Multifunctional welding and welding fume treatment robot system

Abstract

The invention relates to the technical field of welding robots, in particular to a multifunctional welding and welding fume treatment robot system which comprises a welding component, a plurality of welding devices and inspection devices, the welding component comprises a rail assembly and a plurality of moving assemblies sliding on the rail assembly, and the welding devices and the inspection devices are fixed to the moving assemblies. The moving assembly can drive the welding equipment and the inspection equipment to move on the track assembly, so that the welding equipment and the inspection equipment can be used for welding and inspecting a workpiece to be welded; the cleaning component comprises a guide assembly fixed to the moving assembly and a wind power assembly movably connected into the guide assembly, when the welding equipment is driven by the moving assembly to conduct welding around the large steel structural part, the wind power assembly in the cleaning component can drive the guide assembly to conduct dust collection on the welding position and the to-be-welded position, and therefore the welding position and the to-be-welded position can be cleaned. And then, the dispersing assembly disperses the smoke to the filtering assembly for filtering, so that the situation that surrounding workers are harmed by toxic smoke generated during welding is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of welding robots, in particular to a multifunctional welding and welding smoke processing robot system. Background Art

[0002] Large steel structure equipment is usually fixed and installed by welding. However, due to the large size and volume of large steel structures, manual welding is inconvenient and inefficient during the welding process, and there are great safety hazards. Therefore, welding robots are used to weld large steel structure equipment.

[0003] In existing welding robots, the smoke is not handled in time and absorbed incompletely. The smoke produced during welding contains metal particles and toxic gases, which pollute the air and endanger health. It not only leads to a decline in air quality, but also increases the risk of respiratory diseases for welders and surrounding personnel, and also has a negative impact on the environment and ecosystem. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the above-mentioned problem or the problem in the prior art that toxic gases in the welding process may cause harm to surrounding workers, the present invention is proposed.

[0006] It is therefore an object of the present invention to provide a multifunctional weld.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: a welding component, which includes a track component, and a plurality of movable components sliding on the track component, and also includes a welding device and an inspection device fixed on the movable component, and the movable component can drive the welding device and the inspection device to move on the track component, so that the welding device and the inspection device can weld and inspect the workpiece to be welded; a cleaning component, which includes a guide component fixed on the movable component, and a wind power component movably connected in the guide component, and also includes a dispersion component fixed inside the wind power component, and also includes a filter component fixed inside the wind power component corresponding to the top of the dispersion component, and the wind power component can drive the guide component to vacuum the welding point and the point to be welded, and then the dispersion component is dispersed to the filter component for filtering.

[0008] As a preferred solution of the multifunctional welding of the present invention, the track assembly includes a rectangular track, a telescopic adjustment plate fixed to the inner side of the rectangular track, and a magnetic attraction plate fixed to the inner side of the telescopic adjustment plate.

[0009] As a preferred solution for the multifunctional welding of the present invention, the moving component includes a moving shell sliding on the rectangular track, an outer wall of the moving shell is provided with an open groove at the telescopic adjustment plate, and a moving device fixed on the moving shell, also including a support rod fixed to the top of the moving shell, and also including a telescopic rod fixed to the top of the support rod.

[0010] As a preferred solution of the multifunctional welding of the present invention, the guide assembly includes a water tank fixed on the top of the movable assembly, and a No. 1 hose fixed on the bottom end of the outer wall of the water tank, a flat-mouthed straw fixed on the end of the No. 1 hose, and a connecting plate fixed on the outer wall of the end of the No. 1 hose, the connecting plate is connected to the movable assembly, and also includes a steel brush fixed on the end face of the connecting plate, and a No. 2 hose fixed on the outer wall of the water tank next to the No. 1 hose, the No. 1 hose, the No. 2 hose and the movable assembly are connected.

[0011] As a preferred solution of the multifunctional welding of the present invention, the wind power component includes a placement ring movably connected to the inner wall of the bottom end of the water tank, and a filter placed in the placement ring, and also includes connecting rods fixed on both sides of the top of the placement ring, and also includes a cover plate fixed on the top of the connecting rod, the cover plate is adapted to the water tank, and also includes a fan fixed on the top of the cover plate.

