Adsorption force adjusting device and method and intelligent welding equipment

Abstract

The invention provides an adsorption force adjusting device and method and intelligent welding equipment, and relates to the technical field of intelligent welding equipment, the adsorption force adjusting device can be installed on the intelligent welding equipment, and the adsorption force adjusting device comprises a gradient sensor, an adjusting structure and a processor; the gradient sensor is used for measuring the inclination angle of the intelligent welding equipment and sending the inclination angle to the processor; the processor is used for calculating required adsorption force according to the inclination angle and converting the adsorption force into the angle of the magnet; the adjusting structure is used for adjusting the angle of the magnet, and then the intelligent welding equipment is attracted to the working face. The problems that most of the conventional adsorption force devices are manually and simply controlled by switching values, only the existence of the adsorption force can be controlled, and the adsorption force cannot be accurately adjusted according to the actual gradient are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent welding equipment, and in particular to an adsorption force adjustment device, an adjustment method and intelligent welding equipment. Background Art

[0002] In the field of modern industrial production, intelligent welding equipment plays a vital role, and its application scenarios are wide, complex and diverse. When using intelligent welding equipment for welding operations, it is often necessary to work on a slope of 0 to 180°. This slope environment poses a great challenge to welding operations, because when the equipment is welding at a location with a large slope, it is necessary not only to ensure the accuracy and stability of the welding process, but also to overcome its own downward trend to ensure safe and efficient operations. In addition, after a lot of practical and theoretical research, it was found that there is a close positive correlation between the adsorption force required by the equipment and the slope, that is, the greater the slope, the greater the adsorption force required to maintain the stability of the equipment.

[0003] However, the widely used adsorption devices currently have obvious limitations in design and function. Most of these devices are manually operated and can only achieve on-off control of adsorption force. The working principle is as follows: the connecting rod connected to it is driven up and down by rotating the handle, and the up and down movement of the connecting rod drives the magnet to rotate around the axis. In this process, the gap between the magnet and the bottom plate (i.e., the magnetic gap) will change, thereby achieving control over the presence or absence of adsorption force. When the magnetic gap is small, the magnetic force is obvious and adsorption force is generated; when the magnetic gap increases, the magnetic force weakens until the adsorption force disappears.

[0004] Since the simulation software is still in its infancy, its functions and accuracy are far from being able to accurately simulate the required adsorption force of intelligent welding equipment at various slopes. Faced with this technical bottleneck, in order to ensure the safety of the equipment when operating on slopes, engineers adopt a unified method of providing the maximum adsorption force that may be required. To a certain extent, although this method is simple and direct and to a certain extent ensures that the equipment will not be in a dangerous situation due to insufficient adsorption force, it also brings many negative effects. On the one hand, excessive adsorption force will inevitably lead to a significant increase in equipment energy consumption, which will undoubtedly cause energy waste and increase production costs in large-scale production operations. On the other hand, excessive adsorption force acting between the equipment tire and the slope will aggravate the wear of the tire, shorten the service life of the tire, further increase the maintenance cost and downtime of the equipment, and have an adverse effect on production efficiency. Summary of the invention

[0005] The present invention solves the problem that most of the previous adsorption force devices are manual and simple switch control, which can only control the presence or absence of adsorption force but cannot accurately adjust the adsorption force according to the actual slope.

[0006] In order to solve the above problems, the present invention provides an adsorption force adjustment device, an adjustment method and intelligent welding equipment.

[0007] In a first aspect, the present invention provides an adsorption force adjustment device, which can be installed on an intelligent welding device, comprising: a slope sensor, an adjustment structure and a processor;

[0008] The slope sensor is used to measure the inclination angle of the intelligent welding equipment and send the inclination angle to the processor;

[0009] The processor is used to calculate the required adsorption force according to the tilt angle, calculate the rotation angle of the magnet according to the adsorption force, and control the adjustment structure according to the calculated rotation angle of the magnet;

[0010] The adjustment structure is used to adjust the angle of the magnet;

[0011] The adjustment structure comprises: a slide table, a connecting rod, a magnet and a rotating shaft;

[0012] The slide is connected to one end of the connecting rod, and the slide is used to move up and down to drive the connecting rod to move up and down; the other end of the connecting rod is rotatably connected to the upper surface of the magnet, and a rotating shaft is also provided on the upper surface of the magnet. The magnet is rotatably connected to the intelligent welding equipment through the rotating shaft, so that the up and down movement of the connecting rod can drive the magnet to rotate around the rotating shaft.

