Permanent magnet adsorption type automatic obstacle-crossing wall-climbing welding robot

Abstract

The invention discloses a permanent magnet adsorption type automatic obstacle-crossing wall-climbing welding robot which comprises a bottom plate assembly, a welding gun mechanism assembly is installed on the bottom plate assembly, and the welding gun mechanism assembly comprises a cross-shaped sliding block mechanism, a welding gun clamping device and a welding gun, and the welding gun clamping device and the welding gun are arranged on the cross-shaped sliding block mechanism. A TB6612 driver is arranged on one side of the welding gun mechanism assembly, a navigation module is arranged on the other side of the welding gun mechanism assembly, a motor connecting rod is installed below the navigation module, a permanent magnet block support is arranged on the edge of the bottom plate assembly, a permanent magnet adsorption mechanism is installed on the permanent magnet block support, and the permanent magnet adsorption mechanism is composed of four permanent magnet units and a yoke. The permanent magnet block and the bottom plate assembly are fixed through four linear sliding rails, and four sets of connecting frames are evenly installed on the edge of the bottom plate assembly. The speed regulation and differential functions of the mobile welding robot are achieved through remote control, and the robot can conduct wall climbing, curve walking, welding and other operations on an experimental platform and an application site.

Description

Technical Field

[0001] The invention relates to the technical field of high-altitude large-scale steel structure welding, in particular to a permanent magnetic adsorption type automatic obstacle-crossing and wall-climbing welding robot. Background Art

[0002] Welding robots are industrial robots that are mainly engaged in welding work. They are usually composed of a general industrial robot with a welding gun installed on the end axis. They can perform welding operations stably and efficiently in harsh working environments, improve welding quality, and reduce production costs. Therefore, welding robots are widely used in mechanical processing, shipbuilding, electronic production and other fields. In recent years, the number of applications of welding robots in my country's manufacturing industry has increased dramatically, which has promoted the research on welding robots in China. Foreign research on welding products started earlier and now has its own series of products, such as ABB, KUKA, OTC, FANUC, MOTOMAN, etc., which occupy most of the market share. In recent years, research departments in many countries have focused on the research of wall-climbing robots, and have made useful explorations in basic theoretical knowledge, structural optimization design, mechanism coordination control system, etc. On this basis, new technologies such as sensors are deeply integrated to realize intelligent wall-climbing robots, thereby achieving efficient operations instead of manual labor.

[0003] However, the existing welding robots have the following problems during use: For example, patent CN112278104A is a permanent magnetic adsorption foot-type wall-climbing robot, which is provided with a plurality of walking leg mechanisms on the lower side of the frame. When walking, the magnetic adsorption devices on some walking leg mechanisms are adsorbed on the wall, and the magnetic adsorption devices on other walking leg mechanisms are separated from the wall and move forward with the crank. After the walking leg mechanisms of this part swing forward, the magnetic adsorption devices on them are adsorbed on the wall, and the magnetic adsorption devices on some walking leg mechanisms originally adsorbed on the wall are separated from the wall and move forward with the crank, and this cycle repeats, so that the wall-climbing robot can walk on the wall. The invention has not carried out detailed design and testing on the permanent magnet structure, and it is difficult to achieve a high adsorption capacity; patent CN1 11661192B A permanent magnetic adsorption wheel-leg composite wall-climbing robot, including a frame, six driving wheels, two rotating mechanisms, a moving mechanism, six rotating mechanisms and a permanent magnetic adsorption device; the rotating mechanism is used to drive the driving wheels to swing back and forth relative to the frame; one rotating mechanism corresponds to the two driving wheels at the front end of the frame, and the other rotating mechanism corresponds to the two driving wheels at the rear end of the frame; the moving mechanism is used to drive the two driving wheels located in the middle of the frame to move up and down relative to the frame; the rotating mechanism is used to drive the driving wheels to rotate, and the six rotating mechanisms correspond to the six driving wheels one by one. The permanent magnetic adsorption device includes three non-contact permanent magnetic adsorption units, two of which swing synchronously with the two driving wheels located at the front end or rear end of the frame, and one rises and falls synchronously with the two driving wheels located in the middle of the frame. This invention only uses mechanical structures and cannot achieve precise control of the robot's movement. To this end, it is necessary to design corresponding technical solutions to solve the existing technical problems. Summary of the invention

