Welding robot system

Abstract

The present invention provides a welding robot system, which belongs to the technical field of wall-climbing welding robots. The system includes: a welding robot, which is adsorbed on a workpiece to be welded and is used to weld the weld on the workpiece to be welded; a welding power supply robot, which is adsorbed on the workpiece to be welded and connected to the welding robot, and is used to provide welding electricity and convey welding wire to the welding robot; a controller robot, which is adsorbed on the workpiece to be welded and is connected to the welding robot and the welding power supply robot by signal, and is used to control the movement and welding action of the welding robot along the workpiece to be welded, and control the welding power supply robot to follow the movement and conveying action of the welding robot, and to follow the movement of the welding robot when the distance value between the controller robot and the welding robot reaches the length value of the second cable. The present invention has the advantages of flexible movement, wide operating range and high welding quality.

Description

Technical Field

[0001] The invention relates to the technical field of wall-climbing welding robots, and in particular to a welding robot system. Background Art

[0002] In the prior art, large steel structure equipment is usually fixed and installed by welding. However, due to the large size and volume of large steel structures, manual welding is inconvenient to operate, inefficient, and has great safety hazards during the welding process. Therefore, a wall-climbing welding robot is used to weld large steel structure equipment. The current wall-climbing welding robot must be equipped with a welding gun and a welding gun clamping device, and also needs to load a wire feeder, welding wire, and welding cable. The load requirements of the wall-climbing welding robot are high, which increases the size of the wall-climbing welding robot, thereby increasing the adsorption force. The increase in the deadweight of the wall-climbing welding robot will reduce its own flexibility of movement, and there are certain safety hazards when moving. It is not conducive to the rapid adjustment of the robot posture and welding gun posture, which affects the welding process effect and welding quality, and reduces the welding efficiency.

[0003] In addition, the wall-climbing welding robot requires a large welding current during welding operations, so the power cable it carries is large in diameter and weight, which makes long-distance transmission inconvenient, greatly limiting the operating range of the wall-climbing welding robot, and is not suitable for large-scale welding operations on large steel structures; moreover, the wall-climbing welding robot itself is relatively small in size, and the control unit used to control welding and movement is set on the wall-climbing welding robot, which increases the size of the wall-climbing welding robot and reduces its own movement flexibility. When used in an environment with large wind resistance, it is easily affected and the welding accuracy cannot be guaranteed. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a welding robot system to at least solve the above-mentioned problems of low movement flexibility, limited operating range and unstable welding quality of the welding robot.

[0005] In order to achieve the above object, the present invention provides a welding robot system in a first aspect, the system comprising:

[0006] A welding robot is attached to a workpiece to be welded and is used to perform welding processing on the weld seam on the workpiece to be welded;

[0007] A welding power supply robot, which is adsorbed on the workpiece to be welded and connected to the welding robot via a first cable, and is used to provide welding power to the welding robot and transport welding wire to the welding robot;

[0008] A controller robot is adsorbed on the workpiece to be welded, connected to the welding robot signal through a second cable, and connected to the welding power supply robot signal through a third cable, and is used to control the welding robot to move along the workpiece to be welded and perform welding actions during welding, and is also used to control the welding power supply robot to follow the welding robot to move and transport welding wire;

[0009] The controller robot is also used to follow the welding robot when the distance between the controller robot and the welding robot reaches a preset length value, and the preset length value is less than the length value of the second cable.

[0010] Optionally, the system further includes:

[0011] Gas source equipment, used for providing welding shielding gas to the welding robot;

[0012] A power supply device is electrically connected to the welding power supply robot via a fourth cable and electrically connected to the controller robot via a fifth cable, and is used to provide city power or industrial power to the welding power supply robot and the controller robot.

[0013] Optionally, the air source device is connected to the welding power supply robot via an air pipe, and the welding power supply robot is connected to the welding robot via a wire feeding hose.

[0014] Optionally, the first cable is used to transmit low-voltage and high-current welding electricity, and the fourth cable is used to transmit high-voltage and low-current municipal electricity or industrial electricity.