[0013] Optionally, the adjustment structure also includes a servo motor and a screw rod, the slide is threadedly connected to the screw rod, and the screw rod is connected to the servo motor through a coupling; the servo motor is connected to the signal of the processor, and is used to control the rotation of the screw rod after receiving the instruction of the processor, and then control the up and down movement of the slide.

[0014] Optionally, the processor is used to calculate the required adsorption force according to the following relationship between the inclination angle β of the intelligent welding device and the required adsorption force F:

[0015]

[0016] Among them, G is the gravity of the intelligent welding equipment, h is the height of the intelligent welding equipment, L1 is the width of the magnet, L2 is the length of the magnet, and f s It is the friction coefficient between the intelligent welding equipment and the working surface.

[0017] Optionally, in the processor, the relationship between the angle of the magnet and the adsorption force is calculated by simulation to obtain the magnitude of the magnetic force of the magnet on the working surface when the magnet rotates at various angles, and then these interpolations are fitted using high-order functions to obtain a functional relationship between the degree of rotation of the magnet and the magnetic force it can provide.

[0018] Optionally, the magnet is simulated to rotate at angles of 0°, 10°, 20°, 30° and 40° respectively, and modeling and solving are performed; wherein, during modeling, the size range of the working surface is established to be consistent with the maximum shape range of the two magnets, and the minimum value of the attraction of the magnet to the working surface is obtained.

[0019] Optionally, the processor is specifically used to convert the calculated magnet rotation angle α into a distance b of the slide moving up and down, and control the adjustment structure to move according to the distance b of the slide moving up and down, so as to adjust the angle of the magnet;

[0020] The relationship between the distance b that the slide moves up and down and the rotation angle α of the magnet is:

[0021]

[0022] Wherein, a is the distance between the rotating shaft 6 and the connection position between the connecting rod 3 and the magnet 5.

[0023] In a second aspect, the present invention provides an adsorption force adjustment method, which is applied to the above-mentioned adsorption force adjustment device; the method comprises the following steps:

[0024] S1: Obtain the tilt angle of the intelligent welding equipment;

[0025] S2: According to the tilt angle and the known parameters of the intelligent welding equipment, the required adsorption force is calculated according to the adsorption force calculation formula;

[0026] The adsorption force calculation formula is:

[0027]

[0028] Among them, G is the gravity of the intelligent welding equipment, h is the height of the intelligent welding equipment, l1 is the width of the magnet, l2 is the length of the magnet, and f s is the friction coefficient between the intelligent welding equipment and the working surface, β is the tilt angle, and F is the adsorption force;

[0029] S3: Calculate the corresponding magnet rotation angle based on the functional relationship between the magnet rotation degree and the magnet adsorption force obtained through simulation and fitting.

[0030] S4: Calculate the distance b of the slide moving up and down according to the relationship between the rotation angle of the magnet and the distance the slide moves up and down;

[0031] Among them, the relationship between the distance the slide moves up and down and the rotation angle of the magnet is:

[0032]

[0033] Wherein, a is the distance between the rotating shaft 6 and the connection position between the connecting rod 3 and the magnet 5, b is the distance that the slide moves up and down, and α is the rotation angle of the magnet;

[0034] S5: Control the slide table to move up and down according to the calculated distance.

[0035] Optionally, in step S3, the relationship between the angle of the magnet and the adsorption force is calculated by simulation to obtain the magnetic force of the magnet on the working surface when the magnet rotates at various angles, and then these interpolations are fitted using high-order functions to obtain a functional relationship between the degree of rotation of the magnet and the magnetic force it can provide.