[0004] The purpose of the present invention is to provide a permanent magnetic adsorption type automatic obstacle-crossing and wall-climbing welding robot to solve this technical problem.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a permanent magnetic adsorption type automatic obstacle-crossing and wall-climbing welding robot, comprising a base plate assembly, a welding gun mechanism assembly is installed on the base plate assembly, the welding gun mechanism assembly comprises a cross slider mechanism and a welding gun holder and a welding gun arranged on the cross slider mechanism, a TB6612 driver is arranged on one side of the welding gun mechanism assembly and a navigation module is arranged on the other side, a motor connecting rod is installed below the navigation module, a permanent magnet block bracket is arranged on the edge of the base plate assembly, a permanent magnetic adsorption mechanism is installed on the permanent magnet block bracket, the permanent magnetic adsorption mechanism is composed of four permanent magnet units and a yoke iron, the permanent magnet block and the base plate assembly are fixed by four linear slide rails, four groups of connecting frames are evenly installed on the edge of the base plate assembly, two groups of sensor brackets are installed on the connecting frame, a sensor module is installed on the sensor bracket, and a remote control module is installed at the rear end of the base plate assembly for receiving signals sent by the remote control. The remote control module is controlled by a PWM signal. A guide rod is provided at the bottom of the remote control module. The small motor is installed on the base plate assembly and the power output end is connected to the transmission screw through a belt. The upper end of the transmission screw is connected to the transmission belt. A camera bracket is also installed on the edge of the base plate assembly. A CCD binocular camera AS is installed on the camera bracket. A laser radar module is provided on one side of the CCD binocular camera AS. In addition, four groups of motor brackets are evenly installed at the bottom of the base plate assembly. A 520 encoder motor assembly is installed on the motor bracket. The 520 encoder motor assembly includes a 520 encoder motor body and a 520 encoder motor wheel installed on the 520 encoder motor body. The 65mm rubber tire is fixed to the 520 encoder motor by screws and gaskets. The tail of the base plate assembly is equipped with a power supply assembly, and the motor assembly provides power for the 520 encoder motor body, the cross slider mechanism, and the remote control module.

[0006] As a preferred embodiment of the present invention, the positive and negative magnetic fields of the four permanent magnet units are alternately distributed, and the length ratios of the permanent magnet units are 19:11:11:19 cm, and the spacing ratios are 1.85:1.5:1.85 cm.

[0007] As a preferred embodiment of the present invention, the cross slider mechanism assembly is a three-degree-of-freedom robotic arm consisting of two linear slide rails and a single motor, which is used to clamp the welding gun. At the same time, the position of the welding gun can be changed by remote control during the welding process. An ultrasonic rangefinder is installed at the front end of the cross slider mechanism assembly.

[0008] As a preferred embodiment of the present invention, the TB6612 driver equipped on the base plate assembly has four circuit interfaces, which can simultaneously control the forward and reverse rotation of four 520 encoder motor wheels, and at the same time realize the speed control of the 520 encoder motor body through the serial port connection between the Arduino Mega2560 control board and the driver.

[0009] As a preferred embodiment of the present invention, the welding robot adopts three sets of liftable wheel groups, each of which is composed of 65mm rubber tires. Each wheel group has two independently driven wheels. The three wheel groups are respectively located at the front, middle and rear of the mobile platform, and the linear lifting of the wheel groups is controlled by lifting screws and linear slides.

[0010] As a preferred embodiment of the present invention, when the CCD binocular camera installed on the welding robot is used for the robot to move in a straight line, the binocular camera calculates the distance from the obstacle to the camera by depth calculation and using the triangle similarity measurement principle: Assuming that B is the baseline length of the binocular camera, f is the focal length of the camera, d is the parallax, and Z is the distance from the obstacle to the camera, then according to the triangle similarity, the following formula is established:

[0011]

[0012] By using the above formula, we can calculate the distance Z from the object to the camera. In addition, assuming that it is the height of the object, Z top and Z bottom are the depth values ​​corresponding to the upper and lower boundaries of the object respectively, then the height of the object can be calculated by the following formula:

[0013] H=z top -z bottom

[0014] When Z is less than the set threshold, the motor is automatically turned on to cooperate with the belt drive of the sliding screw to realize the lifting and lowering of the wheel group, motor and permanent magnet. The lifting height is greater than H. Then, according to the robot's travel speed and the distance Z from the obstacle, the interval time for the wheel group to be lifted in sequence is obtained, thereby realizing the robot's active obstacle crossing.

