Visual climbing welding robot with voice recognition function

Abstract

The application discloses a visual climbing welding robot with a voice recognition function and belongs to the technical field of building construction safety monitoring. The visual climbing welding robot with the voice recognition function comprises a main body, end seats, an adjusting seat, a clamping part and a welding mechanism, the main body is arranged in parallel to a pipe body to be welded, a voice recognition module is arranged on the main body, a welding mechanism is rotatably arranged at the middle part of the main body, the two ends of the welding mechanism are connected with the adjusting seat through the end seats and connecting pieces, the clamping part is arranged outside the adjusting seat and plays the roles of positioning and climbing, a rudder engine is arranged in the end seat and is used for driving the main body to rotate and overturn, and the welding mechanism comprises a welding head and a visual camera. The visual climbing welding robot with the voice recognition function can realize efficient rolling climbing through voice control, can stably clamp the two ends of a welding seam after the climbing is completed, can realize omnibearing visual welding in a surrounding mode, can continuously cool the welding head during the climbing after the welding is completed, and is convenient for continuous welding or efficient recycling of the device.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, specifically to a visual climbing welding robot with voice recognition function. Background Technology

[0002] High-altitude work is becoming increasingly common, requiring technicians to climb poles to perform tasks such as welding, inspection, and maintenance. Currently, high-altitude work is primarily done using large equipment or manually, which is costly, risky, and inefficient. Unexpected incidents are inevitable during these operations, potentially leading to personal injury or property damage. Therefore, it is essential to design a robot to replace manual high-altitude work.

[0003] Welding robots can perform automated welding through programming and remote control. Compared with traditional manual welding, they are more efficient and safer, and can be applied to various hazardous working environments, such as high-altitude welding. However, existing welding robots still have some shortcomings in use.

[0004] For example, Chinese patent application number 201611255947.2, entitled "A Composite Robot for Climbing Pole Using Assistive Rods," describes a climbing robot consisting of three interconnected parts: a climbing section, a fixed section, and a working arm. The climbing section comprises an upper plate, a lower plate, an asynchronous small gripper, a guide rod, a transmission screw, and gears. The fixed section consists of a synchronous large gripper, a gear pair, and gears. The working arm comprises a support frame, a fixed claw, a horizontal rotation joint, a shoulder bending joint, an elbow bending joint, a wrist joint, and grippers. This robot, based on the screw drive principle, climbs on a flexible and movable auxiliary rod, achieving a flexible and variable working position. After climbing to the target pole, the large gripper locks onto the target pole, enabling comprehensive operations. The working arm's 360-degree free rotation design allows for multi-angle maintenance. However, the need for additional auxiliary rods during climbing makes the process more complex, and the auxiliary rods also increase the overall weight of the device.

[0005] For example, Chinese patent application number 201910404520.1, entitled "A Multifunctional High-Altitude Automatic Welding Robot," includes a mounting base, a moving device, a position adjustment device, a height adjustment device, a welding workpiece parallel device, and a welding device. It enables the robot to move along a high-altitude wall via the moving device, adjust the lateral position of the welding workpiece parallel device via the position adjustment device, adjust the height of the welding workpiece parallel device via the height adjustment device, adjust the height of two welding workpieces via the welding workpiece parallel device, and perform welding on the workpieces via the welding device. The moving device and the position adjustment device are mounted and fixed to the mounting base, the height adjustment device is mounted and fixed to the moving base, and the welding workpiece parallel device is mounted and fixed to the moving inner rod. While this robot can perform high-altitude climbing operations, its limited functionality makes it inconvenient for operators to easily operate the device at high altitudes and monitor the welding progress, thus presenting certain limitations in its use.

[0006] Therefore, there is an urgent need for a new type of climbing welding robot to solve the above problems. Summary of the Invention

[0007] 1. The problem to be solved The purpose of this invention is to provide a visual climbing welding robot with voice recognition function, in order to solve the problems mentioned in the background art, that the climbing process of current climbing welding robots on the market is relatively complex and the functions are limited, making it inconvenient for operators to conveniently operate the welding robot at high altitudes and to keep abreast of the welding situation.

