A construction site welding robot device

Abstract

The application discloses a kind of construction site welding robot devices, including robot main body, hard guide rail for installation on box type stand and soft guide rail for installation on circular stand, first slide and second slide are slidably connected on hard guide rail and soft guide rail respectively;Robot main body is respectively equipped with clamping block and wedge-shaped block at both ends in width direction, and wedge-shaped slot is formed in the side surface of the side of wedge-shaped block away from clamping block;The end of first slide and second slide towards robot main body is provided with limit block, and the side of limit block towards clamping block is provided with clamping slot matched with clamping block;First slide and the side of second slide away from limit block are rotatably connected with buckle rod matched with wedge-shaped slot, and the free end of buckle rod is screwed with fastening nut, when assembling, buckle rod is rotated and embedded in wedge-shaped slot, and fastening nut is pressed on wedge-shaped block.This application can switch the assembly and use of robot main body between hard guide rail and soft guide rail, and is suitable for different welding scenes.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, and more specifically to a welding robot device for construction sites. Background Technology

[0002] With the continuous improvement of my country's smelting technology and the rapid development of the steel structure industry, steel structures are increasingly being used in various types of buildings due to their low cost and environmental friendliness. Currently, common steel structures mainly include box-type columns and circular columns. Both box-type and circular columns require on-site welding using welding robots during their fabrication and use.

[0003] Existing welding robots on construction sites typically require the use of corresponding guide rails. However, current welding robots are mostly fixed to the guide rail slides with multiple bolts, making installation and disassembly inconvenient, difficult to replace and repair, and cumbersome in daily maintenance. Furthermore, existing welding robots cannot be used on both box-shaped guide rails (rigid guide rails) for welding box-shaped columns and circular guide rails (flexible guide rails) for welding round columns. Welding robots with corresponding rails need to be purchased separately for welding box-shaped and round columns, resulting in high equipment costs. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the shortcomings of the prior art that welding robots are not easy to assemble and disassemble with the corresponding guide rails and cannot be used with both rigid and flexible guide rails, thereby providing a welding robot device for construction sites.

[0005] A welding robot device for construction sites according to the present invention includes: A rigid guide rail is used for mounting on a box-shaped column; a first slide block is slidably connected to the rigid guide rail, and the first slide block is driven by a first drive mechanism to move along the arrangement trajectory of the rigid guide rail; A flexible guide rail is used to be installed on a circular column; a second slide block is slidably connected to the flexible guide rail, and the second slide block is driven by a second drive mechanism to move along the arrangement trajectory of the flexible guide rail; The robot body is detachably mounted on either the first slide or the second slide. The robot body has a locking block on one side along the width direction and a wedge block on the other side along the width direction. The wedge block has a wedge groove through the thickness direction on the side opposite to the locking block. Both the first slide and the second slide have a limiting block at one end facing the robot body. The limiting block has a slot on the side facing the locking block, and the slot matches the locking block. Both the first slide and the second slide are rotatably connected to a latch rod on the side away from the limiting block along the width direction. The latch rod matches the wedge-shaped groove. The free end of the latch rod has a threaded part, and a fastening nut is screwed onto the threaded part. During assembly, the latch rod rotates and engages with the wedge-shaped groove, and the fastening nut abuts and presses against the wedge-shaped block.

[0006] According to the present invention, a welding robot device for construction sites has at least the following technical advantages: 1. By providing locking blocks and wedge-shaped blocks with wedge grooves on both sides of the robot body along the width direction, and by providing limiting blocks with locking grooves on one side of both the first and second slides along the width direction, and rotatably connecting a latching rod on the other side along the width direction, the robot body can be detachably mounted on either the first or second slide. When the robot body needs to be assembled on a rigid guide rail for welding onto a box-shaped column, first align the locking blocks of the robot body with the locking grooves on the first slide and insert them for engagement. At this time, the wedge-shaped blocks are located on the first slide along the thickness direction of the latching rod. Above, rotate the latch on the first slide block until it engages with the wedge-shaped groove, and screw the fastening nut onto the latch on the first slide block until the fastening nut abuts and presses against the wedge block. Utilizing the principle that the wedge block tightens under pressure, the robot body is stably assembled onto the first slide block, thus enabling rapid assembly of the robot body onto the rigid guide rail for welding onto the box-shaped column. When it is necessary to separate the robot body from the rigid guide rail, first loosen the fastening nut on the latch on the first slide block until it disengages from the upper surface of the wedge block, then rotate the latch on the first slide block in the opposite direction. The latch disengages from the wedge-shaped groove, and then the robot body is moved along the width direction to completely pull the locking block out of the slot on the first slide block. This allows for quick separation of the robot body from the first slide block of the rigid guide rail, facilitating easy disassembly. When the robot body needs to be assembled onto a flexible guide rail for welding onto a circular column, first align the locking block of the robot body with the slot on the second slide block and insert it. At this point, the wedge-shaped block is positioned directly above the latch on the second slide block along the thickness direction. Then, rotate the latch on the second slide block until it is engaged with the wedge-shaped groove, and screw it onto the latch on the second slide block for secure fastening. The nut is pressed against the wedge block, and the wedge block is tightened under pressure to achieve stable assembly of the robot body onto the second slide. This allows the robot body to be quickly assembled onto the flexible guide rail for welding on a circular column. This device can switch the robot body between the first and second slides according to different welding requirements on site, thus switching the robot body between rigid and flexible guide rails for assembly and use. It is suitable for different welding scenarios and eliminates the need for the design and production of special equipment, reducing the cost of purchasing equipment.

[0007] 2. The first slide is driven by a first driving mechanism to move along the arrangement trajectory of the rigid guide rail, and the second slide is driven by a second driving mechanism to move along the arrangement trajectory of the flexible guide rail. After the robot body is assembled on the first slide, the robot body can move along the arrangement trajectory of the rigid guide rail under the drive of the first driving mechanism, achieving efficient welding of box-shaped columns with good welding quality. After the robot body is assembled on the second slide, the robot body can move along the arrangement trajectory of the flexible guide rail under the drive of the second driving mechanism, achieving efficient welding of circular columns with good welding quality.

[0008] Preferably, the first slide and the second slide are each provided with a first positioning block and a second positioning block on the end face facing the robot body, and the first positioning block and the second positioning block are arranged opposite to each other along the length direction of the first slide; during assembly, the first positioning block and the second positioning block respectively abut against the two sides of the robot body along its length direction.

[0009] Preferably, the upper surface of the card block along the thickness direction is set as an inclined surface, and the inclined surface gradually slopes downward toward the limiting block along the width direction.

[0010] Preferably, a first rack is provided on one side of the rigid guide rail along the width direction, and the first rack is arranged parallel to the arrangement trajectory of the rigid guide rail; the first drive mechanism includes a first motor disposed on the first slide, the first motor is arranged parallel to the thickness direction, and the output end is connected to a first gear, the first gear meshing with the first rack.

[0011] Preferably, a first slide rail is provided on the side of the rigid guide rail away from the first rack along the width direction. The first slide rail is arranged parallel to the arrangement trajectory of the rigid guide rail. A first guide wheel is rotatably connected to the end of the first slide block facing the rigid guide rail along the thickness direction. The first guide wheel is arranged parallel to the width direction and is rotatably engaged on the first slide rail. And / or, the rigid guide rail is provided with a slot and a connector at both ends along its arrangement trajectory, the connector matches the slot, the slot is arranged parallel to the arrangement trajectory of the rigid guide rail, and the wall of the slot and the corresponding position on the connector are formed with through holes along the width direction; during assembly, the locking screw passes through the through hole and is tightened with a locking nut; And / or, a splicing portion is provided at one end of the flexible guide rail along its arrangement trajectory. The splicing portion is located on the side of the flexible guide rail away from the second slide block along the thickness direction. The splicing portion extends beyond the flexible guide rail along its arrangement trajectory and has a mounting hole. A pin is slidably disposed in the mounting hole along the thickness direction. A return spring is provided between the lower end of the pin and the bottom wall of the mounting hole. A insertion hole is formed through the flexible guide rail along its arrangement trajectory at the end away from the splicing portion along the thickness direction. The insertion hole matches the pin. Multiple insertion platforms are provided on the side of the splicing portion facing the flexible guide rail along the thickness direction. The multiple insertion platforms are symmetrically arranged on both sides of the mounting hole along the width direction. A horizontal locking platform is provided at one end of the flexible guide rail in the degree direction. The projection of the insertion platform along the thickness direction falls within the range of the horizontal locking platform. The horizontal locking platform is arranged parallel to the arrangement trajectory of the flexible guide rail. The flexible guide rail, along its arrangement trajectory, forms through slots along the thickness direction at one end away from the splicing part, with the number of slots equal to the number of insertion platforms. The slots are used for the horizontal locking platforms to pass through and move and abut against the side of the flexible guide rail along the thickness direction facing the second slide. The splicing part has an unlocked state where the horizontal locking platform is aligned with the slot and the insertion pin is not aligned with the insertion hole; and a spliced ​​state where the insertion pin is aligned with the insertion hole and the horizontal locking platform and the slot are misaligned along the arrangement trajectory of the flexible guide rail.