[0015] As a preferred embodiment of the present invention, the robot achieves omnidirectional motion capability with the help of a follow-up steering module, which can realize the synchronous change of the deflection angle of the binocular camera at the front end of the robot and the deflection angle of the wheel. The follow-up steering module includes a binocular camera, a 360° rotatable bracket, a motor for controlling the rotation of the bracket, and a sensor for detecting the deflection angle of the wheel. When the obstacle height exceeds the maximum lifting height of the motor, the robot relies on the path planning algorithm to calculate the best path to avoid the obstacle. When the wheel turns and deviates to one side by a certain angle, the sensor transmits the acquired offset angle data to the MCU, and the MCU controls the motor to make the binocular camera bracket synchronously deviate by the angle in the same direction. In this way, the robot relies on the follow-up steering module to obtain a better field of view when turning, thereby improving the robot's perception range and ability, and improving the accuracy of the path planning algorithm. In addition, when the robot encounters special circumstances and must be manually controlled by the operator, the operator can adjust the deflection angle of the camera separately through the PS2X handle to obtain a better field of view, thereby more conveniently controlling the movement of the robot.

[0016] As a preferred embodiment of the present invention, four sensor modules are installed on both sides of the robot. The sensor modules are fixed on the left and right sides of the robot through brackets and are symmetrically distributed. At the same time, the programmed PID control algorithm is used to ensure that the robot can travel in a straight line during welding, thereby improving the quality of the weld.

[0017] As a preferred embodiment of the present invention, the robot is equipped with a navigation module and a SLAM algorithm, and has a remote data transmission function. It can transmit the situation of high-altitude operations to the host computer in real time, and realize automatic obstacle-crossing welding operations through the remotely set starting point and distance, combined with a path planning algorithm based on machine learning.

[0018] As a preferred embodiment of the present invention, a CCD binocular camera AS and a laser radar are installed on the front of the robot to use machine vision technology to perceive and analyze the working environment in real time, and the laser radar is used to perform high-precision positioning and mapping. This method of comprehensive use of machine vision and laser positioning technology realizes the precise positioning and navigation capabilities of the wall-climbing welding robot. Since the accuracy and consistency of the welding path are reliably guaranteed, the execution efficiency and quality of the welding operation are improved, while the possibility of human operation errors is reduced.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. This scheme designs a permanent magnetic adsorption mechanism with non-contact adjustable adsorption force. The magnetic adsorption module consists of three adjustable magnetic mechanisms with the same structure, which are respectively located in the front wheel group, the middle wheel group and the rear wheel group. Each adjustable magnetic mechanism consists of a permanent magnet block, a screw, a motor and a guide rail. The magnetic adjustment mechanism and the wheel group lifting mechanism of the magnetic adsorption mechanism share the same set of lifting screws and drive motors. The thread on the screw has two pitches, corresponding to the wheel group lifting part and the magnetic adjustment part respectively. The magnetic adjustment mechanism realizes the control of the adsorption force by controlling the air gap between the magnet and the wall.

[0021] 2. This solution uses a CCD binocular camera installed on the front of the robot to monitor the road conditions ahead. When an obstacle longer than the length of the robot is detected in front, the robot's obstacle-crossing function can be activated through the feedback signal to lift the wheels one by one and then cross the obstacle.

[0022] 3. This solution realizes the speed regulation and differential speed functions of the mobile welding robot through remote control, enabling the robot to perform various operations such as wall climbing, curve walking, welding, etc. on the experimental platform and application site.

[0023] 4. This solution ensures that the welding robot can adapt to a variety of wall surfaces, including those containing rust and stains, and perform high-altitude operations by installing an optimized magnetic adsorption mechanism.