[0008] 2. Technical Solution To solve the above problems, the technical solution adopted by the present invention is as follows: The present invention discloses a visual climbing welding robot with voice recognition function, comprising a main body, an end base, an adjustment base, a clamping part, and a welding mechanism, wherein: The main body is arranged parallel to the pipe body to be welded. An internal voice recognition module is installed in the main body for voice control of the robot. A welding mechanism is rotatably mounted in the middle of the main body, and an end seat is located at each end of the main body. A connector is axially connected to the outer side of each end seat, and the outer side of the connector is mounted to an adjustment seat.

[0009] The connectors are symmetrically distributed in two groups on the outer side of the main body. A servo motor is fixedly installed inside each end seat to drive the main body to rotate and flip. The shaft end of the connector is connected to the output end of the servo motor located inside the end seat, and the servo motor has a rotation angle of 180°. A clamping part for positioning and climbing is installed on the outer side of the adjusting seat; the welding mechanism includes a welding head and a vision camera.

[0010] With the above design, during climbing, the clamping part located at the top can be firmly clamped onto the surface of the pipe to be welded via voice control. Then, the connecting parts at both ends of the main body are controlled by servo motors to rotate alternately, causing the main body to ascend and climb in a rolling motion, eliminating the need for additional auxiliary devices and resulting in higher stability. During welding, the clamping parts at both ends are simultaneously clamped onto the surface of the pipe to be welded via voice control, preventing the pipe ends from shaking during the welding process and further improving the welding accuracy of the welding robot.

[0011] Meanwhile, by utilizing a visual camera, this invention enables effective observation of high-altitude welding sites, achieving visualized operation of the welding robot.

[0012] As a further optimization of the invention, it also includes a bearing seat installed in the middle of the main body. The bearing seat is integrally located in the middle position of the main body. A collar is installed on the outer side of the bearing seat, and a lifting motor is fixedly installed on the outer side of the collar. The output end of the lifting motor is connected to the mounting bracket of the welding head through a lifting seat, and a vision camera is installed on the mounting bracket. The lifting motor facilitates the adjustment of the position of the welding head, allowing the welding head to move closer to or further away from the weld.

[0013] As a further optimization of the present invention, the mounting bracket includes a first bracket and a second bracket. The first bracket is connected to the lifting seat shaft, and a servo motor is fixedly installed inside the lifting seat. The output end of the servo motor is fixedly connected to the mounting shaft of the first bracket. The second bracket is connected to the first bracket shaft, and a servo motor is fixedly installed inside the first bracket. The output end of the servo motor is fixedly connected to the mounting shaft of the second bracket. The welding head and the vision camera are both mounted on the outside of the second bracket. The lifting seat forms a lifting structure through a lifting motor and a collar. Furthermore, the rotation directions of the first bracket and the second bracket on the outside of the lifting seat are staggered, and a vision camera is mounted on the outside of the second bracket.

[0014] By adopting the above design and using a vision camera, the welding area at high altitude can be effectively observed, realizing the visual operation of the welding robot. At the same time, through the cooperation of the lifting platform, the first support and the second support, the welding head can be adjusted from multiple angles, making it easier for the welding head to accurately locate and weld the weld seam.

[0015] As a further optimization of the present invention, a pull rope is provided between the outer side of the collar and the shaft end of the connector at one end of the main body. The pull rope provides traction, and the outer diameter of the collar and the shaft end of the connector are equal. By adopting the above technical solution, the connector can be rotated synchronously by pulling the collar through the pull rope during rotation, thereby ensuring that the welding head on the outer side of the collar can always be automatically aligned with the pipe to be welded, facilitating subsequent welding work.

[0016] As a further optimization of the present invention, a torsion spring providing a reset elastic force is connected between the collar and the shaft seat, and the collar and the shaft seat form an elastic rotation structure through the torsion spring. With the above design, when the main body rolls and climbs again, the connecting piece will rotate in the opposite direction to reset, thereby causing the pull rope to lose its traction. At this time, the collar can drive the welding head to rotate and reset under the elastic force of the torsion spring, so that the welding head can always remain close to the pipe to be welded.

