A wall-climbing robot with a robotic arm

Abstract

The present invention discloses a wall-climbing robot with a robotic arm, which relates to the field of welding on the inner and outer walls of pipelines. It includes a magnetic adsorption wall-climbing robot and a robotic arm for welding on the outer wall of the pipeline. One end of the magnetic adsorption wall-climbing robot is movably installed with a welding mechanism for the inner wall of the pipeline. The welding mechanism for the inner wall of the pipeline includes a connecting seat, and a disc is rotatably connected to the outside of the connecting seat. A chuck is installed above the disc, and two groups of movable racks are symmetrically arranged at the center inside the chuck. Welding guns are installed at the ends of the two groups of movable racks. By setting the welding mechanism for the inner wall of the pipeline and the robotic arm for welding on the outer wall of the pipeline to be disassembled, assembled and replaced for use, the inner and outer walls of the pipeline can be welded. The welding mechanism for the inner wall of the pipeline is evenly provided with multiple groups of welding guns, and the multiple groups of welding guns rotate simultaneously to weld the weld seam, which can shorten the welding time of the weld seam and thus improve the overall welding efficiency of the inner wall.

Description

Technical Field

[0001] The present invention relates to the field of welding of the inner and outer walls of pipelines, and specifically to a wall-climbing robot with a robotic arm. Background Art

[0002] A wall-climbing robot is an automated robot that can climb on a vertical wall and complete operations. A wall-climbing robot must have two basic functions: adsorption and movement. Common adsorption methods include negative pressure adsorption and permanent magnet adsorption. Among them, the negative pressure method can generate negative pressure in the suction cup to adsorb on the wall surface, which is not restricted by the wall material. The permanent magnet adsorption method has two methods: permanent magnet and electromagnet, which are only applicable to adsorbing ferromagnetic wall surfaces. Wall-climbing robots are mainly used in petrochemical enterprises for flaw detection, painting, or pipeline welding operations on large cylindrical tanks.

[0003] The welding of small pipelines is usually completed manually, while the welding of large pipelines is usually completed by a magnetic adsorption wall-climbing robot. A welding robotic arm is installed on the top of the magnetic adsorption wall-climbing robot. The wall-climbing robot drives the welding robotic arm to move in a circular motion along the weld seam, and then the welding gun uniformly welds the weld seam between the two groups of pipelines. Usually, both the inner and outer walls of large pipelines need to be welded, and the welding methods for the inner and outer walls are the same.

[0004] When using a wall-climbing robot to weld the inner and outer walls of large pipelines, it is necessary to ensure that the wall-climbing robot can crawl stably on the inner and outer walls of the pipeline. However, the running speed of the wall-climbing robot is slow, which makes the overall welding work of the pipeline relatively slow. In addition, for some pipelines, their outer walls can meet the running conditions of the wall-climbing robot, but due to the narrow space inside the pipeline and the volume of the wall-climbing robot, the wall-climbing robot cannot crawl inside it. Therefore, the inner wall of this part of the pipeline needs to be welded manually. Manual welding has low efficiency and high difficulty due to the narrow pipeline. Summary of the Invention

[0005] Based on this, the purpose of the present invention is to provide a wall-climbing robot with a robotic arm to solve the technical problems mentioned in the above background.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a wall-climbing robot with a mechanical arm, comprising a magnetic wall-climbing robot and a pipe outer wall welding manipulator, wherein a pipe inner wall welding mechanism is movably installed at one end of the magnetic wall-climbing robot, and the pipe inner wall welding mechanism comprises a connecting seat, and a disc is rotatably connected to the outside of the connecting seat, a chuck is installed above the disc, and two groups of movable racks are movably arranged in a centrally symmetrical manner inside the chuck, and welding guns are installed at the ends of the two groups of movable racks, an inner gear ring is rotatably connected to the inside of the chuck, and the inner gear ring and the two groups of movable racks are respectively connected by a fixed rod, a first transmission tooth and a second transmission tooth, the inner gear shaft is rotatably connected to the disk, and the transmission shaft and a group of fixed rods are connected by a third transmission assembly, a third driving device is installed inside the connecting seat, and the output end of the third driving device and the disc are connected by a second transmission assembly.

