A welding robot for steel structures of iron towers

Abstract

The present invention relates to the technical field of tower welding, and discloses a welding robot for a steel structure of a tower, including: a welding robot body that travels on a welding track, and a welding gun is connected to the execution end of the welding robot body; a welding platform that is arranged on one side of the welding track and is used for carrying an angle steel tower foot; an attitude adjustment unit that is connected to the welding platform and is used for flipping and rotating the welding platform; an image acquisition unit that is arranged above the angle steel tower foot and is used for acquiring an image of the angle steel tower foot, and a controller controls the action of the attitude adjustment unit according to the acquired image. The present invention flips and rotates the welding platform, and the welding platform and the welding robot body cooperate with each other to make the welding gun directly face the welding position of the angle steel tower foot, effectively solving the problems of irregular shape of the angle steel tower foot and large welding difficulty; according to the image acquisition result, compensation is made for the deviation in the attitude adjustment process, thereby improving the welding accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of tower welding, and more specifically, to a welding robot for tower steel structures. Background Art

[0002] The angle steel tower is a common tower structure, and the stability of the tower feet of the angle steel tower is an important factor affecting the stability of the tower steel structure. The tower feet of the angle steel tower are generally welded by a cross tower foot and a tower foot bottom plate. During processing, a cross-shaped structure formed by welding four independent steel plates is welded to the steel bottom plate.

[0003] In the prior art, such as the utility model patent with the application number CN202320337274.4, a welding device for angle steel tower feet is disclosed, including a workbench and a welding robot. The welding robot is installed on the upper side wall of the workbench. A fixing plate is fixedly connected to the upper side wall of the workbench. A support plate is fixedly connected to one side wall of the fixing plate. A rotating motor is installed on the support plate. The output shaft of the rotating motor rotates through the fixing plate. A clamping assembly is provided on the other side of the fixing plate. A cleaning assembly is provided on the upper side wall of the fixing plate. During the use of this device, the output shaft of the rotating motor can drive the rotating plate to rotate, which is more convenient for the welding robot to weld. However, in the actual use process, the angle adjustment of the simple rotating plate is limited, and it cannot effectively cooperate with the welding robot when welding irregular tower foot structures, and there are still positions that are not convenient for welding.

[0004] Therefore, it is necessary to propose a welding robot for tower steel structures to at least partially solve the problems existing in the prior art. Summary of the Invention

[0005] A series of simplified concepts are introduced in the Summary of the Invention section, which will be further detailed in the Detailed Description section. The Summary of the Invention section of the present invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the protection scope of the claimed technical solution.

[0006] To at least partially solve the above problems, the present invention provides a welding robot for tower steel structures, including:

[0007] A welding robot body that travels on a welding track, and a welding torch is connected to the execution end of the welding robot body;

[0008] A welding platform that is arranged on one side of the welding track and is used to carry the angle steel tower feet;

[0009] An attitude adjustment unit that is connected to the welding platform and is used to flip and rotate the welding platform;

[0010] An image acquisition unit is arranged above the angle steel tower foot and is used to acquire images of the angle steel tower foot. The controller controls the action of the attitude adjustment unit according to the acquired images.

[0011] Preferably, a protective cover is arranged outside the welding platform, and an opening for the welding robot body to enter is arranged on the side of the protective cover.

[0012] Preferably, the attitude adjustment unit includes a flipping component, and the flipping component includes:

[0013] A fixed frame with a flipping space arranged at the center.

[0014] A flipping frame is rotatably connected to the center of the fixed frame through a first rotating shaft, and the welding platform is installed on the flipping frame.

[0015] A flipping motor is installed on one side of the fixed frame, and the first rotating shaft is connected to the output end of the flipping motor.

[0016] Preferably, the attitude adjustment unit includes a rotating component, and the rotating component includes:

[0017] A rotating base is connected to the center of the flipping frame, and a rotating motor is arranged inside the flipping frame; the welding platform is rotatably connected above the rotating base through a second rotating shaft, the second rotating shaft is connected to the output shaft of the rotating motor through a clutch mechanism, and a clamping mechanism for fixing the angle steel tower foot is arranged on the welding platform.