[0015] Optionally, the welding robot includes a first walking mechanism, a welding pendulum mechanism, a welding gun clamping mechanism and a first sensor group; the welding pendulum mechanism and the first sensor group are arranged on the first walking mechanism, and the welding gun clamping mechanism is arranged on the welding pendulum mechanism;

[0016] The first walking mechanism is used to adsorb the welding robot onto the workpiece to be welded and realize the walking of the welding robot; the welding pendulum mechanism is used to adjust the posture of the welding gun; the welding gun clamping mechanism is used to fix the welding gun; the first sensor group is used to track the weld seam, obtain the posture of the welding robot and the body position of the welding robot during the welding process.

[0017] Optionally, the welding power supply robot includes a second walking mechanism, a second sensor group, a welding power supply unit and a wire feeding unit; the second sensor group, the welding power supply unit and the wire feeding unit are arranged on the second walking mechanism;

[0018] The second sensor group is used to obtain the body position of the welding power supply robot; the welding power supply unit is connected to the welding robot through a first cable and is used to convert municipal electricity or industrial electricity into welding electricity; the wire feeding unit is used to feed welding wire to the welding robot.

[0019] Optionally, the controller robot includes a third walking mechanism, a third sensor group and a control unit; the third sensor group and the control unit are arranged on the third walking mechanism;

[0020] The control unit is used to control the welding robot to move along the workpiece to be welded and the welding action during the welding process, and to control the welding power supply robot to follow the welding robot to move and transport the welding wire. It is also used to control the controller robot to follow the welding robot when the distance value between the controller robot and the welding robot reaches a preset length value.

[0021] Optionally, the first walking mechanism, the second walking mechanism and the third walking mechanism are all crawler-type walking mechanisms, and all include mounting brackets, and two driving motors are relatively arranged on each mounting bracket, and the two driving motors respectively drive corresponding magnetic crawlers.

[0022] Optionally, the driving motor provided on the first walking mechanism is a servo motor.

[0023] Optionally, the first sensor group includes a laser camera, a posture sensor and a distance sensor; the laser camera is used to track the weld during welding, the posture sensor is used to obtain the posture of the welding robot, and the distance sensor is used to obtain the position of the welding robot;

[0024] The second sensor group and the third sensor group both include distance measuring sensors, which are used to obtain the positions of the welding power supply robot and the controller robot respectively.

[0025] The present invention reduces the weight of the welding robot itself and ensures the flexibility of the welding robot, which is beneficial to improving the welding quality. In addition, the control part of the welding robot is separated to the controller robot to reduce the size of the welding robot. The controller robot moves with the welding robot, so that the distance between the two is closer. Compared with the long-distance control method, the control accuracy can be improved and the welding quality can be ensured. At the same time, the welding power supply is placed on the welding power supply robot, and the welding power supply robot moves with the welding robot, shortening the length of the cable for transmitting welding power between the welding power supply robot and the welding robot, reducing the influence of the cable's own weight on the welding robot, and can increase the overall operating range of the system.

[0026] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. In the accompanying drawings:

[0028] Figure 1 This is a structural block diagram of the first welding robot system provided by the present invention;

[0029] Figure 2 This is a structural block diagram of a second welding robot system provided by the present invention;

[0030] Figure 3 It is a structural block diagram of the welding robot provided by the present invention;

[0031] Figure 4 It is a structural block diagram of the welding power supply robot provided by the present invention;

[0032] Figure 5 is a structural block diagram of a welding power supply robot in another embodiment provided by the present invention;

[0033] Figure 6 It is a structural block diagram of the controller robot provided by the present invention.