[0007] By adopting the above technical scheme, the inner and outer walls of the pipeline can be welded by arranging a pipeline inner wall welding mechanism and a pipeline outer wall welding manipulator for disassembly, assembly and replacement of each other. The pipeline inner wall welding mechanism can improve the welding efficiency of the pipeline inner wall. The expansion degree of the welding gun of the pipeline inner wall welding mechanism is related to the opening degree of the three groups of magnetic tracks of the magnetic suction wall-climbing robot. The pipeline inner wall welding mechanism is evenly provided with multiple groups of welding guns. The multiple groups of welding guns rotate simultaneously to weld the weld, which can shorten the welding time of the weld and thereby improve the overall welding efficiency of the inner wall.

[0008] The present invention is further configured such that the first transmission teeth and the second transmission teeth are installed on the outside of the fixed rod, and the first transmission teeth and the inner gear ring are meshed with each other, and the second transmission teeth and the movable rack are meshed with each other, the two groups of the fixed rods are rotatably connected to the top of the disc, and the fixed rods and the chuck are rotatably connected.

[0009] By adopting the above technical solution, by arranging the first transmission teeth and the second transmission teeth on the outside of the fixed rod, the first transmission teeth are meshed with the inner gear ring, and the second transmission teeth are meshed with the movable rack. When a group of fixed rods rotates, the inner gear ring can be driven to rotate by the first transmission teeth, and the inner gear ring is meshed with the first transmission teeth on the outside of other fixed rods. Then, the rotation of the inner gear ring will drive multiple groups of fixed rods to rotate, so that the multiple groups of second transmission teeth rotate accordingly, and then drive the multiple groups of movable racks to extend outward from the inside of the chuck at the same time.

[0010] The present invention is further configured such that the chuck is mounted on the top of the disc by arranging multiple sets of support frames.

[0011] By adopting the above technical solution, a support frame can be provided to connect the chuck and the disc.

[0012] The present invention is further configured such that the chucks are provided with multiple groups from top to bottom, and two groups of movable racks are movably installed inside the multiple groups of chucks, and the multiple groups of movable racks and the inner gear ring are transmission-connected by setting a fixed rod, a first transmission tooth and a second transmission tooth.

[0013] By adopting the above technical solution, by arranging multiple groups of chucks from top to bottom, multiple groups of movable racks can be arranged, and then multiple groups of welding guns can be arranged. The welding efficiency can be improved by operating multiple groups of welding guns at the same time.

[0014] The present invention is further configured such that welding guns are installed at the ends of the multiple groups of movable racks, and the multiple groups of welding guns are arranged on the same plane by installing special-shaped brackets.

[0015] By adopting the above technical solution, by setting up multiple groups of movable racks, and connecting the ends of the multiple groups of movable racks to welding guns by setting special-shaped brackets, the multiple groups of welding guns can be in the same plane, and the inner wall welds of a medium-sized pipe can be welded at the same time.

[0016] The present invention is further configured such that the magnetic wall-climbing robot includes three groups of guide rods, and the outside of the three groups of guide rods are sequentially provided with a first fixing plate, a second fixing plate, a third fixing plate and a fourth fixing plate, and the fourth fixing plate and the connecting seat are movably installed.

[0017] By adopting the above technical solution, the stability of the first fixing plate, the second fixing plate, the third fixing plate and the fourth fixing plate can be improved by arranging three groups of guide rods to connect the first fixing plate, the second fixing plate, the third fixing plate and the fourth fixing plate.

[0018] The present invention is further configured such that a threaded rod is rotatably connected between the second fixed plate, the third fixed plate and the fourth fixed plate, and one end of the threaded rod is connected to a first driving device, and a sliding plate is movably installed on the outside of the three groups of guide rods, and the sliding plate and the threaded rod are threadedly connected.

[0019] By adopting the above technical solution, a threaded rod is provided, and then the first driving device drives the threaded rod to rotate, and the sliding plate can be driven to move by utilizing the screw rod principle.