[0018] Preferably, a nozzle is rotatably arranged on the rotating base, the bottom end of the nozzle is connected to a gas source device through a pipeline, the air outlet end of the nozzle is connected with a spray head, the nozzle is arranged outside the welding platform, and the spray head sprays air flow towards the welding platform.

[0019] Preferably, an air blowing and rotating unit is arranged on the rotating base, and the air blowing and rotating unit includes:

[0020] A toothed ring is rotatably connected inside the cavity of the rotating base, the toothed ring is concentrically arranged outside the nozzle, and the outer ring end of the toothed ring is evenly connected with teeth.

[0021] A socket is connected to the inner ring end of the toothed ring, and a plug column is connected to the top end of the socket. The socket has magnetism.

[0022] A plug sleeve is connected to the outer wall of the nozzle, and the plug column is installed inside the plug sleeve.

[0023] Preferably, a guiding groove is arranged at the top end of the rotating base, the guiding groove is concentrically arranged with the toothed ring and is arranged close to the welding platform; the socket is slidably connected inside the guiding groove, and magnetic blocks are arranged at both ends of the guiding groove, and the magnetic blocks have an attractive force on the socket.

[0024] Preferably, a toothed plate assembly is meshed and connected to the outer side of the toothed ring. The toothed plate assembly includes: a first sector plate and a second sector plate. The first sector plate is set as a sector toothed plate and is meshed and connected to the toothed ring. The second sector plate is arranged at one end of the first sector plate away from the toothed ring. A rotating shaft is arranged at the connection between the first sector plate and the second sector plate, and the rotating shaft is rotatably connected to the rotating base. The second sector plate extends below the welding platform.

[0025] Preferably, the air blowing and rotating unit further includes:

[0026] An annular groove is arranged at the top end of the rotating base, and the annular groove is concentrically arranged with the welding platform. The second sector plate extends into the annular groove;

[0027] A dial block is connected to the bottom end of the welding platform, and the dial block is slidably connected in the annular groove.

[0028] Preferably, the air blowing and rotating unit further includes a wind guiding assembly. The wind guiding assembly includes:

[0029] A wind guiding vane group. A plurality of wind guiding vane groups are evenly connected to the welding platform. Each wind guiding vane group includes two symmetrically arranged wind guiding vanes. The edges of the wind guiding vanes are curled, and the inclination directions of the two wind guiding vanes in each group are opposite;

[0030] An annular wind guiding cover is connected to the rotating base and is concentrically arranged outside the welding platform. A notch is arranged at the position of the annular wind guiding cover close to the nozzle; a sealing is arranged between the annular wind guiding cover and the welding platform. The top end of the annular wind guiding cover is connected with an annular nozzle, and the annular nozzle is connected to the gas source device.

[0031] Preferably, the rotating assembly further includes two groups of limiting mechanisms symmetrically arranged on the second rotating shaft. The limiting mechanisms include:

[0032] A gear is rotatably connected to the rotating base through a gear shaft, and the gear shaft is connected to the output end of the power source;

[0033] A first arc-shaped rack is meshed and connected to the side of the gear close to the second rotating shaft, and a sliding groove for the first arc-shaped rack to slide is arranged on the rotating base;

[0034] A second arc-shaped rack is meshed and connected to the side of the gear away from the second rotating shaft, and a sliding groove for the second arc-shaped rack to slide is arranged on the rotating base. The second arc-shaped rack is concentrically arranged with the first arc-shaped rack;

[0035] A first clamping rod is connected to the first end of the first arc-shaped rack;

[0036] A second clamping rod is connected to the first end of the second arc-shaped rack, and the first end of the second clamping rod is far away from the first end of the first clamping rod; the second clamping rod and the first clamping rod are cross-arranged, and the cross position is connected through a hinge shaft;

[0037] The limiting blocks are connected to the second ends of the first clamping rod and the second clamping rod. The limiting blocks are made of rubber material, and the two limiting blocks are respectively arranged at the front and rear on the same side of the second rotating shaft.

