Steel structure welding equipment based on movable manipulator

Abstract

The invention discloses steel structure welding equipment based on a movable manipulator, which comprises a track, a rack, an equipment seat, a manipulator welding mechanism and a movable roller mechanism, two air suction chambers are fixedly arranged at the bottom of the equipment seat, and a collecting box is fixedly arranged at the bottom of a butt joint ring; the interior of the collecting box is divided into a first cavity groove and two second cavity grooves, and a filter screen is installed in the rotating ring. And a rotating disc is rotationally connected into the butt joint ring, and a magnetic sheet is fixedly arranged at the bottom of the rotating disc. According to the automatic cleaning device, firstly, impurities around the moving roller mechanism in the moving direction are adsorbed and cleaned through the air suction chamber, the impurities on the moving track of the equipment base are automatically cleaned in real time, and the purposes of guaranteeing accurate positioning of the mechanical arm and reducing the fault risk are achieved; and metal and non-metal impurities are classified and collected, and subsequent recycling of classified impurities by a user is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of manipulator welding, and in particular to steel structure welding equipment based on a mobile manipulator. Background Art

[0002] Steel structure welding is a very important process in the fields of construction, manufacturing and shipbuilding. It is of great significance to ensure product quality and safety. The welding equipment of the mobile manipulator is a highly automated welding solution that combines robotics and welding technology to improve the welding efficiency and quality of steel structures.

[0003] The mobile track of the manipulator is a key component that enables it to operate flexibly. Combining it with the welding manipulator is suitable for situations that require long-distance, multi-directional, fast and efficient material welding processing. During the installation and use of the mobile manipulator in the factory, the track is easily contaminated with impurities such as dust, oil and metal scraps, which will increase the friction of the manipulator during movement, resulting in inaccurate positioning of the manipulator, affecting its performance and work efficiency. In severe cases, impurities on the track may cause the manipulator to get stuck or derail, increasing the risk of failure.

[0004] In the prior art, these risks can be reduced by workers regularly cleaning the tracks, thereby reducing unexpected downtime. However, in an industrial processing environment, impurities may fall on the tracks at any time. If workers regularly check and clean the tracks, it is impossible to avoid the impact of impurities randomly falling on the tracks on the movement of the manipulator. In addition, the space above the tracks and the area where the mobile manipulator is parked is narrow, which makes it inconvenient for workers to efficiently clean impurities that fall in the narrow space.

[0005] In view of the above-mentioned defects, a steel structure welding device based on a mobile manipulator is provided. Summary of the invention

[0006] The purpose of the present invention is to solve the above problems and to propose a steel structure welding device based on a mobile manipulator.

[0007] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a steel structure welding device based on a mobile manipulator, comprising a track, a rack fixed to the side end of the track, an equipment base sliding on the track, and a manipulator welding mechanism and a mobile roller mechanism installed on the equipment base, two suction chambers are fixedly provided at the bottom of the equipment base, and a docking ring connected to the two suction chambers through a pipeline, a collection box is fixedly provided at the bottom of the docking ring, and cleaning mechanisms for cleaning the surface of the rack are installed on the two suction chambers; The collection box is divided into a first cavity for collecting metal scraps and two second cavities for collecting non-metal scraps, and the first cavity is located between the two second cavities. A separator is provided in the docking ring, and a rotating ring is rotatably connected to the separator, and a filter is installed in the rotating ring. A blower corresponding to the first cavity is installed at the side end of the collection box; A turntable is rotatably connected in the docking ring, two magnetic sheets for cooperating with the adsorption of metal waste are fixedly provided at the bottom of the turntable, four ring-distributed baffles are fixedly provided at the side ends of the turntable, a sliding sleeve is slidably provided on the inner side of the turntable, an arc groove is formed in the turntable, a pressing piece for controlling the sliding sleeve to enter and exit the arc groove is provided at the bottom of the equipment seat, a shell is fixedly provided at the bottom of the collection box, a driving piece for controlling the rotation of the turntable and an elastic piece for driving the turntable to rotate and reset are provided in the shell.

[0008] Preferably, the separator comprises a bracket corresponding to the first cavity, four annularly distributed partitions are fixedly arranged between the bracket and the docking ring, and the rotating ring is rotatably connected to the bracket.

[0009] Preferably, three drawers respectively connected to the first cavity and the two second cavities are slidably connected to the bottom of the collection box.