[0036] Optionally, the magnet is simulated to rotate at angles of 0°, 10°, 20°, 30° and 40° respectively, and modeling and solving are performed; wherein, during modeling, the size range of the working surface is established to be consistent with the maximum shape range of the two magnets, and the minimum value of the attraction of the magnet to the working surface is obtained.

[0037] In a third aspect, the present invention provides an intelligent welding device, comprising the above-mentioned adsorption force adjustment device and a walking wheel at the bottom.

[0038] The beneficial effects of the adsorption force adjustment device, adjustment method and intelligent welding equipment of the present invention are: through the slope sensor, processor and adjustment structure, the adsorption force can be accurately adjusted in real time according to the inclination angle, so as to improve welding efficiency and quality and avoid welding defects; it has excellent adaptability and stability, can maintain stable adsorption on working surfaces of various slopes, reduce the risk of slippage and overturning, expand the scope of application, and is suitable for scenes such as inclined surface welding of building steel structures; it optimizes resource utilization and reduces costs, and accurately adjusts to avoid excessive adsorption force, reduces energy waste and component wear, and saves operating energy consumption and maintenance costs; intelligent operation is convenient, reduces the burden on operators, reduces skill requirements, and the operation interface can display key information in real time for easy monitoring; the technology is highly innovative and forward-looking, fills the gap in accurate adjustment of adsorption force, provides an example for industry technology upgrades, and leads the way towards intelligent and efficient development. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of an adsorption force adjustment device according to an embodiment of the present invention;

[0040] Figure 2 It is a schematic diagram of static analysis of the intelligent welding equipment according to an embodiment of the present invention;

[0041] Figure 3is a flow chart of an adsorption force adjustment method according to an embodiment of the present invention;

[0042] Figure 4 It is a structural schematic diagram of an intelligent welding device according to an embodiment of the present invention;

[0043] Description of reference numerals:

[0044] 1. Slide; 2. Connecting bolt; 3. Connecting rod; 4. Bushing; 5. Magnet; 6. Rotating shaft; 7. Servo motor; 8. Magnet mounting seat; 9. Travel wheel; 10. Connecting rod; 11. Connecting ear. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0046] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0047] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0048] like Figure 1 As shown, an adsorption force adjustment device provided in an embodiment of the present invention can be installed on an intelligent welding device to adjust the adsorption force of the intelligent welding device on a working surface.

[0049] The adsorption force regulating device comprises: a slope sensor, a regulating structure and a processor.

[0050] The slope sensor is used to measure the inclination angle of the intelligent welding equipment and send the inclination angle to the processor.

[0051] The processor is used to calculate the required adsorption force according to the tilt angle of the intelligent welding device, calculate the rotation angle of the magnet according to the adsorption force, and control the adjustment structure according to the calculated rotation angle of the magnet.

[0052] The adjustment structure is used to adjust the angle of the magnet, thereby adsorbing the intelligent welding equipment on the working surface.

[0053] The adjustment structure includes: a slide 1, a connecting rod 3, a magnet 5 and a rotating shaft 6. The magnet 5 and the rotating shaft 6 are arranged at the bottom of the intelligent welding device, and the slide 1 is arranged inside the intelligent welding device.

[0054] The slide 1 is connected to one end (upper end) of the connecting rod 3 by the connecting bolt 2, so that the up and down movement of the slide 1 can drive the connecting rod 3 to move up and down. The connecting rod 3 passes through the bottom shell of the intelligent welding device, and the other end (lower end) of the connecting rod 3 is connected to the edge of the upper surface of the magnet 5. A rotating shaft 6 is also provided on the upper surface of the magnet 5, and the rotating shaft 6 is fixed on the intelligent welding device, so that the up and down movement of the connecting rod 3 can drive the magnet 5 to rotate around the rotating shaft 6.

[0055] The magnet 5 is a plate-shaped structure, and when the magnet 5 is not in operation, that is, the magnet 5 is in an initial state, it is parallel to the working surface.

