Mobile intelligent welding robot

Abstract

The invention discloses a movable intelligent welding robot, and particularly relates to the technical field of welding robots, the movable intelligent welding robot comprises a movable table, and an adjusting mechanism is arranged at the top of the movable table; and the adjusting mechanism comprises a supporting sleeve plate, the supporting sleeve plate is fixed to the top of the moving table, a lifting plate is slidably connected to the interior of the supporting sleeve plate, a first motor is fixedly installed on one side of the lifting plate, and the output end of the first motor is fixedly connected with a threaded rod. Through the hydraulic cylinder, the motor and the connecting structure, all-directional adjustment of the welding head is achieved, various welding seams can be adapted, the optimal welding posture is kept, and the welding quality is guaranteed; each motor is independently controlled, the response is fast, and the production efficiency can be improved. Meanwhile, the laser radar and the camera collect information, and through the central processing unit and related modules, comprehensive monitoring, automatic parameter optimization, rejection rate reduction and robot universality and adaptability enhancement in the welding process are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding robots, and more specifically, to a mobile intelligent welding robot. Background Art

[0002] Against the backdrop of the booming modern manufacturing industry, welding, as an extremely critical basic process, has been deeply integrated into many core fields such as aerospace, automobile manufacturing, shipbuilding, and mechanical processing with its indispensable position. From the high-precision requirements for the connection of key aircraft components in the aerospace field, to the dual considerations of body assembly speed and quality on the automobile manufacturing assembly line; from the complex process requirements for splicing large hull structural parts during shipbuilding, to the fine control of the welding of various precision mechanical parts in the mechanical processing process, the quality of the welding process is directly related to the final performance, safety and production efficiency of the product, and its importance is self-evident.

[0003] At present, many welding robots are fixed with poor mobility. They cannot flexibly reach welding points in different positions and are difficult to adapt to large workpieces or complex working environments. The adjustment mechanism has limited functions, making it difficult to achieve all-round and precise adjustment of the welding head and unable to meet the welding needs of complex curved surfaces and narrow spaces. At the same time, in terms of welding process monitoring and parameter adjustment, the existing equipment lacks effective real-time monitoring means and adaptive adjustment capabilities. When faced with workpieces of different materials and thicknesses or thermal deformation during welding, the welding parameters cannot be optimized in time, resulting in a high scrap rate, and production efficiency and product quality are restricted. Therefore, a mobile intelligent welding robot is proposed. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a mobile intelligent welding robot to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a mobile intelligent welding robot, comprising a mobile platform, the top of which is provided with an adjustment mechanism; The adjustment mechanism comprises a support sleeve plate, the support sleeve plate is fixed on the top of the moving platform, a lifting plate is slidably connected inside the support sleeve plate, a first motor is fixedly installed on one side of the lifting plate, a threaded rod is fixedly connected to the output end of the first motor, a threaded sleeve is threadedly connected to the outer side of the threaded rod, a fixed block is fixedly connected to the outer side of the threaded sleeve, a fixed plate is fixedly connected to one side of the fixed block, a second motor is fixedly installed on one side of the fixed plate, a rotating plate is fixedly connected to the output end of the second motor, a servo motor is fixedly installed on one side of the rotating plate, a rotating column is fixedly connected to the output end of the servo motor, and a fixed sleeve is provided on the outer side of the rotating column; The outer side of the fixed sleeve is fixedly connected to a rotating block, one end of the rotating block is fixedly connected to a fixed box, a variable frequency motor is fixedly installed on the inner wall of the fixed box, a rotating disk is fixedly connected to the output end of the variable frequency motor, a welding head is fixedly installed on one end of the rotating disk, and an intelligent adjustment mechanism is provided between the moving platform and the welding head; The intelligent adjustment mechanism comprises a control box, which is fixed on the top of the mobile platform. A controller is fixedly installed on one side of the control box, and a second laser radar is fixedly installed on one side of the mobile platform.

[0006] Preferably, a supporting block is fixedly connected to the top of the rotating block, a first laser radar is fixedly installed on one side of the supporting block, a camera is fixedly installed on the top of the supporting block, and the first laser radar, camera, controller and second laser radar output ends are all connected to a central processing unit.

