Magnetic attraction steel structure high-altitude obstacle crossing intelligent welding robot and using method

Abstract

The invention relates to the technical field of building engineering construction equipment, and particularly discloses a magnetic attraction steel structure high-altitude obstacle crossing intelligent welding robot and a using method. The bottom of the vehicle body is provided with a magnetic attraction assembly, the welding mechanism is installed on the vehicle body, the moving mechanism is connected with the vehicle body and used for controlling the vehicle body to move and turn, and the obstacle crossing mechanism is installed on the vehicle body. The vehicle body comprises a first bottom plate used for installing the welding mechanism and a second bottom plate hinged to the first bottom plate and rotating around the X-axis direction. The obstacle crossing mechanism comprises a first obstacle crossing assembly which is installed on the first bottom plate and connected with the second bottom plate. The high-altitude welding robot has good adsorption capacity, can effectively achieve high-altitude welding operation, and can move on the surface of a steel structure with an included angle or an obstacle; the device is suitable for moving on the surface of a complex and changeable steel structure, the operation continuity and flexibility are improved, and the requirement for manual intervention is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of construction engineering equipment, and more specifically, to a magnetic steel structure high-altitude obstacle-crossing intelligent welding robot and a use method thereof. Background Art

[0002] In recent years, with the continuous advancement of building industrialization, prefabricated buildings have been widely used in housing construction projects, highway projects, bridge projects, municipal public works and other engineering construction. As an important direction for the development of the prefabricated building industry, steel structure buildings have good advantages in industrialized construction. They have the advantages of light weight, high strength, good seismic performance, short construction period, green environmental protection, easy industrial production, and recyclable. They are typical green, environmentally friendly and energy-saving industries, which meet the requirements of my country's circular economy and sustainable development and the needs of my country's construction industry transformation and upgrading and high-quality development. In recent years, the application of engineering construction has become more and more extensive. As the main way to connect the components of prefabricated steel structure buildings, the quality of its connection is directly related to the overall quality and safety of prefabricated steel structure buildings. At present, the welding of components on steel structure construction sites in the industry is still mainly manual, and the welding method is relatively extensive. Especially when performing high-altitude welding, the welding quality cannot be guaranteed, and there are certain safety risks in personnel operations. At the same time, with the deepening of the aging of the population, there is a certain gap in welding operators; Therefore, how to improve the welding quality of steel structure components, improve production efficiency at construction sites, reduce labor intensity on site, reduce requirements for workers' operating skills, improve construction safety, realize intelligent production at construction sites, and save costs are technical problems that need to be solved at present. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a magnetic steel structure high-altitude obstacle-crossing intelligent welding robot and a method of use, which has good adsorption ability, can effectively realize welding operations at high altitudes, and can move on the surface of steel structures with angles or obstacles; it is suitable for moving on complex and changeable steel structure surfaces, improves operation continuity and flexibility, and reduces the need for manual intervention.

[0004] The solution adopted by the present invention to solve the technical problem is: A magnetic steel structure high-altitude obstacle-crossing intelligent welding robot, comprising a body with a magnetic attraction component at the bottom, a welding mechanism installed on the body, a moving mechanism connected to the body and used to control the movement and steering of the body, and an obstacle-crossing mechanism installed on the body; The vehicle body comprises a bottom plate 1 for installing a welding mechanism, and a bottom plate 2 which is hinged to the bottom plate 1 and rotates around the X-axis direction; the obstacle crossing mechanism comprises an obstacle crossing component 1 which is installed on the bottom plate 1 and connected to the bottom plate 2.

[0005] In some possible embodiments, the vehicle body also includes a bottom plate three hinged to the bottom plate two and rotating around the Y-axis direction, and a bottom plate four hinged to the bottom plate three and rotating around the X-axis direction; the bottom plate four and the bottom plate one are hinged to each other and rotate around the Y-axis direction; the hinge points of the bottom plate one and the bottom plate two, and the hinge points of the bottom plate three and the bottom plate four are on the same straight line set along the X-axis direction; the hinge points of the bottom plate two and the bottom plate three, and the hinge points of the bottom plate four and the bottom plate one are on the same straight line set along the Y-axis direction; when moving on a steel structure with a flat surface, the bottoms of the bottom plates one, two, three and four are on the same plane.

[0006] In some possible implementations, the obstacle surmounting mechanism further includes an obstacle surmounting component 2 mounted on a base plate 4 and in transmission engagement with the base plate 3.

[0007] In some possible implementations, the moving mechanism includes a moving component 1 and a moving component 2 symmetrically arranged along the Y-axis direction; The moving component 1 is installed on the outer sides of the bottom plate 1 and the bottom plate 2; the moving component 2 is installed on the outer sides of the bottom plate 3 and the bottom plate 4.