[0056] The magnet 5 is two plate-shaped N40 nepheline iron boron magnets arranged side by side, and the size is preferably 50*50*10mm, and the distance from the lower surface of the magnet 5 to the working surface is set to 8mm. The two magnets 5 are installed on the lower surface of the magnet mounting seat 8, and the lower end of the connecting rod 3 is connected to the connecting ear 11 on the upper surface of the magnet mounting seat 8 through a horizontally arranged connecting rod 10. The rotating shaft 6 is arranged along the length direction of the magnet mounting seat 8.

[0057] Specifically, the adjustment structure also includes a servo motor 7 and a screw rod, the slide 1 is threadedly connected to the screw rod, and the screw rod is connected to the servo motor 7 through a coupling. The servo motor 7 is connected to the processor signal to control the screw rod to rotate after receiving the processor's command, thereby controlling the slide 1 to move up and down.

[0058] Specifically, a bushing 4 is provided on the outer side of the connecting rod 3 to guide the up and down movement of the connecting rod 3 .

[0059] In this embodiment, the adjustment structure is composed of several key components such as a servo motor 7, a screw, a slide 1, a connecting rod 3, a magnet 5 and a rotating shaft 6. The structure is relatively simple, which reduces complex mechanical transmission and excessive parts, and reduces the manufacturing cost and maintenance difficulty of the device. In addition, the slope sensor measures the inclination angle of the intelligent welding equipment in real time, and transmits the data to the processor. The processor accurately calculates the required adsorption force based on the inclination angle and mass of the equipment, and adjusts the adsorption force according to the required adsorption force through the adjustment structure, thereby realizing the automation and intelligence of the adsorption force adjustment. This intelligent adjustment method can quickly respond to the state changes of the equipment on different working surfaces, reduce manual intervention, and improve work efficiency and the stability of welding quality.

[0060] Optionally, the processor is used to calculate the required adsorption force according to the following relationship between the inclination angle β of the intelligent welding device and the required adsorption force F:

[0061]

[0062] Among them, G is the gravity of the intelligent welding equipment, h is the height of the intelligent welding equipment, L1 is the width of the magnet, L2 is the length of the magnet, and f s It is the friction coefficient between the intelligent welding equipment and the working surface.

[0063] The above formula is obtained when the intelligent welding equipment does not slip or overturn during movement. Therefore, a static analysis is performed on the intelligent welding equipment to ensure that the magnet can provide sufficient adsorption force. Figure 2 as shown.

[0064] The intelligent welding device comprises four running wheels 9, the total supporting force F N and the total friction force F on the wheel f They are:

[0065]

[0066] To prevent the intelligent welding equipment from sliding on the wall, the following formula needs to be met:

[0067] G×cosβ=F f <f s ×F N

[0068] To prevent the intelligent welding equipment from tipping over, according to the moment method, the following formula needs to be satisfied:

[0069] ∑M=F(L2-L1)-[G×cosβ×h+G×sinβ×(L2-L1)+(F N1 +F N2 )

[0070] ×L2]≥0

[0071] In summary, in order to prevent the intelligent welding equipment from sliding or overturning on the wall, the minimum adsorption force F is:

[0072]

[0073] In this embodiment, both slippage and overturning are comprehensively considered, and a larger adsorption force value that can meet both stability requirements is selected to ensure that the equipment can be stably adsorbed on the working surface at any tilt angle and welding operations can be carried out normally.

[0074] Specifically, by substituting the measured inclination angle of the intelligent welding device into the above formula, the required adsorption force value F that meets the two stability requirements can be calculated.

[0075] Optionally, in the processor, the relationship between the angle of the magnet and the adsorption force is simulated using ANSYS Maxwell electromagnetic simulation software to calculate the magnetic force of the magnet on the working surface when the magnet rotates at various angles, and then these interpolations are fitted using high-order functions to obtain the functional relationship between the degree of rotation of the magnet and the magnetic force it can provide.

