Automatic climbing type robot for welding temporary steel ladder

Abstract

The automatic climbing type robot for welding the temporary steel ladder comprises a telescopic device, a clamping device for clamping a steel structure and the steel ladder and a welding device for spot welding of the steel structure and the steel ladder, and the telescopic device comprises a first telescopic unit and a second telescopic unit; the clamping devices are installed at the bottoms of the first telescopic unit and the second telescopic unit, the first telescopic unit and the second telescopic unit drive the clamping devices to do reciprocating motion, and the welding devices are fixedly installed on the clamping devices. The device has the advantages of being compact in structure, convenient to use, high in automation degree and easy and convenient to operate.

Description

Technical Field

[0001] The present invention relates to the field of climbing robots, and in particular to an automatic climbing robot for welding temporary steel ladders. Background Art

[0002] With the extensive use of steel structures in my country's construction industry, temporary steel ladders need to be installed to facilitate steel structure construction. Temporary steel ladders are temporary ladders made of solid steel bars or steel bars, often spot-welded on the flanges of steel structure columns, and are widely used in steel structure construction. However, since there is no ladder in the first half of the structure construction, workers have to climb without protection to install it, which results in a high construction risk. Therefore, in order to solve this problem, a self-climbing welding robot is designed to achieve the connection and installation of temporary steel ladders and steel structures. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the present invention provides an automatic climbing robot for welding temporary steel ladders, which has the advantages of compact structure, convenient use, high degree of automation and easy operation.

[0004] An automatic climbing robot for welding temporary steel ladders comprises a cylindrical or square outer shell, an inner shell, a clamp for clamping the steel ladder and the steel structure, an engine, a gear set, and a rack. The left end of the bottom of the outer shell and the right end of the bottom of the inner shell are both fixedly installed with the clamp, the left end of the inner shell is sleeved in the right end of the outer shell, the left end of the outer shell is fixedly installed with a first cover, the right end of the inner shell is fixedly installed with a second cover, the top of the outer shell is provided with a first limiting slot along the length direction, the limiting bolt passes through the first limiting slot from the outside of the outer shell and is fixedly connected to the left end of the inner shell, the left end of the top of the outer shell is fixedly installed with a rack extending horizontally toward the inside of the inner shell, the engine and The second cover is fixedly connected, the engine drives the gear set to make a transverse reciprocating motion along the rack, and drives the inner shell or the outer shell to make a transverse reciprocating motion, the fixture includes an upper end and a lower end, the upper end includes an upper cylinder, an upper hollow disc, and an upper hollow column, the upper cylinder is fixedly installed on the upper hollow disc, the upper hollow column is ┓-shaped, the horizontal part of the upper hollow column is fixedly connected to the side of the upper cylinder, the upper through hole penetrates the upper cylinder and the upper hollow disc from top to bottom in sequence, a first circular cavity is provided in the upper hollow disc, a second electromagnet is installed at the bottom of the first circular cavity, the lower end includes a lower hollow disc, a lower cylinder, and a lower hollow column, the lower hollow disc is fixedly installed on the lower cylinder, and the lower hollow column is ┛ The clamp is shaped, the horizontal part of the lower hollow column is fixedly connected to the side of the lower cylinder, the vertical part of the upper hollow column is fixedly connected to the vertical part of the lower hollow column, the lower through hole passes through the lower hollow disc and the lower cylinder from top to bottom in sequence, and a first electric welding device is arranged in the lower end of the clamp, the first electric welding device includes a first limiting plate arranged in the lower through hole, a round iron block, a cylindrical second spot welding head, a spring, a second limiting plate, and a third electromagnet, the circular first limiting plate is fixedly connected to the top of the lower hollow disc, the circular second limiting plate is located in the lower cylinder and fixedly connected to the lower cylinder, the first limiting plate is provided with a first hole at the center position, and the second limiting plate is provided with a second hole at the center position. Hole, the circular iron plate is located below the first limiting plate, a third hole is arranged at the center thereof, the second spot welding head passes through the second hole, the spring, the third hole and the first hole in sequence from bottom to top, the circular iron plate is fixedly connected to the second spot welding head, the upper end of the spring is fixedly connected to the circular iron plate, and the lower end is fixedly connected to the second limiting plate, a third electromagnet for sucking and releasing the spring and the circular iron block is arranged below the second limiting plate and fixedly connected to the lower cylinder, a second electric welding device is arranged in the upper end of the clamp, the second electric welding device is symmetrically arranged with the first electric welding device, a first circular cavity is arranged in the upper hollow disc, and a second electromagnet for sucking and releasing the steel ladder is installed at the bottom of the first circular cavity.

