Master-slave type wall-climbing welding robot

Abstract

The invention is suitable for the technical field of welding, and provides a master-slave type wall-climbing welding robot which comprises a driving module, the driving module is composed of a first chassis, a second chassis, a connecting shaft and permanent magnet wheels, the first chassis and the second chassis are connected through the connecting shaft, and the lower bottom face of the first chassis and the lower bottom face of the second chassis are each provided with four permanent magnet wheels; mounting plates are symmetrically fixed to the outer side walls of the first base plate and the second base plate, lifting pipes are slidably inserted into the upper top walls of the four mounting plates, and the problems that adsorption is unstable and welding rods are broken during welding are solved, and the purposes that the lifting pipes and the suction cups move downwards and are used in cooperation with a water control assembly, so that part of water is injected into the suction cups, and the welding rods are prevented from being damaged are achieved. Therefore, the suction force of the suction cup is improved, the stability and safety of the whole device during welding are improved, welding rods can be automatically fed, normal feeding of the welding rods is guaranteed, the situation that welding operation is affected due to breakage of the welding rods is avoided, and the welding stability and the welding effect are improved.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and more specifically, to a master-slave wall-climbing welding robot. Background Art

[0002] Welding, also known as fusion welding, is a manufacturing process and technology that uses heating, high temperature or high pressure to join metals or other thermoplastic materials such as plastics. The wall-climbing welding robot uses the adsorption method of permanent magnets to adsorb on various metal walls to complete the work of metal wall welding. The climbing mechanism of the wall-climbing robot includes crawler type and wheel type.

[0003] At present, during the welding process, the wheeled wall-climbing robot welding device mainly relies on permanent magnetic wheels to make the device adsorb on the metal surface. Due to its own weight, it will affect the stability and safety of welding. In addition, the welding rod used by the welding robot cannot be fed automatically, causing the welding rod to break when it is pushed forward, thus affecting the welding operation. Summary of the invention

[0004] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a master-slave wall-climbing welding robot in which a lifting tube and a suction cup move downward, and cooperate with the use of a water control component to allow part of the water to be injected into the suction cup, thereby improving the adsorption force of the suction cup, and further improving the stability and safety of the entire device during welding and the automatic feeding of the welding rod, ensuring the normal feeding of the welding rod, avoiding the breakage of the welding rod and affecting the welding operation, thereby improving the stability of welding and the welding effect.

[0005] To achieve the above object, the present invention provides the following technical solutions: A master-slave wall-climbing welding robot comprises a driving module, wherein the driving module is composed of a chassis 1, a chassis 2, a connecting shaft and a permanent magnetic wheel. The chassis 1 and the chassis 2 are connected via a connecting shaft, and the chassis 1 and the lower bottom surface of the chassis are both provided with four permanent magnetic wheels.

[0006] The outer side walls of chassis one and chassis two are symmetrically fixed with mounting plates, the upper top walls of the four mounting plates are slidably inserted with lifting tubes, a trapezoidal block is fixed to the top of each lifting tube, a spring 1 slidably sleeved on the outer wall of the lifting tube is fixed between the trapezoidal block and the mounting plate on the same side, fixing rods are symmetrically fixed to the lower bottom surface of the mounting plate on the same side, the ends of the two fixing rods on the same side are commonly fixed with a sleeve covering the outside of the lifting tube, and the lower end of each lifting tube is connected to a suction cup.

[0007] A connecting rod is symmetrically fixed to the inner top wall of each sleeve, and a sleeve covering the outside of the lifting tube is commonly fixed to the lower ends of the two connecting rods on the same side, and a conduit extending to the outside of the sleeve is symmetrically fixed to the inner bottom wall of the sleeve on the same side, and the ends of the two conduits on the same side are connected to the lifting tube. A water injection pipe is fixedly inserted into the outer wall of each sleeve, and a water control component is provided on each sleeve. Electric telescopic rods are symmetrically fixed to the upper top walls of the chassis one and the chassis two, and a supporting rod that contacts the inclined wall of the trapezoidal block is fixed to the driving end of each electric telescopic rod.

[0008] An arc-shaped positioning shell 1 is symmetrically fixed on the upper top wall of the chassis 2, and an arc-shaped positioning shell 2 which is arranged parallel to the two arc-shaped positioning shells 1 is symmetrically arranged above the chassis, and ear plates are fixed to the outer side walls of the two arc-shaped positioning shells 1 and 2, and the two ear plates located on the same side are connected by threaded rods, and a winding roller is arranged between the two arc-shaped positioning shells 1 and 2, and the inner walls of each of the arc-shaped positioning shells 1 and 2 are rotatably connected to a rotating shaft, and the outer wall of each of the rotating shafts is fixedly sleeved with a gear, and the outer wall of the winding roller is symmetrically provided with a gear ring matching the gear, and a knob plate is fixed to the top of the two threaded rods, and a U-shaped plate is fixed to the upper top walls of the two arc-shaped positioning shells 2, and a locking assembly is arranged on the U-shaped plate.