[0024] 5. This solution sends PWM signals by remote control to remotely control the wall-climbing welding robot to achieve steering, acceleration, and deceleration, and at the same time can control the position of the welding gun during welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the new type of the present invention;

[0026] Figure 2 This is a structural diagram of the welding gun mechanism assembly of the new type of the present invention;

[0027] Figure 3 This is a structural diagram of the new permanent magnetic adsorption mechanism of the present invention;

[0028] Figure 4 It is a schematic diagram of a novel permanent magnet block adjustment mechanism of the present invention;

[0029] Figure 5 This is a schematic diagram of the operation flow of the wall-climbing welding robot of the present invention;

[0030] Figure 6 This is a model diagram of the digital twin visualization monitoring system of the wall-climbing welding robot of the present invention;

[0031] Figure 7 This is a schematic diagram showing the comparison before and after the optimization of the permanent magnetic adsorption mechanism of the present invention;

[0032] Figure 8 This is the magnetic simulation cloud map of the present invention.

[0033] In the figure: 1. 520 encoder motor assembly; 2. bottom plate assembly; 3. motor bracket; 4. TB6612 driver; 5. 65mm tire; 6. permanent magnetic adsorption mechanism; 7. power supply assembly; 8. sensor module; 9. sensor bracket; 10. connecting frame; 11. welding gun mechanism assembly; 12. remote control module; 13. guide rod; 14. motor connecting rod; 15. permanent magnet block bracket; 16. small motor; 17. belt; 18. transmission screw; 19. transmission belt; 20. navigation module; 21. camera bracket; 22. CCD binocular camera AS; 23. laser radar module. DETAILED DESCRIPTION

[0034] 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.

[0035] See also Figure 1-8The present invention provides a technical solution: a permanent magnetic adsorption type automatic obstacle climbing welding robot, comprising a bottom plate assembly 2, a welding gun mechanism assembly 11 is installed on the bottom plate assembly 2, the welding gun mechanism assembly 11 comprises a cross slider mechanism and a welding gun holder and a welding gun arranged on the cross slider mechanism, a TB6612 driver 4 is arranged on one side of the welding gun mechanism assembly 11 and a navigation module 20 is arranged on the other side, a motor connecting rod 14 is installed below the navigation module 20, a permanent magnet block bracket 15 is arranged on the edge of the bottom plate assembly 2, a permanent magnetic adsorption mechanism 6 is installed on the permanent magnet block bracket 15, the permanent magnetic adsorption mechanism 6 consists of four permanent magnet units and a yoke iron, the permanent magnet block and the bottom plate assembly 2 are fixed by four linear slide rails, four groups of connecting frames 10 are evenly installed on the edge of the bottom plate assembly 2, two groups of sensor brackets 9 are installed on the connecting frame 10, a sensor module 8 is installed on the sensor bracket 9, and a remote control module 12 is installed at the rear end of the bottom plate assembly 2 for receiving PWM emitted by the remote control. The remote control module 12 is controlled by a signal. A guide rod 13 is provided at the bottom of the remote control module 12. A small motor 16 is installed on the base plate assembly 2 and the power output end is connected to the transmission screw 18 through a belt 17. The upper end of the transmission screw 18 is connected to the transmission belt 19. A camera bracket 21 is also installed on the edge of the base plate assembly 2. A CCD binocular camera AS22 is installed on the camera bracket 21. A laser radar module 23 is provided on one side of the CCD binocular camera AS22. In addition, four groups of motor brackets 3 are evenly installed at the bottom of the base plate assembly 2. A 520 encoder motor assembly 1 is installed on the motor bracket 3. The 520 encoder motor assembly 1 includes a 520 encoder motor body and a 520 encoder motor wheel installed on the 520 encoder motor body. The 65mm rubber tire is fixed to the 520 encoder motor by screws and gaskets. The tail of the base plate assembly 2 is equipped with a power supply assembly 7. The motor assembly provides power for the 520 encoder motor body, the cross slider mechanism, and the remote control module 12.

[0036] Further improvement, such as Figure 1 As shown, the positive and negative magnetic fields of the four permanent magnet units are alternately distributed, and the length ratios of the permanent magnet units are 19:11:11:19 cm, and the spacing ratios are 1.85:1.5:1.85 cm.

[0037] Further improvement, such as Figure 1 As shown, the cross slider mechanism assembly is a three-degree-of-freedom robotic arm consisting of two linear slides and a single motor, which is used to clamp the welding gun. At the same time, the position of the welding gun can be changed by remote control during the welding process. An ultrasonic rangefinder is installed at the front end of the cross slider mechanism assembly.