[0076] Based on the relationship between the angle of the magnet and the adsorption force, the angle of the magnet when the adsorption force condition is met can be determined, and then the required rotation angle of the magnet relative to the initial state can be calculated.

[0077] Specifically, the rotation angles of the magnet including 0°, 10°, 20°, 30° and 40° were simulated respectively, and solidworks was used for modeling and solving. During modeling, the size range of the working surface was established to be consistent with the maximum shape range of the two magnets, and the minimum value of the attraction of the magnet to the working surface was obtained.

[0078] In this embodiment, SolidWorks is used for modeling, and the three-dimensional model of the magnet and the working surface can be accurately constructed according to the actual situation, taking into account factors such as their geometric shape and size, to ensure the high similarity between the model and the actual physical system, thereby providing an accurate basis for subsequent simulation analysis. By simulating the rotation of the magnet at multiple angles such as 0°, 10°, 20°, 30° and 40°, it is possible to more comprehensively cover the possible magnet rotation situations in actual work, avoiding the result deviation caused by too few angles, so that the fitted functional relationship can more accurately reflect the true relationship between the magnet rotation degree and the magnetic force.

[0079] Optionally, the processor is specifically used to convert the calculated magnet rotation angle α into the distance b of the slide 1 moving up and down, and control the adjustment structure action according to the distance b of the slide 1 moving up and down to adjust the angle of the magnet. The relationship between the distance b of the slide 1 moving up and down and the magnet rotation angle α is:

[0080]

[0081] Wherein, a is the distance from the rotating shaft 6 to the connection position between the connecting rod 3 and the magnet 5, which can also be regarded as the rotating lever arm.

[0082] In this embodiment, by establishing the relationship between the moving distance of the slide 1 and the rotation angle of the magnet, the distance the slide needs to move can be accurately derived from the desired rotation angle of the magnet, thereby providing a specific operational basis for the adjustment structure to accurately adjust the magnet angle and achieve precise adjustment of the adsorption force, thereby ensuring that the adsorption force adjustment device can work normally according to the preset requirements.

[0083] like Figure 3 As shown, an embodiment of the present invention further provides an adsorption force adjustment method, which is mainly used in the above-mentioned adsorption force adjustment device to adjust the adsorption force of the intelligent welding equipment on the working surface.

[0084] The adsorption force adjustment method comprises the following steps:

[0085] S1: Obtain the tilt angle β of the intelligent welding equipment;

[0086] S2: According to the inclination angle β and the known parameters of the intelligent welding equipment, the required adsorption force F is calculated according to the adsorption force calculation formula.

[0087] The adsorption force calculation formula is:

[0088]

[0089] Among them, G is the gravity of the intelligent welding equipment, h is the height of the intelligent welding equipment, l1 is the width of the magnet, l2 is the length of the magnet, and f s It is the friction coefficient between the intelligent welding equipment and the working surface.

[0090] S3: According to the functional relationship between the magnet rotation degree and the magnet adsorption force obtained by simulation and fitting, the corresponding magnet rotation angle α is calculated.

[0091] S4: Calculate the distance b that the slide 1 moves up and down based on the relationship between the magnet rotation angle α and the distance b that the slide 1 moves up and down.

[0092] Among them, the relationship between the distance b that the slide 1 moves up and down and the rotation angle α of the magnet is:

[0093]

[0094] Wherein, a is the distance between the rotating shaft 6 and the connection position between the connecting rod 3 and the magnet 5.

[0095] S5: Control the slide table 1 to move up and down according to the calculated distance b.

[0096] In this embodiment, the adsorption force adjustment method is based on fixed principles, formulas and processes. As long as the basic parameters of the intelligent welding equipment are determined, it can be repeatedly applied to different equipment individuals or similar application scenarios. It has good versatility, and each adjustment can achieve a stable adsorption force adjustment effect according to established specifications, further demonstrating its reliability and stability.

[0097] Optionally, in step S3, the relationship between the angle of the magnet and the adsorption force is simulated using ANSYS Maxwell electromagnetic simulation software to obtain the magnetic force of the magnet on the working surface when the magnet rotates at various angles, and then these interpolations are fitted using high-order functions to obtain a functional relationship between the degree of rotation of the magnet and the magnetic force it can provide.