[0012] Preferably, a second rack is provided on one end face of the flexible guide rail facing the second slide, and the second rack is arranged parallel to the arrangement trajectory of the flexible guide rail; the second drive mechanism includes a second motor disposed on the second slide, the second motor is arranged parallel to the thickness direction, and the output end of the second motor is connected to a second gear through a transmission component, the second gear is parallel to the thickness direction and meshes with the second rack.

[0013] Preferably, a set of second guide wheel assemblies is rotatably connected to each side of the second slide along the width direction, and the two sets of second guide wheel assemblies are rotatably engaged on the two side walls of the flexible guide rail along the width direction; each set of second guide wheel assemblies includes a plurality of second guide wheels arranged parallel to the width direction, and the second guide wheels are used to rotatably engage on the side wall of the flexible guide rail along the width direction; And / or, the transmission assembly includes a first bevel gear disposed on the output end of the second motor, the first bevel gear being arranged parallel to the width direction and meshing with a second bevel gear, the second bevel gear being arranged parallel to the thickness direction and coaxially connected with the second gear.

[0014] Preferably, the robot body includes a mounting plate arranged along the width direction, and the locking block and the wedge block are respectively disposed on both sides of the mounting plate along the width direction; a vertical plate is disposed on the mounting plate, the vertical plate is arranged parallel to the thickness direction, an L-shaped plate is slidably connected to the vertical plate, and the L-shaped plate is driven to move along the thickness direction by a third driving mechanism; a horizontal section of the L-shaped plate is arranged parallel to the width direction, a movable plate is slidably connected to the horizontal section, and the movable plate is driven to move along the width direction by a fourth driving mechanism; a mounting base is disposed on the movable plate, a welding torch is rotatably connected to the mounting base, and the welding torch is driven to swing around the width direction by a fifth driving mechanism.

[0015] Preferably, the mounting base has a mounting groove on one end face facing the welding torch, and the fifth drive mechanism includes a fifth motor arranged in the mounting groove along the width direction, and the welding torch is connected to the output end of the fifth motor; And / or, the robot body further includes a first protective sleeve connected to the mounting plate, the first protective sleeve being arranged along the thickness direction, and a second protective sleeve being movably sleeved on the outside of the first protective sleeve along the thickness direction, the second protective sleeve being connected to the L-shaped plate, and a through groove penetrating one side of the second protective sleeve along the width direction, the through groove being used for one end of the moving plate to pass through and extend to the outside of the second protective sleeve and connect to the mounting base; the third drive mechanism, the fourth drive mechanism, the vertical plate and the L-shaped plate are all disposed inside the first protective sleeve and the second protective sleeve; And / or, the third drive mechanism includes a third lead screw arranged on the vertical plate along the thickness direction, a third motor connected to the lower end of the third lead screw along the thickness direction, the third motor being used to drive the third lead screw to rotate; a third lead screw nut seat is provided on the third lead screw, and the vertical section of the L-shaped plate is connected to the third lead screw nut seat; And / or, the fourth drive mechanism includes a fourth lead screw arranged along the width direction on the horizontal segment, and a fourth motor connected to one end of the fourth lead screw away from the welding gun along the width direction, the fourth motor being used to drive the fourth lead screw to rotate; a fourth lead screw nut seat is provided on the fourth lead screw, and the moving plate is connected to the fourth lead screw nut seat.

[0016] Preferably, at least two first strong magnetic fixing components are provided at one end of the rigid guide rail away from the robot body along the thickness direction. The first strong magnetic fixing components are used to detachably install the rigid guide rail on the box-shaped column. And / or, at least two second strong magnetic fixing components are provided at one end of the flexible guide rail away from the robot body along the thickness direction, the second strong magnetic fixing components being used to detachably install the flexible guide rail onto the circular column.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the robot body assembled on the flexible guide rail in this embodiment; Figure 2 for Figure 1 Enlarged view of point A in the middle; Figure 3 This is a schematic diagram of the structure of the second slide in this embodiment; Figure 4 This is a schematic diagram of the robot body assembled on the rigid guide rail in this embodiment; Figure 5 for Figure 4 Enlarged view of point B in the middle; Figure 6 This is a schematic diagram of the structure of the first slide in this embodiment; Figure 7 This is a schematic diagram of the robot's main body in this embodiment; Figure 8 This is a structural schematic diagram of the robot body from another perspective in this embodiment; Figure 9 This is an exploded structural diagram of the robot body in this embodiment; Figure 10 This is a partial structural diagram of the robot body in this embodiment; Figure 11 This is a schematic diagram of the structure at the connection point of two adjacent flexible guide rails in this embodiment; Figure 12 for Figure 11 A schematic diagram of the decomposed structure; Figure 13 This is a schematic diagram of the splicing part in this embodiment.

[0020] Explanation of reference numerals in the attached figures: 1-Hard guide rail, 11-First slide block, 111-First guide wheel, 12-First rack, 13-First slide rail, 14-Insertion slot, 15-Insertion part, 151-Through hole, 16-Baffle, 17-First strong magnetic fixing component, 171-First connecting plate, 172-First magnetic base, 173-First handle; 2-Soft guide rail, 21-Second slide block, 211-Second guide wheel, 22-Second rack, 23-Second strong magnetic fixing component, 231-Second magnetic base, 232-Second knob, 24-Splicing part, 241-Mounting hole, 242-Plug pin, 243-Plug platform, 244-Horizontal locking platform, 245-Through groove, 246-Positioning platform, 247-Locking locking platform, 248-Through cavity, 25-Plug hole, 26-U-shaped groove, 27-Rectangular groove, 28-Control button, 29-Circular through hole, 291-First semi-circular groove, 292-Second semi-circular groove; 3-Robot body, 31-Card block, 311-Inclined surface, 32-Wedge block, 321-Wedge groove, 33-Mounting plate, 331-Allowing groove, 34-Vertical plate, 341-Second slide rail, 342-Second slider, 35-L-shaped plate, 351-Horizontal section, 352-Vertical section, 353-Third slide rail, 354-Third slider, 36-Moving plate, 37-Mounting base, 371-Mounting groove, 38-Welding torch, 391-First protective sleeve, 392-Second protective sleeve, 393-Through groove, 394-Handle; 41-Limit block, 411-Slot, 42-Latch rod, 43-Fasting nut, 44-First positioning block, 45-Second positioning block; 51-First motor, 52-First gear; 61-Second motor; 71-Fifth Motor; 81-Third lead screw, 82-Third motor, 83-Third main pulley, 84-Third driven pulley; 91-Fourth lead screw, 92-Fourth motor, 93-Fourth main pulley, 94-Fourth driven pulley. Detailed Implementation