[0010] Preferably, one arc-shaped groove corresponds to two sliding sleeves, and the two sliding sleeves are controlled by the pressure piece to alternately move in and out of the arc-shaped groove, so that the rotating disk can rotate and reset under the action of the elastic piece after rotating 90 degrees with the rotating ring.

[0011] Preferably, the pressing member includes an upper pressing component and a lower pressing component, the upper pressing component is a bracket fixed on the inner wall of the rotating ring, the upper end of the bracket is fixed with a vertical rod slidably mounted on the sliding sleeve, and the vertical rod is abutted with a compression spring that presses the sliding sleeve upward.

[0012] Preferably, the pressing assembly includes a first magnetic block fixed at the bottom of the equipment base, and a second magnetic block fixed at the upper end of the sleeve, and the first magnetic block and the second magnetic block magnetically repel each other. When the second magnetic block is opposite to the first magnetic block as the sleeve rotates, the sleeve slides downward out of the arc groove under the action of the magnetic pole repulsion force.

[0013] Preferably, the driving member includes a cross rotatably connected to the bracket, and the cross is fixed to a rotating ring, a rotating sleeve is coaxially fixed to the bottom of the rotating ring and penetrates downward into the shell, a gear is rotatably connected in the shell, and a toothed disk is coaxially fixed to the rotating sleeve, and a driving motor for controlling the rotation of the gear is installed at the bottom of the shell.

[0014] Preferably, the elastic member comprises a shaft fixed at the bottom of the rotary disk and penetrating downwardly through the rotary sleeve, and a vortex spring arranged in the shell sleeve, one end of the vortex spring is fixed to the shell sleeve, and the other end is fixed to the shaft.

[0015] Preferably, a flexible protective plate for protecting the exterior of the rotary sleeve is fixedly disposed in the first cavity, and the flexible protective plate is in a bent structure.

[0016] Preferably, the bottom surface of the second cavity is formed with a slope that cooperates with waste chips to slide into the drawer.

[0017] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. In the present application, two suction chambers are distributed on the front and rear sides of the moving direction of the moving roller mechanism. When the moving roller mechanism is in operation, the suction chamber is used to adsorb and clean the impurities around the moving direction of the moving roller mechanism, thereby realizing real-time automatic cleaning of impurities on the moving track of the equipment seat, thereby ensuring accurate positioning of the manipulator and reducing the risk of failure.

[0018] 2. In the present application, when the blower stops running, non-metallic impurities fall into the second cavity. As the rotating ring rotates, the metal impurities rotate with the rotating disk to the top of the first cavity. When the rotating disk rotates to reset, the metal impurities will be separated from the magnetic sheet under the push of the retaining frame, and then fall into the first cavity. The classification and collection of metal and non-metallic impurities is achieved through the rotating ring and the rotating disk that can rotate back and forth, which is beneficial for the user to subsequently recycle the classified impurities. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the three-dimensional structure of a welding device provided according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of the assembly structure of the suction chamber and the collection box provided according to an embodiment of the present invention is shown; Figure 3 A schematic cross-sectional structure diagram of an air intake chamber provided according to an embodiment of the present invention is shown; Figure 4 A schematic diagram of the three-dimensional structure of a collection box provided according to an embodiment of the present invention is shown; Figure 5 A schematic diagram of an exploded structure of a collecting box provided according to an embodiment of the present invention is shown; Figure 6 A schematic diagram of the internal structure of a docking ring provided according to an embodiment of the present invention is shown; Figure 7 A schematic diagram of a side cross-section structure of a collecting box and a docking ring provided according to an embodiment of the present invention is shown; Figure 8 A schematic diagram of the front cross-section structure of a collecting box and a docking ring provided according to an embodiment of the present invention is shown; Fig. 9 A schematic cross-sectional structure diagram of a rotating ring and a rotating disk provided according to an embodiment of the present invention is shown.