[0017] As a further optimization of the present invention, a servo motor is fixedly installed on the outer side of the adjusting seat. The output end of the servo motor is fixedly connected to the threaded rod, and the threaded rod is rotatably installed in the inner cavity of the adjusting seat. The threads at both ends of the threaded rod have opposite directions. The clamping part includes two jaws, and the end of each jaw is threadedly connected to the threaded rod via a slider. The servo motor drives the threaded rod to rotate. During the rotation of the threaded rod, the slider installed in the inner cavity of the adjusting seat moves towards or away from each other, causing the two sets of jaws to move relative to each other. This allows the jaws to stably clamp the outer side of the welded pipe fitting. At the same time, the jaws at both ends of the main body can simultaneously clamp both sides of the weld seam of the welded pipe fitting, preventing the pipe fitting from shaking during welding and further improving the welding accuracy of the welding robot. In addition, the distance between the two jaws can be controlled to adjust the inner diameter between the two jaws to achieve clamping and releasing, meeting the needs of welding construction. Furthermore, by adjusting the inner diameter between the two jaws, welding operations on pipe fittings of different diameters can also be achieved.

[0018] As a further optimization of the present invention, the gripper has an inwardly recessed mounting cavity formed on the inner wall of the pipe to be welded. A roller is rolled within the mounting cavity, and a motor is fixedly mounted on the outer wall of the gripper. The motor is connected to the roller via a transmission belt. By driving the roller to rotate, the entire robot can move in a circular motion around the pipe to be welded, achieving circumferential welding and improving the welding effect of the welding robot.

[0019] As a further optimization of the invention, rollers and motors are mounted on both grippers. Two rollers are located on the inner wall of each gripper, and a motor is located on the outer wall. The motors are dual-head motors, with each end connected to a conveyor belt via rollers. By using two rollers on each gripper, rotational stability is further improved, thereby enhancing welding accuracy. Furthermore, the use of dual-head motors allows the rollers to rotate synchronously, enabling the rollers to drive the grippers and the entire welding robot to rotate around the pipe. This allows the welding robot to perform circumferential welding on the pipe, further improving the welding effect.

[0020] As a further optimization of the present invention, a cooling mechanism is also installed between the two sliders, with the nozzle of the cooling mechanism facing the welding head. Specifically, each of the two adjusting seats is provided with a cooling mechanism, which adopts an elastic airbag. The elastic airbag has a one-way flow intake pipe and an exhaust pipe on both sides for conveying air, and the end of the exhaust pipe is connected to a nozzle, the position of which corresponds to the position of the welding head.

[0021] The above design allows the welding robot to continue climbing after welding by reciprocating the movement of the grippers, which in turn causes the slider to stretch and compress the elastic airbag. This allows the elastic airbag to continuously draw in and expel air, thereby achieving continuous cooling of the welding head and facilitating continuous welding or rapid recovery of the welding robot.