[0034] Description of Reference Numerals

[0035] 1- welding robot; 2- welding power supply robot; 3- controller robot;

[0036] 4-gas source equipment; 5-power supply equipment; 10-workpiece to be welded;

[0037] 101-first cable; 102-second cable; 103-third cable;

[0038] 104- fourth cable; 105- fifth cable; 106- trachea;

[0039] 107-wire feeding hose; 11-first traveling mechanism; 12-welding pendulum mechanism;

[0040] 13- welding gun clamping mechanism; 14- first sensor group; 21- second walking mechanism;

[0041] 22-second sensor group; 23-welding power supply unit; 24-wire feeding unit;

[0042] 31-the third walking mechanism; 32-the third sensor group; 33-the control unit. DETAILED DESCRIPTION

[0043] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0044] Figure 1 This is a structural block diagram of the first welding robot system provided by the present invention; Figure 2 This is a structural block diagram of the second welding robot system provided by the present invention. Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a welding robot system, the system comprising:

[0045] The welding robot 1 is adsorbed on the workpiece 10 to be welded, and is used to perform welding processing on the weld on the workpiece 10 to be welded;

[0046] The welding power supply robot 2 is adsorbed on the workpiece 10 to be welded, and is connected to the welding robot 1 through a first cable 101, so as to provide welding power to the welding robot 1 and transport welding wire to the welding robot 1;

[0047] The controller robot 3 is adsorbed on the workpiece to be welded 10, connected to the welding robot 1 by signal through the second cable 102, and connected to the welding power supply robot 2 by signal through the third cable 103, and is used to control the welding robot 1 to move along the workpiece to be welded and perform welding actions during welding, and is also used to control the welding power supply robot 2 to follow the welding robot 1 to move and transport welding wire;

[0048] The controller robot 3 is further configured to follow the welding robot 1 when the distance between the controller robot 3 and the welding robot 1 reaches a preset length value, and the preset length value is smaller than the length value of the second cable 102 .

[0049] Before welding, if the workpiece 10 to be welded is a large steel structure with a large volume, the welding robot 1, the welding power supply robot 2 and the controller robot 3 are adsorbed on the surface of the large steel structure, and the welding robot 1 is controlled by the controller robot 3 to move to the welding point, and the controller robot 3 controls itself and the welding power supply robot 2 to follow the welding robot 1. When the welding robot 1 moves to the welding point, the controller robot 3 controls the welding robot 1 to perform welding operations, and at the same time controls the welding power supply robot 2 to provide welding current and wire feeding for the welding robot 1 until the welding is completed. During the welding process, the welding robot 1 will move with the weld, so its position with the controller robot 3 will be farther and farther. Therefore, when the distance between the welding robot 1 and the controller robot 3 reaches the preset length value, the controller robot 3 controls itself to follow the welding robot 1. Similarly, the corresponding length value can be preset according to the length of the first cable 101 to realize the following movement of the welding power supply robot 2. In addition, according to the volume of the large steel structure to be welded, the welding robot 1 can be placed on the steel structure alone or the welding robot 1 and the controller robot 3 can be placed on the large steel structure.

[0050] Furthermore, the system further comprises:

[0051] A gas source device 4, used for providing welding shielding gas to the welding robot 1;

[0052] The power supply device 5 is electrically connected to the welding power supply robot 1 through a fourth cable 104 and is electrically connected to the controller robot 3 through a fifth cable 105, and is used to provide commercial power or industrial power to the welding power supply robot and the controller robot.

[0053] The power supply device 5 is electrically connected to the controller robot 3 and the welding power supply robot 2 through ordinary transmission cables. The controller robot 3 is also connected to the welding robot 1 and the welding power supply robot 2 through ordinary transmission cables, and provides the electric energy required for normal operation. The provided municipal electricity or industrial electricity can be adjusted to a certain voltage or current to meet the power supply required by the robot's walking mechanism. In this embodiment, the cables used are all transmission lines with relatively soft materials.

[0054] Furthermore, the gas source device 4 is connected to the welding power supply robot 2 through the gas pipe 106, and the welding power supply robot 2 is connected to the welding robot 1 through the wire feeding hose 107. The wire feeding hose 107 is used to transport welding wire and welding shielding gas. In another implementation, Figure 2As shown, the gas source device 4 can also be directly connected to the welding robot 1 through the gas pipe 106; in this embodiment, the gas source device 4 is connected to the welding power supply robot 2 through the gas pipe 106, and the welding power supply robot 2 is connected to the welding robot 1 through the wire feeding hose 107, so as to provide welding shielding gas and convey welding wire for the welding robot 1, and the pulling force of the gas pipe can be dispersed to the welding power supply device robot 2, thereby reducing the influence of the pipeline on the welding robot 1 during the conveying of welding shielding gas and wire feeding. Furthermore, the first cable 101 and the gas pipe 107 can be integrated into one to optimize the transmission line.