[0020] Legend: 1. Track; 101. Rack; 2. Equipment seat; 201. First magnetic block; 3. Robot welding mechanism; 4. Moving roller mechanism; 5. Suction chamber; 6. Cleaning mechanism; 7. Collecting box; 701. First cavity; 702. Second cavity; 8. Docking ring; 9. Rotary ring; 10. Guard; 11. Filter; 12. Bracket; 13. Vertical rod; 14. Sleeve; 15. Compression spring; 16. Second magnetic block; 17. Rotary disk; 1701. Magnetic sheet; 18. Arc groove; 19. Shaft; 20. Cross; 21. Bracket; 22. Partition; 23. Rotary sleeve; 24. Toothed disk; 25. Gear; 26. Shell; 27. Vortex spring; 28. Drive motor; 29. ​​Guard plate; 30. Blower; 31. Drawer. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] See also Figure 1-Figure 9 The present invention provides a technical solution: a steel structure welding device based on a mobile manipulator, comprising a track 1, a rack 101 fixed to the side end of the track 1, an equipment base 2 sliding on the track 1, and a manipulator welding mechanism 3 and a mobile roller mechanism 4 installed on the equipment base 2, two suction chambers 5 are fixedly provided at the bottom of the equipment base 2, and a docking ring 8 connected to the two suction chambers 5 through a pipeline, a collecting box 7 is fixedly provided at the bottom of the docking ring 8, and a cleaning mechanism 6 for cleaning the surface of the rack 101 is installed on the two suction chambers 5.

[0023] The manipulator welding mechanism 3 is a prior art, including a robot body, a control system, welding tongs, a welding power source and a cooling water system, etc. These components work together to achieve precise control and operation during the welding process.

[0024] The mobile roller mechanism 4 is a prior art, which realizes precise motion control and power transmission by means of a motor-controlled gear meshing transmission with a rack rail. The cleaning mechanism 6 is a reciprocating brush responsible for sweeping and cleaning the rack 101, wherein the reciprocating swing of the brush is controlled by a motor installed on the suction chamber 5 to reciprocate the swing arm.

[0025] The two suction chambers 5 are distributed on the front and rear sides of the moving direction of the moving roller mechanism 4. When the moving roller mechanism 4 is in operation, the suction chambers 5 are used to adsorb and clean the impurities around the moving direction of the moving roller mechanism 4, thereby realizing real-time automatic cleaning of impurities on the moving track of the equipment seat 2, thereby ensuring accurate positioning of the manipulator and reducing the risk of failure.

[0026] The impurities sucked into the suction chamber 5 will first enter the docking ring 8, where the metal and metal impurities will be screened and then fall into the collection box 7, thereby realizing the separation and collection of metal and non-metal impurities, which is conducive to the subsequent recycling and reuse of metal impurities. When the suction chamber 5 moves with the equipment base 2, the cleaning mechanism 6 will use the reciprocating swinging brush to act on the rack 101 to remove the impurities stuck on the rack 101, further ensuring the impurity cleaning effect on the track 1.

[0027] The collecting box 7 is divided into a first cavity 701 for collecting metal waste and two second cavities 702 for collecting non-metal waste, and the first cavity 701 is located between the two second cavities 702. A partition is provided in the docking ring 8, and a rotating ring 9 is rotatably connected to the partition. A filter screen 11 is installed in the rotating ring 9. A blower 30 corresponding to the first cavity 701 is installed at the side end of the collecting box 7.

[0028] The partition is used to divide the space area inside the docking ring 8 according to the position of the first cavity 701 and the second cavity 702. The impurities entering the docking ring 8 through the two suction chambers 5 will first be located above the second cavity 702 under the action of the partition and the filter 11. The setting of the filter 11 facilitates the flow of air while filtering and isolating the impurities. The blower 30 is a prior art, a general machine that converts the mechanical energy of the prime mover into gas energy, and is used for gas transportation and compression. A groove connected to the outside is formed at the connection between the collection box 7 and the blower 30. The air in the collection box 7 is drawn out through the operation of the blower 30. At this time, the docking ring 8 connected to the collection box 7 will remove the impurities on the track 1 through the suction chamber 5.

[0029] A turntable 17 is rotatably connected in the docking ring 8, and two magnetic sheets 1701 for cooperating with the adsorption of metal waste are fixedly provided at the bottom of the turntable 17. Four annular retaining frames 10 are fixedly provided at the side ends of the rotating ring 9. A sliding sleeve 14 is slidably provided on the inner side of the rotating ring 9. An arc groove 18 is formed in the turntable 17. A pressing piece for controlling the sliding sleeve 14 to enter and exit the arc groove 18 is provided at the bottom of the equipment seat 2. A shell sleeve 26 is fixedly provided at the bottom of the collecting box 7. A driving piece for controlling the rotation of the rotating ring 9 and an elastic piece for driving the turntable 17 to rotate and reset are provided in the shell sleeve 26.