[0005] Preferably, it also includes a laser rangefinder and a reflective strip, the laser rangefinder is installed on the right side of the first cover, the reflective strip is installed on the left side of the second cover, and the laser rangefinder corresponds to the reflective strip.

[0006] Preferably: the vertical parts of the upper hollow column and the lower hollow column are hollow square columns, and the vertical part of the upper hollow column is inserted into the vertical part of the lower hollow column, an adjustment groove is opened on the side of the vertical part of the lower hollow column, and a threaded hole is provided in the vertical part of the upper hollow column at a position corresponding to the adjustment groove, and a bolt is passed through the adjustment groove and screwed into the threaded hole to fix the upper hollow column and the lower hollow column.

[0007] Preferably: it also includes a first fixed steel plate, a first transverse fixed steel plate is fixedly installed on the left end of the inner top of the outer shell, and a transverse rack extending toward the inner side of the inner shell is fixedly installed below the first fixed steel plate.

[0008] Preferably: a transverse adjustment slot is also provided at the left end of the top of the shell, and the adjustment bolt passes through the adjustment slot from the outside of the shell and is fixedly connected to the first fixed steel plate, and the shell and the first fixed steel plate are fixedly connected by the adjustment bolt.

[0009] Preferably: an obstacle sensor is also included, and the right side of the second cover is fixedly installed with the obstacle sensor.

[0010] Preferably: a tension sensor is also included, and a tension sensor capable of converting magnetic force into tension is installed on the top of the first circular cavity, and the tension sensor is located directly above the second electromagnet.

[0011] Beneficial effects: 1. It has a compact structure, is easy to use, has a high degree of automation, and is easy to operate; 2. The device can climb automatically by using the engine, various sensors, and transmission between gear sets; 3. The device can weld itself by using various sensors and spring characteristics, reducing the danger in temporary steel ladder installation projects; 4. An electromagnet is used to fix the device during the climbing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the robot's main view.

[0013] Figure 2 It is a three-dimensional structural diagram of the engine mounting components.

[0014] Figure 3 It is a schematic diagram of the three-dimensional structure of the clamping device.

[0015] Figure 4 Schematic diagram of the cutaway view of the housing and fixture.

[0016] Figure 5 It is a schematic cross-sectional view of the inner shell and the fixture.

[0017] Figure 6 It is a schematic cross-sectional view of the robot.

[0018] Figure 7 It is a schematic diagram of the three-dimensional structure of the engine and gear set.

[0019] The accompanying drawings are marked as follows: 1. adjusting bolt; 2. hinge; 3. laser rangefinder; 4. induction counter; 5. first cover; 6. first electromagnet; 7. tension sensor; 8. second electromagnet; 9. first spot welding head; 10. clamp; 11. second spot welding head; 12. spring; 13. third electromagnet; 14. first fixed steel plate; 15. outer shell; 16. rack; 17. limit bolt; 18. transverse steel plate; 19. first shaft; 20. first gear; 21. second gear; 22. third gear; 23. second shaft; 24. fourth gear; 25. third shaft; 26. inner shell; 27. mounting platform; 28. second fixed steel plate; 29. ​​second limit slot; 30. engine; 31. reflective strip; 32. second cover; 33. baffle; 34. obstacle sensor; 35. upper cylinder; 36. upper hollow disk; 37. 7. upper hollow column; 38. lower through hole; 39. lower hollow disc; 40. lower hollow column; 41. adjustment slot; 42. lower cylinder. DETAILED DESCRIPTION

[0020] An automatic climbing temporary steel ladder welding robot includes a telescopic device, a clamping device for clamping a steel structure and a steel ladder, and a welding device for spot welding the steel structure and the steel ladder. The telescopic device includes a first telescopic unit and a second telescopic unit. The first telescopic unit and the second telescopic unit are both equipped with a clamping device at the bottom. The first telescopic unit and the second telescopic unit can drive the clamping device to reciprocate, and the welding device is fixedly installed on the clamping device. The first telescopic unit and the second telescopic unit are cylindrical or square and are both made of steel plates.