[0008] In some possible implementations, the obstacle crossing component 1 and the obstacle crossing component 2 have the same structure and are symmetrically arranged along the Y-axis direction; The obstacle crossing component 1 includes a rotating shaft 1 installed on the base plate 1 and rotatably matched with the base plate 1, a driving motor 1 that is transmission-connected to one end of the rotating shaft 1 and installed on the base plate 1, and a driving arm 1 that is connected to the other end of the rotating shaft 1 and the other end of the rotating shaft 1 is slidably hinged to the base plate 2; the axial direction of the rotating shaft 1 is arranged along the X-axis direction; The obstacle crossing component 2 includes a rotating shaft 2 mounted on the bottom plate 4 and rotatably matched with the bottom plate 4, a driving motor 2 which is transmission-connected to one end of the rotating shaft 2 and mounted on the bottom plate 4, and a driving arm 2 which is connected to the other end of the rotating shaft 2 and slidably hinged to the bottom plate 3; The axis of the second rotating shaft is arranged along the X-axis direction and is on the same straight line as the axis of the first rotating shaft.

[0009] In some possible implementations, a connecting shaft 1 is provided on the base plate 2 and is slidably hinged to the driving arm 1 and is arranged along the X-axis direction; a connecting shaft 2 is provided on the base plate 3 and is slidably hinged to the driving arm 2 and is arranged along the X-axis direction.

[0010] In some possible implementations, the magnetic attraction assembly includes several groups of permanent magnets disposed at the bottom of the vehicle body.

[0011] In some possible implementations, the permanent magnet is telescopically matched with the vehicle body, and a vertical telescopic component connected to the permanent magnet is provided in the vehicle body; and a slide groove used in conjunction with the permanent magnet is provided on the vehicle body.

[0012] In some possible implementations, a magnetic attraction component is provided on the moving mechanism.

[0013] In some possible implementations, the moving component 1 and the moving component 2 have the same structure, and the moving component 1 and the moving component 2 are track-type drive mechanisms.

[0014] In some possible implementations, the crawler drive mechanism includes a driving wheel set 2 connected to the bottom plate 2 or the bottom plate 3, a driving wheel set 1 connected to the bottom plate 1 or the bottom plate 4, a driven wheel set connected to the bottom plate 1 or the bottom plate 4, and crawlers drivingly connected to the driving wheel set 1, the driving wheel set 2, and the driven wheel set respectively; The driven wheel set is located between the first driving wheel set and the second driving wheel set.

[0015] In some possible implementations, the moving component 1 has the same structure as the moving component 2, and the moving component 1 includes a driving group 1 connected to the base plate 1 and a driving group 2 connected to the base plate 2.

[0016] In some possible implementations, the drive group 1 and the drive group 2 have the same structure, which are triangular magnetic track wheels or rubber wheels.

[0017] In some possible embodiments, the welding mechanism includes a support shaft installed on a base plate, a welding robot arm installed on the support shaft and rotatably cooperated with the support shaft, a welding gun installed on the welding robot arm, a path identification module installed on the support shaft and used for path identification, and a weld identification module installed on the welding robot arm and used for weld identification.

[0018] In some possible implementations, hinged seats are respectively provided between the bottom plate 1 and the bottom plate 2, between the bottom plate 2 and the bottom plate 3, between the bottom plate 3 and the bottom plate 4, and between the bottom plate 4 and the bottom plate 1; The hinged seat comprises a support with a slot, an ear seat inserted in the slot, and a pin shaft used in conjunction with the support ear seat.

[0019] A method for using the magnetic steel structure high-altitude obstacle-crossing intelligent welding robot based on the above-mentioned method specifically comprises the following steps: The path recognition module recognizes the path. During the movement, the vehicle body adaptively adjusts the angles formed by the bottom plate 1 and the bottom plate 4, and the bottom plate 2 and the bottom plate 3 according to the surface shape of the steel structure. When moving to the surface of a steel structure with an angle or an obstacle, the permanent magnets on the second and third bottom plates are controlled to be recovered, and the bottom plates 2 and 3 are controlled to rotate around the X-axis direction through the obstacle crossing mechanism to change the angle formed by the bottom plate 2 and the first bottom plate, the bottom plate 3 and the bottom plate 4, so as to adapt to moving on the surface of a steel structure with an angle or an obstacle; When moving to the weld position, the weld recognition module recognizes the weld and performs welding through the welding gun.