[0009] An electric-controlled pan-tilt platform is installed on the upper top wall of the chassis, a welding gun is arranged on the upper top wall of the electric-controlled pan-tilt platform, and a welding rod is wound around the outer wall of the winding roller.

[0010] The present invention is further configured as follows: the water control component includes a second magnet block fixedly connected to the outer wall of the lifting tube, the outer wall of the sleeve located on the same side is slidably connected with a magnet block one, the magnet block one and the magnet block two located on the same side attract each other, each of the magnet blocks one is provided with three through holes one, and the outer wall of the sleeve located on the same side is provided with a through hole two.

[0011] The present invention is further configured as follows: the locking assembly includes a pull rod slidably inserted on the U-shaped plate, the outer wall of the pull rod is fixedly sleeved with a horizontal plate located above the U-shaped plate, a second spring is fixed between the horizontal plate and the U-shaped plate, the second spring is slidably sleeved on the outer wall of the pull rod, the top ends of the two locking rods are fixedly connected to the lower bottom surface of the horizontal plate, and the two locking rods pass through the knob plate.

[0012] The present invention is further configured as follows: a plurality of locking holes in a circular array are provided on the upper top wall of the knob plate on the same side at a position deviating from the center of the circle, and each of the locking holes matches a locking rod.

[0013] The present invention is further configured as follows: motors are symmetrically fixed to the upper top wall of the chassis, and the driving ends of the two motors are respectively fixedly connected to the rotating shafts located below.

[0014] The present invention is further configured such that the three through holes 2 located on the same side are all located below the three through holes 1.

[0015] The present invention is further configured as follows: a limiting plate is fixed to the lower end of the pull rod, and the lower ends of the two locking rods are both circular.

[0016] The present invention is further configured such that each of the conduits is made of a retractable hose.

[0017] The advantages of the present invention are: 1. Move the lifting tube and the suction cup downward, and use the water control component to inject some water into the suction cup, thereby increasing the adsorption force of the suction cup, thereby improving the stability and safety of the entire device during welding.

[0018] 2. Through the coordinated use of arc-shaped positioning shell 1 and arc-shaped positioning shell body, the winding roller is fixed, and the motor drives the gear to drive the gear ring on the winding roller to rotate, thereby completing the release of the welding rod, providing the welding rod propulsion for the welding gun, ensuring the normal feeding of the welding rod, avoiding the breakage of the welding rod and affecting the welding operation, thereby improving the welding stability and welding effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0020] Figure 2 It is a bottom-up stereoscopic structural schematic diagram of the driving module in the present invention.

[0021] Figure 3 It is a schematic diagram of the local three-dimensional structure of the present invention.

[0022] Figure 4 for Figure 3 Enlarged view of point A in the middle.

[0023] Figure 5 It is a schematic diagram of the cross-sectional plan structure of the connection between the sleeve, the sleeve and the connecting rod in the present invention.

[0024] Figure 6 for Figure 5 Enlarged view of point B in the middle.

[0025] Figure 7 It is a schematic diagram of the three-dimensional structure of the connection between the arc-shaped positioning shell 1, the arc-shaped positioning shell 2 and the winding roller in the present invention.

[0026] Figure 8 for Figure 7 Enlarged view of point C in the middle.

[0027] Fig. 9 It is a three-dimensional structural schematic diagram of the connection between the arc-shaped positioning shell 1, the rotating shaft and the gear in the present invention.

[0028] In the figure: 1, drive module; 2, water control assembly; 3, mounting plate; 4, fixing rod; 5, sleeve; 6, lifting tube; 7, trapezoidal block; 8, spring 1; 9, suction cup; 10, guide tube; 11, water injection pipe; 12, connecting rod; 13, sleeve; 14, magnet block 1; 15, magnet block 2; 16, through hole 1; 17, through hole 2; 18, electric telescopic rod; 19, push rod; 20, arc positioning shell 1; 21, rotating shaft; 22, gear; 23 , winding roller; 24, arc-shaped positioning shell 2; 25, U-shaped plate; 26, ear plate; 27, threaded rod; 28, knob plate; 29, lock hole; 30, pull rod; 31, limit plate; 32, cross plate; 33, spring 2; 34, locking rod; 35, motor; 36, gear ring; 37, electric control pan / tilt; 38, welding gun; 39, welding rod; 40, locking assembly; 101, chassis 1; 102, chassis 2; 103, connecting shaft; 104, permanent magnet wheel. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0031] In the present invention, unless otherwise specified, the directions used, such as "up" and "down", usually refer to the directions shown in the drawings, or to the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "left" and "right" usually refer to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directions are not used to limit the present invention.