[0021] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0025] like Figures 1 to 9The image shows a welding robot device for construction sites provided in this embodiment. It includes a robot body 3, a rigid guide rail 1 for mounting on a box-shaped column, and a flexible guide rail 2 for mounting on a circular column. A first slide block 11 is slidably connected to the rigid guide rail 1, and the first slide block 11 is driven by a first drive mechanism to move along the arrangement trajectory of the rigid guide rail 1. A second slide block 21 is slidably connected to the flexible guide rail 2, and the second slide block 21 is driven by a second drive mechanism to move along the arrangement trajectory of the flexible guide rail 2. The robot body 3 can be detachably mounted on either the first slide block 11 or the second slide block 21. A locking block 31 is provided on one side of the robot body 3 along its width direction, and a wedge-shaped block 32 is provided on the other side along its width direction. The wedge-shaped block 32 faces away from... A wedge-shaped groove 321 is formed through one side of the locking block 31 along the thickness direction; a limiting block 41 is provided at the end of the first slide 11 and the second slide 21 facing the robot body 3, and a slot 411 is provided on the side of the limiting block 41 facing the locking block 31, the slot 411 matching the locking block 31; a latching rod 42 is rotatably connected to the side of the first slide 11 and the second slide 21 away from the limiting block 41 along the width direction, the latching rod 42 matching the wedge-shaped groove 321, and a threaded part is provided at the free end of the latching rod 42, on which a fastening nut 43 is screwed. During assembly, the latching rod 42 rotates and engages in the wedge-shaped groove 321, and the fastening nut 43 abuts and presses against the wedge-shaped block 32. It can be understood that the thickness direction and width direction shown in this embodiment refer to Figure 1 or Figure 3 or Figure 4 or Figure 6 The thickness and width directions in the middle.

[0026] The device in this embodiment has a locking block 31 and a wedge-shaped block 32 with a wedge groove 321 respectively provided on both sides of the robot body 3 along the width direction. A limiting block 41 with a locking groove 411 is provided on one side of the first slide 11 and the second slide 21 along the width direction, and a latching rod 42 is rotatably connected to the other side along the width direction. The robot body 3 can be detachably mounted on either the first slide 11 or the second slide 21. When it is necessary to assemble the robot body 3 onto the rigid guide rail 1 for welding onto the box-shaped column, such as... Figure 4As shown, firstly, the locking block 31 of the robot body 3 is aligned with the locking groove 411 on the first slide block 11 and inserted into the locking mechanism. At this time, the wedge block 32 is located directly above the latch 42 on the first slide block 11 along the thickness direction. Then, the latch 42 on the first slide block 11 is rotated until it is engaged in the wedge groove 321, and a fastening nut 43 is screwed onto the latch 42 on the first slide block 11 until the fastening nut 43 abuts and presses against the wedge block 32. By utilizing the force-increasing principle that the wedge block 32 will tighten under pressure, the robot body 3 is stably assembled onto the first slide block 11, thereby realizing the rapid assembly of the robot body 3 onto the rigid guide rail 1 and the box-shaped column. For welding purposes; when it is necessary to separate the robot body 3 from the rigid guide rail 1, first loosen the fastening nut 43 on the latch 42 screwed onto the first slide block 11 until it disengages from the upper surface of the wedge block 32, then rotate the latch 42 on the first slide block 11 in the opposite direction to disengage it from the wedge groove 321, and finally move the robot body 3 along the width direction so that the locking block 31 is completely pulled out from the locking groove 411 on the first slide block 11, thus achieving quick separation of the robot body 3 from the first slide block 11 of the rigid guide rail 1, which is convenient for disassembly; when it is necessary to assemble the robot body 3 onto the flexible guide rail 2 for welding on a circular column, such as Figure 1 As shown, firstly, the locking block 31 of the robot body 3 is aligned with the locking groove 411 on the second slide 21 and inserted into the locking mechanism. At this time, the wedge block 32 is located directly above the latch 42 on the second slide 21 along the thickness direction. Then, the latch 42 on the second slide 21 is rotated until it is engaged with the wedge groove 321, and a fastening nut 43 is screwed onto the latch 42 on the second slide 21 until the fastening nut 43 abuts and presses against the wedge block 32. By utilizing the force-increasing principle that the wedge block 32 will tighten under pressure, the robot body 3 is stably assembled on the second slide 21, thereby enabling the robot body 3 to be quickly assembled on the soft guide rail 2 for welding on a circular column. The device in this embodiment can switch the robot body 3 between the first slide 11 and the second slide 21 according to different welding requirements on site, thereby switching the robot body 3 between the hard guide rail 1 and the soft guide rail 2 for use. It is suitable for different welding scenarios and does not require the design and production of special equipment, reducing the cost of purchasing equipment. The device in this embodiment also drives the first slide 11 to move along the arrangement trajectory of the rigid guide rail 1 through the first driving mechanism, and drives the second slide 21 to move along the arrangement trajectory of the flexible guide rail 2 through the second driving mechanism. After the robot body 3 is assembled on the first slide 11, the robot body 3 can move along the arrangement trajectory of the rigid guide rail 1 under the drive of the first driving mechanism to achieve efficient welding of the box-shaped column with good welding quality. After the robot body 3 is assembled on the second slide 21, the robot body 3 can move along the arrangement trajectory of the flexible guide rail 2 under the drive of the second driving mechanism to achieve efficient welding of the circular column with good welding quality.

[0027] It should be noted that special-purpose equipment is designed and manufactured according to specific welding requirements (such as welding box-shaped columns or welding circular columns), and is customized to meet these requirements.

[0028] Understandably, because the flexible guide rail 2 is deformable, its arrangement trajectory can be determined according to the outline of the circular column to be welded. The flexible guide rail 2 is then installed on the outer surface of the circular column according to its arrangement trajectory. This allows the robot body 3 to move along the arrangement trajectory of the flexible guide rail 2 after being assembled onto the second slide block 21, driven by the second drive mechanism, thereby achieving efficient welding of the circular column. More specifically, the flexible guide rail 2 is made of one of spring steel, chromium-molybdenum-vanadium steel, or silicon-manganese spring steel; the rigid guide rail 1 is made of one of 6061T6 aluminum alloy or aerospace hard aluminum 7075.

[0029] like Figure 3 , Figure 4 and Figure 6 As shown, in some embodiments of the present invention, the first slide 11 and the second slide 21 are each provided with a first positioning block 44 and a second positioning block 45 on their end faces facing the robot body 3. The first positioning block 44 and the second positioning block 45 are arranged opposite each other along the length direction of the first slide 11. During assembly, the first positioning block 44 and the second positioning block 45 respectively abut against both sides of the robot body 3 along the length direction of the robot body 3. During the process of assembling the robot body 3 onto the first slide 11 or the second slide 21, the first positioning block 44 and the second positioning block 45 are used to position both sides of the robot body 3 along the length direction of the robot body 3, so that the locking block 31 of the robot body 3 is aligned with the locking slot 411 on the second slide 21 and inserted into the locking mechanism, ensuring that the robot body 3 is accurately assembled onto the first slide 11 or the second slide 21, thereby improving the welding quality of the box-shaped column or the circular column. It can be understood that the length direction of the first slide 11 is the same as the length direction of the second slide 21, and the length direction of the first slide 11 is the same as the length direction of the robot body 3.

[0030] like Figure 3 , Figure 6 , Figures 8 to 10As shown, in some embodiments of the present invention, the upper surface of the locking block 31 along the thickness direction is configured as an inclined surface 311, and the inclined surface 311 gradually slopes downward toward the limiting block 41 along the width direction. The inclined surface 311 serves as a guide so that during the process of moving the robot body 3 along the width direction and assembling it onto the first slide 11 or the second slide 21, the thinner end of the locking block 31 first inserts into the larger opening end of the slot 411, and then abuts against and fits against the wall of the slot 411 as it continues to penetrate deeper. Compared with inserting the locking block 31 and the slot 411 with equal diameter (i.e., the thickness of the locking block 31 remains unchanged along the width direction, and the opening size of the slot 411 remains unchanged along the width direction), this embodiment is faster and more convenient to assemble.