[0020] Compared with the prior art, the present invention has the following beneficial effects: The present invention can effectively realize the movement on the steel structure with different curvatures through the articulation of the bottom plate 1 and the bottom plate 4, the bottom plate 2 and the bottom plate 3; the present invention can be used for the movement on the steel structure surface with different angles or obstacles through the articulation of the bottom plate 1 and the bottom plate 2, the bottom plate 3 and the bottom plate 4, and the obstacle crossing mechanism; the present invention can adapt to the cross-sections of various types of steel components at the construction site, greatly improving the welding efficiency at the construction site; The present invention provides a magnetic suction component to effectively ensure that the present invention has good adsorption ability with the surface of the steel structure during use, thereby avoiding the occurrence of falling off. The present invention can effectively replace manual high-altitude welding, greatly improving the safety and controllability of the operation; it can adapt to extreme weather conditions (such as high temperature, low temperature, strong wind, etc.) and complex electromagnetic environments, ensuring stable operation under harsh working conditions, expanding the operation window, improving construction efficiency, and reducing welding defects caused by human factors. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 Bottom view of the present invention; Figure 3 is a side view of the present invention; Figure 4 It is a schematic diagram of the structural relationship between the vehicle body, the magnetic attraction component, and the obstacle crossing mechanism in the present invention; Figure 5 For the present invention Figure 1 The enlarged view of point A in the middle; Figure 6 It is a state diagram of the plane steel structure surface of the present invention moving toward the right-angle steel structure surface; Figure 7 It is a top view of the vehicle body, the moving mechanism, and the obstacle crossing mechanism in the present invention; Figure 8 for Figure 7 Sectional view at AA in the middle; Fig. 9 for Figure 7 Sectional view at the middle BB; Fig.10 for Figure 7 Sectional view at CC; Fig.11 for Figure 7 Sectional view at EE; Fig.12 It is a schematic diagram of the connection relationship between the driving arm 1 and the rotating shaft 1 in the present invention; Among them: 1. Car body; 11. Bottom plate 1; 111. Connecting shaft 1; 112. Connecting shaft 1; 113. Rotating shaft 1; 12. Bottom plate 2; 121. Connecting shaft 1; 13. Bottom plate 3; 131. Connecting shaft 2; 14. Bottom plate 4; 15. Articulated seat; 151. Support; 152. Ear seat; 153. Pin; 2. Magnetic suction component; 3. Welding mechanism; 31. Support shaft; 32. Path recognition module; 33. Welding robot arm; 34. Welding gun; 35. Weld seam recognition module; 4. Moving mechanism; 41. Driving wheel group 1; 42. Driving wheel group 2; 43. Driven wheel group; 44. Support roller; 45. Connecting rod; 5. Obstacle crossing mechanism; 51. Driving arm 1; 511. Slide 1; 52. Driving arm 2. DETAILED DESCRIPTION

[0022] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. The "first", "second" and similar words mentioned in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, "one" or "one" and other similar words do not indicate a quantity restriction, but indicate the existence of at least one. In the implementation of this application, "and / or" describes the association relationship of the associated objects, indicating that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "multiple" refers to two or more. For example, multiple positioning columns refer to two or more positioning columns. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] The present invention is described in detail below.

[0024] like Figure 1-Figure 12 As shown: A magnetic steel structure high-altitude obstacle-crossing intelligent welding robot comprises a body 1 with a magnetic attraction component 2 at the bottom, a welding mechanism 3 installed on the body 1, a moving mechanism 4 connected to the body 1 and used to control the movement and steering of the body 1, and an obstacle-crossing mechanism 5 installed on the body 1; the steering described here includes the change of the moving direction of the body 1 and the turning of the entire body 1; The vehicle body 1 includes a bottom plate 11 for installing the welding mechanism 3 and a bottom plate 2 12 hinged to the bottom plate 11 and rotating around the X-axis direction; the obstacle crossing mechanism 5 includes an obstacle crossing component 1 installed on the bottom plate 11 and connected to the bottom plate 2 12.

[0025] Through the articulation of the bottom plate 11 and the bottom plate 2 12, and through the obstacle crossing component 1, the angle formed by the bottom plate 2 12 and the bottom plate 1 11 is controlled to change; thus, the present invention has the ability to cross obstacles and the acute angle, obtuse angle or right angle formed by the surface of the steel member, and can move under different road conditions; when it moves to the welding position, welding can be performed through the welding mechanism 3; Specifically, when moving on a steel structure with a flat surface, the bottom surfaces of the bottom plate 11 and the bottom plate 2 12 are on the same plane; When the moving trajectory changes from a plane to an angle, the obstacle crossing mechanism 5 controls the bottom plate 2 12 to rotate around the X-axis direction, changing the angle formed by the bottom plate 2 12 and the bottom plate 1 11, so that the moving mechanism 4 can act on the surface of the steel structure with an angle or an obstacle (or obstacle protrusions, convex columns), and move on the surface of the steel structure. During the movement process, the magnetic attraction force of the magnetic attraction component 2 is used to adsorb the present invention to the steel structure to prevent the present invention from falling off.