[0020] The present invention is further configured such that three groups of telescopic link assemblies are arranged on the sides of the second fixed plate, the sliding plate and the fourth fixed plate, and the three groups of telescopic link assemblies are distributed in an array with the threaded rod as the center of the circle, a first mounting plate is arranged on the sides of the three groups of telescopic link assemblies, and the side of the first mounting plate is rotatably connected to the second mounting plate, and a second driving device is installed on the side of the first mounting plate, the second driving device and the second mounting plate are transmission-connected by setting a first transmission assembly, and a magnetic track is installed on the side of the second mounting plate.

[0021] By adopting the above technical solution, by setting the telescopic link assembly, when the sliding plate moves, it can drive the telescopic link assembly to expand and contract, so that the spacing of the three magnetic tracks can be adjusted.

[0022] The present invention is further configured such that an electromagnetic coupling is installed inside the fourth fixing plate, one end of the electromagnetic coupling is connected to the threaded rod, and a limiting groove is provided at the other end of the electromagnetic coupling, and a limiting block matching the limiting groove is provided at the bottom of the transmission shaft.

[0023] By adopting the above technical solution, by setting the electromagnetic coupling, the connection and disconnection between the threaded rod and the transmission shaft can be controlled.

[0024] In summary, the present invention mainly has the following beneficial effects:

[0025] 1. The present invention can weld the inner and outer walls of the pipeline by disassembling and replacing the use of the pipeline inner wall welding mechanism and the pipeline outer wall welding manipulator. The pipeline inner wall welding mechanism can improve the welding efficiency of the pipeline inner wall. The expansion degree of the welding gun of the pipeline inner wall welding mechanism is related to the opening degree of the three magnetic tracks of the magnetic adsorption type wall climbing robot. The pipeline inner wall welding mechanism is evenly provided with multiple groups of welding guns, and the multiple groups of welding guns rotate simultaneously to weld the weld seam, which can shorten the welding time of the weld seam, thereby improving the overall welding efficiency of the inner wall.

[0026] 2. The present invention can meet the operation requirements of pipelines with different diameters by setting the magnetic adsorption type wall climbing robot. The three magnetic tracks of the magnetic adsorption type wall climbing robot can be adjusted in angle. When two magnetic tracks are adjusted to be parallel and perpendicular to the ground, they can operate on the inner and outer walls of large pipelines and the outer wall of medium pipelines. And the three magnetic tracks of the magnetic adsorption type wall climbing robot can be expanded or reduced. When it is inconvenient for workers to enter the inner wall of the medium pipeline, the magnetic adsorption type wall climbing robot can operate inside the medium pipeline by expanding and contracting. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Schematic connection diagram of the magnetic adsorption type wall climbing robot and the pipeline inner wall welding mechanism of the present invention;

[0028] Figure 2 Schematic structure diagram of the magnetic adsorption type wall climbing robot of the present invention;

[0029] Figure 3 Schematic connection diagram of the guide rod, the first fixing plate, the threaded rod, the first driving device, the telescopic link assembly, and the magnetic track of the present invention;

[0030] Figure 4 For the present invention Figure 2 Enlarged view of part A in;

[0031] Figure 5 Internal structure schematic diagram of the pipeline inner wall welding mechanism of the present invention;

[0032] Figure 6 Of the present invention Figure 5 Enlarged view of part B in;

[0033] Figure 7 Structure schematic diagram of the pipeline inner wall welding mechanism of the present invention;

[0034] Figure 8 Connection schematic diagram of the disc, support frame, chuck, movable rack and second transmission gear of the present invention;

[0035] Figure 9 Connection schematic diagram of the transmission shaft, third transmission component, fixed rod, first transmission gear and internal gear ring of the present invention;

[0036] Figure 10 Connection schematic diagram of the third driving device, second transmission component and disc of the present invention;

[0037] Figure 11 Distribution schematic diagram of multiple groups of movable racks of the present invention;

[0038] Figure 12 Connection schematic diagram of the magnetic adsorption type wall-climbing robot and the pipeline outer wall welding manipulator of the present invention.