[0098] Specifically, the magnets are simulated to rotate at angles of 0°, 10°, 20°, 30° and 40° respectively, and solidworks is used for modeling and solving. During modeling, the size range of the working surface is established to be consistent with the maximum shape range of the two magnets 5, and the minimum value of the attraction of the magnet to the working surface is obtained.

[0099] In this embodiment, by simulating a limited number of angles (0°, 10°, 20°, 30° and 40°), and then fitting these interpolation values ​​using a high-order function, the relationship between the degree of rotation of the magnet and the magnetic force function it can provide can be accurately described to a certain extent. This method reduces the amount of calculation and time cost of simulation while ensuring a certain degree of accuracy.

[0100] like Figure 4 As shown, an embodiment of the present invention further provides an intelligent welding device, which includes the above-mentioned adsorption force adjustment device and walking wheels 9 at the bottom.

[0101] In this embodiment, the operator no longer needs to spend a lot of energy considering how to manually adjust the adsorption force of the equipment according to different working surfaces. He only needs to start the intelligent welding equipment normally, and its built-in adsorption force adjustment device will automatically complete the adaptation of the adsorption force, which simplifies the operation process and reduces the requirements for the professional skills of the operator, making the equipment easier to operate and convenient for promotion and use.

[0102] Example 1

[0103] The process of solving the relationship between the angle of the magnet and the adsorption force is as follows:

[0104] The distance from the lower surface of the magnet 5 to the working surface is set to 8 mm, and the relative magnetic permeability of the working surface and the magnet mounting seat 8 is 4000, which is the default value of the working surface. The N40 ribonium iron shed magnet shown in Table 1 below is taken as an example:

[0105] Table 1 Parameters of N40 NdFeB magnet

[0106]

[0107] Through simulation calculation, it is found that when the magnet rotates 0°, the adsorption force of the magnet on the working surface is 533N; when the magnet rotates 10°, the adsorption force of the magnet on the working surface is 302N; when the magnet rotates 20°, the adsorption force of the magnet on the working surface is 180N; when the magnet rotates 30°, the adsorption force of the magnet on the working surface is 110N; when the magnet rotates 40°, the adsorption force of the magnet on the working surface is 69N.

[0108] Using origin software, the functional relationship between the magnet adsorption force F and the magnet rotation angle α is solved as follows:

[0109] F=-80·α 0.481 +534.1

[0110] The adsorption force data when the magnet rotates 35° is used to judge the error of the function. When α=35°, F is 91.73 N. The simulation result is 86 N, and the error is small. This function can be used as a characterization function of the magnet rotation angle and the magnet adsorption force.

[0111] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. An adsorption force adjustment device, which can be installed on an intelligent welding device, characterized in that: include: Slope sensor, adjustment structure and processor; The slope sensor is used to measure the inclination angle of the intelligent welding equipment and send the inclination angle to the processor; The processor is used to calculate the required adsorption force according to the tilt angle, calculate the rotation angle of the magnet according to the adsorption force, and control the adjustment structure according to the calculated rotation angle of the magnet; The adjustment structure is used to adjust the angle of the magnet; The adjustment structure comprises: a slide table (1), a connecting rod (3), a magnet (5) and a rotating shaft (6); The slide (1) is connected to one end of the connecting rod (3), and the slide (1) is used to move up and down to drive the connecting rod (3) to move up and down; the other end of the connecting rod (3) is rotatably connected to the upper surface of the magnet (5), and the upper surface of the magnet (5) is also provided with a rotating shaft (6). The magnet (5) is rotatably connected to the intelligent welding equipment through the rotating shaft (6), so that the up and down movement of the connecting rod (3) can drive the magnet (5) to rotate around the rotating shaft (6).