[0007] Preferably, the output end of the central processing unit is respectively connected to a welding parameter adjustment module and a weld seam tracking module, and the output ends of the welding parameter adjustment module and the weld seam tracking module are both connected to the central processing unit.

[0008] Preferably, the output terminal of the central processing unit is electrically connected to the first motor, the second motor, the servo motor and the variable frequency motor.

[0009] Preferably, a hydraulic cylinder is fixedly mounted on the bottom of the inner wall of the support sleeve, and the top of the hydraulic cylinder is fixedly connected to the bottom of the lifting plate.

[0010] Preferably, two groups of threads are symmetrically arranged on the outer surface of the threaded rod, the rotating plate is movably connected to the fixed plate, and the rotating disk and the welding head are both rotatably connected to the fixed box.

[0011] Preferably, a fixed box is fixedly installed at the bottom of the mobile platform, a driving wheel group is installed inside the fixed box, and the driving wheel group is slidably connected to the fixed box.

[0012] Preferably, a rotating shaft is fixedly connected to the top of the driving wheel group, a gear is fixedly connected to the top of the rotating shaft, a toothed plate is meshed at the rear side of the gear, and a mounting plate is fixedly connected to the top of the inner wall of the fixed box.

[0013] Preferably, telescopic cylinders are fixedly mounted on both sides of the mounting plate, one end of the telescopic cylinder is fixedly connected to a connecting plate, and one end of the connecting plate is fixedly connected to the toothed plate.

[0014] Preferably, a fixed platform is fixedly connected to one side of the mobile platform, a fixed rod is fixedly connected to the top of the fixed platform, and a counterweight is sleeved on the outer side of the fixed rod.

[0015] Technical effects and advantages of the present invention: 1. By setting up the adjustment mechanism through hydraulic cylinders, multiple motors and different connection structures, the welding head can be adjusted in all directions in height, horizontal position, angle and direction, which can adapt to welds of various shapes and positions. Whether it is complex curved surface welding or welding operations in a small space, the welding head can accurately reach and maintain the best welding posture to ensure the stability and consistency of welding quality. Each motor independently controls the corresponding adjustment action with a fast response speed. When switching different welding tasks or adjusting welding parameters, the welding head position and angle can be adjusted quickly, reducing the waiting time for operations and improving production efficiency. The first laser radar and the second laser radar The Dahe camera collects the environment and welding area information in real time and transmits it to the central processor. It also realizes comprehensive monitoring of the welding process through the welding parameter adjustment module and the weld tracking module. It can timely detect abnormal conditions in the welding process, such as weld offset, unstable welding parameters, etc., and make adjustments quickly to effectively reduce the scrap rate and improve the welding quality. The welding parameter adjustment module automatically adjusts the welding parameters according to the real-time welding data without frequent manual intervention. When welding workpieces of different materials and thicknesses or facing problems such as thermal deformation during welding, it can adaptively optimize the welding parameters to ensure that the welding quality always meets the requirements, thus improving the versatility and adaptability of the robot. 2. Through the sliding connection design between the driving wheel group and the fixed box, in conjunction with the telescopic cylinder driving gear and rotating shaft, the robot can achieve flexible movement in multiple directions. In complex industrial sites, such as large equipment assembly workshops and irregular workpiece processing areas, the robot can easily shuttle and reach the designated welding position, greatly improving work efficiency and operating range. Compared with traditional fixed or poorly mobile welding equipment, it greatly expands the application scenarios. By accurately controlling the telescopic amount of the telescopic cylinder, the rotation direction and speed of the driving wheel group can be accurately adjusted to achieve accurate planning of the robot's moving path. When welding some workpieces with high precision requirements, the robot can move accurately according to the preset path to ensure the accuracy of the welding position and reduce welding quality problems caused by movement deviation; 3. The adjustable counterweight can balance the center of gravity of the robot in real time according to the robot's working state and load conditions. During the robot's movement and welding process, it effectively prevents tipping or shaking caused by center of gravity offset, ensuring stable operation of the robot. Especially when performing some high-precision welding tasks, a stable working state is essential to ensure welding accuracy, reducing welding defects caused by equipment instability. A stable center of gravity and working state reduce uneven force and additional wear of various robot components during operation, extend the overall service life of the robot, and reduce equipment maintenance costs and replacement frequency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is a rear structural schematic diagram of the present invention.