[0012] As a preferred solution of the multifunctional welding of the present invention, the dispersion component includes a conical ring fixed to the connecting rod at the top of the placement ring, and an arc block fixed to the top of the conical ring, an inlet is provided at the bottom center of the arc block, an inner cavity is provided inside the arc block, and a plurality of outlets are provided around the outside of the inlet at the top of the arc block, and a guide plate fixed at a position adjacent to the corresponding outlet inside the inner cavity, and a baffle net fixed to the inner wall of the conical ring.

[0013] As a preferred solution of the multifunctional welding of the present invention, the filter assembly includes a sealing ring fixed to the connecting rod at the bottom of the cover plate, and a clamping net fixed to the openings at both ends of the sealing ring, and also includes a filter element and activated carbon fixed to the inner wall of the sealing ring.

[0014] The beneficial effects of the multifunctional welding of the present invention are as follows: when the present invention drives the welding equipment to weld around a large steel structure through a moving component, the wind power component in the cleaning component can drive the guide component to absorb dust from the welding area and the area to be welded, and then the dispersion component disperses the dust to the filter component for filtering, thereby avoiding the toxic smoke generated during welding from harming surrounding workers.

[0015] In order to solve the above technical problems, the present invention also provides the following technical solutions: a mobile device, a welding robot, an inspection robot, a welding power supply robot, a controller robot, a welding smoke treatment device, a power supply device and a gas source device; A moving device, which is installed on the workpiece to be welded or an adjacent workpiece and is used for moving the welding robot; A welding robot, which is installed on the mobile device and is used to perform welding processing on the weld seam on the workpiece to be welded; An inspection robot, which is mounted on the mobile device and is used to perform welding defect detection and flaw detection on the workpiece to be welded; A welding power supply robot, which is installed on the mobile device, connected to the welding robot through a No. 1 wire, and connected to the inspection robot through a No. 2 wire, and is used to convert voltages for the welding robot and the inspection robot to provide welding power; a controller robot, which is mounted on the mobile device, connected to the welding robot signal through a No. 1 signal line, connected to the inspection robot signal through a No. 2 signal line, and connected to the welding power supply robot through a No. 3 wire, and is used to control the movement and detection action of the inspection robot, and is also used to control the movement and welding action of the welding robot along the workpiece to be welded during welding; The welding smoke treatment device is composed of a visual camera and a C-shaped slide rail surrounding the welding head of the welding robot. The welding smoke absorption port can move on the C-shaped slide rail. The visual camera identifies the welding smoke and the algorithm calculates the best position for welding smoke absorption. A power supply device, connected to the welding power supply robot via a No. 4 wire, for providing power to the welding power supply robot and the controller robot; The gas source device is connected to the power supply device through a No. 5 electric wire and is used to provide the welding robot with gas used for welding.

[0016] The beneficial effects of the welding smoke processing robot system of the present invention are as follows: when welding large steel structures, the mobile device is fixed on the large steel structures, and the welding robot is controlled by the controller robot to weld the large steel structures. At the same time, the controller robot will also control the inspection robot to inspect the welding parts. At the same time, the controller robot will also drive the welding smoke processing device to process the smoke generated during the welding process, thereby reducing the harm to workers caused by the toxic gases generated by welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0018] Figure 1 This is an overall schematic diagram of multifunctional welding.

[0019] Figure 2 Schematic diagram of the local structure of multifunctional welding.

[0020] Figure 3 It is a schematic diagram of the structure of the multifunctional welding track assembly.

[0021] Figure 4 Schematic diagram of the structure of the mobile component in multifunctional welding.

[0022] Figure 5 This is a schematic diagram of the cleaning component structure in multifunctional welding.

[0023] Figure 6 Schematic diagram of cleaning the internal structure of components during multifunctional welding.

[0024] Figure 7 This is a schematic diagram of the structure of the multifunctional welding guide component.

[0025] Figure 8 It is a schematic diagram of the structure of the wind power component in the multifunctional welding.

[0026] Fig. 9 Schematic diagram of the structure of dispersed components in multifunctional welding.

[0027] Fig.10 This is a schematic diagram of the structure of the multifunctional welding filter component.