[0039] In the figure: 1, magnetic adsorption type wall-climbing robot; 2, pipeline inner wall welding mechanism; 3, pipeline outer wall welding manipulator; 101, guide rod; 102, first fixing plate; 103, second fixing plate; 104, third fixing plate; 105, fourth fixing plate; 106, threaded rod; 107, first driving device; 108, sliding plate; 109, telescopic link assembly; 110, first mounting plate; 111, second mounting plate; 112, second driving device; 113, first transmission component; 114, magnetic track; 115, electromagnetic coupling; 116, limit groove; 201, connecting seat; 202, disc; 203, transmission shaft; 204, limit block; 205, third driving device; 206, second transmission component; 207, support frame; 208, chuck; 209, internal gear ring; 210, movable rack; 211, welding gun; 212, fixed rod; 213, first transmission gear; 214, second transmission gear; 215, third transmission component. Detailed implementation manners

[0040] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and cannot be understood as a limitation to the present invention.

[0041] The following describes an embodiment of the present invention based on its overall structure.

[0042] Embodiment 1

[0043] A wall-climbing robot with a mechanical arm, such as Figure 1-11 As shown, it includes a magnetic wall-climbing robot 1 and a pipe outer wall welding manipulator 3, one end of the magnetic wall-climbing robot 1 is movably installed with a pipe inner wall welding mechanism 2, and the pipe inner wall welding mechanism 2 includes a connecting seat 201, the connecting seat 201 and the magnetic wall-climbing robot 1 are movably installed (for example: a lock connection method or a threaded connection method), and the outer part of the connecting seat 201 is rotatably connected with a disk 202, a chuck 208 is installed above the disk 202, and the interior of the chuck 208 is symmetrically and movably provided with two groups of movable racks 210, and the ends of the two groups of movable racks 210 are both installed with welding guns 211, the welding gun 211 is used to weld the inner wall of the medium-sized pipe, the interior of the chuck 208 is rotatably connected with an inner gear ring 209, and the inner gear ring 20 9 and the two groups of movable racks 210 are respectively connected by setting a fixed rod 212, a first transmission tooth 213 and a second transmission tooth 214. The internal rotation of the disk 202 is connected with a transmission shaft 203, and the transmission shaft 203 and a group of fixed rods 212 are connected by setting a third transmission assembly 215. The rotation of the transmission shaft 203 drives a group of fixed rods 212 to rotate through the third transmission assembly 215. A third driving device 205 is installed inside the connecting seat 201, and the output end of the third driving device 205 and the disk 202 are connected by setting a second transmission assembly 206. The third driving device 205 can not only drive the disk 202 to rotate through the second transmission assembly 206, but also play a locking role on it (for example: locking the servo motor).

[0044] See also Figure 8-11 The first transmission teeth 213 and the second transmission teeth 214 are installed on the outside of the fixed rod 212, and the first transmission teeth 213 and the inner gear ring 209 are meshed with each other, and the second transmission teeth 214 and the movable rack 210 are meshed with each other. The two sets of fixed rods 212 are rotatably connected to the top of the disk 202, and the fixed rods 212 and the chuck 208 are rotatably connected. By arranging the first transmission teeth 213 and the second transmission teeth 214 on the outside of the fixed rod 212, the first transmission teeth 213 and the inner gear ring 209 are meshed with each other. 09 is meshed, the second transmission teeth 214 are meshed with the movable rack 210, and then when a group of fixed rods 212 rotates, the first transmission teeth 213 can drive the inner ring gear 209 to rotate, and the inner ring gear 209 is meshed with the first transmission teeth 213 outside other fixed rods 212, and then the rotation of the inner ring gear 209 will drive multiple groups of fixed rods 212 to rotate, so that multiple groups of second transmission teeth 214 rotate accordingly, and then drive multiple groups of movable racks 210 to extend outward from the inside of the chuck 208 at the same time.

[0045] See also Figure 8 The chuck 208 is installed on the top of the disc 202 by setting multiple sets of support frames 207. The support frames 207 can be used to connect the chuck 208 and the disc 202.

[0046] See also Figure 7 There are multiple groups of chucks 208 from top to bottom, and two groups of movable racks 210 are movably installed inside the multiple groups of chucks 208, and the multiple groups of movable racks 210 and the inner gear ring 209 are connected by a fixed rod 212, a first transmission tooth 213 and a second transmission tooth 214. By arranging multiple groups of chucks 208 from top to bottom, multiple groups of movable racks 210 can be arranged, and then multiple groups of welding guns 211 can be arranged. The welding efficiency can be improved by operating multiple groups of welding guns 211 at the same time.