[0031] like Figure 4 and Figure 5 As shown, in some embodiments of the present invention, a first rack 12 is provided on one side of the rigid guide rail 1 along the width direction, and the first rack 12 is arranged parallel to the arrangement trajectory of the rigid guide rail 1; the first driving mechanism includes a first motor 51 disposed on the first slide 11, the first motor 51 is arranged parallel to the thickness direction, and the output end is connected to a first gear 52, the first gear 52 meshing with the first rack 12. Because the first motor 51 is mounted on the first slide block 11, and the first slide block 11 is slidably connected to the rigid guide rail 1, when the first motor 51 is started to drive the first gear 52 to rotate, the first gear 52 will move relative to the first rack 12 along the arrangement trajectory of the rigid guide rail 1, thereby driving the first slide block 11 and the robot body 3 assembled on the first slide block 11 to move along the arrangement trajectory of the rigid guide rail 1, thereby achieving efficient welding of the box-shaped column and good welding quality; at the same time, by arranging the first drive mechanism on the first slide block 11, the power source for the robot body 3 to move during the welding of the box-shaped column is separated from the robot body 3, reducing the weight of the robot body 3, so that the mobile robot body 3 can be switched between the rigid guide rail 1 and the soft guide rail 2 for assembly and use, which is suitable for different welding scenarios.

[0032] like Figure 4As shown, in some embodiments of the present invention, a first slide rail 13 is provided on the side of the rigid guide rail 1 facing away from the first rack 12 along the width direction. The first slide rail 13 is arranged parallel to the arrangement trajectory of the rigid guide rail 1. A first guide wheel 111 is rotatably connected to one end of the first slide block 11 facing the rigid guide rail 1 along the thickness direction. The first guide wheel 111 is arranged parallel to the width direction and is rotatably engaged with the first slide rail 13. By rotatably engaging the first guide wheel 111 with the first slide rail 13, it is ensured that the first guide wheel 111 does not generate excessive jump relative to the first slide rail 13 along the thickness direction, thereby ensuring that the first slide block 11 and the robot body 3 mounted on the first slide block 11 do not generate excessive jump relative to the rigid guide rail 1 along the thickness direction, better limiting the movement path of the robot body 3 mounted on the first slide block 11 under the drive of the first drive mechanism and improving the stability of the movement of the robot body 3, thereby improving the welding quality of the box-shaped column. To further improve the stability of the movement of the first slide block 11, specifically, two first guide wheels 111 are provided. like Figure 4 and Figure 6 As shown, more specifically, the rigid guide rail 1 has a first slide rail 13 on each side along the width direction, and each first slide rail 13 is rotatably engaged with a first guide wheel 111.

[0033] like Figure 4 As shown, in some embodiments of the present invention, the rigid guide rail 1 is provided with a insertion slot 14 and an insertion part 15 on both sides of the arrangement trajectory of the rigid guide rail 1, respectively. The insertion part 15 matches the insertion slot 14. The insertion slot 14 is arranged parallel to the arrangement trajectory of the rigid guide rail 1. The wall of the insertion slot 14 and the corresponding position on the insertion part 15 are both formed with through holes 151 in the width direction. During assembly, the locking screw passes through the through hole 151 and is tightened to lock the connection. Tighten the nuts; depending on the actual size of the box-shaped column to be welded, a corresponding number of rigid guide rails 1 can be selected. By inserting the plug part 15 of one rigid guide rail 1 into the plug slot 14 of another adjacent rigid guide rail 1, and after aligning the through hole 151 of the plug part 15 with the through hole 151 of the plug slot 14, the locking screw is passed through the through hole 151 and the locking nut is tightened to combine the two rigid guide rails 1 into one unit. The length of the combined rigid guide rail 1 can be flexibly adjusted to adapt to different welding scenarios.

[0034] To prevent spatter from falling onto the rigid guide rail 1 or the first guide wheel 111 during the welding process of the robot body 3 to the box-shaped column, thus shortening the service life of this device; Figure 4 As shown, specifically, a baffle 16 is provided at one end of the rigid guide rail 1 away from the first rack 12 along the width direction. The projection of the rigid guide rail 1 along the width direction falls on the baffle 16, and the baffle 16 is arranged parallel to the arrangement trajectory of the rigid guide rail 1.

[0035] like Figures 11 to 13As shown, in some embodiments of the present invention, a splicing portion 24 is provided at one end of the flexible guide rail 2 along its arrangement trajectory. The splicing portion 24 is located on the side of the flexible guide rail 2 away from the second slide block 21 along the thickness direction. One end of the splicing portion 24 extends outside the flexible guide rail 2 along its arrangement trajectory and is provided with a mounting hole 241. A insertion pin 242 is slidably disposed in the mounting hole 241 along the thickness direction. The lower end of the insertion pin 242 is connected to the mounting hole 241. A return spring is provided between the bottom walls of 1; the flexible guide rail 2 has a insertion hole 25 extending through its thickness direction from one end away from the splicing part 24 along its arrangement trajectory, and the insertion hole 25 matches the insertion pin 242; the splicing part 24 preferably has four insertion platforms 243 on one side of the flexible guide rail 2 along the thickness direction, and the four insertion platforms 243 are symmetrically arranged on both sides of the mounting hole 241 along the width direction, so that each side of the mounting hole 241 along the width direction is provided with two insertion platforms 243. Each of the aforementioned insertion platforms 243 has a horizontal locking platform 244 at one end facing the flexible guide rail 2 along its thickness direction. The projection of the insertion platform 243 along its thickness direction falls within the range of the horizontal locking platform 244, which is arranged parallel to the arrangement trajectory of the flexible guide rail 2. The flexible guide rail 2, along its arrangement trajectory at one end away from the splicing part 24, has through slots 245 formed along its thickness direction, the number of which is equal to the number of insertion platforms 243. 5 is used for the horizontal locking platform 244 to pass through and move misaligned to abut against the upper surface of the flexible guide rail 2 along the thickness direction toward the second slide 21; the splicing part 24 has an unlocked state in which the horizontal locking platform 244 is aligned with the through groove 245 and the insertion pin 242 is not aligned with the insertion hole 25; and a splicing state in which the insertion pin 242 is aligned with the insertion hole 25 and the horizontal locking platform 244 and the through groove 245 are misaligned along the arrangement trajectory of the flexible guide rail 2.Based on the actual dimensions of the circular column to be welded, a corresponding number of flexible guide rails 2 can be selected. One by one, all the slots 245 of one of the flexible guide rails 2 are aligned with the horizontal mounting plate 244 and pressed downwards. Because the insertion pin 242 is not aligned with the insertion hole 25 at this time, during the downward pressing of the flexible guide rail 2, the insertion pin 242 is compressed by the downward pressing force, causing the return spring to retract into the mounting hole 241. This allows the horizontal mounting plate 244 to pass through the slots 245 until its lower surface is flush with the upper surface of the flexible guide rail 2. Subsequently, the horizontal mounting plate 244 is moved... 4. The pin moves along the arrangement trajectory of the flexible guide rail 2 and is misaligned with the through groove 245 until the insertion pin 242 is aligned with the insertion hole 25. At this time, the downward pressing force applied to the insertion pin 242 disappears. Under the action of the elastic restoring force of the return spring, the insertion pin 242 moves upward and inserts into the insertion hole 25. It also cooperates with the four horizontal locking platforms 244 to be misaligned with the corresponding through groove 245 and abut against the upper surface of the flexible guide rail 2, and the upper surface of the splicing part 24 abuts against the lower surface of the flexible guide rail 2, so as to realize the tight connection of the two flexible guide rails 2 into one unit through the splicing part 24. Simultaneously, four insertion platforms 243, symmetrically arranged on both sides of the mounting hole 241 along the width direction, respectively press and limit the upper surface of the end of the flexible guide rail 2 facing another adjacent flexible guide rail 2 along both sides of the width direction. This effectively prevents deformation at the end of the flexible guide rail 2 that is spliced ​​with another adjacent flexible guide rail 2, ensuring the splicing effect of the two adjacent flexible guide rails 2, and ensuring that the second slide 21 passes smoothly and steadily through the splicing point of the two adjacent flexible guide rails 2 under the drive of the second drive mechanism. When it is necessary to disassemble the two adjacent flexible guide rails 2, press down on the insertion pin. 242 extends the corresponding insertion hole 25, releasing the restriction of the insertion pin 242 on the movement of the flexible guide rail 2 along the arrangement trajectory of the flexible guide rail 2. This allows the horizontal clamping platform 244 to move along the arrangement trajectory of the flexible guide rail 2 to a position aligned with the corresponding through slot 245, and where the insertion pin 242 is not aligned with the insertion hole 25 (i.e., the splicing part 24 is switched to the unlocked state). At this point, the flexible guide rail 2 can be removed upwards to complete the disassembly of two adjacent flexible guide rails 2. The entire disassembly and assembly process is convenient to operate and the length of the assembled flexible guide rail 2 can be flexibly adjusted to adapt to different welding scenarios.