[0028] In the figure: 100, welding component; 101, track assembly; 102, moving assembly; 103, welding equipment; 104, inspection equipment; 101a, rectangular track; 101b, telescopic adjustment plate; 101c, magnetic plate; 102a, mobile shell; 102b, opening slot; 102c, mobile device; 102d, support rod; 102e, telescopic rod; 200, cleaning component; 201, guide component; 202, wind component; 203, dispersion component; 204, filtering component; 201a, water tank; 201b, hose No. 1; 201c, flat-mouthed straw; 201d, connecting plate; 201e, steel brush; 201f, hose No. 2; 202a, placement ring; 202b, filter screen; 202c, connecting rod; 202d, cover plate; 202e, fan; 203a, conical ring; 203b, arc block; 203c, inlet; 203d, inner cavity; 203e, outlet; 203f, guide plate; 203g, baffle net; 204a, sealing ring; 204b, clamping net; 204c, filter element; 204d, activated carbon. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0030] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0031] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0032] Example 1, reference Figure 1 to Figure 5 , is the first embodiment of the present invention, which provides a multifunctional welding method, which can achieve the effect of preventing toxic gases from causing harm to surrounding workers during welding, and includes a welding component 100, which includes a track component 101, and a plurality of mobile components 102 sliding on the track component 101, the mobile component 102 has three, and also includes a welding device 103 and an inspection device 104 fixed on the mobile component 102, the inspection device 104 is used to check the welding effect of the welding device 103 on the large steel structure, the welding device 103 is fixed on the top of the middle mobile component 102, and the inspection device 104 is fixed on the top of the left mobile component 102, the mobile component 102 can drive the welding device 103 and the inspection device 104 to move on the track component 101, so that the welding device 103 and the inspection device 104 can weld and inspect the workpiece to be welded; The cleaning component 200 includes a guide component 201 fixed on the moving component 102, the guide component 201 is fixed on the top of the right moving component 102, the guide component 201 has two air inlet ends, one air inlet end is fixed on the right moving component 102, and the other is fixed on the middle moving component 102, and a wind power component 202 flexibly connected to the guide component 201, and also includes a dispersion component 203 fixed inside the wind power component 202, and also includes a filter component 204 fixed inside the wind power component 202 corresponding to the top of the dispersion component 203, the wind power component 202 can drive the guide component 201 to vacuum the welding parts and the parts to be welded, and then the dispersion component 203 is dispersed to the filter component 204 for filtering.

[0033] Specifically, Figure 3 In the figure, the track assembly 101 includes a rectangular track 101a, which is in a rectangular shape, and a telescopic adjustment plate 101b fixed to the inner side of the rectangular track 101a. There are six telescopic adjustment plates 101b, two of which are located at the inner side of the long end of the rectangular track 101a, and one at the inner side of the short end of the rectangular track 101a. It also includes a magnetic plate 101c fixed to the inner side of the telescopic adjustment plate 101b. By adjusting the telescopic adjustment plate 101b, the six magnetic plates 101c can be adapted to the outside of the large steel structure. Then, the rectangular track 101a is fixed to the outer wall of the large steel structure by the suction force of the magnetic plate 101c.

[0034] Further, such as Figure 4 In the figure, the moving component 102 includes a moving shell 102a that slides on the rectangular track 101a, and the outer wall of the moving shell 102a is provided with an open groove 102b at the telescopic adjustment plate 101b. The open groove 102b can avoid the telescopic adjustment plate 101b when the moving shell 102a slides on the rectangular track 101a, and a moving device 102c fixed on the moving shell 102a. The moving device 102c can drive the moving shell 102a to move on the rectangular track 101a. It also includes a support rod 102d fixed on the top of the moving shell 102a, and also includes a telescopic rod 102e fixed on the top of the support rod 102d. The telescopic rod 102e in the three moving components 102 can drive the corresponding welding equipment 103, the inspection equipment 104 and the cleaning component 200 to approach the object to be welded.

[0035] During use, the welding equipment 103 and the cleaning component 200 are both located on the mobile component 102, so when the welding equipment 103 welds the large steel structure, by adjusting the telescopic adjustment plate 101b, the six magnetic plates 101c can be adapted to the outside of the large steel structure, and then the rectangular track 101a is fixed to the outer wall of the large steel structure by the suction force of the magnetic plate 101c, and then the mobile device 102c drives the moving shell 102a, the support rod 102d, and the telescopic rod 102e to move on the rectangular track 101a, so that the mobile component 102 can drive the welding equipment 103 and the cleaning component 200 to move around the large steel structure, and then the welding equipment 103 can weld the large steel structure, and at the same time the cleaning component 200 can clean the toxic smoke generated during welding.