[0026] In some possible implementations, in actual use, the surface of the steel structure is often curved, such as a cylindrical steel pipe column or a cylindrical steel pipe; in order to enable the present invention to move on a steel structure with a curved surface; like Figure 1 , Figure 2 , Figure 4 , Figure 7 As shown, the vehicle body 1 further includes a bottom plate 3 13 hinged to the bottom plate 2 12 and rotating around the Y-axis direction, and a bottom plate 4 14 hinged to the bottom plate 3 13 and rotating around the X-axis direction; the bottom plate 4 14 and the bottom plate 1 11 are hinged to each other and rotate around the Y-axis direction; the hinge points of the bottom plate 1 11 and the bottom plate 2 12, and the hinge points of the bottom plate 3 13 and the bottom plate 4 14 are on the same straight line arranged along the X-axis direction; the hinge points of the bottom plate 2 12 and the bottom plate 3 13, and the hinge points of the bottom plate 4 14 and the bottom plate 1 11 are on the same straight line arranged along the Y-axis direction; When moving on a steel structure with a flat surface, the bottoms of the bottom plate 11, the bottom plate 2 12, the bottom plate 3 13, and the bottom plate 4 14 are on the same plane; The bottom plate 11 is hinged to the bottom plate 2 12 and the bottom plate 2 12 rotates relative to the bottom plate 11 around the X-axis direction, the bottom plate 2 12 is hinged to the bottom plate 3 13 and the bottom plate 3 13 rotates relative to the bottom plate 2 12 around the Y-axis direction, the bottom plate 3 13 is hinged to the bottom plate 4 14 and the bottom plate 3 13 can rotate with the bottom plate 4 14 around the X-axis direction, the bottom plate 4 14 is hinged to the bottom plate 11 and the bottom plate 4 14 can rotate with the bottom plate 11 around the Y-axis direction; Figure 1 Place, Figure 2 It is shown that the sides of the bottom plate 11 and the bottom plate 2 12 close to the bottom plate 3 13 and the bottom plate 4 14 are coplanar, and the sides of the bottom plate 2 12 and the bottom plate 3 13 close to the bottom plate 1 11 and the bottom plate 4 14 are coplanar; the sides of the bottom plate 3 13 and the bottom plate 4 14 close to the bottom plate 1 11 and the bottom plate 2 12 are coplanar, so that when the bottom plate 2 12 and the bottom plate 3 13 are driven by the obstacle crossing mechanism 5 to move on the surface of the steel structure with an angle or the obstacle, the rotation angles of the bottom plate 2 12 and the bottom plate 3 13 around the X-axis direction are consistent; When moving on a steel structure with a curved surface, the plane where the bottom plate 1 11 and the bottom plate 2 12 are located and the plane where the bottom plate 3 13 and the bottom plate 4 14 are located can change their angles around the Y axis, so that the moving mechanism 4 can always act on the steel structure with a curved surface, thereby making the present invention applicable to movement on steel structures with surfaces of different curvatures.

[0027] In some possible embodiments, the obstacle crossing mechanism 5 also includes an obstacle crossing component 2 installed on the bottom plate 4 14 and coordinated with the bottom plate 3 13; when moving on the steel structure surface with an angle or obstacle, the bottom plate 2 12 is driven to rotate around the X-axis direction by the obstacle crossing component 1, and at the same time, the bottom plate 3 13 is driven to rotate around the X-axis direction by the obstacle crossing component 2, thereby realizing the synchronous movement of the bottom plate 2 12 and the bottom plate 3 13 around the X-axis direction.

[0028] In some possible implementations, in order to effectively control the movement of the vehicle body 1, the moving mechanism 4 includes a moving component 1 and a moving component 2 symmetrically arranged along the Y-axis direction; when there are only the bottom plate 11 and the bottom plate 2 12, the moving component 1 and the moving component 2 will be connected to the outer side surfaces of the bottom plate 1 11 and the bottom plate 2 12 respectively; When there are bottom plate 11, bottom plate 2 12, bottom plate 3 13, and bottom plate 4 14, the moving assembly 1 is installed on the outer sides of bottom plate 11 and bottom plate 2 12; the moving assembly 2 is installed on the outer sides of bottom plate 3 13 and bottom plate 4 14, and the moving mechanism 4 also includes a supporting roller 44 arranged at the bottom of the vehicle body 1; like Figure 4As shown, there are multiple groups of support rollers 44, which are arranged at the bottom of the bottom plate 11 and the bottom plate 2 12, and are used to effectively support the vehicle body 1; the multiple groups of support rollers 44 are on the same axis arranged along the Y-axis direction, and are located on the side of the bottom plate 11 and the bottom plate 2 12 close to the moving component 2; of course, they can also be arranged at the bottom of the bottom plate 3 13 and the bottom plate 4 14, which will not be repeated here, so as to achieve support for the bottom plate 11, the bottom plate 2 12, the bottom plate 3 13, and the bottom plate 4 14.

[0029] In some possible implementations, in order to effectively drive the bottom plate 2 12 and the bottom plate 3 13 to rotate around the X-axis direction through the obstacle crossing mechanism 5, so that the present invention can have the ability to cross obstacles and the acute angle, obtuse angle or right angle formed by the steel structure; the obstacle crossing component 1 has the same structure as the obstacle crossing component 2 and is symmetrically arranged along the Y-axis direction; like Figure 2 As shown, the obstacle crossing component 1 includes a rotating shaft 113 installed on the bottom plate 11 and rotatably matched with the bottom plate 11, a driving motor 1 that is transmission-connected to one end of the rotating shaft 113 and installed on the bottom plate 11, and a driving arm 151 that is connected to the other end of the rotating shaft 113 and the other end of which is slidably hinged to the bottom plate 2 12; the axial direction of the rotating shaft 113 is arranged along the X-axis direction; The obstacle crossing component 2 includes a rotating shaft 2 installed on the bottom plate 4 14 and rotatably matched with the bottom plate 4 14, a driving motor 2 which is transmission-connected to one end of the rotating shaft 2 and installed on the bottom plate 4 14, and a driving arm 2 52 which is connected to the other end of the rotating shaft 2 and slidably hinged to the bottom plate 3 13; the axis of the rotating shaft 2 is arranged along the X-axis direction and is in the same straight line as the axis of the rotating shaft 1 113; Specifically, drive motor 1 is located in base plate 11, one end of shaft 113 is transmission connected to drive motor 1, and the other end passes through the outside of base plate 11 to connect with drive arm 1 51; similarly, drive motor 2 is located in base plate 4 14, one end of shaft 2 is transmission connected to drive motor 2, and the other end passes through the outside of base plate 2 12 to connect with drive arm 2 52.