[0022] 3. Beneficial effects Compared with the prior art, the beneficial effects of the present invention are: (1) A visual climbing welding robot with voice recognition function of the present invention can realize voice control to perform efficient rolling climbing, and can then firmly clamp the two ends of the weld seam after climbing, and can perform all-round visual welding. At the same time, it can continuously cool the welding head during the climbing process after welding, which facilitates continuous welding or efficient recycling of the welding robot. (2) A visual climbing welding robot with voice recognition function of the present invention is provided with a main body and a clamping part. By controlling the main body and the clamping parts at both ends to rotate alternately, the main body can roll and climb along the outer wall of the pipe to be climbed without the aid of auxiliary equipment. At the same time, the clamping part after clamping can firmly clamp the pipe at both ends of the welding point, avoid the pipe from shaking, and thus effectively improve the stability during welding. (3) The present invention provides a visual climbing welding robot with voice recognition function, which is equipped with a voice recognition module and a vision camera. Through the voice recognition module, the operator can conveniently control the welding robot in the air using voice. At the same time, the vision camera can monitor the welding position of the welding robot in real time, ensuring the visualization of the operation process and effectively improving the intelligence level of the welding robot. (4) The present invention provides a visual climbing welding robot with voice recognition function, which is equipped with a clamping part and an elastic airbag. The clamping part can achieve stable clamping of the pipe, and the rollers on the inner wall of the clamping part can assist the welding robot to perform circumferential motion around the pipe, realize all-round welding, and improve the welding effect of the welding robot. At the same time, during the recycling process after the welding robot finishes welding, the clamping part will drive the slider to reciprocate to stretch and compress the elastic airbag, thereby making the elastic airbag automatically blow air onto the welding head, which facilitates the rapid cooling of the welding head and is conducive to the rapid recycling of the welding robot or continuous welding. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the welding robot of the present invention during welding. Figure 2 This is a schematic diagram of the structure of the welding robot of the present invention during climbing; Figure 3 This is a schematic diagram of the installation structure of the clamping part in this invention; Figure 4 For the present invention Figure 3 Enlarged structural diagram at point A in the middle; Figure 5 This is a schematic diagram of the installation structure of the collar in this invention; Figure 6 This is a schematic diagram of the installation structure of the welding head in this invention; Figure 7 This is a schematic diagram of the front view of the clamping part in this invention; In the picture: 1. Main body; 2. Voice recognition module; 3. End seat; 4. Servo motor; 5. Connector; 6. Adjustment seat; 7. Servo motor; 8. Threaded rod; 9. Clamping part; 901. Slider; 902. Dual-head motor; 903. Roller; 904. Transmission belt; 10. Shaft seat; 11. Collar; 1101. Pull rope; 1102. Torsion spring; 12. Lifting motor; 13. Lifting seat; 14. First bracket; 15. Second bracket; 16. Vision camera; 17. Welding head; 18. Elastic airbag; 19. Inhalation pipe; 20. Exhaust pipe; 21. Nozzle. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0025] It should be noted that in the description of this invention, the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and 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.

[0026] Furthermore, in the description of this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0027] Furthermore, it should be understood that, for ease of description, the dimensions of the various components shown in the accompanying drawings are not drawn to actual scale; for example, the thickness or width of some layers may be exaggerated relative to other layers.

[0028] Example 1 like Figure 1-2 As shown in the figure, a visual climbing welding robot with voice recognition function in this embodiment includes a main body 1, a shaft seat 10, an end seat 3, an adjusting seat 6, a clamping part 9, and a welding mechanism. The main body 1 is arranged parallel to the outside of the pipe to be welded. The main body 1 is equipped with a voice recognition module 2 for voice control, which is used to control the robot to work. At the same time, an end seat 3 is provided at each end of the main body 1, and a connector 5 is connected to the outer side of each end seat 3. The adjusting seat 6 is connected to the adjusting seat 6 through the connector 5. The clamping part 9, which plays a role in positioning and climbing, is installed on the outer side of the adjusting seat 6.

[0029] The connectors are symmetrically distributed in two groups on the outer side of the main body 1. Servo motors 4 are fixedly installed inside the end seats 3. The shaft end of the connector 5 is connected to the output end of the servo motor 4 located inside the end seat 3, and the servo motor 4 has a rotation angle of 180° to drive the main body 1 to rotate and flip. A welding mechanism is rotatably installed in the middle of the main body 1. The welding mechanism includes a welding head 17 and a vision camera 16. By using the vision camera 16, the high-altitude welding area can be effectively observed, realizing the robot's visual operation.

[0030] In this embodiment, when climbing, the robot can be controlled by voice to firmly clamp the upper clamping part 9 onto the surface of the pipe to be welded. Then, the connecting parts 5 at both ends of the main body 1 are controlled by the servo motor 4 to rotate alternately, causing the main body 1 to climb upwards in a tumbling manner. This eliminates the need for additional auxiliary devices and improves stability. During welding, the clamping parts 9 at both ends are simultaneously clamped onto the surface of the pipe to be welded by voice control, preventing the pipe ends from shaking during welding and further improving the welding accuracy of the welding robot. The robot main body 1 is also equipped with an expansion board for providing subsequent program functions and program control, enabling intelligent voice and program control of the robot. This part is a mature existing technology and will not be described in detail here.