[0036] In summary, when the moving component 102 drives the welding equipment 103 to weld around a large steel structure, the wind component 202 in the cleaning component 200 can drive the guide component 201 to vacuum the welding area and the area to be welded, and then the dispersion component 203 disperses the dust to the filter component 204 for filtration, thereby avoiding the toxic smoke generated during welding from harming the surrounding workers.

[0037] Example 2, reference Figures 1 to 10 , which is the second embodiment of the present invention. Different from the previous embodiment, this embodiment provides a multifunctional welding cleaning component 200, which has the effect of filtering the toxic gas generated during the welding process, such as Figure 7 The guide assembly 201 includes a water tank 201a fixed on the top of the moving assembly 102, the water tank 201a is fixed on the top of the moving shell 102a in the right moving assembly 102, the water tank 201a has water inside, the water level of which is higher than the dispersion assembly 203 and lower than the filtering assembly 204, and a No. 1 hose 201b fixed to the bottom end of the outer wall of the water tank 201a, and also includes a flat mouth straw 201c fixed to the end of the No. 1 hose 201b, and also includes a connecting plate 201d fixed to the outer wall of the end of the No. 1 hose 201b, the connecting plate 201d and the moving assembly 102 is connected, the connecting plate 201d is fixed to the driving end of the telescopic rod 102e in the right moving component 102, and also includes a steel brush 201e fixed to the end face of the connecting plate 201d, and a No. 2 hose 201f fixed to the outer wall of the water tank 201a and located next to the No. 1 hose 201b, the No. 1 hose 201b, the No. 2 hose 201f and the moving component 102 are connected, the No. 1 hose 201b is connected to the telescopic rod 102e in the right moving component 102, and the No. 2 hose 201f is connected to the telescopic rod 102e in the middle moving component 102.

[0038] Specifically, Figure 8In the figure, the wind power component 202 includes a placement ring 202a movably connected to the inner wall of the bottom end of the water tank 201a, and a filter 202b placed in the placement ring 202a. The top of the placement ring 202a has a slot for placing the filter 202b. It also includes connecting rods 202c fixed on both sides of the top of the placement ring 202a, and also includes a cover plate 202d fixed on the top of the connecting rod 202c, the center of the cover plate 202d has a reserved hole, the cover plate 202d is adapted to the water tank 201a, the cover plate 202d can seal the opening at the top of the water tank 201a, and also includes a fan 202e fixed on the top of the cover plate 202d, and the air inlet of the fan 202e is located in the reserved hole in the center of the cover plate 202d.

[0039] Further, such as Fig. 9 In the figure, the dispersion component 203 includes a conical ring 203a fixed to the connecting rod 202c and located at the top of the placement ring 202a, and an arc block 203b fixed to the top of the conical ring 203a. The top of the arc block 203b is a convex end and the bottom is a concave end. An inlet 203c is provided at the center of the bottom of the arc block 203b, and an inner cavity 203d is provided inside the arc block 203b. A plurality of outlets 203e are provided at the top of the arc block 203b around the outside of the inlet 203c. Since the top of the arc block 203b is a convex spherical shape, the outlets of the plurality of outlets 203e are oriented outward. The arc block 203b also includes a guide plate 203f fixed at the inner cavity 203d corresponding to the outlet 203e and a baffle net 203g fixed to the inner wall of the conical ring 203a.

[0040] Further, such as Fig.10 In the figure, the filter assembly 204 includes a sealing ring 204a fixed to the connecting rod 202c at the bottom of the cover plate 202d, a clamping net 204b fixed to the openings at both ends of the sealing ring 204a, and also includes a filter element 204c and activated carbon 204d fixed to the inner wall of the sealing ring 204a.

[0041] The rest of the structure is the same as that of Example 1.