[0018] Figure 3 It is a schematic structural diagram of the connection between the threaded sleeve and the welding head of the present invention.

[0019] Figure 4 For the present invention Figure 3 Rear view structural diagram.

[0020] Figure 5 It is a bottom structural schematic diagram of the present invention.

[0021] Figure 6 It is a partial cross-sectional structural schematic diagram of the present invention.

[0022] Figure 7 It is a schematic diagram of the internal structure of the fixed box of the present invention.

[0023] Figure 8 It is a schematic diagram of the regulating function structure of the present invention.

[0024] The accompanying drawings are marked as follows: 1. moving platform; 2. supporting sleeve plate; 3. lifting plate; 4. first motor; 5. threaded rod; 6. threaded sleeve; 7. fixed block; 8. fixed plate; 9. second motor; 10. rotating plate; 11. servo motor; 12. rotating column; 13. fixed sleeve; 14. rotating block; 15. supporting block; 16. first laser radar; 17. camera; 18. fixed box; 19. variable frequency motor; 20. rotating disk; 21. welding head; 22. control box; 23. controller; 24. second laser radar; 25. central processing unit; 26. welding parameter adjustment module; 27. weld seam tracking module; 28. hydraulic cylinder; 29. ​​fixed box; 30. driving wheel group; 31. rotating shaft; 32. gear; 33. tooth plate; 34. telescopic cylinder; 35. connecting plate; 36. mounting plate; 37. fixed platform; 38. fixed rod; 39. counterweight. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] As attached Figure 1-8 A mobile intelligent welding robot shown includes a mobile platform 1, and an adjustment mechanism is arranged on the top of the mobile platform 1; The adjustment mechanism includes a support sleeve plate 2, which is fixed on the top of the moving platform 1. A lifting plate 3 is slidably connected inside the support sleeve plate 2. A first motor 4 is fixedly installed on one side of the lifting plate 3. A threaded rod 5 is fixedly connected to the output end of the first motor 4. A threaded sleeve 6 is threadedly connected to the outer side of the threaded rod 5. A fixed block 7 is fixedly connected to the outer side of the threaded sleeve 6. A fixed plate 8 is fixedly connected to one side of the fixed block 7. A second motor 9 is fixedly installed on one side of the fixed plate 8. A rotating plate 10 is fixedly connected to the output end of the second motor 9. A servo motor 11 is fixedly installed on one side of the rotating plate 10. A rotating column 12 is fixedly connected to the output end of the servo motor 11. A fixed sleeve 13 is provided on the outer fixed sleeve of the rotating column 12. The outer side of the fixed sleeve 13 is fixedly connected with a rotating block 14, one end of the rotating block 14 is fixedly connected with a fixed box 18, a frequency conversion motor 19 is fixedly installed on the inner wall of the fixed box 18, a rotating disk 20 is fixedly connected to the output end of the frequency conversion motor 19, a welding head 21 is fixedly installed at one end of the rotating disk 20, and an intelligent adjustment mechanism is provided between the moving platform 1 and the welding head 21; The intelligent adjustment mechanism includes a control box 22 , which is fixed on the top of the mobile platform 1 , a controller 23 is fixedly installed on one side of the control box 22 , and a second laser radar 24 is fixedly installed on one side of the mobile platform 1 .

[0027] As attached Figure 1-8 As shown, a support block 15 is fixedly connected to the top of the rotating block 14, a first laser radar 16 is fixedly installed on one side of the support block 15, and a camera 17 is fixedly installed on the top of the support block 15. The output ends of the first laser radar 16, the camera 17, the controller 23 and the second laser radar 24 are all connected to the central processing unit 25, and the output end of the central processing unit 25 is respectively connected to the welding parameter adjustment module 26 and the weld tracking module 27, and the output ends of the welding parameter adjustment module 26 and the weld tracking module 27 are both connected to the central processing unit 25, and the output end of the central processing unit 25 is electrically connected to the first motor 4, the second motor 9, the servo motor 11 and the variable frequency motor 19, and the welding process is fully monitored through the welding parameter adjustment module 26 and the weld tracking module 27, so that abnormal conditions in the welding process can be discovered in time, and adjustments can be made quickly and effectively, so that welding is more intelligent and welding quality is guaranteed.