[0031] The following section details the structural design and installation method of the clamping part 9 and the welding mechanism: Clamping part 9: like Figure 1-4 As shown, the adjusting seat 6 is fixedly installed on the outside of the connecting piece 5, and the outside of the adjusting seat 6 is provided with grippers 9 for positioning and climbing. Specifically, a servo motor 7 is installed on the outside of the adjusting seat 6, and the output end of the servo motor 7 is fixedly connected to a threaded rod 8, which is rotatably installed in the inner cavity of the adjusting seat 6. The threads at both ends of the threaded rod 8 have opposite directions. The clamping part 9 includes two grippers, and the end of each gripper is threadedly connected to the threaded rod 8 via a slider 901. The servo motor 7 drives the threaded rod 8 to rotate. During the rotation of the threaded rod 8, the slider 901 installed in the inner cavity of the adjusting seat 6 is driven to move towards or away from each other, causing the two sets of grippers to move relative to each other. This allows the grippers to stably clamp the outside of the welded pipe fitting. At the same time, the grippers at both ends of the main body 1 can simultaneously clamp both sides of the weld seam of the welded pipe fitting, preventing the pipe fitting from shaking during the welding process, thereby further improving the welding accuracy of the welding robot. Furthermore, the distance between the two grippers can be controlled, and the inner diameter between them can be adjusted to achieve clamping and releasing, meeting the needs of welding operations. Additionally, by adjusting the inner diameter between the two grippers, welding operations on pipe fittings of different diameters can also be performed.

[0032] In another embodiment, the gripper has an inwardly recessed mounting cavity formed on the inner wall of the pipe to be welded. A roller 903 is rolled within the mounting cavity. A motor is fixedly mounted on the outer wall of the gripper, and the motor is connected to the roller 903 via a transmission belt 904. By driving the roller 903 to rotate, the entire robot can move in a circular motion around the pipe to be welded, achieving circumferential welding and improving the welding effect.

[0033] Furthermore, by equipping each gripper with two rollers, the present invention can further improve rotational stability and thus enhance welding precision. Simultaneously, the use of a dual-head motor allows each of the two rollers 903 to rotate synchronously via the conveyor belt 904, enabling smoother and more stable rotation of the grippers and the entire robot around the pipe, achieving circumferential welding and further improving the welding effect.

[0034] Welding mechanism: like Figure 1-2 and Figure 5-6 As shown, the welding mechanism includes a bearing 10 installed in the middle of the main body. The bearing 10 is integrally located in the middle of the main body. A collar 11 is installed on the outer shaft of the bearing 10. A lifting motor 12 is fixedly installed on the outer side of the collar 11. The output end of the lifting motor 12 is connected to the mounting bracket of the welding head 17 through a lifting seat 13. A vision camera 16 is installed on the mounting bracket. The lifting motor 12 facilitates the adjustment of the position of the welding head 17, allowing the welding head 17 to move closer to or further away from the weld.

[0035] For the installation of the welding head 17, another implementation method is provided in this embodiment. The mounting bracket includes a first bracket 14 and a second bracket 15. The first bracket 14 is shaft-connected to the lifting seat 13, and a servo motor 4 is fixedly installed inside the lifting seat 13. The output end of the servo motor 4 is fixedly connected to the mounting shaft of the first bracket 14.

[0036] The second bracket 15 is axially connected to the first bracket 14, and a servo motor 4 is fixedly installed inside the first bracket 14. The output end of the servo motor 4 is fixedly connected to the mounting shaft of the second bracket 15. The welding head 17 and the vision camera 16 are both installed on the outside of the second bracket 15.

[0037] The lifting seat 13 forms a lifting structure through the lifting motor 12 and the collar 11. Furthermore, the rotation directions of the first support 14 and the second support 15 on the outer side of the lifting seat 13 are staggered, and a vision camera 16 is installed on the outer side of the second support 15. By adopting the above design, the vision camera 16 can effectively observe the high-altitude welding area, realizing the visual operation of the welding robot. At the same time, through the cooperation of the lifting seat 13, the first support 14 and the second support 15, the welding head 17 can be adjusted from multiple angles, facilitating the welding head 17 to accurately locate and weld the weld seam.