[0038] Compared with the prior art, the present invention has at least the following beneficial effects:

[0039] A welding robot for steel tower structures provided by the present invention uses an attitude adjustment unit to flip and rotate the welding platform. Through the coordinated cooperation of the welding platform and the welding robot body, the welding torch can be directly opposite to the position to be welded on the angle steel tower foot, effectively solving the problems of irregular shape and large welding difficulty of the angle steel tower foot. At the same time, based on the image acquisition results, the position deviation of the angle steel tower foot is analyzed, and through the small movement of the attitude adjustment unit, the deviation in the attitude adjustment process is compensated, further improving the welding accuracy.

[0040] For a welding robot for steel tower structures according to the present invention, other advantages, objectives and features of the present invention will be partially reflected by the following description, and partially will also be understood by those skilled in the art through the research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0042] Figure 1 is a schematic structural diagram of the present invention;

[0043] Figure 2 is a schematic structural diagram of the welding robot body in the present invention

[0044] Figure 3 is a schematic structural diagram of the welding platform in the present invention;

[0045] Figure 4 is a top view of the rotating base in the present invention;

[0046] Figure 5 is the present invention Figure 4 is a partial enlarged structural diagram at A in the present invention;

[0047] Figure 6 is the present invention Figure 4 is a sectional structural diagram at A in the present invention (partial section at the nozzle);

[0048] Figure 7 is a structural diagram of the nozzle and the gear ring in the present invention;

[0049] Figure 8Schematic diagram of the bottom structure of the welding platform in the present invention;

[0050] Figure 9 Schematic diagram of the structure of the limiting mechanism in the present invention.

[0051] In the figure: 1. Welding robot body; 2. Welding track; 3. Welding torch; 4. Welding platform; 5. Angle steel tower foot; 6. Protective cover; 11. Fixed frame; 12. Flipping frame; 13. Flipping motor; 15. Rotating base; 17. Second rotating shaft; 21. Nozzle; 22. Sprinkler head; 23. Pipeline; 24. Tooth ring; 25. Socket; 26. Plug sleeve; 27. Guide groove; 28. First sector plate; 29. Second sector plate; 31. Annular groove; 32. Pusher block; 33. Air guide vane; 34. Annular air guide cover; 35. Annular nozzle; 41. Gear; 42. First arc rack; 43. Second arc rack; 44. First clamping rod; 45. Second clamping rod; 46. Limiting block. Detailed implementation manners

[0052] The following further elaborates on the present invention in conjunction with the accompanying drawings and embodiments, enabling those skilled in the art to implement it with reference to the text of the specification.

[0053] It should be understood that terms such as "having", "comprising", and "including" used herein do not exclude the presence or addition of one or more other elements or their combinations.

[0054] Embodiment 1:

[0055] As Figure 1 , 2 shown, the present invention provides a welding robot for steel tower structures, including:

[0056] A welding robot body 1 that travels on a welding track 2, and a welding torch 3 is connected to the execution end of the welding robot body 1;

[0057] A welding platform 4 is arranged on one side of the welding track 2 and is used to carry an angle steel tower foot 5;

[0058] An attitude adjustment unit is connected to the welding platform 4 and is used to flip and rotate the welding platform 4;

[0059] An image acquisition unit is arranged above the angle steel tower foot 5 and is used to acquire images of the angle steel tower foot 5, and the controller controls the action of the attitude adjustment unit according to the acquired images.

[0060] The working principle and beneficial effects of the above technical solution are as follows:

[0061] A welding robot for steel structures of iron towers. A welding robot body 1 is provided on the equipment. The welding robot body 1 is equipped with a multi-degree-of-freedom manipulator. The execution end of the multi-degree-of-freedom manipulator can adjust the angle according to a preset welding path, thereby adjusting the angle of the welding torch 3. The welding robot body 1 can move along the welding track 2, thereby adjusting the horizontal relative position between the welding robot body 1 and the welding platform 4. An attitude adjustment unit is provided on the welding platform 4. By flipping the welding platform 4, the angle between the welding platform 4 and the horizontal line is adjusted. By rotating the welding platform 4 itself, the placement angle of the welding platform 4 itself is adjusted, so that the welding position of the angle steel tower foot 5 on the welding platform 4 is adapted to the welding torch 3. After the adjustment is in place, the image acquisition unit acquires the image of the angle steel tower foot 5. The controller extracts the edge features of the welding position, analyzes and calculates the deviation between the welding position after the angle adjustment of the angle steel tower foot 5 and the preset position, and controls the attitude adjustment unit to act for re-adjustment to accurately align the angle steel tower foot 5.