[0032] Embodiment 1 See also Figure 1-9 , the present invention provides the following technical solutions: A master-slave wall-climbing welding robot comprises a driving module 1, which consists of a chassis 101, a chassis 102, a connecting shaft 103 and a permanent magnet wheel 104. The chassis 101 and the chassis 102 are connected by the connecting shaft 103. The lower bottom surfaces of the chassis 101 and the chassis 102 are each provided with four permanent magnet wheels 104. The outer side walls of the chassis 101 and the chassis 102 are symmetrically fixed with mounting plates 3. The upper top walls of the four mounting plates 3 are slidably inserted with lifting tubes 6. A trapezoidal block 7 is fixed to the top of each lifting tube 6. A spring 18 slidably sleeved on the outer wall of the lifting tube 6 is fixed between the trapezoidal block 7 and the mounting plate 3 on the same side. Fixed rods 4 are symmetrically fixed to the lower bottom surfaces of the mounting plates 3 on the same side. The ends of the two fixed rods 4 on the same side are commonly fixed with a sleeve 5 covered on the outside of the lifting tube 6. The lower end of each lifting tube 6 is connected with a suction cup 9. A connecting rod 12 is symmetrically fixed to the inner top wall of each sleeve 5, and a sleeve 13 covering the outside of the lifting tube 6 is commonly fixed to the lower ends of the two connecting rods 12 on the same side, and a conduit 10 extending to the outside of the sleeve 5 is symmetrically fixed to the inner bottom wall of the sleeve 13 on the same side. Each conduit 10 is made of a retractable hose, and the ends of the two conduits 10 on the same side are connected to the lifting tube 6. A water injection pipe 11 is fixedly inserted into the outer wall of each sleeve 5, and a water control component 2 is provided on each sleeve 13. Electric telescopic rods 18 are symmetrically fixed to the upper top walls of chassis 1 101 and chassis 2 102, and a push rod 19 that contacts the inclined wall of the trapezoidal block 7 is fixed to the driving end of each electric telescopic rod 18. The upper top wall of the second chassis 102 is symmetrically fixed with an arc-shaped positioning shell 1 20, and the upper side of the chassis 102 is symmetrically provided with an arc-shaped positioning shell 24 arranged parallel to the two arc-shaped positioning shells 1 20. The outer side walls of the two arc-shaped positioning shells 1 20 and the arc-shaped positioning shell 24 are fixed with ear plates 26, and the two ear plates 26 located on the same side are connected by a threaded rod 27. A winding roller 23 is arranged between the two arc-shaped positioning shells 1 20 and the arc-shaped positioning shell 24. Each arc-shaped positioning shell 1 20 and the arc-shaped positioning shell 24 are provided with a winding roller 23. The inner wall is rotatably connected with a rotating shaft 21, and the outer wall of each rotating shaft 21 is fixedly sleeved with a gear 22. The upper top wall of the chassis 102 is symmetrically fixed with a motor 35, and the driving ends of the two motors 35 are respectively fixedly connected to the rotating shaft 21 located below. The outer wall of the winding roller 23 is symmetrically provided with a gear ring 36 matching the gear 22, and the tops of the two threaded rods 27 are fixed with a knob plate 28. The upper top walls of the two arc-shaped positioning shells 24 are jointly fixed with a U-shaped plate 25, and a locking assembly 40 is provided on the U-shaped plate 25. The upper top wall of the chassis 101 is installed with an electric control platform 37, and the upper top wall of the electric control platform 37 is provided with a welding gun 38, and the outer wall of the winding roller 23 is wound with a welding rod 39.