[0021] In this embodiment, the first telescopic unit is the outer shell 15, and the second telescopic unit is the inner shell 26. The left end of the inner shell 26 is sleeved inside the right end of the outer shell 15, and the outer shell 15 and the inner shell 26 can slide left and right with each other. The right end of the inner shell 26 is fixedly installed with a second cover 32, and the second cover 32 is fixedly connected to the inner shell 26 by two upper and lower hinges 2, respectively, for easy disassembly. The left end of the outer shell 15 is fixedly installed with a first cover 5, and the first cover 5 is fixedly connected to the outer shell 15 by two upper and lower hinges 2, respectively, and the right end of the outer shell 15 has the inner shell 26. The top and bottom of the outer shell 15 are both provided with a transverse (lateral) first limit slot, and the upper and lower limit bolts 17 are respectively passed through the first limit slot from the outside of the outer shell 15 and fixedly connected to the left end of the inner shell 26, so that the inner shell 26 and the outer shell 15 can only slide left and right relative to each other but cannot rotate relative to each other. The setting of the limit bolt 17 and the first limit slot makes it possible for the inner shell 26 to only slide laterally inside the outer shell 15 when the outer shell 15 is fixed, or for the outer shell 15 to only slide laterally outside the inner shell 26 when the inner shell 26 is fixed, and the sliding length is limited by the length of the first limit slot. A transverse adjustment slot is also provided at the left end of the top of the outer shell 15, and a transverse first fixed steel plate 14 is fixedly installed at the left end of the inner top of the outer shell 15. The adjusting bolt 1 passes through the adjusting slot and is fixedly connected to the first fixed steel plate 14, and the outer shell 15 and the first fixed steel plate 14 are fixedly connected by the adjusting bolt 1. The left end of the transverse rack 16 is fixedly installed below the first fixed steel plate 14, and the right end of the rack 16 is located in the inner shell 26. The use of the first fixed steel plate 14 allows a certain gap to be provided between the rack 16 and the outer shell 15, and the gap is used to accommodate the left end of the inner shell 26.

[0022] The right end of the long horizontal steel plate 18 is fixedly connected to the second cover 32, and the mounting platform 27 is fixedly installed on the horizontal steel plate 18. The mounting platform 27 and the horizontal steel plate 18 are welded in a T shape. The engine 30 is fixedly connected to the second fixed steel plates 28 arranged horizontally on both sides of the engine 30. The second fixed steel plates 28 are provided with horizontal second limit slots 29. During installation, bolts are passed through the second limit slots 29, and the second fixed steel plates 28 are fixedly connected to the mounting platform 27 by bolts. The second limit slots 29 can adjust the left and right positions of the engine 30 installed on the mounting platform 27. The fourth gear 24 is installed on the shaft of the engine 30, the rotatable first shaft 19 is located in the inner shell 26 and fixedly connected to the inner shell 26 and the first gear 20 is fixedly installed thereon, and the second shaft 23 that can rotate is also provided on the transverse steel plate 18, on which the second gear 21 and the third gear 22 are fixedly installed, the fourth gear 24 and the second gear 21 are both bevel gears and mesh with each other, the third gear 22 and the first gear 20 mesh with each other, and the first gear 20 meshes with the rack 16. The engine 30 is a forward and reverse motor, and the engine 30 drives the gear set to reciprocate horizontally along the rack 16, that is, by sequentially driving the fourth gear 24, the second gear 21, the third gear 22, and the first gear 20, the first gear 20 moves left and right on the rack 16, because the rack 16 is fixedly connected to the outer shell 15, the first gear 20 is connected to the inner shell 26 through the first shaft 19 and the transverse steel plate 18, when the first gear 20 moves left and right on the rack 16, it drives the outer shell 15 or the inner shell 26 to move relative to each other in the horizontal direction.