[0042] During use, when the three moving components 102 drive the welding equipment 103 and the inspection equipment 104 to weld and inspect the large steel structures, the moving component 102 on the right side will drive the cleaning component 200 to move. During this process, the telescopic rod 102e in the moving component 102 on the right side drives the connecting plate 201d and the steel brush 201e to clean the area to be welded. At the same time, the fan 202e is started to drive the No. 1 hose 201b to absorb the welding smoke generated during welding, and the No. 2 hose 201f to absorb the dust in the area to be welded after being cleaned by the steel brush 201e. The No. 1 hose 201b and the No. 2 hose 201f will guide the welding smoke and dust into the water at the bottom of the water tank 201a for cooling. At this time, the welding smoke and dust will pass through the central guide inlet 203c of the conical ring 203a. During this process, the dust and debris in the welding smoke will be blocked by the baffle net 203g and fall on the top of the filter net 202b, and enter the inner through the inlet 203c The welding smoke in cavity 203d will be evenly dispersed into the inner cavity 203d by the concave surface of the inner wall at the top of arc block 203b. In this process, guide plate 203f will guide the welding smoke to the corresponding outlet 203e, and the welding smoke will be discharged to the top of arc block 203b by the inclination angle of outlet 203e. At this time, the diffused welding smoke will be driven by fan 202e to pass through filter element 204c and activated carbon 204d for filtration and purification, and then discharged by fan 202e. In this way, welding smoke can be evenly filtered and purified on the filter element 204c and the activated carbon 204d. After use, the cover 202d can be lifted up to drive the fan 202e, the connecting rod 202c, the placement ring 202a, the filter 202b, the dispersion component 203 and the filter component 204 to separate from the water tank 201a. At this time, the filter 202b can be taken out, and the dust on the filter 202b can be processed centrally, and then reset and put back into the water tank 201a.

[0043] In summary, by cleaning the welding smoke and cleaning the welding area at the same time, the welding effect can be improved and workers can be prevented from inhaling harmful gases and dust. The welding smoke and dust can be filtered so that the dust can be collected centrally. After the welding smoke is cooled, it is evenly passed through the filter component 204 by a dispersed method, so that it can be efficiently filtered and purified.