[0055] Furthermore, the first cable 101 is used to transmit low-voltage and high-current welding electricity, and the fourth cable 104 is used to transmit high-voltage and low-current commercial electricity or industrial electricity.

[0056] Specifically, the first cable 101 is used to transmit low-voltage and high-current welding electricity, and the fourth cable 104 is used to transmit high-voltage and low-current commercial electricity or industrial electricity. During welding, the welding voltage generally adopts a DC low voltage, which is usually below 30V. The maximum current carried by the welding power cable is 500A, so the welding power cable requires a copper core cable of more than 70mm. In this embodiment, a welding power robot is used to directly integrate the welding power supply and the wire feeder, and move in coordination with the welding robot. Therefore, the cable between the welding power robot and the welding robot can be shorter, which can reduce the influence of the cable's own weight. At the same time, the power cable for powering the welding power robot is a three-phase 380V power supply. Through the voltage conversion multiple: 380*1.732 / 20=22, its maximum current only needs 1 / 22 of the welding power output current. Therefore, the line width of the three-phase power supply cable does not need to be very thick, which is convenient for long-distance transmission, so that a larger range of operations of the welding robot system can be achieved. In this embodiment, the welding power supply is placed on the power robot and follows the welding robot for follow-up, which can shorten the length of the first cable and increase the length of the fourth cable, save the use of thick cables, reduce the influence of the cable's own weight, ensure the flexibility of the welding robot's movement, and appropriately extend the length of the fourth cable to achieve long-distance transmission and increase the welding range.

[0057] Further, Figure 3 is a structural block diagram of the welding robot provided by the present invention, such as Figure 3 As shown, the welding robot 1 includes a first walking mechanism 11, a welding pendulum mechanism 12, a welding gun clamping mechanism 13 and a first sensor group 14; the welding pendulum mechanism 12 and the first sensor group 14 are arranged on the first walking mechanism 11, and the welding gun clamping mechanism 13 is arranged on the welding pendulum mechanism 12;

[0058] The first walking mechanism 11 is used to adsorb the welding robot 1 onto the workpiece to be welded and realize the walking of the welding robot 1; the welding pendulum mechanism 21 is used to adjust the posture of the welding gun; the welding gun clamping mechanism 13 is used to fix the welding gun; the first sensor group 14 is used to track the weld seam, obtain the posture of the welding robot and the body position of the welding robot during the welding process.

[0059] Specifically, in the present embodiment, unnecessary components of the welding robot 1 during the welding process are arranged on the welding power supply robot 2 and the controller robot 3, so as to achieve weight reduction of the welding robot 1, reduce the volume of the welding robot 1 itself, and avoid the influence of wind direction on welding accuracy when working in a windy environment. At the same time, the welding robot 1 itself has a small weight, which can reduce the adsorption force accordingly, making the robot movement more flexible, which is conducive to the rapid adjustment of the robot's posture and the welding gun's posture, thereby ensuring the welding process and welding quality.

[0060] The welding pendulum mechanism 12 is used to adjust the posture of the welding gun and can achieve the adjustment of the three-dimensional welding angle. The welding pendulum mechanism 12 can be driven by multiple stepper motors, multiple servo motors or multiple actuators.

[0061] Further, Figure 4 It is a structural block diagram of the welding power supply robot provided by the present invention, such as Figure 4 As shown, the welding power supply robot 2 includes a second walking mechanism 21, a second sensor group 22, a welding power supply unit 23 and a wire feeding unit 24; the second sensor group 22, the welding power supply unit 23 and the wire feeding unit 24 are arranged on the second walking mechanism 21;

[0062] The second sensor group 22 is used to obtain the body position of the welding power supply robot 2; the welding power supply unit 23 is connected to the welding robot 1 through the first cable 101, and is used to convert municipal electricity or industrial electricity into welding electricity; the wire feeding unit 24 is used to feed welding wire to the welding robot 1.