[0038] Further improvement, such as Figure 1As shown, the TB6612 driver 4 equipped on the base plate assembly 2 has four circuit interfaces, which can simultaneously control the forward and reverse rotation of four 520 encoder motor wheels, and at the same time realize the speed control of the 520 encoder motor body through the serial port connection of the Arduino Mega2560 control board and the driver.

[0039] Further improvement, such as Figure 1 As shown, the welding robot adopts three sets of liftable wheel groups, which are composed of 65mm rubber tires. Each wheel group has two independently driven wheels. The three wheel groups are respectively located at the front, middle and rear of the mobile platform. The linear lifting of the wheel groups is controlled by lifting screws and linear slides.

[0040] Further improvement, such as Figure 1 As shown in the figure, when the CCD binocular camera installed on the welding robot is used for the robot to move in a straight line, the binocular camera calculates the distance from the obstacle to the camera through depth calculation and the principle of triangle similarity measurement: Assuming that B is the baseline length of the binocular camera, f is the focal length of the camera, d is the parallax, and Z is the distance from the obstacle to the camera, then according to the triangle similarity, the following formula is established:

[0041]

[0042] By using the above formula, we can calculate the distance Z from the object to the camera. In addition, assuming that it is the height of the object, Z top and Z bottom are the depth values ​​corresponding to the upper and lower boundaries of the object respectively, then the height of the object can be calculated by the following formula:

[0043] H=z top -z bottom

[0044] When Z is less than the set threshold, the motor is automatically turned on to cooperate with the belt drive of the sliding screw to realize the lifting and lowering of the wheel group, motor and permanent magnet. The lifting height is greater than H. Then, according to the robot's travel speed and the distance Z from the obstacle, the interval time for the wheel group to be lifted in sequence is obtained, thereby realizing the robot's active obstacle crossing.

[0045] Further improvement, such as Figure 1As shown in the figure, the robot achieves omnidirectional motion capability with the help of the follow-up steering module. The module can realize the synchronous change of the deflection angle of the robot's front-end binocular camera and the wheel deflection angle. The follow-up steering module includes a binocular camera, a 360° rotatable bracket, a motor for controlling the rotation of the bracket, and a sensor for detecting the wheel deflection angle. When the obstacle height exceeds the maximum lifting height of the motor, the robot relies on the path planning algorithm to calculate the best path to avoid the obstacle. When the wheel turns to one side and deviates by a certain angle, the sensor transmits the obtained offset angle data to the MCU, and the MCU controls the motor to make the binocular camera bracket synchronously deviate by the angle in the same direction. In this way, the robot relies on the follow-up steering module to obtain a better field of view when turning, thereby improving the robot's perception range and ability, and improving the accuracy of the path planning algorithm. In addition, when the robot encounters special circumstances and must be manually controlled by the operator, the operator can adjust the camera's deflection angle separately through the PS2X handle to obtain a better field of view, thereby more conveniently controlling the robot's movement.

[0046] Further improvement, such as Figure 1 As shown, four sensor modules 8 are installed on both sides of the robot. The sensor modules 8 are fixed on the left and right sides of the robot through brackets and are symmetrically distributed. At the same time, the PID control algorithm designed by the program ensures that the robot can travel in a straight line during welding, thereby improving the quality of the weld.

[0047] Further improvement, such as Figure 1 As shown, the robot is equipped with a navigation module 20 and a SLAM algorithm, and has a remote data transmission function. It can transmit the situation of high-altitude operations to the host computer in real time, and realize automatic obstacle-crossing welding operations through the remotely set starting point and distance combined with a path planning algorithm based on machine learning.

[0048] Specifically, the CCD binocular camera AS22 and laser radar installed on the front of the robot use machine vision technology to perceive and analyze the working environment in real time, and use laser radar for high-precision positioning and mapping. This method of combining machine vision and laser positioning technology realizes the precise positioning and navigation capabilities of the wall-climbing welding robot. Since the accuracy and consistency of the welding path are reliably guaranteed, the execution efficiency and quality of the welding operation are improved, while the possibility of human operation errors is reduced.