[0047] See also Figure 7 The ends of the multiple sets of movable racks 210 are all equipped with welding guns 211, and the multiple sets of welding guns 211 are set in the same plane by installing special-shaped brackets. By setting up multiple sets of movable racks 210, and the ends of the multiple sets of movable racks 210 are connected to the welding guns 211 by setting special-shaped brackets, the multiple sets of welding guns 211 can be in the same plane, and the inner wall welds of a medium-sized pipe can be welded at the same time.

[0048] See also Figure 3 The magnetic wall-climbing robot 1 includes three groups of guide rods 101, and the outside of the three groups of guide rods 101 is sequentially provided with a first fixing plate 102, a second fixing plate 103, a third fixing plate 104 and a fourth fixing plate 105, and the fourth fixing plate 105 and the connecting seat 201 are movably installed. By arranging three groups of guide rods 101 to connect the first fixing plate 102, the second fixing plate 103, the third fixing plate 104 and the fourth fixing plate 105, its stability can be improved.

[0049] See also Figure 3 A threaded rod 106 is rotatably connected between the second fixed plate 103, the third fixed plate 104 and the fourth fixed plate 105, and one end of the threaded rod 106 is connected to a first driving device 107. A sliding plate 108 is movably installed outside the three groups of guide rods 101, and the sliding plate 108 is threadedly connected to the threaded rod 106. By setting the threaded rod 106, the first driving device 107 drives the threaded rod 106 to rotate, and the sliding plate 108 can be driven to move by utilizing the screw principle.

[0050] See also Figure 3Three groups of telescopic link assemblies 109 are arranged on the sides of the second fixed plate 103, the sliding plate 108 and the fourth fixed plate 105, and the three groups of telescopic link assemblies 109 are distributed in an array with the threaded rod 106 as the center of the circle, and the sides of the three groups of telescopic link assemblies 109 are all provided with a first mounting plate 110, and the side of the first mounting plate 110 is rotatably connected with the second mounting plate 111, and the side of the first mounting plate 110 is installed with a second driving device 112, the second driving device 112 and the second mounting plate 111 are transmission-connected by setting a first transmission assembly 113, and the side of the second mounting plate 111 is installed with a magnetic track 114, by setting the telescopic link assembly 109, when the sliding plate 108 moves, it can drive the telescopic link assembly 109 to expand and contract, so that the three groups of magnetic tracks 114 can adjust the spacing.

[0051] See also Figure 3 and Figure 9 An electromagnetic coupling 115 is installed inside the fourth fixed plate 105, and one end of the electromagnetic coupling 115 is connected to the threaded rod 106, and a limiting groove 116 is provided at the other end of the electromagnetic coupling 115. A limiting block 204 matching the limiting groove 116 is provided at the bottom of the transmission shaft 203. By setting the electromagnetic coupling 115, the connection and disconnection of the threaded rod 106 and the transmission shaft 203 can be controlled.

[0052] Embodiment 2

[0053] A wall-climbing robot with a mechanical arm, such as Figure 12 As shown, on the basis of the first embodiment, a pipe outer wall welding manipulator 3 can also be installed at the end of the magnetic wall-climbing robot 1. The pipe inner wall welding mechanism 2 and the pipe outer wall welding manipulator 3 can be disassembled and assembled and used interchangeably, and the inner and outer walls of the pipe can be welded. The pipe inner wall welding mechanism can improve the welding efficiency of the pipe inner wall. The expansion degree of the welding gun 211 of the pipe inner wall welding machine 2 is related to the opening degree of the three groups of magnetic tracks 114 of the magnetic wall-climbing robot 1. The pipe inner wall welding mechanism 2 is evenly provided with multiple groups of welding guns 211. The multiple groups of welding guns 211 rotate simultaneously to weld the weld, which can shorten the welding time of the weld and thereby improve the overall welding efficiency of the inner wall.