[0030] Specifically, when moving to the surface of a steel structure with an angle or an obstacle, when the part is about to move from one surface to another, first control the permanent magnets of the bottom plate 2 12 and the bottom plate 3 13 to retract to reduce the adsorption force, and at the same time, the permanent magnets on the bottom plate 1 11 and the bottom plate 4 14 are extended to increase the adsorption force to avoid falling off; two sets of rotating shafts are respectively driven to rotate by two sets of driving motors (driving motor 1 and driving motor 2), so that the plane where the bottom plate 2 12 and the bottom plate 3 13 are located is located above the other surface of the steel structure, and the entire vehicle body 1 is controlled to move forward on this surface through the moving mechanism, and drives the bottom plate 1 11 , the bottom plate four 14 moves toward the surface. When the bottom plate one 11 and the bottom plate four 14 move to the surface, the obstacle crossing component one and the obstacle crossing component two make the entire vehicle body 1 act on the surface, and then the permanent magnets of the bottom plate two 12 and the bottom plate three 13 are controlled to extend to increase the adsorption force, and at the same time, the permanent magnets on the bottom plate one 11 and the bottom plate four 14 are retracted to reduce the adsorption force; after the bottom plate one 11 and the bottom plate four 14 move to the surface, the reverse rotation of the driving motor (driving motor one, driving motor two) changes the angle of the driving arm one 51 and the driving arm two 52 on the surface, and makes the angle between the driving arm one 51 and the driving arm two 52 and the surface 0°; It should be noted that when the surface of the steel structure is a plane, the driving arm 1 51 and the driving arm 2 52 will be arranged along the Y-axis direction.

[0031] In some possible implementations, a connecting shaft 121 is provided on the bottom plate 12 to be slidably hinged to the driving arm 1 51 and arranged along the X-axis direction; a connecting shaft 2 is provided on the bottom plate 13 to be slidably hinged to the driving arm 2 52 and arranged along the X-axis direction; the axes of the connecting shaft 121 and the connecting shaft 2 are on the same straight line; Specifically, Fig.11 , Fig.12 As shown, a slide groove 511 is provided on one side of the driving arm 1 51 close to the bottom plate 2 12 and along its length direction, one end of the connecting shaft 121 is fixedly connected to the bottom plate 2 12 and the other end is slidably disposed in the slide groove 511 and is hingedly matched with the driving arm 1 51; Similarly, a slide groove 2 is provided on one side of the driving arm 2 52 close to the bottom plate 3 13 and along its length direction, one end of the connecting shaft 2 is fixedly connected to the bottom plate 3 13 and the other end is slidably provided in the slide groove 2 and hingedly cooperated with the driving arm 2 52; Specifically, when adjusting the angle between the bottom plate 11 and the bottom plate 2 12, the driving motor 1 drives the rotating shaft 113 to rotate, thereby causing the driving arm 151 connected to the rotating shaft 113 and located on the outside of the bottom plate 11 to rotate around the axis of the rotating shaft 113. Since the other end of the driving arm 151 is slidingly hinged to the bottom plate 2 12, the bottom plate 2 12 is driven to rotate around the axis of the rotating shaft 113 until the rotation angle between the bottom plate 11 and the bottom plate 2 12 meets the requirements. The rotation control of the bottom plate 3 13 is the same as that of the bottom plate 11, and will not be repeated here.

[0032] In some possible implementations, in order to effectively achieve adsorption of the vehicle body 1 and the surface of the steel structure so that the present invention does not fall off during movement, the magnetic attraction component 2 includes several groups of permanent magnets arranged at the bottom of the vehicle body 1, and of course, electromagnets can also be used.

[0033] In some possible implementations, in order to prevent the permanent magnet from falling off due to the reduction of the adsorption force when the distance between the permanent magnet and the steel structure surface increases when crossing obstacles or moving on the surface of a steel structure with an angle; the permanent magnet is telescopically matched with the vehicle body 1, and a vertical telescopic component connected to the permanent magnet is arranged inside the vehicle body 1; and a slide groove is arranged on the vehicle body 1 for use with the permanent magnet.

[0034] If the distance between the permanent magnet and the surface of the steel structure increases, the adsorption capacity will weaken. By controlling the permanent magnet to move closer to the surface of the steel structure, the adsorption force between the two can be increased. Furthermore, the vertical telescopic assembly is used to telescope each group of permanent magnets along the Z-axis direction, thereby changing the distance between the permanent magnets and the surface of the steel structure to adjust the adsorption force between the vehicle body 1 and the surface of the steel structure; when the bottom plate 2 12 and the bottom plate 3 13 are adjusted, the permanent magnets in the bottom plate 2 12 and the bottom plate 3 13 are first controlled to shrink into the vehicle body 1 to reduce the adsorption force, and then the bottom plate 2 12 and the bottom plate 3 13 are adjusted; when the adjustment is in place and the entire vehicle body can move normally, the permanent magnets in the bottom plate 2 12 and the bottom plate 3 13 are controlled to extend to increase the adsorption force; In some possible implementations, in order to further enhance the adsorption of the present invention to the surface of the steel structure, a magnetic attraction component 2 is provided on the moving mechanism 4, and the magnetic attraction component 2 is a permanent magnet in a strip shape.