[0049] The binocular camera installed at the front of the robot is used to detect obstacles in front. When the camera recognizes that an unavoidable obstacle is about to be encountered in front, the small motor will be started immediately to enable the robot to complete the function of lifting and overcoming obstacles. Through the installed navigation module, the working condition and position of the robot working at high altitude can be transmitted back to the host computer in real time. Through the setting of the host computer and the assistance of the ultrasonic modules installed on both sides, the welding robot can automatically perform high-altitude straight-line welding and automatically avoid obstacles. Through the above scheme, the wall-climbing welding robot can move forward, backward, turn, turn around on the spot and other functions when working at high altitude. At the same time, according to the pushing speed of the remote control handle, the speed of the robot can be adjusted to achieve real-time speed regulation. By combining machine vision, laser positioning and other technologies, the precise positioning and navigation capabilities of the wall-climbing welding robot are realized to ensure the accuracy and consistency of the welding path. With the help of the digital twin platform, a visual detection system for the wall-climbing welding robot is built, which can stop the machine in time or take other measures when an abnormal situation occurs on the host computer detection page in time to ensure the safety of operators and equipment. At the same time, the digital twin simulates the welding environment and process parameters, and can record the robot's work trajectory and historical data to analyze and optimize the workflow, predict and optimize the welding quality, and improve the welding accuracy and efficiency. The wall-climbing welding robot can then automatically adjust and precisely operate according to the simulation results of the digital twin, thereby achieving more accurate and stable welding results.

[0050] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0051] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one of such features.

[0052] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0053] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A permanent magnetic adsorption type automatic obstacle climbing welding robot, comprising a base plate assembly (2), characterized in that: A welding gun mechanism assembly (11) is installed on the base plate assembly (2), and the welding gun mechanism assembly (11) comprises a cross slide mechanism, a welding gun holder and a welding gun arranged on the cross slide mechanism. A driver (4) is arranged on one side of the welding gun mechanism assembly (11) and a navigation module (20) is arranged on the other side. A motor connecting rod (14) is installed below the navigation module (20). A permanent magnet block bracket (15) is arranged on the edge of the base plate assembly (2), and a permanent magnet block bracket (15) is installed on the permanent magnet block bracket (15). The attachment mechanism (6) is composed of four permanent magnet units and a yoke iron. The permanent magnet block and the bottom plate assembly (2) are fixed by four linear slide rails. Four groups of connecting frames (10) are evenly installed on the edge of the bottom plate assembly (2). Two groups of sensor brackets (9) are installed on the connecting frames (10). The sensor brackets (9) are installed with sensor modules (8). The rear end of the bottom plate assembly (2) is installed with a remote control module (12) for receiving a PWM signal sent by a remote controller to perform The remote control module (12) is controlled by a guide rod (13) at the bottom, the small motor (16) is mounted on the base plate assembly (2) and the power output end is connected to the transmission screw (18) through a belt (17), the upper end of the transmission screw (18) is connected to the transmission belt (19), and a camera bracket (21) is also installed on the edge of the base plate assembly (2), a binocular camera (22) is installed on the camera bracket (21), and a laser radar module (23) is arranged on one side of the binocular camera (22). ), in addition, four groups of motor brackets (3) are evenly installed at the bottom of the base plate assembly (2), and an encoder motor assembly (1) is installed on the motor bracket (3). The encoder motor assembly (1) includes an encoder motor body and an encoder motor wheel installed on the encoder motor body. The rubber tire and the encoder motor are fixed by screws and gaskets. The tail of the base plate assembly (2) is equipped with a power supply assembly (7), and the motor assembly provides power for the encoder motor body, the cross slider mechanism, and the remote control module (12).

2. According to claim 1, a permanent magnetic adsorption type automatic obstacle climbing welding robot is characterized in that: The positive and negative magnetic fields of the four permanent magnet units are alternately distributed, and the length ratios of the permanent magnet units are 19:11:11:19 cm, and the spacing ratios are 1.85:1.5:1.85 cm.

3. The permanent magnetic adsorption type automatic obstacle climbing welding robot according to claim 1 is characterized in that: The cross slider mechanism assembly is a three-degree-of-freedom robotic arm consisting of two linear slide rails and a single motor, which is used to clamp the welding gun. At the same time, the position of the welding gun can be changed by remote control during the welding process. An ultrasonic rangefinder is installed at the front end of the cross slider mechanism assembly.