[0054] The working principle of the present invention is as follows: when it is necessary to weld the inner and outer walls of a large pipeline or the outer wall of a medium-sized pipeline, first install a pipeline outer wall welding manipulator 3 at the end of the magnetic wall-climbing robot 1, then adjust the magnetic wall-climbing robot 1, start the second driving device 112, drive the first transmission assembly 113 to work, and then adjust the angle of the second mounting plate 111, so that the angle of the magnetic track 114 at the bottom of the second mounting plate 111 is adjusted accordingly, adjust the two sets of magnetic tracks 114 to be parallel, and the two sets of magnetic tracks 114 are perpendicular to the ground, move the robot to the inner wall or outer wall of the large pipeline, start the two sets of magnetic tracks 114 with adjusted angles to drive the magnetic wall-climbing robot 1 to move, and at the same time start the pipeline outer wall welding manipulator 3, and use the pipeline outer wall welding manipulator 3 to weld the weld.

[0055] When it is necessary to weld the inner wall of a medium-sized pipeline, the pipeline outer wall welding manipulator 3 at the end of the magnetic wall-climbing robot 1 is removed, and the pipeline inner wall welding mechanism 2 is installed to restore the angles of the three groups of magnetic tracks 114 of the magnetic wall-climbing robot 1, and then the first driving device 107 is preliminarily started. The first driving device 107 drives the threaded rod 106 to rotate, and uses the screw principle to push the sliding plate 108 to slide on the outside of the guide rod 101, so that the sliding plate 108 drives the telescopic connecting rod assembly 109 to contract or expand, thereby realizing the expansion and contraction of the three groups of magnetic tracks 114. First, preliminarily adjust the distance between the three groups of magnetic tracks 114 to be slightly smaller than the diameter of the medium-sized pipeline, and then the staff will move the equipment to the inner wall of the medium-sized pipeline, and then further adjust the distance between the three groups of magnetic tracks 114 so that the three groups of magnetic tracks 114 can support the inner wall of the medium-sized pipeline.

[0056] While the three sets of magnetic tracks 114 adjust the distance to support the inside of the medium-sized pipeline, the electromagnetic coupling 115 works to connect the threaded rod 106 and the transmission shaft 203, so that the electromagnetic coupling 115 rotates to drive the transmission shaft 203 to rotate, and the transmission shaft 203 rotates to drive a set of fixed rods 212 to rotate through the third transmission assembly 215, so that the first transmission gear 213 and the second transmission gear 214 rotate with the fixed rod 212, and the second transmission gear 214 is meshed with the movable rack 210, and the first transmission gear 213 is meshed with the inner gear ring 209, so that the inner gear ring 20 9 rotates inside the chuck 208, and a fixed rod 212, a first transmission tooth 213 and a second transmission tooth 214 are arranged between the inner gear ring 209 and the movable racks 210 in the multiple sets of chucks 208 for transmission connection, so that the two sets of movable racks 210 in each set of chucks 208 extend outward synchronously, and the multiple sets of welding guns 211 extend outward synchronously along the radial direction. The distance adjustment of the three sets of magnetic tracks 114 is related to the distance adjustment of the multiple sets of welding guns 211, and the multiple sets of welding guns 211 will extend to a position close to the weld on the inner wall of the medium-sized pipe.

[0057] Next, the electromagnetic coupling 115 is powered off and stops working. As a result, the screw rod 106 and the transmission shaft 203 can rotate freely. The third driving device 205 is started to drive the second transmission assembly 206 to work. Then, the disc 202 slowly rotates outside the connecting seat 201. When the disc 202 rotates, it drives a plurality of welding torches 211 to slowly rotate. The welding torches 211 work to uniformly weld the inner wall welds of the medium-sized pipeline. The simultaneous welding work of a plurality of welding torches 211 can improve the welding efficiency.