[0036] In order to remove the splicing part 24 from the connection between two adjacent flexible guide rails 2, so as to better install a single flexible guide rail 2 on the circular column for use; such as Figure 12 and Figure 13As shown, specifically, the splicing part 24 is provided with a mounting hole 241 at each end of the arrangement trajectory of the flexible guide rail 2, and a plug pin 242 is slidably disposed in each mounting hole 241 along the thickness direction. The splicing part 24 is provided with four plug-in platforms 243 at each end of the arrangement trajectory of the flexible guide rail 2. Every four plug-in platforms 243 are symmetrically arranged on both sides of a mounting hole 241 along the width direction. The four plug-in platforms 243 located at one end of the splicing part 24 along the arrangement trajectory of the flexible guide rail 2 and the four plug-in platforms 243 located at the other end of the splicing part 24 along the arrangement trajectory of the flexible guide rail 2 are symmetrically arranged along the arrangement trajectory of the flexible guide rail 2. The flexible guide rail 2 is provided with a plug-in hole 25 at each end of its arrangement trajectory. The flexible guide rail 2 is provided with four through slots 245 at each end of its arrangement trajectory.When two adjacent flexible guide rails 2 need to be spliced ​​together, first align the four through slots 245 of one of the flexible guide rails 2 with the four horizontal locking platforms 244 located at one end of the splicing part 24 along the arrangement trajectory of the flexible guide rails 2 and press them down. At this time, a corresponding insertion pin 242 is compressed by the downward pressing force and retracts into the corresponding mounting hole 241, so that the horizontal locking platform 244 passes through the through slot 245 until the lower surface of the horizontal locking platform 244 is flush with the upper surface of the flexible guide rail 2; then the horizontal locking platform 244 is moved along the arrangement trajectory of the flexible guide rails 2 towards the center of the splicing part 24 and makes contact with the corresponding through slot 245. The misalignment continues until the insertion pin 242 aligns with the insertion hole 25 of the flexible guide rail 2. At this point, the downward pressing force applied to the insertion pin 242 disappears, and the insertion pin 242 moves upward under the elastic restoring force of the return spring and inserts into the insertion hole 25 of the flexible guide rail 2. This, along with the four horizontal locking platforms 244 misaligning with the corresponding through slots 245 of the flexible guide rail 2 and abutting against the upper surface of the flexible guide rail 2, and the upper surface of the splicing part 24 abutting against the lower surface of the flexible guide rail 2, connects the flexible guide rail 2 and the splicing part 24 into one unit. Then, the four through slots 245 of another flexible guide rail 2 are aligned one by one with the slots 245 located along the flexible guide rail 2 of the splicing part 24. At the other end of the arrangement trajectory, the four horizontal locking platforms 244 are pressed downwards. At this time, a pin 242 located at the other end of the splicing part 24 is compressed by the downward pressing force, and the corresponding return spring is retracted into the corresponding mounting hole 241. This causes the horizontal locking platform 244 to pass through the through groove 245 until the lower surface of the horizontal locking platform 244 is flush with the upper surface of the flexible guide rail 2. Then, the horizontal locking platform 244 moves along the arrangement trajectory of the flexible guide rail 2 towards the center of the splicing part 24 and is misaligned with the corresponding through groove 245 until the pin 242 is aligned with the insertion hole 25 of the flexible guide rail 2 (at this time, the two adjacent flexible guide rails 2 face each other at opposite ends). (Mutual abutment), at this time, the downward pressing force applied to the insertion pin 242 disappears, and the insertion pin 242 moves upward under the elastic restoring force of the return spring and inserts into the insertion hole 25 of the flexible guide rail 2. It also cooperates with the four horizontal locking platforms 244 to be misaligned with the corresponding through slots 245 of the flexible guide rail 2 and abut against the upper surface of the flexible guide rail 2. The upper surface of the splicing part 24 abuts against the lower surface of the flexible guide rail 2, so that two adjacent flexible guide rails 2 are connected to the splicing part 24 to form a whole. The two adjacent flexible guide rails 2 have their opposite ends aligned and abut against each other, so that the two flexible guide rails 2 are tightly spliced ​​and combined into a whole through the splicing part 24.

[0037] To further improve the alignment at the joint of two adjacent flexible guide rails 2, and to prevent a height difference along the thickness direction at the joint of two adjacent flexible guide rails 2; such as Figures 11 to 13As shown, more specifically, a positioning platform 246 is provided on both sides of the upper middle part of the splicing part 24 along the width direction. Each positioning platform 246 has a locking plate 247 at one end along the thickness direction facing the second slide block 21. The projection of the positioning platform 246 along the thickness direction falls within the range of the locking plate 247. The locking plate 247 is arranged parallel to the arrangement trajectory of the flexible guide rail 2. Two U-shaped grooves 26 are provided on both ends of the flexible guide rail 2 along its arrangement trajectory. The two U-shaped grooves 26 on each end face of the flexible guide rail 2 are respectively connected to the... The two positioning platforms 246 correspond to each other, and the two U-shaped grooves 26 located on the same straight line along the arrangement trajectory of the flexible guide rail 2 form a rectangular groove 27. The rectangular groove 27 matches the positioning platform 246. When two adjacent flexible guide rails 2 are spliced ​​into one piece, the wall of the rectangular groove 27 abuts against the outer side of the positioning platform 246, and the lower surface of each locking plate 247 along the arrangement trajectory of the flexible guide rail 2 abuts against the upper surface of the two adjacent flexible guide rails 2 facing each other.

[0038] To better attach the joint of two adjacent flexible guide rails 2 to the outer surface of the circular column, specifically, a through cavity 248 is formed in the middle of the joint 24 along the thickness direction. A third magnetic base (not shown in the figure) is provided in the through cavity 248. A control button 28 is provided at one end of the third magnetic base facing the second slide 21 along the thickness direction. The control button 28 is used to control the switching between the magnetized state and the demagnetized state of the third magnetic base. During the process of attaching and detaching the joint of the two adjacent flexible guide rails 2 to the outer surface of the circular column, simply press the start control button 28 or press the stop control button 28 again to switch the third magnetic base from the demagnetized state to the magnetized state or vice versa. This allows the third magnetic base to generate or release the magnetic attraction between the third magnetic base and the outer surface of the circular column, thereby improving the ease of detaching and assembling the flexible guide rails 2 from the circular column while ensuring the firm connection between the third magnetic base and the outer surface of the circular column. To ensure that the control button 28 can still be easily pressed after two adjacent flexible guide rails 2 are spliced ​​together; such as Figure 11 and Figure 12 As shown, more specifically, the flexible guide rail 2 is provided with a first semicircular groove 291 and a second semicircular groove 292 at both ends of its arrangement trajectory, and the first semicircular groove 291 and the second semicircular groove 292 form a circular through hole 29 that communicates with the through cavity 248.

[0039] like Figure 1 and Figure 2As shown, in some embodiments of the present invention, a second rack 22 is provided on one end face of the flexible guide rail 2 facing the second slide block 21, and the second rack 22 is arranged parallel to the arrangement trajectory of the flexible guide rail 2; the second driving mechanism includes a second motor 61 disposed on the second slide block 21, the second motor 61 is arranged parallel to the thickness direction, and the output end of the second motor 61 is connected to a second gear (not shown in the figure) through a transmission component, the second gear is parallel to the thickness direction and meshes with the second rack 22. Because the second motor 61 is mounted on the second slide block 21 along the thickness direction, and the second slide block 21 is slidably connected to the soft guide rail 2, when the second motor 61 is started and drives the second gear arranged along the thickness direction to rotate through the transmission component, the second gear will move relative to the second rack 22 along the arrangement trajectory of the soft guide rail 2, thereby driving the second slide block 21 and the robot body 3 assembled on the second slide block 21 to move along the arrangement trajectory of the soft guide rail 2, thus achieving efficient welding of the circular column with good welding quality; at the same time, by arranging the second drive mechanism on the second slide block 21, the power source for the robot body 3 to move during the welding of the circular column is separated from the robot body 3, reducing the weight of the robot body 3, so that the robot body 3 can be moved to switch between the hard guide rail 1 and the soft guide rail 2 for assembly and use, which is suitable for different welding scenarios.