[0033] The specific application of the first embodiment is as follows: first, water is injected into the sleeve 5 through the water injection pipe 11, and the electric telescopic rod 18 is started. The driving end of the electric telescopic rod 18 drives the push rod 19 to move outward, so that the push rod 19 squeezes and contacts the trapezoidal block 7, drives the trapezoidal block 7, the lifting tube 6 and the suction cup 9 to move downward, so that the suction cup 9 is adsorbed on the steel surface, and cooperates with the use of the water control component 2 to inject part of the water into the suction cup 9, thereby improving the adsorption force of the suction cup 9, and then improving the stability and safety of the entire device during welding, and the winding roller 23 with the gear ring 36 is placed on the arc-shaped positioning shell 20, and then the threaded rod 27 is screwed clockwise. , so that the threaded rod 27 drives the upper ear plate 26 and the arc-shaped positioning shell 24 to move downward, completing the fixation of the winding roller 23, and then connects one end of the welding rod 39 on the winding roller 23 to the welding gun 38. When the welding gun 38 is in use, the motor 35 is started, and the driving end of the motor 35 drives the rotating shaft 21 and the gear 22 to rotate clockwise, thereby driving the gear ring 36 and the winding roller 23 to rotate counterclockwise, thereby completing the release of the welding rod 39, providing the welding gun 38 with the propulsion of the welding rod 39, ensuring the normal feeding of the welding rod 39, avoiding the breakage of the welding rod and affecting the welding operation, thereby improving the welding stability and welding effect.

[0034] Embodiment 2 See also Figure 1-9 The second embodiment is improved on the basis of the first embodiment as follows. Specifically, the water control component 2 includes a second magnet block 15 fixedly connected to the outer wall of the lifting tube 6, and the outer wall of the sleeve 13 on the same side is slidably connected with a magnet block 14. The magnet block 14 and the second magnet block 15 on the same side attract each other. Three through holes 16 are opened on each magnet block 14, and the outer wall of the sleeve 13 on the same side is opened with a second through hole 17. The three through holes 17 on the same side are located below the three through holes 16.

[0035] The specific application of the second embodiment is as follows: the lifting tube 6 moves downward, driving the second magnet block 15 to move downward, and the second magnet block 15 attracts the first magnet block 14 to move downward, so that the through hole 16 on the first magnet block 14 passes through the second through hole 17. When the through hole 16 is aligned with the through hole 2 17, the water in the sleeve 5 will flow into the sleeve 13. Through the movement of the magnet block 14, the water entering the sleeve 13 is controlled.

[0036] Embodiment 3 See also Figure 1-9, this embodiment three makes the following improvements on the basis of embodiment one. Specifically, the locking assembly 40 includes a pull rod 30 slidably inserted on the U-shaped plate 25, and the outer wall of the pull rod 30 is fixedly sleeved with a horizontal plate 32 located above the U-shaped plate 25, and a spring 23 is fixed between the horizontal plate 32 and the U-shaped plate 25. The spring 233 is slidably sleeved on the outer wall of the pull rod 30, and the top ends of the two locking rods 34 are fixedly connected to the lower bottom surface of the horizontal plate 32. The two locking rods 34 both penetrate the knob plate 28, and the upper top wall of the knob plate 28 on the same side is provided with a plurality of locking holes 29 in a circular array at a position deviating from the center of the circle, and each locking hole 29 matches the locking rod 34. The lower end of the pull rod 30 is fixed with a limiting plate 31, and the lower ends of the two locking rods 34 are both circularly arranged.

[0037] The specific application of the third embodiment is as follows: by pulling the pull rod 30 upward, the cross plate 32 and the locking rod 34 are driven to move upward, so that the locking rod 34 is disengaged from the locking hole 29 on the knob plate 28, so that the knob plate 28 is in a rotatable and adjustable state, and the pull rod 30 is released, and under the elastic force of the spring 2 33, the lifting plate 32 and the locking rod 34 are driven to move downward into the locking hole 29, thereby completing the locking of the knob plate 28, and the rotation state of the knob plate 28 is controlled by the up and down movement of the locking rod 34.