[0062] Through the above structural design, a welding robot for steel structures of iron towers is provided. The attitude adjustment unit is used to flip and rotate the welding platform 4. Through the coordinated cooperation of the welding platform 4 and the welding robot body 1, the welding torch 3 can be directly opposite to the position where the angle steel tower foot 5 needs to be welded, effectively solving the problems of irregular shape and difficult welding of the angle steel tower foot 5. At the same time, based on the image acquisition results, the position deviation of the angle steel tower foot 5 is analyzed, and the deviation in the attitude adjustment process is compensated by the small movement of the attitude adjustment unit, further improving the welding accuracy.

[0063] Embodiment 2:

[0064] As Figure 1 shown, on the basis of the above Embodiment 1, a protective cover 6 is provided outside the welding platform 4, and an opening for the welding robot body 1 to enter is provided on the side of the protective cover 6.

[0065] The working principle and beneficial effects of the above technical solution are:

[0066] A protective cover 6 is provided outside the welding platform 4. A suction unit is provided inside the protective cover 6, which can concentrate the welding fumes generated during welding in the protective cover 6 and perform centralized suction treatment, avoiding the harm caused by the overflow of high-temperature welding fumes to the staff and reducing the environmental pollution caused by the direct emission of welding fumes.

[0067] Embodiment 3:

[0068] As Figure 1 、 3 shown, on the basis of the above Embodiment 1, the attitude adjustment unit includes a flipping component, and the flipping component includes:

[0069] Fixing bracket 11, the fixing bracket 11 is connected to the base 5, and a flipping space is provided at the center of the fixing bracket 11;

[0070] Flipping frame 12, the flipping frame 12 is rotationally connected to the center of the fixing bracket 11 through the first rotating shaft, and the welding platform 4 is installed on the flipping frame 12;

[0071] Flipping motor 13, the flipping motor 13 is installed on one side of the fixing bracket 11, and the first rotating shaft is connected to the output end of the flipping motor 13.

[0072] The working principle and beneficial effects of the above technical solution are as follows:

[0073] When the flipping assembly is in use, start the flipping motor 13, the output shaft of the flipping motor 13 drives the first rotating shaft to rotate, so that the flipping frame 12 rotates accordingly, and then the angle between the welding platform 4 and the horizontal line is adjusted; the flipping motor 13 serves as a power source to provide power for the rotation of the flipping frame 12, and the fixing bracket 11 provides support for both sides of the flipping frame 12.

[0074] Embodiment 4:

[0075] As Figure 1 、 3 shown, on the basis of the above Embodiment 2, the attitude adjustment unit includes a rotating assembly, and the rotating assembly includes:

[0076] Rotating base 15, the rotating base 15 is connected to the center of the flipping frame 12, and a rotating motor is arranged inside the flipping frame 12; the welding platform 4 is rotationally connected above the rotating base 15 through the second rotating shaft 17, the second rotating shaft 17 is connected to the output shaft of the rotating motor through a clutch mechanism, and a clamping mechanism for fixing the angle steel tower leg 5 is arranged on the welding platform 4.

[0077] The working principle and beneficial effects of the above technical solution are as follows:

[0078] When the rotating assembly is in use, start the rotating motor, the clutch mechanism is in a locked state, the output shaft of the rotating motor drives the second rotating shaft 17 to rotate, and then drives the welding platform 4 to rotate; the rotation center of the welding platform 4 coincides with the center of the angle steel tower leg 5, so that the structure of the angle steel tower 5 rotates itself, and then the angle adjustment of the structure of the angle steel tower leg 5 itself is realized, ensuring that effective welding can be carried out at each position of the angle steel tower leg 5.

[0079] Embodiment 5:

[0080] As Figure 4 、 5 shown, on the basis of the above Embodiment 4, a nozzle 21 is rotatably arranged on the rotating base 15, the bottom end of the nozzle 21 is connected to a gas source device through a pipeline 23, the air outlet end of the nozzle 21 is connected with a nozzle head 22, the nozzle 21 is arranged outside the welding platform 4, and the nozzle head 22 blows air towards the welding platform 4.