[0058] Although the embodiments of the present invention have been shown and described, the specific embodiments are only explanations of the present invention and not limitations thereof. The specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art can make modifications, substitutions and variations without creative contributions to the embodiments as needed, but as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A wall - climbing robot with a robotic arm, comprising a magnetic - adsorption wall - climbing robot (1) and a robotic hand for welding on the outer wall of a pipeline (3), characterized in that: A pipeline inner wall welding mechanism (2) is movably mounted on one end of the magnetic wall-climbing robot (1); when welding the outer wall of the pipeline, a pipeline outer wall welding manipulator (3) is mounted on the end of the magnetic wall-climbing robot (1); when welding the inner wall of the pipeline, the pipeline inner wall welding mechanism (2) is mounted on the end of the magnetic wall-climbing robot (1); the pipeline inner wall welding mechanism (2) comprises a connecting seat (201); and a disc (202) is rotatably connected to the outside of the connecting seat (201); a chuck (208) is mounted above the disc (202); and the chuck (208) Two sets of movable racks (210) are movably arranged in a centrally symmetrical manner inside the chuck (208), and welding guns (211) are installed at the ends of the two sets of movable racks (210). The chuck (208) is rotatably connected to an inner gear ring (209), and the inner gear ring (209) and the two sets of movable racks (210) are respectively connected in transmission by setting a fixed rod (212), a first transmission tooth (213) and a second transmission tooth (214). The disk (202) is rotatably connected to a transmission shaft (203), and the transmission shaft (203) and a set of fixed rods (212) are connected in transmission. The third transmission assembly (215) is provided for transmission connection between the connecting seat (201), a third driving device (205) is installed inside the connecting seat (201), and the output end of the third driving device (205) and the disk (202) are transmission connected by providing a second transmission assembly (206), the first transmission teeth (213) and the second transmission teeth (214) are installed outside the fixed rod (212), and the first transmission teeth (213) and the inner gear ring (209) are meshed with each other, and the second transmission teeth (214) and the movable rack (210) are meshed with each other, and the two sets of fixed rods ( The chuck (208) is rotatably connected to the top of the disc (202), and the fixed rod (212) and the chuck (208) are rotatably connected. The chuck (208) is installed on the top of the disc (202) by setting multiple groups of support frames (207). The chuck (208) is provided with multiple groups from top to bottom, and two groups of movable racks (210) are movably installed inside the multiple groups of chucks (208), and the multiple groups of movable racks (210) and the inner gear ring (209) are transmission-connected by setting a fixed rod (212), a first transmission tooth (213) and a second transmission tooth (214).

2. The wall-climbing robot with a robotic arm according to claim 1, characterized in that: The ends of the multiple groups of movable racks (210) are all installed with welding guns (211), and the multiple groups of welding guns (211) are arranged on the same plane by installing special-shaped brackets.

3. The wall-climbing robot with a robotic arm according to claim 2, characterized in that: The magnetic wall-climbing robot (1) comprises three groups of guide rods (101), and the outsides of the three groups of guide rods (101) are provided with a first fixing plate (102), a second fixing plate (103), a third fixing plate (104) and a fourth fixing plate (105) in sequence, and the fourth fixing plate (105) and the connecting seat (201) are movably installed.

4. The wall-climbing robot with a robotic arm according to claim 3, wherein: A threaded rod (106) is rotatably connected between the second fixed plate (103), the third fixed plate (104) and the fourth fixed plate (105), and one end of the threaded rod (106) is connected to a first driving device (107). A sliding plate (108) is movably installed outside the three groups of guide rods (101), and the sliding plate (108) and the threaded rod (106) are threadedly connected.

5. The wall-climbing robot with a robotic arm according to claim 4, characterized in that: Three groups of telescopic link assemblies (109) are arranged on the side surfaces of the second fixed plate (103), the sliding plate (108) and the fourth fixed plate (105), and the three groups of telescopic link assemblies (109) are arranged in an array with the threaded rod (106) as the center of the circle; a first mounting plate (110) is arranged on the side surfaces of the three groups of telescopic link assemblies (109), and the side surfaces of the first mounting plate (110) are rotatably connected to the second mounting plate (111), and a second driving device (112) is installed on the side surfaces of the first mounting plate (110), the second driving device (112) and the second mounting plate (111) are transmission-connected by setting a first transmission assembly (113), and a magnetic track (114) is installed on the side surfaces of the second mounting plate (111).

6. The wall-climbing robot with a robotic arm according to claim 5, characterized in that: An electromagnetic coupling (115) is installed inside the fourth fixed plate (105), one end of the electromagnetic coupling (115) is connected to the threaded rod (106), and the other end of the electromagnetic coupling (115) is provided with a limiting groove (116), and a limiting block (204) matching the limiting groove (116) is provided at the bottom of the transmission shaft (203).

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