first servo motor 122, and a turntable 123. The mounting seat 121 is fixedly mounted on the moving mechanism 10, and the turntable 123 is rotatably mounted on the mounting seat 121 through a bearing. The output shaft of the first servo motor 122 is connected to the turntable 123 through a gear. The first servo motor 122 is fixedly mounted on the mounting seat 121, and an articulated seat 13 is fixedly mounted on the mounting seat 121. A support plate 15 is fixedly mounted on the upper end of the articulated seat 13, and the support plate 15 is connected to the turntable 123. A second adjusting mechanism 16 is arranged between the disks 123, a first screw rod 17 is rotatably mounted on the support plate 15 through a bearing, a second servo motor 18 is fixedly mounted on the upper surface of the support plate 15, an output shaft of the second servo motor 18 is transmission-connected to the first screw rod 17 through a gear, a first slider 19 is threadedly connected to the first screw rod 17, an electric telescopic rod 20 is fixedly mounted on the lower surface of the first slider 19, a welder 21 is fixedly mounted on the output end of the electric telescopic rod 20, a magnet 3 is provided to facilitate the wall-climbing main body 1 to be adsorbed on the outer wall of the metal, and the fixedly mounted rotating The moving wheel 5 is convenient for the wall-climbing main body 1 to walk, and the steering wheel 7 is convenient for adjusting the direction of movement when walking. The output shaft of the first servo motor 122 fixedly installed on the mounting seat 121 is connected to the turntable 123 through gears, which is convenient for horizontal rotation to adjust the position of the welder 21. The output shaft of the second servo motor 18 fixedly installed on the support plate 15 drives the first screw 17 to rotate through gears, thereby adjusting the horizontal movement of the welder 21 for welding. The electric telescopic rod 20 is convenient for adjusting the vertical movement position to improve the welding effect.

[0027] In this embodiment, preferably, the driving mechanism 4 includes a third servo motor 41, a reducer 42, and an axle 43. The reducer 42 is fixedly mounted on the lower end surface of the wall-climbing main body 1, the third servo motor 41 is fixedly mounted on the reducer 42, the output shaft of the third servo motor 41 is connected to the reducer 42 through a gear, the axle 43 is mounted on the reducer 42, and the rotating wheel 5 is fixedly mounted on the axle 43. The reducer 42 is driven to rotate by the third servo motor 41, so as to drive the rotating wheel 5 installed on the axle 43 to rotate.

[0028] In this embodiment, preferably, the fixing mechanism 8 includes a servo electric cylinder 81 and a suction cup 82. The servo electric cylinder 81 is fixedly installed at the lower end of the wall-climbing main body 1, and the suction cup 82 is fixedly installed on the output end of the servo electric cylinder 81. The suction cup 82 is driven to move by the output shaft of the servo electric cylinder 81, and is adsorbed and fixed by the suction cup 82.

[0029] In this embodiment, preferably, the moving mechanism 10 includes a second screw rod 101, a guide rod 102, a second slider 103 and a fourth servo motor 104. The second screw rod 101 is rotatably mounted on the second mounting plate 9 through a bearing, the guide rod 102 is fixed on the second mounting plate 9, the second slider 103 is threadedly connected to the second screw rod 101, the guide rod 102 and the second slider 103 are slidably installed, the fourth servo motor 104 is transmission-connected to the second screw rod 101 through a coupling, the fourth servo motor 104 is fixed on the second mounting plate 9, and the fourth servo motor 104 drives the second screw rod 101 to transmit, thereby driving the second slider 103 to move on the guide rod 102, which is convenient for adjusting the movement of the support plate 15.

[0030] In this embodiment, preferably, the second adjusting mechanism 16 includes a servo hydraulic cylinder 161 and two fork frames 162, wherein one fork frame 162 is fixedly mounted on the lower surface of the support plate 15, and the other fork frame 162 is fixedly mounted on the upper surface of the turntable 123, and the servo hydraulic cylinder 161 is respectively hinged on the two fork frames 162, and is fixedly mounted on the two fork frames 162 by the servo hydraulic cylinder 161, so as to facilitate the adjustment of the vertical angle of the support plate 15.

[0031] In this embodiment, preferably, a slide groove 22 is provided on both side surfaces of the support plate 15, and a fixed block 23 is slidably installed in the slide groove 22, and one end of the fixed block 23 is fixedly installed on the first slider 19. The fixed block 23 installed in the slide groove 22 is beneficial to improving the stability of the movement of the first slider 19.

[0032] In this embodiment, preferably, a laser locator 24 is provided on the fixed block 23, and a camera 25 is provided on one side of the laser locator 24. The laser locator 24 is conducive to accurately detecting the distance of the weld, and the condition of the weld can be understood through the camera 25, thereby improving the welding effect.

[0033] In this embodiment, preferably, a placement compartment 26 is provided on the wall-climbing main body 1 , and a battery pack 11 is arranged in the placement compartment 26 . The placement compartment 26 is convenient for placing the battery pack 11 .

[0034] In this embodiment, preferably, a plurality of symmetrical spring groups 27 are fixedly installed in the placement bin 26, wherein limiting plates 28 are fixedly installed on two of the spring groups 27, and the spring groups 27 and limiting plates 28 cooperate with each other, which is beneficial to improving the stability of the installation of the battery pack 11.

[0035] In this embodiment, preferably, a bin cover 29 is hinged on one side of the placement bin 26, and a rubber plate 14 is fixedly installed on the surface of the bin cover 29. The provided bin cover 29 is beneficial to the protection of the battery pack 11, and the installed rubber plate 14 is beneficial to improving the cushioning performance of the battery pack 11.