4. The permanent magnetic adsorption type automatic obstacle climbing welding robot according to claim 1 is characterized in that: The driver (4) equipped on the base plate assembly (2) has four circuit interfaces, which can simultaneously control the forward and reverse rotation of four encoder motor wheels, and at the same time realize speed control of the encoder motor body through the serial port connection between the control board and the driver.

5. The permanent magnetic adsorption type automatic obstacle climbing welding robot according to claim 1 is characterized in that: The welding robot uses three sets of liftable wheel groups, which are composed of rubber tires. Each wheel group has two independently driven wheels. The three wheel groups are respectively located at the front, middle and rear of the mobile platform. The linear lifting of the wheel groups is controlled by lifting screws and linear slides.

6. The permanent magnetic adsorption type automatic obstacle climbing welding robot according to claim 1, characterized in that: The binocular camera installed on the welding robot is used when the robot moves in a straight line. The binocular camera calculates the distance from the obstacle to the camera through depth calculation and the principle of triangle similarity measurement: Assuming that B is the baseline length of the binocular camera, f is the focal length of the camera, d is the parallax, and Z is the distance from the obstacle to the camera, then according to the triangle similarity, the following formula is established: By using the above formula, we can calculate the distance Z from the object to the camera. In addition, we assume that it is the height of the object, Ztop and Zbotto m are the depth values ​​corresponding to the upper and lower boundaries of the object respectively, then the height of the object can be calculated by the following formula: H = 2topp-zbottom When Z is less than the set threshold, the motor is automatically turned on to cooperate with the belt drive of the sliding screw to realize the lifting and lowering of the wheel group, motor and permanent magnet. The lifting height is greater than H. Then, according to the robot's travel speed and the distance Z from the obstacle, the interval time for the wheel group to be lifted in sequence is obtained, thereby realizing the robot's active obstacle crossing.

7. The permanent magnetic adsorption type automatic obstacle climbing welding robot according to claim 1 is characterized in that: The robot achieves omnidirectional motion capability with the help of the follow-up steering module, which can realize the synchronous change of the deflection angle of the robot's front-end binocular camera and the wheel deflection angle. The follow-up steering module includes a binocular camera, a 360° rotatable bracket, a motor that controls the rotation of the bracket, and a sensor that detects the wheel deflection angle. When the obstacle height exceeds the maximum lifting height of the motor, the robot relies on the path planning algorithm to calculate the best path to avoid the obstacle. When the wheel turns and deviates to one side by a certain angle, the sensor transmits the obtained offset angle data to the MCU, and the MCU controls the motor to make the binocular camera bracket synchronously deviate by the angle in the same direction. In this way, the robot relies on the follow-up steering module to obtain a better field of view when turning, thereby improving the robot's perception range and ability, and improving the accuracy of the path planning algorithm. In addition, when the robot encounters special circumstances and must be manually controlled by the operator, the operator can use the PS2X handle to adjust the camera's deflection angle separately to obtain a better field of view, thereby more conveniently controlling the robot's movement.

8. The permanent magnetic adsorption type automatic obstacle climbing welding robot according to claim 1, characterized in that: Four sensor modules (8) are installed on both sides of the robot. The sensor modules (8) are fixed to the left and right sides of the robot through brackets and are symmetrically distributed. The programmed PID control algorithm is used to ensure that the robot can travel in a straight line during welding, thereby improving the quality of the weld.

9. The permanent magnetic adsorption type automatic obstacle climbing welding robot according to claim 1, characterized in that: The robot is equipped with a navigation module (20) and a SLAM algorithm, and has a remote data transmission function, and can transmit the situation of high-altitude operations to a host computer in real time. By remotely setting a starting point and distance, combined with a machine learning-based path planning algorithm, automatic obstacle-crossing welding operations can be achieved.

10. The permanent magnetic adsorption type automatic obstacle climbing welding robot according to claim 1, characterized in that: The binocular camera (22) and laser radar installed on the front of the robot use machine vision technology to perceive and analyze the working environment in real time, and use the laser radar to perform high-precision positioning and mapping. This method of comprehensively utilizing machine vision and laser positioning technology realizes the precise positioning and navigation capabilities of the wall-climbing welding robot. Since the accuracy and consistency of the welding path are reliably guaranteed, the execution efficiency and quality of the welding operation are improved, while the possibility of human operation errors is reduced.

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