[0038] Example 2 like Figure 2 and Figure 5As shown in the figure, this embodiment of a visual climbing welding robot with voice recognition function has a structure basically the same as that of Embodiment 1. The main difference between the two embodiments is that a pull rope 1101, which plays a traction role, is connected between the outer side of the collar 11 and the shaft end of the connector 5 at one end of the main body 1. The outer diameter of the collar 11 and the shaft end of the connector 5 are equal. With the pull rope 1101, the connector 5 can pull the collar 11 to rotate synchronously during rotation, thereby ensuring that the welding head 17 on the outer side of the collar 11 can always automatically align with the pipe to be welded, facilitating subsequent welding work.

[0039] Furthermore, a torsion spring 1102 providing a reset elastic force is connected between the collar 11 and the shaft seat 10, and the collar 11 and the shaft seat 10 form an elastic rotation structure through the torsion spring 1102. With the above design, when the main body 1 rolls and climbs again, the connecting piece 5 will rotate in the opposite direction to reset, thereby causing the pull rope 1101 to lose its traction. At this time, the collar 11 can drive the welding head 17 to rotate and reset under the elastic force of the torsion spring 1102, so that the welding head 17 can always remain close to the pipe to be welded.

[0040] Example 3 like Figure 2-5 and Figure 7 As shown, this embodiment of a visual climbing welding robot with voice recognition function has a structure that is basically the same as that of embodiment 2. The main difference between the two embodiments is that a cooling mechanism is also installed between the two sliders 901, and the nozzle 21 of the cooling mechanism is set directly opposite the welding head 17.

[0041] Specifically, such as Figure 4 and Figure 5 As shown, each of the two adjustment seats 6 is equipped with a cooling mechanism. The cooling mechanism adopts an elastic airbag 18. The elastic airbag 18 is provided with a one-way flow intake pipe 19 and an exhaust pipe 20 on both sides for conveying air. The end of the exhaust pipe 20 is connected to a nozzle 21. The position of the nozzle 21 corresponds to the position of the welding head 17.

[0042] Combining 3 and Figure 5-7As shown, in this embodiment, when the welding robot is performing welding, it first uses a vision camera 16 to allow the user to observe the welding area. Then, it uses a servo motor 4 and a lifting motor 12 to adjust the positions of the lifting seat 13, the first support 14, and the second support 15, so that the welding head 17 can accurately approach the area to be welded. Then, the welding head 17 is used to perform high-altitude welding on the pipe. At the same time, the dual-head motor 902 is controlled to drive the roller 903 to rotate, so that the gripper 9 can drive the entire device to move in a circular motion around the pipe. This allows the device to perform all-round welding on the pipe in a circular manner, improving the welding effect. After welding is completed, the welding robot is controlled to continue climbing to achieve retrieval or continuous welding. During this process, the slider 901 will reciprocate to stretch and squeeze the elastic airbag 18, so that the elastic airbag 18 can blow the air drawn in by the suction pipe 19 through the exhaust pipe 20 and the nozzle 21 onto the welding head 17, so that the welding head 17 can be cooled quickly, making it easier for the welding robot to weld again or be quickly retrieved.

[0043] The working principle and process of the visual climbing welding robot with voice recognition function of the present invention are as follows: like Figure 1-7 As shown, when using this welding robot, the robot is clamped and fixed to the outside of the pipe to be welded using gripper 9. Then, it is controlled by voice, causing servo motor 4 to drive the main body 1 and connector 5 to rotate alternately, so that the robot climbs in a flipping manner. When it climbs to the predetermined position, the gripper 9 is controlled to clamp, and then the visual camera 16 is used to observe the welding area, thereby precisely adjusting the position of the welding head 17, and then welding is performed using the welding head 17. During the process, the dual-head motor 902 drives the roller 903 to rotate, so that the roller 903 can perform a circling welding on the pipe. After the welding is completed, the control device continues to flip and climb to realize the retrieval of the device or continuous welding. During this process, the elastic airbag 18 can use the nozzle 21 to continuously reduce the temperature and cool the welding head 17, thereby completing a series of tasks.