[0035] In some possible implementations, the moving component 1 and the moving component 2 have the same structure, and the moving component 1 and the moving component 2 are track-type drive mechanisms.

[0036] In some possible implementations, such as Figure 4As shown, the crawler drive mechanism includes a driving wheel set 1 41 connected to the bottom plate 11 or the bottom plate 4 14, a driving wheel set 2 42 connected to the bottom plate 2 12 or the bottom plate 3 13, a driven wheel set 43 connected to the bottom plate 11 or the bottom plate 4 14, and crawlers that are respectively connected to the driving wheel set 1 41, the driving wheel set 2 42, and the driven wheel set 43; the two driving wheel sets 1 41 and the two driving wheel sets 2 42 are respectively provided with separate driving structures to form a crawler drive mechanism with a four-wheel drive structure; The driven wheel set 43 is located between the driving wheel set 1 41 and the driving wheel set 2 42 on the same side; Specifically, Figure 8-Figure 11 As shown, one of the driving wheel sets 1 41 is connected to the bottom plate 1 11 through the connecting shaft 1 111, and the other driving wheel set 1 41 is connected to the bottom plate 4 14 through the connecting shaft 2, one of the driven wheel sets 43 is connected to the bottom plate 1 11 through the connecting shaft 1 112, and the other driven wheel set 43 is connected to the bottom plate 4 14 through the connecting shaft 2; one of the driving wheel sets 2 42 is connected to the bottom plate 2 12 through the connecting shaft 1 121, and the other driving wheel set 2 42 is connected to the bottom plate 3 13 through the connecting shaft 2; when the above-mentioned crawler drive mechanism is adopted, connecting rods 45 are respectively arranged between the connecting shaft 1 111 and the connecting shaft 1 112, and between the connecting shaft 2 and the connecting shaft 2, so as to maintain the stability of the entire vehicle body; Specifically, Fig. 9 As shown, the coupling shaft 112 is coaxially arranged with the rotating shaft 113 and is sleeved in the rotating shaft 113, and the rotational fit is achieved through the bearing; similarly, the coupling shaft 2 is coaxially arranged with the rotating shaft 2 and is sleeved in the rotating shaft 2, and the rotational fit is achieved through the bearing; when the rotating shaft 113 and the rotating shaft 2 rotate, the coupling shaft 112 and the coupling shaft 2 do not follow; the crawler track will not get stuck when this arrangement is used.

[0037] In some possible embodiments, the mobile component one has the same structure as the mobile component two, and the mobile component one includes a drive group one connected to the base plate one 11 and a drive group two connected to the base plate two 12; the mobile component two includes a drive group three connected to the base plate three 13 and a drive group four connected to the base plate four 14.

[0038] In some possible implementations, the drive group one, the drive group two, the drive group three, and the drive group four have the same structure and are all independently driven triangular magnetic track wheels or rubber wheels.

[0039] The moving mechanism 4 adopts a four-wheel drive structure, so that the moving mechanism 4 can effectively drive the entire device to move.

[0040] In some possible implementations, such as Figure 1 , Figure 2As shown, the welding mechanism 3 includes a support shaft 31 installed on a base plate 11, a welding robot arm 33 installed on the support shaft 31 and rotatably cooperated with the support shaft 31, a welding gun 34 installed on the welding robot arm 33, a path identification module 32 installed on the support shaft 31 and used for path identification, and a weld identification module 35 installed on the welding robot arm 33 and used for weld identification.

[0041] Specifically, the path recognition module 32 and the weld recognition module 35 are 3D cameras or 360-degree panoramic cameras.

[0042] It should be noted that the welding robot arm 33 in the present invention is a prior art and can adopt a single-axis or multi-axis structure; it can be assembled according to the use requirements; like Figure 1 As shown, the axis of the support shaft 31 is arranged along the Z-axis direction, and the welding robot arm 33 is a six-axis structure, including a robot arm joint 1, a robot arm joint 2, a robot arm joint 3, a robot arm joint 4, a robot arm joint 5, and a robot arm joint 6 which are rotatably connected in sequence; wherein the robot arm joint 1 is rotatably matched with the support shaft 31, and the two adjacent robot arm joints are rotatably matched, and the welding gun 34 is installed on the robot arm joint 6 through a bracket; the weld recognition module 35 is installed on the end face of the robot arm joint 6, and the robot joint 1 is perpendicular to the support shaft 31; Since the welding robot arm 33 is a special-shaped structure, the support shaft 31 is eccentrically set on the bottom plate 11. When the bottom of the bottom plate 11 and the bottom of the bottom plate 4 14 are flat, the support shaft 31 will be eccentrically set on the plane to avoid instability.