[0063] Specifically, since the current of welding electricity is large during welding, the corresponding transmission cable is thicker, and therefore there is a certain limitation on the transmission distance. In this embodiment, the welding power supply unit is set on the welding power supply robot and moves with the welding robot, replacing the method of setting the welding power supply on the ground in the prior art. This can shorten the length of the cable for transmitting welding electricity, reduce the influence of the dead weight of the cable for transmitting welding electricity on the welding robot when the welding robot is working at high altitude, and can greatly increase the operating range of the welding robot.

[0064] The wire feeding unit 24 also includes a wire reel and a wire feeder, which are connected to the controller robot 3 via a signal transmission cable and controlled by the controller robot 3. The wire reel is used to accommodate the welding wire required for the welding process, and the wire feeder is used to feed the wire to the welding robot 1 during the welding process. Furthermore, Figure 5 : is a structural block diagram of a welding power supply robot 2 in another embodiment provided by the present invention, such as Figure 1 and Figure 5 As shown, in another embodiment, a welding shielding gas adapter 25 can also be provided on the welding power supply robot 2, and the welding shielding gas adapter is divided into an input end and an output end, and the input port is connected to the gas source device 4 through an air pipe 106, and the output end is connected to the welding robot 1 through a wire feeding hose 107. A solenoid valve can be provided on the welding shielding gas adapter, and is connected to the controller robot 3 through a signal transmission cable to realize the connection and disconnection of the welding shielding gas, and the pulling force of the air pipe 106 can be dispersed to the welding power supply device robot 2, thereby reducing the influence of the air pipe on the welding robot 1.

[0065] Further, Figure 6 is a structural block diagram of the controller robot provided by the present invention, such as Figure 6 As shown, the controller robot 3 includes a third walking mechanism 31, a third sensor group 32 and a control unit 33; the third sensor group 32 and the control unit 33 are arranged on the third walking mechanism 31;

[0066] The third sensor group 32 is used to obtain the body position of the controller robot 3, the control unit 33 is used to control the movement of the welding robot 1 along the workpiece to be welded and the welding action during the welding process, and is used to control the welding power supply robot 2 to follow the movement of the welding robot 1 and transport the welding wire, and is also used to control the controller robot 3 to follow the movement of the welding robot 1 when the distance value between the controller robot 3 and the welding robot 1 reaches the preset length value, and the preset length value is less than the length value of the second cable 102.

[0067] Specifically, a controller robot 3 is separately provided and moves with the welding robot 1, and related control devices for controlling the welding robot 1 and the welding power supply robot 2, such as a control circuit board, a power supply, a driver and other components, are provided inside the controller robot 3, so as to reduce the volume of the welding robot 1 and the wind resistance, ensure the flexibility of the welding robot 1, and distribute the weight of the welding robot 1 and the welding power supply robot 2 more evenly, so that when in use, the magnetic attraction force on each robot does not need to be set too large, so that each robot can be removed from the large steel structure conveniently after the operation is completed.

[0068] Furthermore, the first walking mechanism 11, the second walking mechanism 21 and the third walking mechanism 31 are all crawler-type walking mechanisms, and all include mounting brackets, and two driving motors are relatively arranged on each mounting bracket, and the two driving motors respectively drive corresponding magnetic crawlers.

[0069] Furthermore, the driving motor provided on the first walking mechanism 11 is a servo motor.

[0070] Specifically, since the welding robot 1, the welding power supply robot 2 and the controller robot 3 are located on a large steel structure during work, and the robots themselves have a certain weight, it is necessary to adsorb the welding robot 1, the welding power supply robot 2 and the controller robot 3 on the large steel structure and ensure that the walking mechanism can overcome the robot's own gravity to realize the movement of the robot.