[0081] The working principle and beneficial effects of the above technical solution are as follows:

[0082] The nozzle 21 is installed on the rotating base 15, and high-pressure air flow is conveyed into the nozzle 21 through the air source device. The air flow is ejected through the nozzle 22 of the nozzle 21 and blows onto the surface of the welding platform 4, blowing off the welding slag and dust on the angle steel tower foot floor, eliminating the need for manual cleaning and improving the operation efficiency.

[0083] Embodiment 6:

[0084] As Figures 3 - 7 shown, on the basis of the above Embodiment 5, an air-blowing rotating unit is provided on the rotating base 15, and the air-blowing rotating unit includes:

[0085] A toothed ring 24, the toothed ring 24 is rotatably connected to the cavity of the rotating base 15, the toothed ring 24 is concentrically arranged outside the nozzle 21, and the outer ring end of the toothed ring 24 is evenly connected with engaging teeth;

[0086] A socket 25, the socket 25 is connected to the inner ring end of the toothed ring 24, and a plug post is connected to the top end of the socket 25, and the socket 25 has magnetism;

[0087] A plug sleeve 26, the plug sleeve 26 is connected to the outer wall of the nozzle 21, and the plug post is installed in the plug sleeve 26.

[0088] A guide groove 27 is provided at the top end of the rotating base 15, the guide groove 27 is concentrically arranged with the toothed ring 24, and the guide groove 27 is arranged close to the welding platform 4; the socket 25 is slidably connected in the guide groove 27, and magnetic blocks are provided at both ends of the guide groove 27, and the magnetic blocks have an attractive force on the socket 25.

[0089] The working principle and beneficial effects of the above technical solution are as follows:

[0090] When installing the nozzle 21, the nozzle 21 is installed on the rotating base 15, and the plug post on the outer wall of the nozzle 21 is aligned with the plug sleeve 26 and inserted, so that the nozzle 21 and the toothed ring 24 are stably connected and can rotate synchronously. When the nozzle 21 rotates, the magnetic blocks at both ends of the guide groove 27 attract the socket 25, so that the nozzle 21 maintains a downward trend under the action of the attractive force, improving the installation stability of the nozzle 21 and avoiding the situation that the nozzle 21 shakes or disengages due to the air flow pressure during the air flow blowing process.

[0091] Embodiment 7:

[0092] As Figures 3 - 7As shown, on the basis of the above-mentioned Embodiment 6, a toothed plate assembly is meshed and connected to the outside of the toothed ring 24. The toothed plate assembly includes: a first sector plate 28 and a second sector plate 29. The first sector plate 28 is set as a sector toothed plate, and the first sector plate 28 is meshed and connected to the toothed ring 24. The second sector plate 29 is arranged at one end of the first sector plate 28 away from the toothed ring 24. A rotating shaft is arranged at the connection between the first sector plate 28 and the second sector plate 29, and the rotating shaft is rotatably connected to the rotating base 15. The second sector plate 29 extends below the welding platform 4.

[0093] The air blowing and rotating unit further includes:

[0094] An annular groove 31 is arranged at the top end of the rotating base 15, and the annular groove 31 is concentric with the welding platform 4. The second sector plate 29 extends into the annular groove 31;

[0095] A dial block 32 is connected to the bottom end of the welding platform 4, and the dial block 32 is slidably connected in the annular groove 31.

[0096] The working principle and beneficial effects of the above technical solution are:

[0097] When the toothed ring 24 rotates, it meshes and drives with the teeth on the first sector plate 28, driving the toothed plate assembly to rotate around the rotating shaft, so that the second sector plate 29 also rotates accordingly. The second sector plate 29 extends into the annular groove 31 below the welding platform 4, and the dial block 32 slides along the annular groove 31. The second sector plate 29 blocks the dial block 32, and the dial block 32 can push the second sector plate 29 to rotate.