[0030] When impurities enter the docking ring 8, they are first blocked on the outside of the filter 11. When the equipment base 2 is in the parking state, the blower 30 stops running, and the metal impurities are adsorbed on the bottom of the rotary disk 17 under the action of the magnetic sheet 1701, while the non-metallic impurities fall into the second cavity 702 under the action of gravity. At this time, the rotary ring 9 is controlled to rotate by the driving member, and the rotary disk 17 will rotate synchronously with the rotary ring 9 under the circumferential push of the sliding sleeve 14 on the end of the arc groove 18. After the rotary disk 17 rotates ninety degrees with the rotary ring 9, the metal impurities adsorbed on the magnetic sheet 1701 will be in the upper position of the first cavity 701. At this time, the sliding sleeve 14 that pushes the rotary disk 17 to rotate will slide downward from the arc groove 18, and the rotary disk 17 will rotate and reset under the action of the elastic member. During this process, since the rotating ring 9 remains stationary, the metal impurities adsorbed on the magnetic sheet 1701 will be separated from the magnetic sheet 1701 under the push of the retaining frame 10, and then fall into the first cavity 701 under the action of gravity.

[0031] When the blower 30 is running to evacuate the collection box 7, the magnetic sheet 1701 fixed at the bottom of the rotary disk 17 is located above the second cavity 702. When the rotary ring 9 rotates, the rotary disk 17 rotates with the rotary ring 9, so that the magnetic sheet 1701 moves to the upper position of the first cavity 701. The rotating rotary ring 9 and the reciprocating rotary disk 17 can realize the classified collection of metal and non-metal impurities, which is conducive to the subsequent recycling of the classified impurities by the user.

[0032] Specifically, Figure 5-Figure 8 As shown, the partition comprises a bracket 21 corresponding to the first cavity 701, four annular partitions 22 are fixed between the bracket 21 and the docking ring 8, and the rotating ring 9 is rotatably connected to the bracket 21. The bottom of the collection box 7 is slidably connected with three drawers 31 respectively connected to the first cavity 701 and the two second cavities 702.

[0033] The bracket 21 is located above the first cavity 701, and the space between the bracket 21 and the docking ring 8 is divided into four parts by the partition 22, two of which correspond to the two second cavities 702, and the other two correspond to the first cavity 701. The drawer 31 in the middle collects metal impurities, and the other two drawers 31 are responsible for collecting non-metallic impurities. By pulling the drawer 31, the drawer 31 is pulled out from the bottom of the collection box 7 to take out the collected impurities.

[0034] Specifically, Figure 4-Figure 9 As shown, one arc groove 18 corresponds to two sliding sleeves 14, and the two sliding sleeves 14 are controlled by the pressure member to alternately move in and out relative to the arc groove 18, so that the rotating disk 17 can rotate and reset under the action of the elastic member after rotating 90 degrees with the rotating ring 9.

[0035] When the rotating ring 9 rotates counterclockwise at the top-view angle shown in the figure, one of the sliding sleeves 14 is in a state of being embedded in the arc groove 18. As the rotating ring 9 rotates, the sliding sleeve 14 will pass through the end of the circumferentially acting arc groove 18 to drive the rotating disk 17 to rotate synchronously with the rotating ring 9. During the rotation, the other sliding sleeve 14 will extend upward into the arc groove 18 under the action of the upper pressure component until the rotation is completed. The sliding sleeve 14 used for the circumferentially acting arc groove 18 will be separated from the arc groove 18 under the action of the lower pressure component. At this time, the rotating disk 17 will rotate and reset along the docking ring 8 under the action of the elastic member, and the sliding sleeve 14 extending upward into the arc groove 18 will be responsible for the circumferential drive of the rotating disk 17 again.

[0036] The pressing member includes an upper pressing component and a lower pressing component. The upper pressing component is a bracket 12 fixed on the inner wall of the rotating ring 9. The upper end of the bracket 12 is fixed with a vertical rod 13 slidably mounted with a sliding sleeve 14. The vertical rod 13 is abutted with a compression spring 15 that presses the sliding sleeve 14 upward.