[0023] A first clamping unit is fixedly installed on the left end of the outer shell 15, and a second clamping unit is fixedly installed on the right end of the inner shell 26. Both the first clamping unit and the second clamping unit are used to clamp steel ladders and steel structures. The first clamping unit and the second clamping unit are both clamps 10. The clamp 10 consists of an upper end and a lower end. The upper end of the clamp consists of an upper cylinder 35, an upper hollow disc 36 and an upper hollow column 37. The upper hollow column 37 is ┓-shaped. The upper cylinder 35 is located above the upper hollow disc 36 and is fixedly connected to the hollow disc 36. The upper through hole penetrates the upper cylinder 35 and the upper hollow disc 36 from top to bottom. The telescopic device is provided with a hole corresponding to the upper through hole. The horizontal portion of the upper hollow column 37 is fixedly connected to the side of the upper cylinder 35, and the connecting portion has a hollow portion for connecting the upper through hole with the horizontal portion of the upper hollow column 37. The second cable groove of the cavity; the lower end of the clamp is composed of a lower hollow disk 39, a lower cylinder 42, and a lower hollow column 40, the lower hollow column 40 is ┛-shaped, the lower hollow disk 39 is located above the lower cylinder 42 and is fixedly connected to the lower cylinder 42, the lower through hole 38 penetrates the lower hollow disk 39 and the lower cylinder 42 from top to bottom, the horizontal part of the lower hollow column 40 is fixedly connected to the side of the lower cylinder 42, and the connecting part has a first cable groove for connecting the lower through hole 38 with the horizontal part of the cavity of the lower hollow column 40.

[0024] The vertical parts of the upper hollow column 37 and the lower hollow column 40 are hollow square columns, and the vertical part of the upper hollow column 37 is inserted into the vertical part of the lower hollow column 40. An adjustment groove 41 is provided on the side of the vertical part of the lower hollow part. The vertical part of the upper hollow column 37 is provided with a threaded hole at a location corresponding to the adjustment groove 41. The bolt is passed through the adjustment groove 41 and screwed into the threaded hole to fix the upper hollow column 37 and the lower hollow column 40 together, thereby fixing the upper end of the clamp and the lower end of the clamp together. The distance between the upper end of the clamp and the lower end of the clamp can be adjusted by adjusting the different positions of the bolt hole on the upper hollow column 37 in the adjustment groove 41, that is, adjusting the distance between the upper hollow disc 36 and the lower hollow disc 39, so that the present solution can use steel ladders of different thicknesses.

[0025] The lower end of the clamp is provided with a first electric welding device, which includes a first limit plate provided in the lower through hole 38, a round iron block, a cylindrical second spot welding head 11, a spring, a second limit plate, and a third electromagnet 13. The first circular limit plate is located at the top of the lower through hole 38 and is fixedly connected to the top of the lower hollow disc 39. The second circular limit plate is located in the lower cylinder 42 and is fixedly connected to the lower cylinder 42. The center position of the first limit plate is provided with a first hole for penetrating the second spot welding head 11, and the center position of the second limit plate is provided with a second hole for penetrating the second spot welding head 11. The circular iron plate is located below the first limit plate, and the center position thereof is provided with a third hole penetrating the second spot welding head 11, and the circular iron plate is fixedly connected to the second spot welding head 11. The spring is sleeved on the second spot welding head 11, and its upper end is fixedly connected to the circular iron plate, and its lower end is fixedly connected to the second limit plate. The third electromagnet 13 for sucking and releasing the spring and the circular iron block is arranged below the second limit plate. The spring and the circular iron block are sucked and released by turning on and off the third electromagnet 13, thereby driving the second spot welding head 11 to move up and down in the first hole and the second hole. A second electric welding device is arranged in the upper end of the clamp, and the second electric welding device is arranged symmetrically with the first electric welding device.

[0026] A first circular cavity is provided in the upper hollow disc 36, a second electromagnet 8 is installed at the bottom of the first circular cavity, and a tension sensor 7 for detecting whether the second electromagnet 8 generates a magnetic field is installed at the top. The tension sensor 7 is located directly above the second electromagnet 8. By turning the second electromagnet 8 on and off, the upper hollow disc 36 clamps or releases the steel ladder, thereby driving the housing 15 to clamp or release the steel ladder. The tension sensor 7 is connected to the engine 30 signal.