[0098] Embodiment 8:

[0099] As Figure 3 、 8 shown, on the basis of the above-mentioned Embodiment 7, the air blowing and rotating unit further includes a wind guiding assembly. The wind guiding assembly includes:

[0100] A group of wind guiding vanes, a plurality of groups of wind guiding vanes are evenly connected to the welding platform 4. Each group of wind guiding vanes includes two symmetrically arranged wind guiding vanes 33. The edges of the wind guiding vanes 33 are curled, and the inclination directions of the two wind guiding vanes 33 in each group are opposite;

[0101] An annular wind guiding cover 34 is connected to the rotating base 15 and is concentrically arranged outside the welding platform 4. A notch is arranged at the position of the annular wind guiding cover 34 close to the nozzle 21; a sealing is arranged between the annular wind guiding cover 34 and the welding platform 4. The top end of the annular wind guiding cover 34 is connected with an annular nozzle 35, and the annular nozzle 35 is connected with a gas source device.

[0102] The working principle and beneficial effects of the above technical solution are:

[0103] When the air guiding component is in use, after the air flow in the nozzle 21 is blown, it enters the annular air guiding cover 34. The air flow is concentrated between the inner wall of the annular air guiding cover 34 and the welding platform 4. The air flow acts on the air guiding vane 33, which can drive the welding platform 4 to rotate; the air flow in the annular nozzle 35 blows onto the angle steel tower foot 5 to clean the welding slag on the angle steel tower foot 5.

[0104] The working principle of the air blowing and rotating unit is as follows:

[0105] The second rotating shaft 17 of the welding platform 4 is separated from the output shaft of the rotating motor through the clutch mechanism, so that the welding platform 4 is in a free rotating state; at the initial position, the plug socket 25 is located at the first end of the guiding groove 27 and is attracted by the magnetic block at the first end, and is stably held at the position of the first end. At this time, the direction of the nozzle 22 faces the first end of the air guiding cover 34; high-pressure air flow is supplied to the nozzle 21 through the air source device, and the air flow blows into the air guiding cover 34 through the nozzle 22. The air flow acts on the air guiding vane 33, driving the welding platform 4 to rotate. As the air flow entering the air guiding cover 34 increases, the speed of the welding platform 4 increases; the dial block 32 on the welding platform 4 slides along the annular groove 31. When the dial block 32 moves to contact the second sector plate 29, it is blocked by the blocking plate of the second sector plate 29 and stops rotating; and it drives the second sector plate 29 to rotate, so that the first sector plate 28 on the other side rotates accordingly. The first sector plate 28 meshes with the gear ring 24 for transmission, and the rotation of the gear ring 24 drives the plug socket 25 to slide towards the second end of the guiding groove 27 until it contacts the second end of the guiding groove 27 and is stably held at the position of the second end under the attraction of the magnetic block at the second end. At this time, the direction of the nozzle 22 faces the second end of the air guiding cover 34, that is, the air flow is reversed; the air flow drives the welding platform 4 to rotate in the reverse direction until the dial block 32 contacts the second sector plate 29 again, repeating the above actions; therefore, under the action of the wind force, the air blowing and rotating unit drives the welding platform 4 to rotate and makes a cyclic motion of forward acceleration, stop, reverse acceleration, and stop.

[0106] Through the above structural design, on the one hand, after welding is completed or part of the welding is completed, the blowing and rotating unit is started. Under the action of the wind force, the welding platform 4 is driven to rotate. Each time the welding platform 4 stops rotating, the impact between the dial block 32 and the second sector plate 29 generates vibration, which is transmitted to the angle steel tower foot 5, loosening the welding slag on the angle steel tower foot 5 and exposing the welding defects; the image acquisition unit collects the image of the angle steel tower foot 5, and the controller analyzes and obtains the deformation position and welding defect position of the angle steel tower foot 5, and re-welding can be carried out at the welding station without secondary clamping and positioning.

[0107] On the other hand, after welding is completed or partial welding is completed, the attitude adjustment unit can be activated to flip the welding platform 4 so that the welding slag slides off under the action of gravity; at the same time, through the air-blowing rotation unit, under the action of wind force, the welding platform 4 is driven to rotate, and a cyclic action of forward acceleration, stop, reverse acceleration, and stop is performed. Through a non-uniform rotation method, the welding slag on the welding platform 4 and the angle steel tower structure is effectively shaken off, avoiding the problem that the welding slag accumulates in the corner of the angle steel tower foot 5 under the action of uniform air flow; air flow is blown onto the welding platform 4 and the angle steel tower foot 5 through the annular nozzle 35, and the air flow converges towards the center of the welding platform 4. Under the combined action of the air flow and rotation, the welding slag is more likely to slide off under the action of the air flow, reducing the waste of wind force when using the blowing method alone and improving the self-cleaning ability of the welding robot.