[0071] In the present embodiment, the first walking mechanism 11, the second walking mechanism 21 and the third walking mechanism 31 are all crawler-type walking mechanisms, which can facilitate the movement of the robot and ensure that the magnetic adsorption force can overcome its own gravity. Two motors are used to drive them respectively to achieve turning. In addition, the welding robot 1 requires precise control. Therefore, the driving motor used to provide driving force in the welding robot 1 is set as a servo motor to achieve high-precision control, and the welding power supply robot 2 and the controller robot 3 only need to move with the welding robot 1. It is not necessary to set precise control, and ordinary motors can be used. For technicians in this field, using a driving motor to drive the crawler is a very mature technology and is not further described in this embodiment.

[0072] The crawler-type walking mechanism can adapt to different sizes of large steel structures, has a wide range of applications, a wide force-bearing area, and a relatively even relative pressure, which can distribute the magnetic attraction more evenly.

[0073] Furthermore, the first sensor group 14 includes a laser camera, a posture sensor and a ranging sensor; the laser camera is used to track the weld during the welding process, the posture sensor is used to obtain the posture of the welding robot, and the ranging sensor is used to obtain the position of the welding robot; the second sensor group 22 and the third sensor group 32 both include ranging sensors, which are respectively used to obtain the positions of the welding power supply robot 2 and the controller robot 3.

[0074] During the welding process, the welding robot 1 needs to be controlled with high precision. Therefore, a laser camera, a posture sensor and a distance sensor are set on the welding robot 1, and the welding power supply robot 2 and the controller robot 3 only follow the welding robot 1 to move. It is only necessary to ensure that there is no collision between the robots. Therefore, there is no need for high-precision control. The distance sensor can obtain the positions of the welding power supply robot 2 and the controller robot 3, and feed the information back to the controller robot 3, which performs corresponding control to avoid collision between the robots. The distance between the robots can be obtained by the set sensor. The controller robot 3 follows the welding robot 1 according to the obtained distance and when the distance between the controller robot 3 and the welding robot 1 reaches a preset length value. In another embodiment, the distance sensor can also be replaced by a radar sensor.

[0075] Furthermore, the welding robot system also includes: a display terminal and a control handle, the display terminal is connected to the controller robot, and the display terminal is used to input welding parameters and display welding parameter information; the control handle is connected to the controller robot 3, and is used to manually control the movement of the welding robot 1, the welding power supply robot 2 and the controller robot 3.

[0076] Specifically, the display terminal can be set to a display terminal with display and touch input, such as a touch screen, an industrial computer, etc., to realize the input of welding parameters and display welding parameter information, and in actual use, an operating handle is set on the controller robot 3, and the operator can use the operating handle to realize the movement control of the welding robot 1, the welding power supply robot 2 and the controller robot 3 to realize manual control; the operating handle is connected to the controller robot 3 through a signal transmission line and a corresponding signal interface; in another embodiment, a wireless receiving and transmitting module can also be set on the controller robot 3, and a corresponding wireless receiving and transmitting module can be set on the operating handle to realize wireless communication connection between the operating handle and the controller robot 3, and manual control of the controller robot 3 can also be realized.

[0077] The controller robot 3 may also be provided with an alarm unit for sounding an alarm and stopping the welding operation when the position of the robot is abnormal and may cause a collision, and transferring the control authority to the control handle.

[0078] Those skilled in the art will understand that all or part of the steps in the method for implementing the above-mentioned embodiments can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions for making a single-chip microcomputer, a chip or a processor (processor) perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0079] The optional embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above embodiments. Within the technical concept of the embodiments of the present invention, the technical scheme of the embodiments of the present invention can be subjected to a variety of simple modifications, and these simple modifications all belong to the protection scope of the embodiments of the present invention. It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0080] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed in the embodiments of the present invention.