[0044] Embodiment 3 is the third embodiment of the present invention. Different from the previous embodiment, this embodiment provides a welding smoke processing robot system, which includes a mobile device, a welding robot, an inspection robot, a welding power supply robot, a controller robot, a welding smoke processing device, a power supply device and a gas source device; A moving device, which is installed on the workpiece to be welded or an adjacent workpiece and is used for moving the welding robot; The moving device includes a magnetic ascending track, a horizontal moving track and a Z-shaped magnetic track support mechanism. The magnetic ascending track is adsorbed on the component or the adjacent component. The Z-shaped magnetic track support mechanism is retractable, one end of which is adsorbed on the magnetic ascending track and the other end of which is adsorbed on the horizontal moving track for connection, and is used to support the horizontal moving track. A welding robot, which is mounted on the mobile device and is used to perform welding processing on the weld seam on the workpiece to be welded; The welding power supply robot comprises a No. 1 suspension device and a welding transformer unit; the transformer unit and the No. 1 suspension device are arranged on a horizontal moving device; The welding transformer unit is connected to the welding robot through a No. 1 wire and is used to convert the city electricity or industrial electricity into welding electricity; The welding robot comprises a No. 1 walking mechanism, a retractable welding mechanism, a welding wire transmission mechanism, a welding smoke treatment mechanism and a No. 1 sensor group; the walking mechanism, the retractable welding mechanism, the welding wire transmission mechanism, the welding smoke treatment mechanism and the No. 1 sensor group are arranged on the No. 1 walking mechanism; The No. 1 walking mechanism is used to clamp the welding robot on the horizontal moving device to realize the walking of the welding robot; the retractable welding mechanism is used to adjust the posture of the welding gun; the welding wire transmission mechanism is used to transmit the welding wire to the welding robot; the No. 1 sensor group is used to track the weld seam during the welding process, obtain the posture of the welding robot and the position of the welding robot; The No. 1 walking mechanism is used to clamp the welding robot on the horizontal moving device and realize the walking of the welding robot; the retractable welding mechanism is used to adjust the posture of the welding gun; the No. 1 sensor is used to track the weld seam during welding, obtain the posture of the welding robot and the body position of the welding robot, and the retractable welding mechanism is used to adjust the posture of the welding gun and can realize the adjustment of the three-dimensional welding angle. The retractable welding mechanism can be driven by multiple stepper motors, multiple servo motors or multiple actuators; The unnecessary parts of the welding robot during the welding process are set on the welding power supply robot and the controller robot to achieve weight reduction of the welding robot, which can reduce the volume of the welding robot itself and avoid the influence of wind direction on welding accuracy when working in a windy environment. At the same time, the small weight of the welding robot itself makes the robot movement more flexible, which is conducive to the rapid adjustment of the robot's posture and the welding gun's posture, thereby ensuring the welding process and welding quality; During welding, the current of welding electricity is relatively large, and the corresponding transmission wire is relatively thick, so there is a certain limit on the transmission distance. In this embodiment, the welding power supply unit is set on the welding power supply robot and moves with the welding robot, replacing the method of setting the welding power supply on the ground in the prior art. The length of the wire for transmitting welding electricity can be shortened, and the influence of the dead weight of the wire for transmitting welding electricity on the welding robot when the welding robot is working at high altitude can be reduced, which can greatly increase the operating range of the welding robot. Sensor group No. 1 includes a laser camera, a posture sensor and a distance sensor; the laser camera is used to track the weld during welding, the posture sensor is used to obtain the posture of the welding robot, and the distance sensor is used to obtain the position of the welding robot; The second sensor group includes a laser camera, a posture sensor and a distance sensor, which are used to control the position and posture of the inspection robot. The distance sensor is used to obtain the position of the inspection robot; The No. 1 traveling mechanism and the No. 2 traveling mechanism are both four-row two-column wheeled traveling mechanisms, and are both installed on a G-shaped bracket. A driving motor is relatively arranged on each bracket, and the two driving motors drive the four-row two-column wheeled traveling mechanisms respectively; The driving motor provided on the No. 1 walking mechanism is a servo motor; The No. 1 traveling mechanism and the No. 2 traveling mechanism both include four rows of two-train wheels and a G-shaped mounting bracket, and a driving motor is relatively arranged on each mounting bracket to drive the corresponding four rows of two-train wheels; An inspection robot, which is mounted on a mobile device and is used to perform welding defect detection and flaw detection on the workpiece to be welded; The inspection robot includes a No. 2 walking mechanism, a No. 2 sensor group, and a retractable detection mechanism; the No. 2 sensor group and the retractable detection mechanism are arranged on the No. 2 walking mechanism; The No. 2 walking mechanism is used to clamp the inspection robot on the horizontal moving device to realize the walking of the inspection robot; the retractable detection mechanism is used to adjust the posture of the end; the No. 2 sensor group is used to adjust the action during the detection process, obtain the posture of the retractable detection mechanism and the vehicle position of the inspection robot; During the welding process, the welding robot needs to be controlled with high precision. Therefore, a laser camera, a posture sensor and a distance sensor are set on the welding robot to ensure that there is no collision between the robots. The distance sensor can obtain the positions of the inspection robot and the welding robot and feed the information back to the controller robot, which then performs corresponding control to avoid collision between the robots. A welding power supply robot, which is installed on the mobile device, connected to the welding robot through a No. 1 wire, and connected to the inspection robot through a No. 2 wire, and is used to convert voltages for the welding robot and the inspection robot to provide welding power; A controller robot, which is mounted on the mobile device, is connected to the welding robot signal through a No. 1 signal line, is connected to the inspection robot signal through a No. 2 signal line, and is connected to the welding power supply robot through a No. 3 wire, and is used to control the movement and detection action of the inspection robot, and is also used to control the movement of the welding robot along the workpiece to be welded and the welding action during the welding process; The controller robot includes a No. 2 suspension device and a control unit; the No. 2 suspension device and the control unit are arranged on the horizontal moving device; The control unit is used to control the welding robot to move along the horizontal moving device and perform welding actions during welding processing, and to control the inspection robot to move along the horizontal moving device and perform inspection actions, and is also used to check the distance value between the inspection robot and the welding robot; A display terminal and a control handle, the display terminal is connected to the controller robot, and the display terminal is used to input welding parameters and display welding parameter information; the control handle is connected to the controller robot and is used to manually control the welding robot and check the movement of the robot; The display terminal can be set as a display terminal with display and touch input such as a touch screen, an industrial computer, etc., to realize the input of welding parameters and display welding parameter information; The controller robot can also be equipped with an alarm unit, which is used to sound an alarm and stop the welding operation when the robot's position is abnormal and may cause a collision. The power supply device is connected to the welding power supply robot through a No. 4 electric wire and is used to provide power to the welding power supply robot and the controller robot; No. 1 wire is used to transmit low-voltage and high-current welding electricity, and No. 4 wire is used to transmit high-voltage and low-current municipal electricity or industrial electricity. During welding, the welding voltage generally adopts DC low voltage, which is usually below 30V. The maximum current carried by the welding power supply wire is 500A, so the welding power supply wire requires a copper core cable of more than 70mm. In this embodiment, the wire feeder is integrated with the welding robot, and the welding power supply robot moves with the welding robot. Therefore, the wire between the welding power supply robot and the welding robot can be shorter, which can reduce the influence of the dead weight of the wire. At the same time, the power supply wire for the welding power supply robot is a three-phase 380V power supply. Through the voltage conversion multiple: 380*1.732 / 20=22, its maximum current only needs 1 / 22 of the welding power supply output current. Therefore, the line width of the three-phase power supply wire does not need to be very thick, which is convenient for long-distance transmission, so that a wider range of operations of the welding robot system can be achieved, and the flexibility of the welding robot movement can be ensured; The welding smoke treatment device consists of a visual camera and a C-shaped slide rail surrounding the welding head of the welding robot. The welding smoke absorption port can move on the C-shaped slide rail. The visual camera identifies the welding smoke and the algorithm calculates the best position for welding smoke absorption. The gas source device is connected to the power supply device through a No. 5 electric wire and is used to provide the welding robot with gas used for welding; The gas source equipment is connected to the welding power supply robot through a gas guide hose.