2. The adsorption force adjustment device according to claim 1, characterized in that: The adjustment structure also includes a servo motor (7) and a screw rod, the slide (1) is threadedly connected to the screw rod, and the screw rod is connected to the servo motor (7) via a coupling; the servo motor (7) is signal-connected to the processor and is used to control the screw rod to rotate after receiving instructions from the processor, thereby controlling the slide (1) to move up and down.

3. The adsorption force adjustment device according to claim 1, characterized in that: The processor is used to calculate the required adsorption force according to the following relationship between the inclination angle β of the intelligent welding device and the required adsorption force F: Among them, G is the gravity of the intelligent welding equipment, h is the height of the intelligent welding equipment, L1 is the width of the magnet, L2 is the length of the magnet, and f s It is the friction coefficient between the intelligent welding equipment and the working surface.

4. The adsorption force adjustment device according to claim 1, characterized in that: In the processor, the relationship between the angle of the magnet and the adsorption force is calculated by simulation to obtain the magnetic force of the magnet on the working surface when the magnet rotates at various angles, and then these interpolations are fitted using high-order functions to obtain the functional relationship between the degree of rotation of the magnet and the magnetic force it can provide.

5. The adsorption force adjustment device according to claim 4, characterized in that: The magnet rotation angles of 0°, 10°, 20°, 30° and 40° were simulated for modeling and solving. During modeling, the size range of the working surface was established to be consistent with the maximum shape range of the two magnets, and the minimum value of the magnet's attraction to the working surface was obtained.

6. The adsorption force adjustment device according to claim 1, characterized in that: The processor is specifically used to convert the calculated magnet rotation angle α into a distance b of the up and down movement of the slide (1), and control the movement of the adjustment structure according to the distance b of the up and down movement of the slide (1) to adjust the angle of the magnet; The relationship between the distance b that the slide (1) moves up and down and the rotation angle α of the magnet is: Wherein, a is the distance between the rotating shaft 6 and the connection position between the connecting rod 3 and the magnet 5.

7. A method for adjusting adsorption force, characterized in that: Applicable to the adsorption force regulating device according to any one of claims 1 to 6; the method comprises the following steps: S1: Obtain the tilt angle of the intelligent welding equipment; S2: According to the tilt angle and the known parameters of the intelligent welding equipment, the required adsorption force is calculated according to the adsorption force calculation formula; The adsorption force calculation formula is: Among them, G is the gravity of the intelligent welding equipment, h is the height of the intelligent welding equipment, l1 is the width of the magnet, l2 is the length of the magnet, and f s is the friction coefficient between the intelligent welding equipment and the working surface, β is the tilt angle, and F is the adsorption force; S3: Calculate the corresponding magnet rotation angle based on the functional relationship between the magnet rotation degree and the magnet adsorption force obtained through simulation and fitting. S4: Calculate the distance b of the slide moving up and down according to the relationship between the rotation angle of the magnet and the distance the slide moves up and down; Among them, the relationship between the distance the slide moves up and down and the rotation angle of the magnet is: Wherein, a is the distance between the rotating shaft 6 and the connection position between the connecting rod 3 and the magnet 5, b is the distance that the slide moves up and down, and α is the rotation angle of the magnet; S5: Control the slide table to move up and down according to the calculated distance.

8. The adsorption force adjustment method according to claim 7, characterized in that: In step S3, the relationship between the angle of the magnet and the adsorption force is calculated by simulation to obtain the magnetic force of the magnet on the working surface when the magnet rotates at various angles, and then these interpolations are fitted using high-order functions to obtain the functional relationship between the degree of rotation of the magnet and the magnetic force it can provide.

9. The adsorption force adjustment method according to claim 8, characterized in that: The magnets were simulated to rotate at angles of 0°, 10°, 20°, 30° and 40° respectively, and modeling and solving were performed. When modeling, the size range of the working surface was established to be consistent with the maximum shape range of the two magnets, and the minimum value of the attraction of the magnet to the working surface was obtained.

10. An intelligent welding device, characterized in that: It comprises an adsorption force adjustment device according to any one of claims 1 to 6, and walking wheels (9) at the bottom.

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