[0027] The cables in the upper end of the clamp 10 pass through the upper through hole and enter the telescopic device. The cables in the lower end of the clamp 10 pass through the lower through hole, the first cable trough, the lower hollow column 40, the upper hollow column 37, the second cable trough, and the upper through hole in sequence and enter the telescopic device.

[0028] A transverse baffle 33 is welded to the right side of the second cover 32 , and an obstacle sensor 34 facing the steel ladder is installed on the baffle 33 .

[0029] The laser rangefinder 3 and the induction counter 4 are installed on the right side of the first cover 5, and the reflective strip 31 corresponding to the laser rangefinder 3 is attached to the left side of the second cover. The laser rangefinder 3 is used to measure the distance between the first cover 5 and the second cover 32. The induction counter 4 is connected to the obstacle sensor 34 signal. When the obstacle sensor 34 senses the steel ladder, the induction counter 4 displays 0, and when the obstacle sensor 34 does not sense the steel ladder, the induction counter 4 displays 1.

[0030] An automatic climbing temporary steel ladder welding robot is used in the following steps.

[0031] 1. Install the welding robot.

[0032] The first fixing steel plate 14 and the rack 16 (the first fixing steel plate 14 and the rack 16 have been welded together) are fixed at appropriate positions of the housing 15 by means of the adjusting bolts 1 .

[0033] The outer shell 15 is slidably connected to the inner shell 26 by means of the limiting bolts 17 , and the first cover 5 is connected to the outer shell 15 and the second cover 32 is connected to the inner shell 26 by means of the hinges 2 .

[0034] Connect the clamp 10 with the outer shell 15 and the inner shell 26. At the same time, ensure that one side of the electromagnet 8 is close to the temporary steel ladder and the other side is close to the steel structure. Adjust the length of the upper hollow column 37 inserted into the lower hollow column 40 to achieve the degree to which the clamp 10 is clamped and fixed to the temporary steel ladder and the steel structure (when the clamp 10 clamps and fixes the temporary steel ladder and the steel structure, it is not completely clamped, and the first spot welding head 9 must be kept in close contact with the temporary steel ladder and the second spot welding head 11 must be kept in close contact with the steel structure. At this time, the spring 12 should be in a slightly compressed state).

[0035] The remaining components should all be fixed in advance on the outer shell 15 and the inner shell 26. At the same time, the telescopic device should be in a retracted state during installation.

[0036] 2. Welding robot climbing status.

[0037] After the welding robot completes clamping the temporary steel ladder and the steel structure, the device is powered on. The first electromagnet 6 and the third electromagnet 13 are always powered on to generate magnetic force, so that the spring 12 is in a contracted state, driving the first spot welding head 9 and the second spot welding head 11 to contract, so as to protect the electric welding device from damage in the climbing state.

[0038] At the same time, the laser rangefinder 3 emits laser light, and with the help of the reflective strip 31 , measures the distance between the first cover 5 and the second cover 32 .

[0039] After power is turned on, if the obstacle sensor 34 senses the temporary steel ladder (i.e., an obstacle is detected), the count result of the induction counter 4 is 0. When the two conditions are met: the count result of the induction counter 4 is 0; and the distance measured by the laser rangefinder 3 is the minimum (the device is in the retracted state), the second electromagnet 8 on the outer shell 15 is energized, so that the clamp 10 on the outer shell 15 firmly clamps the temporary steel ladder. When the tension sensor 7 on the outer shell 15 detects the magnetic force of the second electromagnet 8 on the outer shell 15, it sends a signal to make the clamp 10 on the inner shell 26 release the temporary steel ladder, and at the same time, the engine 30 rotates forward, the transmission gear set drives the first gear 20 to rotate on the rack 16, and then the inner shell 26 extends along the length direction of the first limit slot, and finally reaches the stretched state.

[0040] When the induction counter 4 counts 0 and the distance measured by the laser rangefinder 3 is the maximum (the device is in a stretched state), the clamp 10 on the inner shell 26 firmly clamps the temporary steel ladder, and when the tension sensor 7 on the inner shell 26 detects the magnetic force of the second electromagnet 8 on the inner shell 26, it sends a signal to release the clamp 10 on the outer shell 15 from the steel ladder, and at the same time, the engine 30 rotates in the opposite direction, driving the gear set to drive the first gear 20 to rotate on the rack 16, thereby causing the outer shell 15 to shrink along the length direction of the first limit slot, and finally reaching a retracted state.