[0108] Embodiment 9:

[0109] As Figure 9 shown, on the basis of the above Embodiment 8, the rotating assembly further includes two groups of limiting mechanisms symmetrically arranged on the second rotating shaft 17. The limiting mechanisms include:

[0110] A gear 41, the gear 41 is rotatably connected to the rotating base 15 through a gear shaft, and the gear shaft is connected to the output end of the power source;

[0111] A first arc-shaped rack 42, the first arc-shaped rack 42 is meshed and connected to one side of the gear 41 close to the second rotating shaft 17, and a sliding groove for the first arc-shaped rack 42 to slide is provided on the rotating base 15;

[0112] A second arc-shaped rack 43, the second arc-shaped rack 43 is meshed and connected to the side of the gear away from the second rotating shaft 17, and a sliding groove for the second arc-shaped rack 43 to slide is provided on the rotating base 15. The second arc-shaped rack 43 is concentric with the first arc-shaped rack 42;

[0113] A first clamping rod 44, the first clamping rod 44 is connected to the first end of the first arc-shaped rack 42;

[0114] A second clamping rod 45, the second clamping rod 45 is connected to the first end of the second arc-shaped rack 43, and the first end of the second clamping rod 45 is far away from the first end of the first clamping rod 44; the second clamping rod 45 and the first clamping rod 44 are cross-arranged, and the cross is connected through a hinge shaft;

[0115] A limiting block 46, the limiting block 46 is connected to the second ends of the first clamping rod 44 and the second clamping rod 45. The limiting block 46 is made of rubber material, and the two limiting blocks 46 are respectively arranged before and after on the same side of the second rotating shaft 17.

[0116] The working principle and beneficial effects of the above technical solution are as follows:

[0117] After the welding platform 4 is adjusted to a preset angle, the power source is started to drive the gear 41 to rotate. The power source can be set as a motor structure and is connected to the gear shaft of the gear 41 through transmission methods such as gear transmission and belt transmission. The two sides of the gear 41 are respectively engaged with the first arc rack 42 and the second arc rack 43 to drive the first arc rack 42 and the second arc rack 43 to move in opposite directions. The sliding grooves provided on the rotating base 15 play a guiding role for the first arc rack 42 and the second arc rack 43. The first arc rack 42 drives the first clamping rod 44 to rotate, and the second arc rack 43 drives the second clamping rod 45 to rotate, so that the first ends of the first clamping rod 44 and the second clamping rod 45 move away from each other. Therefore, the second ends of the first clamping rod 44 and the second clamping rod 45 move closer to each other, clamping the two limit blocks 46 on the second rotating shaft 17, realizing the limitation of the second rotating shaft 17, playing a role in auxiliary support for the second rotating shaft 17, reducing the load of the output shaft of the rotating motor during welding at the current position, improving the stability of the welding platform 4 after attitude adjustment, and reducing the deflection during the welding process; the limiting mechanism is set in the form of a scissor-type transmission, reducing the force acting on the gear 41 and at the same time reducing the load of the power source connected to the gear shaft, with higher reliability.

[0118] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0119] In the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection, an electrical connection or communication with each other; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0120] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and embodiments. It can be fully applied to various fields suitable for the present invention. For those skilled in the art, additional modifications can be easily made. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the examples shown and described herein.