[0040] like Figures 1 to 3 As shown, in some embodiments of the present invention, a set of second guide wheel assemblies is rotatably connected to both sides of the second slide block 21 along the width direction. The two sets of second guide wheel assemblies are rotatably engaged on the two side walls of the flexible guide rail 2 along the width direction. Each set of second guide wheel assemblies includes two second guide wheels 211 arranged parallel to the width direction. The second guide wheels 211 are rotatably engaged on the side walls of the flexible guide rail 2 along the width direction. By rotatably engaging the two sets of second guide wheel assemblies on the two side walls of the flexible guide rail 2 along the width direction, it is ensured that the second guide wheel assemblies do not exhibit excessive movement relative to the flexible guide rail 2 along the thickness direction. This ensures that the second slide block 21 and the robot body 3 mounted on the second slide block 21 do not exhibit excessive movement relative to the flexible guide rail 2 along the thickness direction. This better limits the movement path of the robot body 3 mounted on the second slide block 21 under the drive of the second drive mechanism and improves the stability of the robot body 3's movement, thereby improving the welding quality of the circular column.

[0041] Considering that the second motor 61 is arranged along the thickness direction and the second gear is arranged along the thickness direction, in order to better transmit the torque output from the output end of the second motor 61 to the second gear, thereby driving the second slide 21 to move smoothly relative to the soft guide rail 2; in some embodiments of the present invention, the transmission component includes a first bevel gear disposed on the output end of the second motor 61, the first bevel gear being arranged parallel to the width direction and meshing with the second bevel gear, the second bevel gear being arranged parallel to the thickness direction and coaxially connected with the second gear.

[0042] like Figures 7 to 10 As shown, in some embodiments of the present invention, the robot body 3 includes a mounting plate 33 arranged along the width direction, the locking block 31 and the wedge block 32 are respectively disposed on both sides of the mounting plate 33 along the width direction; a vertical plate 34 is disposed on the mounting plate 33, the vertical plate 34 is arranged parallel to the thickness direction, an L-shaped plate 35 is slidably connected to the vertical plate 34, the L-shaped plate 35 is driven to move along the thickness direction by a third driving mechanism; a horizontal section 351 of the L-shaped plate 35 is arranged parallel to the width direction, a moving plate 36 is slidably connected to the horizontal section 351, the moving plate 36 is driven to move along the width direction by a fourth driving mechanism; a mounting base 37 is disposed on the moving plate 36, a welding torch 38 is rotatably connected to the mounting base 37, the welding torch 38 is driven to swing around the width direction by a fifth driving mechanism. The third, fourth, and fifth drive mechanisms respectively drive the welding torch 38 to move along the thickness direction, move along the width direction, and swing around the width direction. These mechanisms, in conjunction with the first or second drive mechanism, drive the welding torch 38 to move along the arrangement trajectory of the rigid guide rail 1 or the flexible guide rail 2. This allows the welding torch 38, mounted on the first slide 11 or the second slide 21, to perform four degrees of freedom of movement, further improving the flexibility of the welding torch 38's movement and making it suitable for more welding scenarios. To avoid interference between the mounting plate 33 and the first motor 51 arranged along the thickness direction during the assembly of the robot body 3 onto the first slide 11, such as... Figure 4 and Figure 5 As shown, specifically, an avoidance groove 331 is formed on the mounting plate 33 along the thickness direction corresponding to the position of the first motor 51; the avoidance groove 331 can also play a role in weight reduction, so as to transfer the robot body 3 between the first slide 11 and the second slide 21 for switching assembly.

[0043] like Figure 8 and Figure 9As shown, in some embodiments of the present invention, the mounting base 37 has a mounting groove 371 on one end face facing the welding torch 38. The fifth drive mechanism includes a fifth motor 71 arranged in the mounting groove 371 along the width direction, and the welding torch 38 is connected to the output end of the fifth motor 71. By directly connecting the welding torch 38 to the output end of the fifth motor 71, intermediate transmission structures are reduced, intermediate transmission errors and energy losses are reduced, so that the torque output by the fifth motor 71 can be directly transmitted to the welding torch 38, so as to flexibly and accurately control the welding torch 38 to swing around the width direction, further improving the welding quality.

[0044] Considering that spatter will be generated during the welding process of box-shaped or circular columns by welding torch 38, if the spatter lands on the third and fourth drive mechanisms, it can easily shorten the service life of the third and fourth drive mechanisms. To solve the above technical problem; such as Figures 7 to 9 As shown, in some embodiments of the present invention, the robot body 3 further includes a first protective sleeve 391 connected to the mounting plate 33. The first protective sleeve 391 is arranged along the thickness direction, and a second protective sleeve 392 is movably sleeved on the outside of the first protective sleeve 391 along the thickness direction. The second protective sleeve 392 is connected to the L-shaped plate 35. A through groove 393 is provided on one side of the second protective sleeve 392 along the width direction. The through groove 393 is used for one end of the moving plate 36 to pass through and extend to the outside of the second protective sleeve 392 and connect to the mounting base 37. The third driving mechanism, the fourth driving mechanism, the vertical plate 34 and the L-shaped plate 35 are all disposed inside the first protective sleeve 391 and the second protective sleeve 392.

[0045] like Figure 8 As shown, specifically, in order to facilitate the movement of the robot body 3, the second protective sleeve 392 is provided with a handle 394 on its upper surface along the thickness direction.

[0046] This embodiment does not limit the structure of the third driving mechanism. To ensure smooth and reliable movement of the welding torch 38 along the thickness direction and guarantee welding quality, as follows... Figure 10As shown, preferably, the third driving mechanism includes a third lead screw 81 arranged along the thickness direction on the vertical plate 34. A third motor 82 is connected to the lower end of the third lead screw 81 along the thickness direction, and the third motor 82 drives the third lead screw 81 to rotate. A third lead screw nut seat is provided on the third lead screw 81, and the vertical section 352 of the L-shaped plate 35 is connected to the third lead screw nut seat. By driving the third lead screw 81 to rotate forward or backward by the third motor 82, the third lead screw nut seat can be moved linearly relative to the third lead screw 81 along the thickness direction, thereby smoothly and reliably driving the welding torch 38 to move linearly along the thickness direction with the L-shaped plate 35. Of course, in other embodiments, the third driving mechanism can also be configured as a cylinder, a linear motor, or a motor-driven gear moving along a rack, or other structures.

[0047] To further increase the sliding connection area between the vertical section 352 and the vertical plate 34, and to improve the stability of the L-shaped plate 35 moving along the thickness direction under the drive of the third drive mechanism, such as... Figure 10 As shown, specifically, the vertical plate 34 is provided with two second slide rails 341 on one end face facing the vertical section 352. The two second slide rails 341 are arranged parallel to the thickness direction and are symmetrically arranged on both sides of the third lead screw 81 along the length direction of the robot body 3. The vertical section 352 is slidably connected to the two second slide rails 341 by the second slider 342.

[0048] To reduce the thickness of the robot body 3 so that it can be transferred; for example... Figure 10 As shown, specifically, the third motor 82 is arranged parallel to the thickness direction and connected to the upper surface of the mounting plate 33 along the thickness direction; the output end of the third motor 82 is provided with a third main pulley 83, the lower end of the third lead screw 81 along the thickness direction is provided with a third driven pulley 84, and a third synchronous belt is wound between the third driven pulley 84 and the third main pulley 83.