[0041] When the welding robot goes from the contracted state to the stretched state and then to the contracted state, it is recorded as a complete climbing process. The length of the device in the stretched state minus the length of the device in the contracted state is recorded as the unit distance of the climb. The welding robot continues to go through the complete climbing process and finally climbs to the highest point of the temporary steel ladder, completing the entire climbing process.

[0042] 3. Welding robot descent and welding status.

[0043] When the welding robot is in the process of changing from a contracted state to a stretched state (i.e., the inner shell 26 stretches upward), if the upper part of the inner shell 26 exceeds the highest point of the steel ladder, and the obstacle sensor 34 does not sense the steel ladder, the counting result of the induction counter 4 becomes 1. After the counting result of the induction counter 4 becomes 1, the obstacle sensor 34 disconnects the signal connection with the induction counter 4, and the counting result of the induction counter 4 remains unchanged at 1. The induction counter 4 sends a signal to the engine 30, and the engine 30 reverses to drive the inner shell 26 to contract and lower the inner shell 26. When the obstacle sensor 34 senses the steel ladder again, the obstacle sensor 34 is powered off and no longer used. At the same time, the clamp 10 on the inner shell 26 clamps the steel ladder and releases the clamp 10 on the outer shell 15. The engine 30 rotates to make the outer shell 15 stretch along the first limit slot, and finally reaches the stretched state.

[0044] When the two conditions are met that the counting result of the induction counter 4 is 1 and the tension sensor 7 in the inner shell 26 fixture 10 detects the magnetic force of the second electromagnet 8 of the inner shell 26 fixture 10, the first electromagnet 6 and the second electromagnet 13 in the inner shell 26 fixture 10 are powered off and do not generate magnetic force, and the spring 12 is relaxed. At this time, the first spot welding head 9 and the second spot welding head 11 in the inner shell 26 fixture 10 will clamp the temporary steel ladder and the steel structure, and the first spot welding head 9 and the second spot welding head 11 will be powered on to spot weld them. After the spot welding is completed, the first electromagnet 6 and the second electromagnet 13 in the inner shell 26 fixture 10 are powered on again to generate magnetic force, the spring 12 shrinks, and the first spot welding head 9 and the second spot welding head 11 are powered off and shrink. Then, the fixture 10 on the outer shell 15 clamps the steel ladder, the fixture 10 on the inner shell 26 releases the steel ladder, and the engine 30 is started to shrink the telescopic device. The welding robot is lowered from the steel ladder. When the telescopic device is retracted to the shortest position, the clamp 10 on the inner shell 26 clamps the steel ladder, and the clamp 10 on the outer shell 15 releases the steel ladder and extends downward, and the spot welding device on the clamp 10 of the inner shell 26 performs spot welding at the same time. Of course, during the descent process, the spot welding device on the clamp 10 of the outer shell 15 can also perform spot welding when the clamp 10 clamps the temporary steel ladder.

[0045] Repeat the above steps continuously, and spot welding is always carried out during the descent of the welding robot. When the device welding robot goes from the stretched state to the contracted state and then to the stretched state, it is recorded as a complete descent process. The length of the device in the stretched state minus the length of the device in the contracted state is recorded as the unit distance of a descent, and this distance is also the distance between the two welding points during spot welding. The welding robot continues to go through the complete descent and spot welding process, and finally descends to the lowest point of the steel ladder, completing the entire descent and spot welding process.