Claims

1. A welding robot for steel structures of iron towers, characterized in that, Including: A welding robot body (1) travels on a welding track (2), and a welding gun (3) is connected to the execution end of the welding robot body (1); A welding platform (4) is arranged on one side of the welding track (2) and is used to carry an angle steel tower foot (5); An attitude adjustment unit is connected to the welding platform (4) and is used to flip and rotate the welding platform (4); An image acquisition unit is arranged above the angle steel tower foot (5) and is used to acquire an image of the angle steel tower foot (5), and the controller controls the action of the attitude adjustment unit according to the acquired image; The attitude adjustment unit includes a flipping component and a rotating component. The rotating component includes: A rotating base (15) is connected to the center of the flipping frame (12), and a rotating motor is arranged inside the flipping frame (12); the welding platform (4) is rotatably connected above the rotating base (15) through a second rotating shaft (17), the second rotating shaft (17) is connected to the output shaft of the rotating motor through a clutch mechanism, and a clamping mechanism for fixing the angle steel tower foot (5) is arranged on the welding platform (4); a nozzle (21) is rotatably arranged on the rotating base (15), the bottom end of the nozzle (21) is connected to a gas source device through a pipeline (23), the air outlet end of the nozzle (21) is connected to a spray head (22), the nozzle (21) is arranged outside the welding platform (4), and the spray head (22) sprays air flow towards the welding platform (4); An air blowing and rotating unit is arranged on the rotating base (15), and the air blowing and rotating unit includes: A toothed ring (24) is rotatably connected inside the cavity of the rotating base (15), the toothed ring (24) is concentrically arranged outside the nozzle (21), and the outer ring end of the toothed ring (24) is uniformly connected with teeth; a toothed plate assembly is meshed and connected to the outside of the toothed ring (24), and the toothed plate assembly includes: a first sector plate (28) and a second sector plate (29). The first sector plate (28) is arranged as a sector toothed plate and is meshed and connected with the toothed ring (24). The second sector plate (29) is arranged at one end of the first sector plate (28) away from the toothed ring (24). A rotating shaft is arranged at the connection of the first sector plate (28) and the second sector plate (29), and the rotating shaft is rotatably connected to the rotating base (15). The second sector plate (29) extends below the welding platform (4); A socket (25) is connected to the inner ring end of the toothed ring (24), and a plug column is connected to the top end of the socket (25). The socket (25) has magnetism; A socket sleeve (26) is connected to the outer wall of the nozzle (21), and the plug column is installed inside the socket sleeve (26); An annular groove (31) is arranged at the top end of the rotating base (15) and is concentrically arranged with the welding platform (4). The second sector plate (29) extends into the annular groove (31); A dial block (32) is connected to the bottom end of the welding platform (4), and the dial block (32) is slidably connected inside the annular groove (31); The air guiding vane groups, multiple air guiding vane groups are evenly connected to the welding platform (4), each air guiding vane group includes two symmetrically arranged air guiding vanes (33), the edges of the air guiding vanes (33) are curled, and the inclination directions of the two air guiding vanes (33) in each group are opposite; The annular air guiding cover (34), the annular air guiding cover (34) is connected to the rotating base (15) and is concentrically arranged outside the welding platform (4). There is a notch at the position of the annular air guiding cover (34) close to the nozzle (21); a sealing is provided between the annular air guiding cover (34) and the welding platform (4). The top of the annular air guiding cover (34) is connected with an annular nozzle (35), and the annular nozzle (35) is connected to the air source device.

2. The welding robot for tower steel structure according to claim 1, wherein, A protective cover (6) is arranged outside the welding platform (4), and an opening for the welding robot body (1) to enter is arranged on the side of the protective cover (6).

3. A welding robot for steel structures of iron towers according to claim 1, characterized in that, The flipping assembly includes: The fixing frame (11), a flipping space is arranged at the center of the fixing frame (11); The flipping frame (12), the flipping frame (12) is rotationally connected to the center of the fixing frame (11) through the first rotating shaft, and the welding platform (4) is installed on the flipping frame (12); The flipping motor (13), the flipping motor (13) is installed on one side of the fixing frame (11), and the first rotating shaft is connected to the output end of the flipping motor (13).

4. A welding robot for tower steel structures according to claim 1, characterized in that, A guiding groove (27) is arranged at the top of the rotating base (15), the guiding groove (27) is concentrically arranged with the toothed ring (24) and is arranged close to the welding platform (4); the plugging seat (25) is slidably connected in the guiding groove (27), and magnetic blocks are arranged at both ends of the guiding groove (27), and the magnetic blocks have an attractive force on the plugging seat (25).

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