[0043] In some possible implementations, such as Figure 2 , Figure 5 As shown, in order to effectively realize the hinge connection between the bottom plate 1 11 and the bottom plate 2 12, the bottom plate 2 12 and the bottom plate 3 13, the bottom plate 3 13 and the bottom plate 4 14, and the bottom plate 4 14 and the bottom plate 1 11; hinge seats 15 are respectively arranged between the bottom plate 1 11 and the bottom plate 2 12, between the bottom plate 2 12 and the bottom plate 3 13, between the bottom plate 3 13 and the bottom plate 4 14, and between the bottom plate 4 14 and the bottom plate 1 11; The hinge seat 15 includes a support 151 with a slot, an ear seat 152 inserted into the slot, and a pin shaft 153 used in conjunction with the support 151 and the ear seat 152 .

[0044] like Figure 6 As shown, a method for using the magnetic steel structure high-altitude obstacle-crossing intelligent welding robot described above specifically includes the following steps: The path recognition module 32 recognizes the path. During the movement, the vehicle body 1 adaptively adjusts the angles formed by the bottom plate 11 and the bottom plate 4 14, the bottom plate 2 12 and the bottom plate 3 13 according to the surface shape of the steel structure, and adjusts the corresponding permanent magnets to meet the adsorption requirements; When moving to the surface of a steel structure with an angle or an obstacle, when starting to move from one surface to another, first retract the permanent magnets on the bottom plate 2 12 and the bottom plate 3 13 to reduce the adsorption force, and at the same time extend the permanent magnets on the bottom plate 1 11 and the bottom plate 4 14 to increase the adsorption force and avoid falling off; control the bottom plate 2 12 and the bottom plate 3 13 to rotate around the X-axis direction through the obstacle crossing mechanism 5 to change the angle formed by the bottom plate 2 12 and the bottom plate 1 11, the bottom plate 3 13 and the bottom plate 4 14, so as to adapt to moving on the surface of a steel structure with an angle or an obstacle, and drive the bottom plate 1 11 and the bottom plate 4 14 to move to another surface through two sets of driving wheel groups 1 41, and change the adsorption force by controlling the expansion and contraction of the permanent magnets during the movement to avoid falling off; When the entire vehicle body 1 is located on another surface, the obstacle crossing mechanism 5 controls the bottom plate 2 12 and the bottom plate 3 13 to move toward the side close to the surface; then the permanent magnets of the bottom plate 2 12 and the bottom plate 3 13 are controlled to extend to increase the adsorption force, and at the same time, the permanent magnets on the bottom plate 1 11 and the bottom plate 4 14 are retracted to reduce the adsorption force; after the bottom plate 1 11 and the bottom plate 4 14 move on the surface, the reverse rotation of the driving motor (driving motor 1 and driving motor 2) changes the angle of the driving arm 1 51 and the driving arm 2 52 on the surface, and makes the angle between the driving arm 1 51 and the driving arm 2 52 and the surface 0°; When moving to the weld position, the weld identification module 35 identifies the weld and controls the welding gun 34 to perform welding through the welding robot arm 33; during welding, by controlling the moving mechanism 4 to move synchronously along the length direction of the weld, accurate and stable welding operations are achieved, improving welding quality and efficiency, while reducing welding defects caused by human factors.

[0045] The present invention is not limited to the above-mentioned specific embodiments, but extends to any new features or any new combination disclosed in this specification, as well as any new method or process steps or any new combination disclosed.

Claims

1. A magnetic steel structure high-altitude obstacle-crossing intelligent welding robot, characterized in that: It includes a vehicle body with a magnetic attraction component at the bottom, a welding mechanism installed on the vehicle body, a moving mechanism connected to the vehicle body and used to control the movement and steering of the vehicle body, and an obstacle crossing mechanism installed on the vehicle body; The vehicle body comprises a bottom plate 1 for installing a welding mechanism, and a bottom plate 2 which is hinged to the bottom plate 1 and rotates around the X-axis direction; the obstacle crossing mechanism comprises an obstacle crossing component 1 which is installed on the bottom plate 1 and connected to the bottom plate 2.

2. According to claim 1, a magnetic steel structure high-altitude obstacle-crossing intelligent welding robot is characterized in that: The vehicle body further comprises a bottom plate 3 hinged to the bottom plate 2 and rotating around the Y-axis direction, and a bottom plate 4 hinged to the bottom plate 3 and rotating around the X-axis direction; the bottom plate 4 and the bottom plate 1 are hinged to each other and rotate around the Y-axis direction; the hinge points of the bottom plate 1 and the bottom plate 2, and the hinge points of the bottom plate 3 and the bottom plate 4 are on the same straight line arranged along the X-axis direction; the hinge points of the bottom plate 2 and the bottom plate 3, and the hinge points of the bottom plate 4 and the bottom plate 1 are on the same straight line arranged along the Y-axis direction; When moving on a steel structure with a flat surface, the bottoms of the first bottom plate, the second bottom plate, the third bottom plate and the fourth bottom plate are on the same plane.