[0037] The pressing assembly includes a first magnetic block 201 fixed to the bottom of the equipment seat 2, and a second magnetic block 16 fixed to the upper end of the sliding sleeve 14, and the first magnetic block 201 and the second magnetic block 16 are magnetically repelled from each other. When the second magnetic block 16 is opposite to the first magnetic block 201 as the sliding sleeve 14 rotates, the sliding sleeve 14 slides downward out of the arc groove 18 under the action of the magnetic pole repulsion force. The repulsive force between the first magnetic block 201 and the second magnetic block 16 is greater than the elastic force of the compression spring 15.

[0038] When the rotating disk 17 rotates synchronously with the rotating ring 9, the sliding sleeve 14 circumferentially acting on the arc groove 18 remains in the state of extending upward into the arc groove 18 under the action of the compression spring 15. When the rotating disk 17 rotates to the right position with the rotating ring 9, the first magnetic block 201 will be aligned with the second magnetic block 16. At this time, the sliding sleeve 14 will overcome the elastic force of the compression spring 15 under the action of the magnetic force and break away from the arc groove 18 downward, thereby releasing the rotation restriction of the rotating disk 17. When the sliding sleeve 14 rotates with the rotating disk 17, so that the second magnetic block 16 is staggered from the first magnetic block 201, the sliding sleeve 14 will be re-embedded upward into the arc groove 18 under the elastic force of the compression spring 15.

[0039] Specifically, Figure 7 and Figure 8 As shown, the driving member includes a cross 20 rotatably connected to a bracket 21, and the cross 20 is fixed to a rotating ring 9, a rotating sleeve 23 is coaxially fixed to the bottom of the rotating ring 9 and downwardly penetrates into a shell 26, a gear 25 is rotatably connected in the shell 26, and a toothed disc 24 coaxially fixed to the rotating sleeve 23, and a driving motor 28 for controlling the rotation of the gear 25 is installed at the bottom of the shell 26.

[0040] The gear 25 is controlled to rotate by driving the motor 28 , so that the toothed disc 24 meshing with the gear 25 drives the cross 20 to rotate through the rotating sleeve 23 , thereby rotating the rotating ring 9 fixed to the cross 20 .

[0041] The elastic member includes a shaft 19 fixed to the bottom of the rotary disk 17 and penetrating downwardly through the rotary sleeve 23 , and a vortex spring 27 disposed in the shell 26 . One end of the vortex spring 27 is fixed to the shell 26 , and the other end is fixed to the shaft 19 .

[0042] When the sleeve 14 of the annularly acting rotary disk 17 is separated from the arc groove 18 by the action of the pressing assembly, the rotation of the rotary disk 17 is not restricted, and the shaft 19 drives the rotary disk 17 to rotate and reset under the action of the vortex spring 27.

[0043] Specifically, Figure 7 and Figure 8 As shown, a flexible protective plate 29 for protecting the outer surface of the rotary sleeve 23 is fixed in the first cavity 701, and the flexible protective plate 29 is a bent structure. The flexible protective plate 29 is used to prevent metal impurities from scratching the outer wall of the rotary sleeve 23 when sliding along the first cavity 701 toward the drawer 31.

[0044] The bottom surface of the second cavity 702 is formed with a slope for the waste to slide into the drawer 31. The setting of the slope is conducive to the non-metallic impurities falling into the second cavity 702 along the slope into the drawer 31, which is convenient for users to open the drawer 31 and collect and clean the impurities.