[0036] The working principle and use process of the present invention:

[0037] When the wall-climbing welding robot is in use, the magnet 3 facilitates the wall-climbing main body 1 to be adsorbed on the outer wall of the metal, and the third servo motor 41 drives the reducer 42 to rotate, so as to drive the rotating wheel 5 installed on the wheel axle 43 to rotate, which is convenient for walking, and the steering wheel 7 is convenient for adjusting the direction of movement when walking. The output shaft of the first servo motor 122 is connected to the turntable 123 through gears, and the fourth servo motor 104 drives the second screw rod 101 to drive, thereby driving the second slider 103 to move on the guide rod 102, which is convenient for adjusting the movement of the support plate 15, and is fixedly installed on the two fork frames 162 through the servo hydraulic cylinder 161, which is convenient for adjusting the vertical angle of the support plate 15 and convenient for welding.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wall-climbing welding robot, comprising a wall-climbing main body (1), characterized in that: Two first mounting plates (2) are fixedly mounted on the wall climbing main body (1), and magnets (3) are fixedly mounted on the two first mounting plates (2). A driving mechanism (4) is fixedly mounted on the lower surface of the wall climbing main body (1), and a rotating wheel (5) is fixedly mounted on the driving mechanism (4). A rotating shaft (6) is rotatably mounted on the lower surface of the wall climbing main body (1) via a bearing, and a steering wheel (7) is fixedly mounted at the lower end of the rotating shaft (6), and a fixing mechanism (8) is fixedly mounted on one side of the steering wheel (7). A second mounting plate (9) is fixedly mounted on the upper surface of the wall climbing main body (1), and a moving mechanism (10) is fixedly mounted on the second mounting plate (9). A first adjusting mechanism (12) is fixedly mounted on the moving mechanism (10), and the first adjusting mechanism (12) comprises a mounting seat (121), a first servo motor (122), and a rotating disk (123). The mounting seat (121) is fixedly mounted on the moving mechanism (10), and the rotating disk (123) is rotatably mounted on the lower surface of the wall climbing main body (1). The first servo motor (122) is rotatably mounted on the mounting seat (121), the output shaft of the first servo motor (122) is transmission-connected to the rotating disk (123) via a gear, the first servo motor (122) is fixedly mounted on the mounting seat (121), a hinge seat (13) is fixedly mounted on the mounting seat (121), a support plate (15) is fixedly mounted on the upper end of the hinge seat (13), a second adjustment mechanism (16) is provided between the support plate (15) and the rotating disk (123), a first screw rod (17) is rotatably mounted on the support plate (15) via a bearing, a second servo motor (18) is fixedly mounted on the upper surface of the support plate (15), the output shaft of the second servo motor (18) is transmission-connected to the first screw rod (17) via a gear, a first slider (19) is threadedly connected to the first screw rod (17), an electric telescopic rod (20) is fixedly mounted on the lower surface of the first slider (19), and a welder (21) is fixedly mounted on the output end of the electric telescopic rod (20); The fixing mechanism (8) comprises a servo electric cylinder (81) and a suction cup (82), wherein the servo electric cylinder (81) is fixedly mounted at the lower end of the wall-climbing main body (1), and the suction cup (82) is fixedly mounted on the output end of the servo electric cylinder (81); the moving mechanism (10) comprises a second screw rod (101), a guide rod (102), a second slider (103) and a fourth servo motor (104), wherein the second screw rod (101) is rotatably mounted on the second mounting plate (9) via a bearing, the guide rod (102) is fixed on the second mounting plate (9), the second slider (103) is threadedly connected to the second screw rod (101), the guide rod (102) and the second slider (103) are slidably mounted, the fourth servo motor (104) is transmission-connected to the second screw rod (101) via a coupling, and the fourth servo motor (104) is fixed on the second mounting plate (9);The second adjustment mechanism (16) comprises a servo hydraulic cylinder (161) and two fork frames (162), wherein one of the fork frames (162) is fixedly mounted on the lower surface of the support plate (15), and the other fork frame (162) is fixedly mounted on the upper surface of the rotating disk (123), and the servo hydraulic cylinder (161) is hingedly connected to the two fork frames (162) respectively. ; 2. A wall-climbing welding manipulator according to claim 1, characterized in that: The driving mechanism (4) comprises a third servo motor (41), a reducer (42), and a wheel axle (43); the reducer (42) is fixedly mounted on the lower end surface of the wall-climbing main body (1); the third servo motor (41) is fixedly mounted on the reducer (42); the output shaft of the third servo motor (41) is transmission-connected to the reducer (42) via a gear; the wheel axle (43) is mounted on the reducer (42); and the rotating wheel (5) is fixedly mounted on the wheel axle (43).

3. A wall-climbing welding manipulator according to claim 1, characterized in that: Slide grooves (22) are provided on both side surfaces of the support plate (15), a fixed block (23) is slidably mounted in the slide groove (22), and one end of the fixed block (23) is fixedly mounted on the first sliding block (19).

4. A wall-climbing welding manipulator according to claim 3, characterized in that: The fixed block (23) is provided with a laser position finder (24), and a camera (25) is provided on one side of the laser position finder (24).

5. The wall-climbing welding manipulator according to claim 1, characterized in that: A storage compartment (26) is provided on the wall-climbing main body (1), and a storage battery pack (11) is provided in the storage compartment (26).

6. A wall-climbing welding manipulator according to claim 5, characterized in that: A plurality of symmetrical spring groups (27) are fixedly installed in the placement bin (26), wherein two of the spring groups (27) are fixedly installed with limit plates (28).

7. The wall-climbing welding manipulator according to claim 5, characterized in that: A bin cover plate (29) is hingedly connected to one side of the placement bin (26), and a rubber plate (14) is fixedly mounted on the surface of the bin cover plate (29).

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