[0049] This embodiment does not limit the structure of the fourth driving mechanism. To smoothly and reliably drive the welding torch 38 to move along the width direction and ensure welding quality, as follows... Figure 9 and Figure 10As shown, preferably, the fourth drive mechanism includes a fourth lead screw 91 arranged along the width direction on the horizontal section 351. A fourth motor 92 is connected to the end of the fourth lead screw 91 facing away from the welding torch 38 along the width direction. The fourth motor 92 drives the fourth lead screw 91 to rotate. A fourth lead screw nut seat is provided on the fourth lead screw 91, and the moving plate 36 is connected to the fourth lead screw nut seat. By driving the fourth lead screw 91 to rotate forward or backward by the fourth motor 92, the fourth lead screw nut seat can be moved linearly relative to the fourth lead screw 91 along the width direction, thereby smoothly and reliably driving the welding torch 38 to move linearly along the width direction together with the moving plate 36. Of course, in other embodiments, the fourth drive mechanism can also be configured as a cylinder, a linear motor, or a motor-driven gear moving along a rack, or other structures.

[0050] To further increase the sliding connection area between the movable plate 36 and the horizontal segment 351, and to improve the stability of the movable plate 36 moving along the width direction under the drive of the fourth drive mechanism, such as... Figure 10 As shown, specifically, the horizontal segment 351 is provided with two third slide rails 353 on one end face facing the moving plate 36. The two third slide rails 353 are arranged parallel to the width direction and are symmetrically arranged on both sides of the fourth lead screw 91 along the length direction of the robot body 3. The moving plate 36 is slidably connected to the two third slide rails 353 by a third slider 354.

[0051] To reduce the width of the robot body 3 so that it can be transferred; for example... Figure 10 As shown, specifically, the fourth motor 92 is arranged parallel to the width direction and connected to the lower surface of the horizontal section 351 along the thickness direction; the output end of the fourth motor 92 is provided with a fourth main pulley 93, and the end of the fourth lead screw 91 facing away from the welding gun 38 along the width direction is connected to a fourth driven pulley 94, and a fourth synchronous belt is wound between the fourth driven pulley 94 and the fourth main pulley 93.

[0052] like Figure 4As shown, in some embodiments of the present invention, the rigid guide rail 1 is preferably provided with two first strong magnetic fixing components 17 at one end away from the robot body 3 along the thickness direction. The first strong magnetic fixing components 17 are used to detachably install the rigid guide rail 1 on the box-shaped column. When welding is required on the box-shaped column, after attaching the rigid guide rail 1 to the outer surface of the box-shaped column according to the set layout trajectory, the first strong magnetic fixing component 17 is switched to the magnetized state. Because the box-shaped column is made of steel, the first strong magnetic fixing component 17 in the magnetized state can be magnetically attracted to the surface of the box-shaped column, thereby adsorbing and fixing the rigid guide rail 1 to the outer surface of the box-shaped column according to the set layout trajectory, so that welding operations can be performed on the box-shaped column after the robot body 3 is assembled on the first slide 11. When it is necessary to remove the rigid guide rail 1 from the outer surface of the box-shaped column, simply switch the first strong magnetic fixing component 17 to the demagnetized state to release the adsorption force between the first strong magnetic fixing component 17 and the outer surface of the box-shaped column, and the rigid guide rail 1 can be removed from the outer surface of the box-shaped column. The entire disassembly and assembly process is convenient to operate and the connection is firm.

[0053] like Figure 4 As shown, specifically, the first strong magnetic fixing assembly 17 includes a first connecting plate 171 connected to the rigid guide rail 1. The first connecting plate 171 is arranged parallel to the width direction. The first magnetic base 172 is respectively provided on both sides of the first connecting plate 171 along the width direction. A first handle 173 is rotatably connected to the first magnetic base 172. The first handle 173 is used to control the first magnetic base 172 to switch between the magnetized state and the demagnetized state. During the process of assembling and disassembling the rigid guide rail 1 onto the outer surface of the box-shaped column, the first magnetic base 172 can be switched from a demagnetized state to a magnetized state or vice versa by simply pulling the first handle 173 in the forward or reverse direction. This allows the first magnetic base 172 to generate or release a magnetic attraction force between itself and the outer surface of the box-shaped column. This improves the ease of assembling and disassembling the rigid guide rail 1 onto the box-shaped column while ensuring a firm connection between the first magnetic base 172 and the outer surface of the box-shaped column.

[0054] like Figure 1As shown, in some embodiments of the present invention, the flexible guide rail 2 is preferably provided with seven second strong magnetic fixing components 23 at one end away from the robot body 3 along the thickness direction. The second strong magnetic fixing components 23 are used to detachably install the flexible guide rail 2 onto the circular column. When welding is required on the circular column, after the flexible guide rail 2 is attached to the outer surface of the circular column according to the set arrangement trajectory, the second strong magnetic fixing components 23 are controlled to switch to the magnetized state. Because the circular column is made of steel, the magnetized second strong magnetic fixing components 23 can be magnetically attracted to the surface of the circular column, thereby attracting and fixing the flexible guide rail 2 to the outer surface of the circular column according to the set arrangement trajectory, so that welding operations can be performed on the circular column after the robot body 3 is assembled on the second slide 21. When it is necessary to remove the flexible guide rail 2 from the outer surface of the circular column, it is only necessary to control the second strong magnetic fixing components 23 to switch to the demagnetized state to release the magnetic attraction between the second strong magnetic fixing components 23 and the outer surface of the circular column, so that the flexible guide rail 2 can be removed from the outer surface of the circular column. The entire disassembly and assembly process is convenient to operate and the connection is firm. Specifically, considering that the soft guide rail 2 can be deformed, seven second strong magnetic fixing components 23 are preferably provided at one end of the soft guide rail 2 away from the robot body 3 along the thickness direction, and the part of the soft guide rail 2 located between two adjacent second strong magnetic fixing components 23 will not deform when the second slide 21 moves along this part.

[0055] Specifically, the second strong magnetic fixing assembly 23 includes a second magnetic base 231 connected to the flexible guide rail 2. The second magnetic base 231 is arranged parallel to the width direction, and a second knob 232 is rotatably connected to one end of the second magnetic base 231 along the width direction. The second knob 232 is used to control the switching of the second magnetic base 231 between the magnetized state and the demagnetized state. During the process of assembling and disassembling the flexible guide rail 2 onto the outer surface of the box-shaped column, the second magnetic base 231 can be switched from the demagnetized state to the magnetized state or vice versa simply by rotating the second knob 232 in either the forward or reverse direction. This allows the second magnetic base 231 to generate or release a magnetic attraction force between itself and the outer surface of the circular column, thereby improving the ease of assembling and disassembling the flexible guide rail 2 onto the circular column while ensuring the firm connection between the second magnetic base 231 and the outer surface of the circular column.