[0028] As attached Figure 6 As shown, a hydraulic cylinder 28 is fixedly installed at the bottom of the inner wall of the support sleeve 2, and the top of the hydraulic cylinder 28 is fixedly connected to the bottom of the lifting plate 3, so that the hydraulic cylinder 28 can drive the lifting plate 3 to rise and fall, thereby adjusting the height of the welding head 21 and improving applicability.

[0029] As attached Figure 1-4As shown, two groups of threads are symmetrically arranged on the outer surface of the threaded rod 5, the rotating plate 10 is movably connected to the fixed plate 8, and the rotating disk 20 and the welding head 21 are both rotatably connected to the fixed box 18, so that the threaded rod 5 rotates to drive the two threaded sleeves 6 to move closer to or away from each other.

[0030] As attached Figure 1 , 2 As shown in , 6 and 7, a fixed box 29 is fixedly installed at the bottom of the mobile platform 1, and a driving wheel group 30 is installed inside the fixed box 29, and the driving wheel group 30 is slidably connected to the fixed box 29. A rotating shaft 31 is fixedly connected to the top of the driving wheel group 30, and a gear 32 is fixedly connected to the top of the rotating shaft 31. A toothed plate 33 is meshed at the rear side of the gear 32. A mounting plate 36 is fixedly connected to the top of the inner wall of the fixed box 29, and telescopic cylinders 34 are fixedly installed on both sides of the mounting plate 36. A connecting plate 35 is fixedly connected to one end of the telescopic cylinder 34, and one end of the connecting plate 35 is fixedly connected to the toothed plate 33, so that the driving wheel group 30 can be rotated and different paths can be planned.

[0031] As attached Figure 1 , 2 As shown in , 6, a fixed platform 37 is fixedly connected to one side of the mobile platform 1, a fixed rod 38 is fixedly connected to the top of the fixed platform 37, and a counterweight block 39 is sleeved on the outer side of the fixed rod 38 to ensure the center of gravity of the entire device, ensure stability, and avoid the device from tipping over during movement.