[0045] When in use, before welding, if the workpiece to be welded is a large steel structure with a large volume, a magnetic ascending track and a horizontal ascending track are used. If they can be spliced, the magnetic ascending track is installed first and then the Z-shaped magnetic support mechanism is installed at a lower position. Further, the horizontal moving track is spliced, and the gas source equipment, welding robot, inspection robot, controller robot and welding power supply robot are installed on the horizontal moving device in sequence before the horizontal moving track is fully spliced. If the horizontal moving device is too close or too far away from the workpiece to be welded, the Z-shaped magnetic track support mechanism is adjusted. The inner layer of the Z-shaped magnetic track support mechanism contains a triangular spring buckle, and the outer layer takes rectangular holes at fixed intervals. When the outer layer is drawn outward to increase the spacing, the triangular buckle will shrink inward due to the oblique force. When the inner layer is drawn to a suitable length and reaches the desired spacing, the triangular buckle is adjusted to the rectangular hole, the triangular buckle pops up, and the Z-shaped magnetic track support mechanism is fixed. On the contrary, if the spacing needs to be reduced, the triangular buckle is pressed into the inner layer, and after adjusting to the appropriate distance, the triangular buckle is selected to pop out. Furthermore, the Z-shaped magnetic support mechanism is raised along the magnetic ascending track to raise the horizontal moving device to a suitable height, and the welding robot is controlled by the controller robot to move to the welding point. When the welding robot moves to the welding point, the controller robot controls the welding robot to perform welding operations, and at the same time controls the welding power supply robot to provide welding current to the welding robot. At the same time, the welding wire transmission mechanism provides welding wire. At this time, the welding smoke absorption tube absorbs welding smoke, and the welding smoke treatment equipment performs welding smoke treatment until welding is completed. During the welding process, the welding robot will move with the weld. After welding is completed, the controller robot controls the welding robot to stay away from the welding point, and at the same time controls the inspection robot to perform quality inspection.

[0046] In summary, those skilled in the art can understand that all or part of the steps in the method for implementing the above-mentioned implementation can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions for making a single-chip microcomputer, a chip or a processor (processor) execute all or part of the steps of the method of each implementation of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0047] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A multifunctional welding, characterized in that: include, A welding component (100), comprising a track component (101), and a plurality of moving components (102) sliding on the track component (101), and also comprising a welding device (103) and an inspection device (104) fixed on the moving component (102), wherein the moving component (102) can drive the welding device (103) and the inspection device (104) to move on the track component (101), so that the welding device (103) and the inspection device (104) can weld and inspect a workpiece to be welded; The cleaning component (200) comprises a guide component (201) fixed on the moving component (102), and a wind component (202) movably connected to the guide component (201), a dispersion component (203) fixed inside the wind component (202), and a filter component (204) fixed inside the wind component (202) corresponding to the top of the dispersion component (203), wherein the wind component (202) can drive the guide component (201) to absorb dust from the welding area and the area to be welded, and then the dispersion component (203) is dispersed to the filter component (204) for filtering.

2. The multifunctional welding device according to claim 1, characterized in that: The track assembly (101) comprises a rectangular track (101a), a telescopic adjustment plate (101b) fixed to the inner side of the rectangular track (101a), and a magnetic attraction plate (101c) fixed to the inner side of the telescopic adjustment plate (101b).