[0045] The above description of the embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A steel structure welding device based on a mobile manipulator, comprising a track (1), a rack (101) fixed to a side end of the track (1), an equipment base (2) sliding on the track (1), and a manipulator welding mechanism (3) and a mobile roller mechanism (4) mounted on the equipment base (2), characterized in that: Two suction chambers (5) are fixedly provided at the bottom of the equipment seat (2), and a docking ring (8) connected to the two suction chambers (5) through a pipeline, a collecting box (7) is fixedly provided at the bottom of the docking ring (8), and cleaning mechanisms (6) for cleaning the surface of the cooperating rack (101) are installed on the two suction chambers (5); The collection box (7) is divided into a first cavity (701) for collecting metal scraps and two second cavities (702) for collecting non-metal scraps, and the first cavity (701) is located between the two second cavities (702). A partition is provided in the docking ring (8), a rotating ring (9) is rotatably connected to the partition, and a filter (11) is installed in the rotating ring (9). A blower (30) corresponding to the first cavity (701) is installed at the side end of the collection box (7); A rotary disk (17) is rotatably connected in the docking ring (8), and two magnetic sheets (1701) for cooperating with the metal scrap adsorption are fixedly arranged at the bottom of the rotary disk (17). Four annular retaining frames (10) are fixedly arranged at the side ends of the rotary ring (9), and a sliding sleeve (14) is slidably arranged inside the rotary ring (9). An arc groove (18) is formed in the rotary disk (17). A pressing member for controlling the sliding sleeve (14) to enter and exit the arc groove (18) is arranged at the bottom of the equipment seat (2), and a shell (26) is fixedly arranged at the bottom of the collection box (7). A driving member for controlling the rotation of the rotary ring (9) and an elastic member for driving the rotary disk (17) to rotate and reset are arranged in the shell (26).

2. The steel structure welding equipment based on a mobile manipulator according to claim 1 is characterized in that: The separator comprises a bracket (21) corresponding to the first cavity (701), four annularly distributed partitions (22) are fixedly arranged between the bracket (21) and the docking ring (8), and a rotating ring (9) is rotatably connected to the bracket (21).

3. The steel structure welding equipment based on a mobile manipulator according to claim 1 is characterized in that: The bottom of the collection box (7) is slidably connected to three drawers (31) which are respectively connected to the first cavity (701) and the two second cavity (702).

4. The steel structure welding equipment based on a mobile manipulator according to claim 1 is characterized in that: One of the arc-shaped grooves (18) corresponds to two sliding sleeves (14), and the two sliding sleeves (14) are controlled by a pressure piece to alternately move in and out relative to the arc-shaped groove (18), so that the rotating disk (17) can be rotated and reset under the action of the elastic piece after rotating ninety degrees with the rotating ring (9).

5. The steel structure welding equipment based on a mobile manipulator according to claim 4 is characterized in that: The pressing member comprises an upper pressing component and a lower pressing component. The upper pressing component is a bracket (12) fixedly mounted on the inner wall of the rotating ring (9). The upper end of the bracket (12) is fixedly provided with a vertical rod (13) slidably mounted in cooperation with the sliding sleeve (14). The vertical rod (13) is abutted against a compression spring (15) for pressing the sliding sleeve (14) upward.

6. The steel structure welding equipment based on a mobile manipulator according to claim 5 is characterized in that: The pressing assembly comprises a first magnetic block (201) fixed to the bottom of the equipment base (2), and a second magnetic block (16) fixed to the upper end of the sliding sleeve (14), and the first magnetic block (201) and the second magnetic block (16) are magnetically repelled from each other. When the second magnetic block (16) rotates with the sliding sleeve (14) and becomes opposite to the first magnetic block (201), the sliding sleeve (14) slides downward out of the arc groove (18) under the action of the magnetic pole repulsion force.

7. The steel structure welding equipment based on a mobile manipulator according to claim 1 is characterized in that: The driving member comprises a cross (20) rotatably connected to a bracket (21), and the cross (20) is fixed to a rotating ring (9). A rotating sleeve (23) is coaxially fixed to the bottom of the rotating ring (9) and penetrates downward into a shell (26). A gear (25) is rotatably connected to the shell (26), and a toothed disc (24) is coaxially fixed to the rotating sleeve (23). A driving motor (28) for controlling the rotation of the gear (25) is installed at the bottom of the shell (26).

8. The steel structure welding equipment based on a mobile manipulator according to claim 7 is characterized in that: The elastic member comprises a shaft (19) fixedly arranged at the bottom of the rotary disk (17) and penetrating downwardly through the rotary sleeve (23), and a vortex spring (27) arranged in the shell (26), one end of the vortex spring (27) being fixed to the shell (26), and the other end being fixed to the shaft (19).

9. The steel structure welding equipment based on a mobile manipulator according to claim 1 is characterized in that: A flexible protective plate (29) for protecting the outside of the rotating sleeve (23) is fixedly arranged in the first cavity (701), and the flexible protective plate (29) is in a bent structure.

10. The steel structure welding equipment based on a mobile manipulator according to claim 1, characterized in that: The bottom surface of the second cavity (702) is formed with a slope surface that cooperates with waste chips to slide into the drawer (31).

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