3. The magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to claim 2 is characterized in that: The obstacle crossing mechanism also includes an obstacle crossing component 2 which is mounted on the bottom plate 4 and is in transmission cooperation with the bottom plate 3.

4. The magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to claim 3 is characterized in that: The moving mechanism comprises a moving component 1 and a moving component 2 symmetrically arranged along the Y-axis direction; The movable component 1 is installed on the outer sides of the bottom plate 1 and the bottom plate 2; the movable component 2 is installed on the outer sides of the bottom plate 3 and the bottom plate 4.

5. The magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to claim 4 is characterized in that: The obstacle crossing component 1 and the obstacle crossing component 2 have the same structure and are symmetrically arranged along the Y-axis direction; The obstacle crossing component 1 includes a rotating shaft 1 installed on the base plate 1 and rotatably matched with the base plate 1, a driving motor 1 that is transmission-connected to one end of the rotating shaft 1 and installed on the base plate 1, and a driving arm 1 that is connected to the other end of the rotating shaft 1 and the other end of the rotating shaft 1 is slidably hinged to the base plate 2; the axial direction of the rotating shaft 1 is arranged along the X-axis direction; The obstacle crossing component 2 includes a rotating shaft 2 installed on a base plate 4 and rotatably matched with the base plate 4, a driving motor 2 which is transmission-connected to one end of the rotating shaft 2 and installed on the base plate 4, and a driving arm 2 which is connected to the other end of the rotating shaft 2 and slidingly hinged to the base plate 3; the axis of the rotating shaft 2 is arranged along the X-axis direction and is on the same straight line as the axis of the rotating shaft 1.

6. The magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to claim 5 is characterized in that: A connecting shaft 1 is provided on the bottom plate 2 and is slidably hinged to the driving arm 1 and arranged along the X-axis direction; a connecting shaft 2 is provided on the bottom plate 3 and is slidably hinged to the driving arm 2 and arranged along the X-axis direction.

7. A magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to any one of claims 1 to 6, characterized in that: The magnetic attraction assembly comprises a plurality of groups of permanent magnets arranged at the bottom of the vehicle body.

8. The magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to claim 7 is characterized in that: The permanent magnet is telescopically matched with the vehicle body, and a vertical telescopic component connected with the permanent magnet is arranged in the vehicle body; and a slide groove used in cooperation with the permanent magnet is arranged on the vehicle body.

9. The magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to claim 7 is characterized in that: A magnetic attraction component is arranged on the moving mechanism.

10. A magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to any one of claims 4 to 6, characterized in that: The moving component 1 and the moving component 2 have the same structure, and the moving component 1 and the moving component 2 are crawler-type driving mechanisms.

11. The magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to claim 10, characterized in that: The crawler drive mechanism comprises a driving wheel set 2 connected to the bottom plate 2 or the bottom plate 3, a driving wheel set 1 connected to the bottom plate 1 or the bottom plate 4, a driven wheel set connected to the bottom plate 1 or the bottom plate 4, and crawlers respectively connected to the driving wheel set 1, the driving wheel set 2 and the driven wheel set; The driven wheel set is located between the first driving wheel set and the second driving wheel set.

12. A magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to any one of claims 4 to 6, characterized in that: The moving component 1 has the same structure as the moving component 2. The moving component 1 includes a driving group 1 connected to the base plate 1 and a driving group 2 connected to the base plate 2.

13. The magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to claim 12, characterized in that: The drive group 1 and the drive group 2 have the same structure and are triangular magnetic track wheels or rubber wheels.

14. The magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to claim 1, characterized in that: The welding mechanism includes a support shaft installed on a base plate, a welding robot arm installed on the support shaft and rotatably matched with the support shaft, a welding gun installed on the welding robot arm, a path recognition module installed on the support shaft and used for path recognition, and a weld recognition module installed on the welding robot arm and used for weld recognition.

15. The magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to claim 2 is characterized in that: A hinge seat is provided between the bottom plate 1 and the bottom plate 2, between the bottom plate 2 and the bottom plate 3, between the bottom plate 3 and the bottom plate 4, and between the bottom plate 4 and the bottom plate 1 respectively; The hinged seat comprises a support with a slot, an ear seat inserted in the slot, and a pin shaft used in conjunction with the support ear seat.

16. A method for using the magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to any one of claims 2 to 15, characterized in that: The specific steps include: The path recognition module recognizes the path. During the movement, the vehicle body adaptively adjusts the angles formed by the bottom plate 1 and the bottom plate 4, and the bottom plate 2 and the bottom plate 3 according to the surface shape of the steel structure. When moving to the surface of the steel structure with an angle or obstacles, the permanent magnets on the second and third bottom plates are controlled to be recovered, and the bottom plates 2 and 3 are controlled to rotate around the X-axis direction through the obstacle crossing mechanism to change the angle formed by the bottom plate 2 and the first bottom plate, the bottom plate 3 and the bottom plate 4 to adapt to the movement on the surface of the steel structure with an angle or obstacles; When moving to the weld position, the weld recognition module recognizes the weld and performs welding through the welding gun.

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