[0056] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A welding robot device for construction sites, characterized in that, include: A rigid guide rail (1) is used to be installed on a box-shaped column; a first slide block (11) is slidably connected on the rigid guide rail (1), and the first slide block (11) is driven by a first drive mechanism to move along the arrangement trajectory of the rigid guide rail (1); A flexible guide rail (2) is used to be installed on a circular column; a second slide block (21) is slidably connected to the flexible guide rail (2), and the second slide block (21) is driven by a second drive mechanism to move along the arrangement trajectory of the flexible guide rail (2); The robot body (3) is detachably mounted on either the first slide (11) or the second slide (21). The robot body (3) has a locking block (31) on one side along the width direction and a wedge block (32) on the other side along the width direction. The wedge block (32) has a wedge groove (321) through it along the thickness direction on the side opposite to the locking block (31). Both the first slide (11) and the second slide (21) have a limiting block (41) at one end facing the robot body (3). The limiting block (41) has a slot (411) on the side facing the locking block (31), and the slot (411) matches the locking block (31). Both the first slide (11) and the second slide (21) have a latch (42) rotatably connected to the side of the first slide (11) away from the limiting block (41) along the width direction. The latch (42) matches the wedge groove (321). The free end of the latch (42) has a threaded part, and a fastening nut (43) is screwed onto the threaded part. During assembly, the latch (42) rotates and engages with the wedge groove (321). Inside, the fastening nut (43) abuts and presses against the wedge block (32); the flexible guide rail (2) is provided with a splicing part (24) at one end along its arrangement trajectory, the splicing part (24) is provided on the side of the flexible guide rail (2) away from the second slide block (21) along the thickness direction, the splicing part (24) extends to the outside of the flexible guide rail (2) along its arrangement trajectory and is provided with a mounting hole (241), a plug pin (242) is slidably provided in the mounting hole (241) along the thickness direction, and a return spring is provided between the lower end of the plug pin (242) and the bottom wall of the mounting hole (241); the flexible guide rail (2) is provided with a splicing part (24) at one end along its arrangement trajectory away from the splicing part (24). A insertion hole (25) is formed through the end along the thickness direction, and the insertion hole (25) matches the insertion pin (242); the splicing part (24) is provided with a plurality of insertion platforms (243) on the side of the flexible guide rail (2) along the thickness direction, and the plurality of insertion platforms (243) are symmetrically arranged on both sides of the mounting hole (241) along the width direction. A horizontal locking platform (244) is provided at one end of the insertion platform (243) along the thickness direction facing the flexible guide rail (2), and the projection of the insertion platform (243) along the thickness direction falls within the range of the horizontal locking platform (244). The horizontal locking platform (244) is arranged parallel to the arrangement trajectory of the flexible guide rail (2); the flexible guide rail (2) is away from its arrangement trajectory. One end of the splicing part (24) has through slots (245) in the thickness direction, the same number as the number of insertion platforms (243). The through slots (245) are used for the horizontal locking platform (244) to pass through and move and abut against the side of the soft guide rail (2) facing the second slide (21) in the thickness direction. The splicing part (24) has an unlocked state in which the horizontal locking platform (244) is aligned with the through slots (245) and the insertion pin (242) is not aligned with the insertion hole (25); and a splicing state in which the insertion pin (242) is aligned with the insertion hole (25) and the horizontal locking platform (244) and the through slots (245) are misaligned along the arrangement trajectory of the soft guide rail (2). The first slide (11) and the second slide (21) are each provided with a first positioning block (44) and a second positioning block (45) on one end face facing the robot body (3). The first positioning block (44) and the second positioning block (45) are arranged opposite to each other along the length direction of the first slide (11). During assembly, the first positioning block (44) and the second positioning block (45) respectively abut against the two sides of the robot body (3) along its length direction.

2. The on-site welding robot device for construction according to claim 1, characterized in that, The upper surface of the card block (31) along the thickness direction is set as an inclined surface (311), and the inclined surface (311) gradually slopes downward toward the limiting block (41) along the width direction.

3. The on-site welding robot device for construction according to claim 1, characterized in that, The rigid guide rail (1) has a first rack (12) on one side along the width direction. The first rack (12) is arranged parallel to the arrangement trajectory of the rigid guide rail (1). The first drive mechanism includes a first motor (51) arranged on the first slide (11). The first motor (51) is arranged parallel to the thickness direction, and its output end is connected to a first gear (52). The first gear (52) meshes with the first rack (12).

4. The on-site welding robot device for construction according to claim 3, characterized in that, The rigid guide rail (1) has a first slide rail (13) on the side away from the first rack (12) along the width direction. The first slide rail (13) is arranged parallel to the arrangement trajectory of the rigid guide rail (1). The first slide block (11) is rotatably connected to a first guide wheel (111) at one end of the rigid guide rail (1) along the thickness direction. The first guide wheel (111) is arranged parallel to the width direction and is rotatably engaged on the first slide rail (13). And / or, the rigid guide rail (1) is provided with a plug groove (14) and a plug part (15) at both ends of its arrangement trajectory, the plug part (15) matches the plug groove (14), the plug groove (14) is arranged parallel to the arrangement trajectory of the rigid guide rail (1), and the wall of the plug groove (14) and the corresponding position on the plug part (15) are formed with through holes (151) in the width direction; during assembly, the locking screw passes through the through hole (151) and is tightened with a locking nut.

5. A construction site welding robot device according to claim 1 or 3, characterized in that, The flexible guide rail (2) has a second rack (22) on one end face facing the second slide (21). The second rack (22) is arranged parallel to the arrangement trajectory of the flexible guide rail (2). The second drive mechanism includes a second motor (61) arranged on the second slide (21). The second motor (61) is arranged parallel to the thickness direction. The output end of the second motor (61) is connected to a second gear through a transmission component. The second gear is parallel to the thickness direction and meshes with the second rack (22).

6. The on-site welding robot device according to claim 5, characterized in that, The second slide (21) is rotatably connected to a set of second guide wheel assemblies on both sides along the width direction. The two sets of second guide wheel assemblies are rotatably engaged on the two side walls of the soft guide rail (2) along the width direction. Each set of second guide wheel assemblies includes multiple second guide wheels (211) arranged parallel to the width direction. The second guide wheels (211) are used to be rotatably engaged on the side wall of the soft guide rail (2) along the width direction. And / or, the transmission assembly includes a first bevel gear disposed on the output end of the second motor (61), the first bevel gear being arranged parallel to the width direction and meshing with a second bevel gear, the second bevel gear being arranged parallel to the thickness direction and coaxially connected with the second gear.

7. The on-site welding robot device for construction according to claim 1, characterized in that, The robot body (3) includes a mounting plate (33) arranged along the width direction. The locking block (31) and the wedge block (32) are respectively disposed on both sides of the mounting plate (33) along the width direction. A vertical plate (34) is disposed on the mounting plate (33). The vertical plate (34) is arranged parallel to the thickness direction. An L-shaped plate (35) is slidably connected to the vertical plate (34). The L-shaped plate (35) is driven to move along the thickness direction by a third driving mechanism. The horizontal section (351) of the L-shaped plate (35) is arranged parallel to the width direction. A moving plate (36) is slidably connected to the horizontal section (351). The moving plate (36) is driven to move along the width direction by a fourth driving mechanism. A mounting seat (37) is disposed on the moving plate (36). A welding torch (38) is rotatably connected to the mounting seat (37). The welding torch (38) is driven to swing around the width direction by a fifth driving mechanism.

8. The on-site welding robot device according to claim 7, characterized in that, The mounting base (37) has a mounting groove (371) on one end face facing the welding torch (38). The fifth drive mechanism includes a fifth motor (71) arranged in the mounting groove (371) along the width direction. The welding torch (38) is connected to the output end of the fifth motor (71). And / or, the robot body (3) further includes a first protective sleeve (391) connected to the mounting plate (33), the first protective sleeve (391) being arranged along the thickness direction, and a second protective sleeve (392) being movably sleeved on the outside of the first protective sleeve (391) along the thickness direction, the second protective sleeve (392) being connected to the L-shaped plate (35), and a through groove (393) penetrating one side of the second protective sleeve (392) along the width direction, the through groove (393) being used for one end of the moving plate (36) to pass through and extend to the outside of the second protective sleeve (392) and connect to the mounting base (37); the third drive mechanism, the fourth drive mechanism, the vertical plate (34) and the L-shaped plate (35) are all disposed inside the first protective sleeve (391) and the second protective sleeve (392); And / or, the third drive mechanism includes a third lead screw (81) arranged along the thickness direction on the vertical plate (34), and a third motor (82) is connected to the lower end of the third lead screw (81) along the thickness direction. The third motor (82) is used to drive the third lead screw (81) to rotate. A third lead screw nut seat is provided on the third lead screw (81), and the vertical section (352) of the L-shaped plate (35) is connected to the third lead screw nut seat. And / or, the fourth drive mechanism includes a fourth lead screw (91) arranged along the width direction on the horizontal section (351), and a fourth motor (92) is connected to one end of the fourth lead screw (91) away from the welding torch (38) along the width direction. The fourth motor (92) is used to drive the fourth lead screw (91) to rotate. A fourth lead screw nut seat is provided on the fourth lead screw (91), and the moving plate (36) is connected to the fourth lead screw nut seat.

9. The on-site welding robot device for construction according to claim 1, characterized in that, The rigid guide rail (1) is provided with at least two first strong magnetic fixing components (17) at one end away from the robot body (3) along the thickness direction. The first strong magnetic fixing components (17) are used to detachably install the rigid guide rail (1) on the box-shaped column. And / or, at least two second strong magnetic fixing components (23) are provided at one end of the soft guide rail (2) away from the robot body (3) along the thickness direction. The second strong magnetic fixing components (23) are used to detachably install the soft guide rail (2) on the circular column.

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