Claims

1. An automatic climbing robot for welding temporary steel ladders, characterized in that: It includes a cylindrical or square outer shell, an inner shell, a clamp for clamping a steel ladder and a steel structure, an engine, a gear set, and a rack. The left end of the bottom of the outer shell and the right end of the bottom of the inner shell are fixedly installed with a clamp, the left end of the inner shell is sleeved in the right end of the outer shell, the left end of the outer shell is fixedly installed with a first cover, the right end of the inner shell is fixedly installed with a second cover, the top of the outer shell is provided with a first limiting groove along the length direction, the limiting bolt passes through the first limiting groove from the outside of the outer shell and is fixedly connected to the left end of the inner shell, the left end of the top of the outer shell is fixedly installed with a rack extending horizontally toward the inside of the inner shell, the engine is fixedly connected to the second cover, and the engine drives the gear set. The wheel set makes a transverse reciprocating motion along the rack, driving the inner shell or the outer shell to make a transverse reciprocating motion. The fixture includes an upper end and a lower end. The upper end includes an upper cylinder, an upper hollow disc, and an upper hollow column. The upper cylinder is fixedly mounted on the upper hollow disc. The upper hollow column is in a ┓ shape. The horizontal portion of the upper hollow column is fixedly connected to the side of the upper cylinder. The upper through hole penetrates the upper cylinder and the upper hollow disc in sequence from top to bottom. A first circular cavity is arranged in the upper hollow disc. A second electromagnet is installed at the bottom of the first circular cavity. The lower end includes a lower hollow disc, a lower cylinder, and a lower hollow column. The lower hollow disc is fixedly mounted on the lower cylinder. The lower hollow column is in a ┛ shape. The horizontal portion of the lower hollow column The clamp is fixedly connected to the side of the lower cylinder, the vertical part of the upper hollow column is fixedly connected to the vertical part of the lower hollow column, the lower through hole penetrates the lower hollow disc and the lower cylinder from top to bottom in sequence, and a first electric welding device is arranged in the lower end of the clamp, the first electric welding device includes a first limiting plate arranged in the lower through hole, a circular iron block, a cylindrical second spot welding head, a spring, a second limiting plate, and a third electromagnet, the circular first limiting plate is fixedly connected to the top of the lower hollow disc, the circular second limiting plate is located in the lower cylinder and fixedly connected to the lower cylinder, a first hole is arranged at the center position of the first limiting plate, a second hole is arranged at the center position of the second limiting plate, and the circular iron block is arranged at the center position of the second limiting plate. The plate is located below the first limiting plate, and a third hole is arranged at the center thereof. The second spot welding head passes through the second hole, the spring, the third hole, and the first hole in sequence from bottom to top. The circular iron plate is fixedly connected to the second spot welding head, the upper end of the spring is fixedly connected to the circular iron plate, and the lower end is fixedly connected to the second limiting plate. The third electromagnet for sucking and releasing the spring and the circular iron block is arranged below the second limiting plate and fixedly connected to the lower cylinder. A second electric welding device is arranged in the upper end of the clamp, and the second electric welding device is symmetrically arranged with the first electric welding device. A first circular cavity is arranged in the upper hollow disc, and a second electromagnet for sucking and releasing the steel ladder is installed at the bottom of the first circular cavity.

2. The robot according to claim 1, characterized in that: It also includes a laser rangefinder and a reflective strip. The laser rangefinder is installed on the right side of the first cover, and the reflective strip is installed on the left side of the second cover. The laser rangefinder corresponds to the reflective strip.

3. The robot according to claim 1, characterized in that: The vertical parts of the upper hollow column and the lower hollow column are hollow square columns, and the vertical part of the upper hollow column is inserted into the vertical part of the lower hollow column. An adjustment groove is opened on the side of the vertical part of the lower hollow column. The vertical part of the upper hollow column is provided with a threaded hole at a position corresponding to the adjustment groove. The bolt is passed through the adjustment groove and screwed into the threaded hole to fix the upper hollow column and the lower hollow column.

4. The robot according to claim 1, characterized in that: It also includes a first fixed steel plate. A transverse first fixed steel plate is fixedly installed on the left end of the top of the inner side of the outer shell, and a transverse rack extending toward the inner side of the inner shell is fixedly installed below the first fixed steel plate.

5. The robot according to claim 1, characterized in that: A transverse adjustment slot is also provided at the left end of the top of the shell, and the adjustment bolt 1 passes through the adjustment slot and is fixedly connected to the first fixed steel plate, and the shell and the first fixed steel plate are fixedly connected by the adjustment bolt.

6. The robot according to claim 1, characterized in that: It also includes an obstacle sensor, and the right side of the second cover is fixedly installed with the obstacle sensor.

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