[0032] Working principle of the present invention: A driving wheel group 30 is installed inside a fixed box 29 fixedly installed at the bottom of the mobile platform 1, and the driving wheel group 30 is slidably connected to the fixed box 29. When movement is required, the driving wheel group 30 slides in the fixed box 29, and the robot is moved in different directions by rotation. A gear 32 is fixedly connected to the top of a rotating shaft 31 fixedly connected to the top of the driving wheel group 30, and a tooth plate 33 is meshed on the rear side of the gear 32. A telescopic cylinder 34 is fixedly installed on both sides of a mounting plate 36 fixedly connected to the top of the inner wall of the fixed box 29, and one end of the telescopic cylinder 34 is fixedly connected to a connecting plate 35, and one end of the connecting plate 35 is fixedly connected to the tooth plate 33. The telescopic movement of the telescopic cylinder 34 drives the connecting plate 35 and the tooth plate 33 to move, thereby driving the gear 32 and the rotating shaft 31 to rotate, controlling the rotation direction and speed of the driving wheel group 30, and realizing the flexible movement of the robot. The support sleeve 2 is fixed on the top of the moving platform 1, and the support sleeve 2 is slidably connected with the lifting plate 3 inside. The top of the hydraulic cylinder 28 fixedly installed on the bottom of the inner wall of the support sleeve 2 is fixedly connected to the bottom of the lifting plate 3. The lifting plate 3 can be lifted and lowered in the support sleeve 2 by the extension and contraction of the hydraulic cylinder 28, so as to adjust the height of the entire welding execution part. The output end of the first motor 4 fixedly installed on one side of the lifting plate 3 is fixedly connected to the threaded rod 5, the outer side of the threaded rod 5 is threadedly connected to the threaded sleeve 6, the outer side of the threaded sleeve 6 is fixedly connected to the fixed block 7, and one side of the fixed block 7 is fixedly connected to the fixed plate 8. The first motor 4 drives the threaded rod 5 to rotate when it works, so that the threaded sleeve 6 and the fixed block 7 move horizontally along the threaded rod 5, and then drives the fixed plate 8 to move horizontally to adjust the horizontal position of the welding head 21. The output end of the second motor 9 fixedly installed on one side of the fixed plate 8 is fixedly connected to the rotating plate 10, and the rotating plate 10 is movably connected to the fixed plate 8. The second motor 9 can rotate the rotating plate 10 around its output end when it works, so as to adjust the angle of the welding head 21. The output end of the servo motor 11 fixedly installed on one side of the rotating plate 10 is fixedly connected to a rotating column 12, a fixed sleeve 13 is fixedly provided on the outer side of the rotating column 12, and a rotating block 14 is fixedly connected to the outer side of the fixed sleeve 13. The servo motor 11 drives the rotating column 12 and the fixed sleeve 13 to rotate, and then the rotating block 14 rotates, and the direction of the welding head 21 is further adjusted. A variable frequency motor 19 is fixedly installed on the inner wall of a fixed box 18 fixedly connected to one end of the rotating block 14, and a rotating disk 20 is fixedly connected to the output end of the variable frequency motor 19. The rotating disk 20 and the welding head 21 are both rotatably connected to the fixed box 18. The variable frequency motor 19 drives the rotating disk 20 and the welding head 21 to rotate when it works, so as to perform welding operations; The second laser radar 24 fixedly installed on one side of the mobile platform 1 is used to sense the surrounding environment information in real time. The first laser radar 16 fixedly installed on one side of the support block 15 fixedly connected to the top of the rotating block 14 is used to sense the environment information near the welding area. The camera 17 fixedly installed on the top of the support block 15 is used to obtain image information of the welding area. The output ends of the first laser radar 16, the camera 17, the controller 23 and the second laser radar 24 are all connected to the central processor 25, which transmit the collected information to the central processor 25. The output ends of the central processor 25 are respectively connected to the welding parameter adjustment module 26 and the weld tracking module 27, and the output ends of the welding parameter adjustment module 26 and the weld tracking module 27 are connected to the central processor 25. The weld tracking module 27 analyzes the image obtained by the camera 17, identifies the position and shape of the weld in real time, and transmits the information to the central processor 25. The welding parameter adjustment module 26 automatically adjusts the welding parameters through an algorithm according to the real-time data in the welding process, such as welding current, voltage, etc. The central processor 25 controls the operation of the first motor 4, the second motor 9, the servo motor 11 and the variable frequency motor 19 according to the received information, realizes the precise control of the position, angle and welding operation of the welding head 21, and adjusts the welding parameters to ensure the welding quality. A fixed rod 38 is fixedly connected to the top of a fixed platform 37 fixedly connected to one side of the mobile platform 1. A counterweight 39 is sleeved on the outside of the fixed rod 38. The counterweight 39 can be adjusted according to the working state and load conditions of the robot to ensure the stability of the robot during movement and welding, and prevent the robot from tipping over or shaking due to the shift of the center of gravity, which affects the welding accuracy.