[0038] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0040] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0042] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A master-slave wall-climbing welding robot, comprising a drive module (1), characterized in that: The driving module (1) is composed of a chassis 1 (101), a chassis 2 (102), a connecting shaft (103) and a permanent magnetic wheel (104); the chassis 1 (101) and the chassis 2 (102) are connected via the connecting shaft (103); and the bottom surfaces of the chassis 1 (101) and the chassis (102) are each provided with four permanent magnetic wheels (104); The outer side walls of the chassis 1 (101) and the chassis 2 (102) are symmetrically fixed with mounting plates (3), the upper top walls of the four mounting plates (3) are slidably inserted with lifting tubes (6), the top of each lifting tube (6) is fixed with a trapezoidal block (7), a spring 1 (8) slidably sleeved on the outer wall of the lifting tube (6) is fixed between the trapezoidal block (7) and the mounting plate (3) on the same side, the lower bottom surfaces of the mounting plates (3) on the same side are symmetrically fixed with fixing rods (4), the ends of the two fixing rods (4) on the same side are commonly fixed with a sleeve (5) covered on the outside of the lifting tube (6), and the lower end of each lifting tube (6) is connected with a suction cup (9); A connecting rod (12) is symmetrically fixed to the inner top wall of each sleeve (5); a sleeve (13) which is covered on the outside of the lifting tube (6) is commonly fixed to the lower ends of the two connecting rods (12) on the same side; a conduit (10) which extends to the outside of the sleeve (5) is symmetrically fixed to the inner bottom wall of the sleeve (13) on the same side; the ends of the two conduits (10) on the same side are connected to the lifting tube (6); a water injection pipe (11) is fixedly inserted into the outer wall of each sleeve (5); a water control component (2) is arranged on each sleeve (13); electric telescopic rods (18) are symmetrically fixed to the upper top walls of the chassis 1 (101) and the chassis 2 (102); and a stopper (19) which contacts the inclined wall of the trapezoidal block (7) is fixed to the driving end of each electric telescopic rod (18); The upper top wall of the second chassis (102) is symmetrically fixed with an arc-shaped positioning shell (20), and the upper part of the chassis (102) is symmetrically provided with an arc-shaped positioning shell (24) arranged parallel to the two arc-shaped positioning shells (20). The outer side walls of the two arc-shaped positioning shells (20) and the arc-shaped positioning shell (24) are both fixed with ear plates (26), and the two ear plates (26) located on the same side are both connected by a threaded rod (27). A winding roller (23) is provided between the two arc-shaped positioning shells (20) and the arc-shaped positioning shell (24). ), the inner wall of each of the arc-shaped positioning shells 1 (20) and the arc-shaped positioning shells 2 (24) is rotatably connected to a rotating shaft (21), the outer wall of each of the rotating shafts (21) is fixedly sleeved with a gear (22), the outer wall of the winding roller (23) is symmetrically provided with a gear ring (36) matching the gear (22), the top ends of the two threaded rods (27) are fixed with a knob plate (28), the upper top walls of the two arc-shaped positioning shells 2 (24) are jointly fixed with a U-shaped plate (25), and the U-shaped plate (25) is provided with a locking assembly (40); An electric control platform (37) is installed on the upper top wall of the chassis (101), a welding gun (38) is arranged on the upper top wall of the electric control platform (37), and a welding rod (39) is wound around the outer wall of the winding roller (23).

2. A master-slave wall-climbing welding robot according to claim 1, characterized in that: The water control component (2) comprises a second magnet block (15) fixedly connected to the outer wall of the lifting tube (6); a first magnet block (14) is slidably connected to the outer wall of the sleeve (13) located on the same side; the first magnet block (14) and the second magnet block (15) located on the same side attract each other; each of the first magnet blocks (14) is provided with three first through holes (16); and the outer wall of the sleeve (13) located on the same side is provided with a second through hole (17).

3. A master-slave wall-climbing welding robot according to claim 2, characterized in that: The locking assembly (40) includes a pull rod (30) slidably inserted on the U-shaped plate (25), the outer wall of the pull rod (30) is fixedly sleeved with a horizontal plate (32) located above the U-shaped plate (25), a second spring (33) is fixed between the horizontal plate (32) and the U-shaped plate (25), and the second spring (33) is slidably sleeved on the outer wall of the pull rod (30), the top ends of the two locking rods (34) are fixedly connected to the lower bottom surface of the horizontal plate (32), and the two locking rods (34) pass through the knob plate (28).

4. A master-slave wall-climbing welding robot according to claim 1, characterized in that: A plurality of locking holes (29) in a circular array are provided on the top wall of the knob plate (28) located on the same side at a position deviating from the center of the circle, and each of the locking holes (29) matches a locking rod (34).

5. A master-slave wall-climbing welding robot according to claim 4, characterized in that: Motors (35) are symmetrically fixed to the upper top wall of the chassis (102), and the driving ends of the two motors (35) are respectively fixedly connected to the rotating shafts (21) located below.

6. A master-slave wall-climbing welding robot according to claim 2, characterized in that: The three second through holes (17) located on the same side are all located below the three first through holes (16).

7. The master-slave wall-climbing welding robot according to claim 3, characterized in that: A limiting plate (31) is fixed to the lower end of the pull rod (30), and the lower ends of the two locking rods (34) are both circular.

8. The master-slave wall-climbing welding robot according to claim 1, characterized in that: Each of the conduits (10) is made of a retractable hose.

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