[0044] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0045] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A visual climbing welding robot with voice recognition function, characterized in that: It includes a main body (1), an end seat (3), an adjustment seat (6), a clamping part (9) and a welding mechanism. The main body (1) is set parallel to the pipe body to be welded. The main body (1) is equipped with a voice recognition module (2) for voice control of the robot to work. The main body (1) is rotatably provided with a welding mechanism in the middle, and an end seat (3) is provided at each end of the main body (1). Each end seat (3) is equipped with an adjustment seat (6) through a connector (5), and a clamping part (9) for positioning and climbing is installed on the outside of the adjustment seat (6). Servo motors (4) are fixedly installed in the end seat (3), and the shaft end of the connector (5) is connected to the output end of the servo motor (4) provided inside the end seat (3) to drive the main body (1) to rotate and flip. The welding mechanism includes a welding head (17) and a vision camera (16). It also includes a bearing seat (10) installed in the middle of the main body (1), a collar (11) is installed on the outer shaft of the bearing seat (10), a lifting motor (12) is fixedly installed on the outer side of the collar (11), the output end of the lifting motor (12) is connected to the mounting bracket of the welding head (17) through the lifting seat (13), and the visual camera (16) is installed on the mounting bracket; A pull rope (1101) is provided between the outer side of the collar (11) and the shaft end of the connector (5) at one end of the main body (1), and the outer diameter of the collar (11) and the shaft end of the connector (5) are equal; a torsion spring (1102) that provides a restoring elastic force is connected between the collar (11) and the shaft seat (10). A servo motor (7) is fixedly installed on the outside of the adjustment seat (6). The output end of the servo motor (7) is fixedly connected to the threaded rod (8), and the threaded rod (8) is rotatably installed in the inner cavity of the adjustment seat (6). The threads at both ends of the threaded rod (8) are opposite in direction. The clamping part (9) includes two jaws, and the end of each jaw is threadedly connected to the threaded rod (8) through a slider (901). A cooling mechanism is also installed between the two sliders (901), with the nozzle (21) of the cooling mechanism facing the welding head (17); Each of the two adjustment seats (6) is equipped with a cooling mechanism. The cooling mechanism adopts an elastic air bag (18). The elastic air bag (18) is equipped with a one-way flow intake pipe (19) and an exhaust pipe (20) on both sides for conveying air. The end of the exhaust pipe (20) is connected to a nozzle (21). The position of the nozzle (21) corresponds to the position of the welding head (17).

2. The visual climbing welding robot with voice recognition function according to claim 1, characterized in that: The mounting bracket includes a first bracket (14) and a second bracket (15). The first bracket (14) is shaft-connected to the lifting seat (13), and a servo motor (4) is fixedly installed inside the lifting seat (13). The output end of the servo motor (4) is fixedly connected to the mounting shaft of the first bracket (14). The second bracket (15) is shaft-connected to the first bracket (14), and a servo motor (4) is fixedly installed inside the first bracket (14). The output end of the servo motor (4) is fixedly connected to the mounting shaft of the second bracket (15). The welding head (17) and the vision camera (16) are both installed on the outside of the second bracket (15).

3. A visual climbing welding robot with voice recognition function according to claim 2, characterized in that: The rotation directions of the first support (14) and the second support (15) are intersecting horizontally and vertically.

4. The visual climbing welding robot with voice recognition function according to claim 1, characterized in that: The gripper is recessed into the inner wall of the pipe to be welded, and a roller (903) is rolled inside the mounting cavity. A motor is fixedly installed on the outer wall of the gripper, and the motor is connected to the roller (903) through a transmission belt (904).

5. A visual climbing welding robot with voice recognition function according to claim 4, characterized in that: Both grippers are equipped with rollers (903) and motors. Each gripper has two rollers (903) on its inner sidewall and one motor on its outer sidewall. The motor is a double-headed motor (902), and both ends of the double-headed motor (902) are connected to the rollers (903) via transmission belts (904).

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