[0033] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, which may refer to mechanical connection or electrical connection, or internal communication between two components, or direct connection. "upper", "lower", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may change; Secondly: In the drawings of the embodiments disclosed in the present invention, only the structures related to the embodiments disclosed in the present invention are involved, and other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other; Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mobile intelligent welding robot, comprising a mobile platform (1), characterized in that: The top of the mobile platform (1) is provided with an adjustment mechanism; The adjustment mechanism comprises a support sleeve (2), wherein the support sleeve (2) is fixed on the top of the moving platform (1), a lifting plate (3) is slidably connected inside the support sleeve (2), a first motor (4) is fixedly mounted on one side of the lifting plate (3), a threaded rod (5) is fixedly connected to the output end of the first motor (4), a threaded sleeve (6) is threadedly connected to the outer side of the threaded rod (5), a fixed block (7) is fixedly connected to the outer side of the threaded sleeve (6), a fixed plate (8) is fixedly connected to one side of the fixed block (7), a second motor (9) is fixedly mounted on one side of the fixed plate (8), an output end of the second motor (9) is fixedly connected to a rotating plate (10), a servo motor (11) is fixedly mounted on one side of the rotating plate (10), an output end of the servo motor (11) is fixedly connected to a rotating column (12), and a fixed sleeve (13) is provided on the outer side of the rotating column (12); The outer side of the fixed sleeve (13) is fixedly connected to a rotating block (14), one end of the rotating block (14) is fixedly connected to a fixed box (18), a variable frequency motor (19) is fixedly mounted on the inner wall of the fixed box (18), an output end of the variable frequency motor (19) is fixedly connected to a rotating disk (20), one end of the rotating disk (20) is fixedly mounted to a welding head (21), and an intelligent adjustment mechanism is provided between the moving platform (1) and the welding head (21); The intelligent adjustment mechanism comprises a control box (22), the control box (22) being fixed on the top of the mobile platform (1), a controller (23) being fixedly mounted on one side of the control box (22), and a second laser radar (24) being fixedly mounted on one side of the mobile platform (1).

2. The mobile intelligent welding robot according to claim 1 is characterized in that: The top of the rotating block (14) is fixedly connected to a supporting block (15), a first laser radar (16) is fixedly mounted on one side of the supporting block (15), a camera (17) is fixedly mounted on the top of the supporting block (15), and the output ends of the first laser radar (16), the camera (17), the controller (23), and the second laser radar (24) are all connected to a central processing unit (25).

3. The mobile intelligent welding robot according to claim 2 is characterized in that: The output end of the central processing unit (25) is respectively connected to a welding parameter adjustment module (26) and a weld seam tracking module (27), and the output ends of the welding parameter adjustment module (26) and the weld seam tracking module (27) are both connected to the central processing unit (25).

4. The mobile intelligent welding robot according to claim 4 is characterized in that: The output end of the central processing unit (25) is electrically connected to the first motor (4), the second motor (9), the servo motor (11) and the variable frequency motor (19).

5. The mobile intelligent welding robot according to claim 1 is characterized in that: A hydraulic cylinder (28) is fixedly mounted on the bottom of the inner wall of the support sleeve plate (2), and the top of the hydraulic cylinder (28) is fixedly connected to the bottom of the lifting plate (3).

6. The mobile intelligent welding robot according to claim 1, characterized in that: The outer surface of the threaded rod (5) is symmetrically provided with two groups of threads, the rotating plate (10) is movably connected to the fixed plate (8), and the rotating disk (20) and the welding head (21) are both rotatably connected to the fixed box (18).

7. The mobile intelligent welding robot according to claim 1 is characterized in that: A fixed box (29) is fixedly mounted on the bottom of the mobile platform (1), a driving wheel set (30) is mounted inside the fixed box (29), and the driving wheel set (30) is slidably connected to the fixed box (29).

8. The mobile intelligent welding robot according to claim 7 is characterized in that: The top of the driving wheel group (30) is fixedly connected to a rotating shaft (31), the top of the rotating shaft (31) is fixedly connected to a gear (32), the rear side of the gear (32) is meshed with a toothed plate (33), and the top of the inner wall of the fixed box (29) is fixedly connected to a mounting plate (36).

9. The mobile intelligent welding robot according to claim 8, characterized in that: Telescopic cylinders (34) are fixedly mounted on both sides of the mounting plate (36); one end of the telescopic cylinder (34) is fixedly connected to a connecting plate (35); one end of the connecting plate (35) is fixedly connected to the toothed plate (33).

10. The mobile intelligent welding robot according to claim 9, characterized in that: A fixed platform (37) is fixedly connected to one side of the mobile platform (1), a fixed rod (38) is fixedly connected to the top of the fixed platform (37), and a counterweight (39) is sleeved on the outside of the fixed rod (38).

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