Claims

1. A welding robot system, characterized in that: The system comprises: A welding robot is attached to a workpiece to be welded and is used to perform welding processing on the weld seam on the workpiece to be welded; A welding power supply robot, which is adsorbed on the workpiece to be welded and connected to the welding robot via a first cable, and is used to provide welding power to the welding robot and transport welding wire to the welding robot; A controller robot is adsorbed on the workpiece to be welded, connected to the welding robot signal through a second cable, and connected to the welding power supply robot signal through a third cable, and is used to control the welding robot to move along the workpiece to be welded and perform welding actions during welding, and is also used to control the welding power supply robot to follow the welding robot to move and transport welding wire; The controller robot is further used to follow the welding robot when the distance between the controller robot and the welding robot reaches a preset length value, and the preset length value is less than the length value of the second cable; The system further comprises: a display terminal and a control handle, wherein the display terminal is connected to the controller robot, and the display terminal is used to input welding parameters and display welding parameter information; the control handle is connected to the controller robot, and is used to manually control the movement of the welding robot, the welding power supply robot and the controller robot, and the controller robot is also provided with an alarm unit, which is used to sound an alarm and stop the welding operation when an abnormality occurs in the position of the robot, and transfer the control authority to the control handle; The system further comprises: Gas source equipment, used for providing welding shielding gas to the welding robot; a power supply device, electrically connected to the welding power supply robot via a fourth cable, and electrically connected to the controller robot via a fifth cable, for providing city power or industrial power to the welding power supply robot and the controller robot; The controller robot comprises a third walking mechanism, a third sensor group and a control unit; the third sensor group and the control unit are arranged on the third walking mechanism; The control unit is used to control the welding robot to move along the workpiece to be welded and perform welding actions during welding, and to control the welding power supply robot to follow the welding robot to move and deliver welding wire, and is also used to control the controller robot to follow the welding robot to move when the distance value between the controller robot and the welding robot reaches a preset length value; The third sensor group includes a distance measuring sensor for acquiring the position of the controller robot.

2. The welding robot system according to claim 1, characterized in that: The gas source device is connected to the welding power supply robot through an air pipe, and the welding power supply robot is connected to the welding robot through a wire feeding hose.

3. The welding robot system according to claim 1, characterized in that: The first cable is used to transmit low-voltage and high-current welding electricity, and the fourth cable is used to transmit high-voltage and low-current commercial electricity or industrial electricity.

4. The welding robot system according to claim 1, characterized in that: The welding robot comprises a first walking mechanism, a welding pendulum mechanism, a welding gun clamping mechanism and a first sensor group; the welding pendulum mechanism and the first sensor group are arranged on the first walking mechanism, and the welding gun clamping mechanism is arranged on the welding pendulum mechanism; The first walking mechanism is used to adsorb the welding robot onto the workpiece to be welded and realize the walking of the welding robot; the welding pendulum mechanism is used to adjust the posture of the welding gun; the welding gun clamping mechanism is used to fix the welding gun; the first sensor group is used to track the weld seam, obtain the posture of the welding robot and the body position of the welding robot during the welding process.

5. The welding robot system according to claim 4, characterized in that: The welding power supply robot comprises a second walking mechanism, a second sensor group, a welding power supply unit and a wire feeding unit; the second sensor group, the welding power supply unit and the wire feeding unit are arranged on the second walking mechanism; The second sensor group is used to obtain the body position of the welding power supply robot; the welding power supply unit is connected to the welding robot through a first cable and is used to convert municipal electricity or industrial electricity into welding electricity; the wire feeding unit is used to feed welding wire to the welding robot.

6. The welding robot system according to claim 5, characterized in that: The first walking mechanism, the second walking mechanism and the third walking mechanism are all crawler-type walking mechanisms, and all include mounting brackets. Two driving motors are relatively arranged on each mounting bracket, and the two driving motors respectively drive corresponding magnetic crawlers.

7. The welding robot system according to claim 6, characterized in that: The driving motor arranged on the first walking mechanism is a servo motor.

8. The welding robot system according to claim 5, characterized in that: The first sensor group includes a laser camera, a posture sensor and a distance sensor; the laser camera is used to track the weld during welding, the posture sensor is used to obtain the posture of the welding robot, and the distance sensor is used to obtain the position of the welding robot; The second sensor group includes a distance measuring sensor for acquiring the position of the welding power supply robot.

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