3. The multifunctional welding device according to claim 2, characterized in that: The moving assembly (102) comprises a moving shell (102a) sliding on the rectangular track (101a), an outer wall of the moving shell (102a) being provided with an opening groove (102b) at the telescopic adjustment plate (101b), and a moving device (102c) fixed on the moving shell (102a), a supporting rod (102d) fixed on the top of the moving shell (102a), and a telescopic rod (102e) fixed on the top of the supporting rod (102d).

4. The multifunctional welding device according to claim 1, characterized in that: The guide assembly (201) comprises a water tank (201a) fixed to the top of the moving assembly (102), and a first hose (201b) fixed to the bottom end of the outer wall of the water tank (201a), a flat-mouthed straw (201c) fixed to the end of the first hose (201b), a connecting plate (201d) fixed to the outer wall of the end of the first hose (201b), the connecting plate (201d) being connected to the moving assembly (102), a steel brush (201e) fixed to the end surface of the connecting plate (201d), and a second hose (201f) fixed to the outer wall of the water tank (201a) next to the first hose (201b), the first hose (201b), the second hose (201f) and the moving assembly (102) being connected.

5. The multifunctional welding device according to claim 4, characterized in that: The wind power component (202) comprises a placement ring (202a) movably connected to the inner wall of the bottom end of the water tank (201a), and a filter (202b) placed in the placement ring (202a), and also comprises connecting rods (202c) fixed to both sides of the top of the placement ring (202a), and also comprises a cover plate (202d) fixed to the top of the connecting rod (202c), the cover plate (202d) being compatible with the water tank (201a), and also comprises a fan (202e) fixed to the top of the cover plate (202d).

6. The multifunctional welding device according to claim 5, characterized in that: The dispersion component (203) comprises a conical ring (203a) fixed to the connecting rod (202c) and located at the top of the placement ring (202a), and an arc block (203b) fixed to the top of the conical ring (203a); an inlet (203c) is provided at the center of the bottom of the arc block (203b); an inner cavity (203d) is provided inside the arc block (203b); a plurality of outlets (203e) are provided at the top of the arc block (203b) around the outer side of the inlet (203c); a guide plate (203f) is fixed inside the inner cavity (203d) corresponding to the outlet (203e); and a baffle net (203g) is fixed to the inner wall of the conical ring (203a).

7. The multifunctional welding device according to claim 5, characterized in that: The filter assembly (204) comprises a sealing ring (204a) fixed to the connecting rod (202c) at the bottom of the cover plate (202d), a clamping net (204b) fixed to the openings at both ends of the sealing ring (204a), and a filter element (204c) and activated carbon (204d) fixed to the inner wall of the sealing ring (204a).

8. A welding smoke treatment robot system, characterized in that: The multifunctional welding method comprises the multifunctional welding method according to any one of claims 1 to 7, and Mobile devices, welding robots, inspection robots, welding power supply robots, controller robots, welding fume treatment devices, power supply equipment and gas source equipment; A moving device, which is installed on the workpiece to be welded or an adjacent workpiece and is used for moving the welding robot; A welding robot, which is installed on the mobile device and is used to perform welding processing on the weld seam on the workpiece to be welded; An inspection robot, which is mounted on the mobile device and is used to perform welding defect detection and flaw detection on the workpiece to be welded; A welding power supply robot, which is installed on the mobile device, connected to the welding robot through a No. 1 wire, and connected to the inspection robot through a No. 2 wire, and is used to convert voltages for the welding robot and the inspection robot to provide welding power; a controller robot, which is mounted on the mobile device, connected to the welding robot signal through a No. 1 signal line, connected to the inspection robot signal through a No. 2 signal line, and connected to the welding power supply robot through a No. 3 wire, and is used to control the movement and detection action of the inspection robot, and is also used to control the movement and welding action of the welding robot along the workpiece to be welded during welding; The welding smoke treatment device is composed of a visual camera and a C-shaped slide rail surrounding the welding head of the welding robot. The welding smoke absorption port can move on the C-shaped slide rail. The visual camera identifies the welding smoke and the algorithm calculates the best position for welding smoke absorption. A power supply device, connected to the welding power supply robot via a No. 4 wire, for providing power to the welding power supply robot and the controller robot; The gas source device is connected to the power supply device through a No. 5 electric wire and is used to provide the welding robot with gas used for welding.

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