Intelligent crawling welding robot for friction stir welding

Abstract

The invention relates to the field of welding, in particular to a friction stir welding intelligent crawling welding robot which comprises a bearing mechanism, a containing mechanism is detachably connected to the bearing mechanism, a clamping mechanism is arranged in the containing mechanism, and an auxiliary mechanism is arranged between the clamping mechanism and the bearing mechanism. The clamping mechanism comprises a driving assembly fixedly connected to the containing mechanism, a driving plate is attached to the driving assembly, the driving assembly can drive the driving plate to move, the two sides of a workpiece can be clamped in the moving process, and a driven plate is driven to move in the moving process of the driving plate. According to the clamping device, the driving plate and the driven plate move at the same time, workpieces of various sizes can be limited in the center of the containing base, meanwhile, the shaft rod drives the auxiliary assembly to clamp the two sides of the workpieces, the clamping effect of the workpieces is further improved, and the strip-shaped workpieces can be effectively welded in cooperation with the movable bearing mechanism.

Description

Technical Field

[0001] The present invention relates to the field of welding, and particularly to an intelligent friction stir welding crawling robot. Background Art

[0002] Friction stir welding is a process in which a stir head generates heat by rotating at high speed and rubbing against a workpiece, causing the workpiece material to be locally plasticized. During the movement of the stir head, the plasticized material flows from the front to the back of the stir head, thus achieving welding. In the friction stir welding process, no flux is required, and no pollutants such as waste gas and waste water are generated, which has no negative impact on the environment. At the same time, there are no sparks, arc light, harmful gases, or vibrations. Compared with other welding methods, grooving and joint machining are omitted.

[0003] In existing friction stir welding, the workpiece is mostly fixed at the bottom of the stir head, and the stir head rotates to weld the workpiece. However, when welding long strip-shaped workpieces, the movement range of the welding robotic arm is limited. For example, in the linear welding and multi-point welding processes of long strip-shaped workpieces, it is difficult for the fixed workpiece to complete the welding task at one time. Moreover, the fixture for long strip-shaped workpieces generally uses multiple drive ends for clamping, and some tools need to be fixed twice or multiple times, resulting in low clamping efficiency. Therefore, we designed an intelligent friction stir welding crawling robot. Summary of the Invention

[0004] In view of the problem that the movement range of the welding robotic arm of the intelligent friction stir welding crawling robot is limited when welding long strip-shaped workpieces, and it is difficult for the welding arm to complete welding at one time in the above or existing technology, the present invention is proposed.

[0005] Therefore, the object of the present invention is to provide an intelligent friction stir welding crawling robot.

[0006] To solve the above technical problems, the present invention provides the following technical solution: an intelligent friction stir welding crawling robot, including a carrying mechanism, a receiving mechanism is detachably connected to the carrying mechanism, a clamping mechanism is arranged inside the receiving mechanism, and an auxiliary mechanism is arranged between the clamping mechanism and the carrying mechanism; The clamping mechanism includes a driving component fixedly connected to the receiving mechanism, an active plate is attached to the driving component, a transfer plate is rotatably connected to both sides of the active plate, the transfer plate is rotatably connected to the receiving mechanism through a shaft rod, the other ends of the two transfer plates are rotatably connected to a driven plate together, clamping plates are fixedly connected to the opposite sides of the active plate and the driven plate, a reset rope is arranged between the driven plate and the receiving mechanism, and the auxiliary mechanism is fixedly connected to the shaft rod; The auxiliary mechanism includes a pressing component fixedly connected to the shaft rod, and the pressing component is connected to a push plate through a transfer component.

[0007] As a preferred embodiment of the friction stir welding intelligent crawling welding robot of the present invention, wherein: the extrusion assembly includes a driving disk fixedly connected to the shaft rod, the driving disk is provided with a plurality of accommodating grooves, and the accommodating grooves are provided with extrusion grooves; The transfer assembly includes an annular box adapted to the driving disk, the bottom of the annular box is fixedly connected with an extrusion airbag through a bottom box, the extrusion airbag is located inside the accommodating groove, one side of the annular box away from the driving disk is fixedly connected with a conduit, the outer wall of the conduit away from the driving disk is fixedly connected with a sealing plate, the sealing plate is fixedly connected with a movable cylinder through a spring, the other end of the movable cylinder is fixedly connected with a push plate, and the inner wall of the movable cylinder is slidably connected with the outer wall of the sealing plate.

[0008] As a preferred embodiment of the friction stir welding intelligent crawling welding robot of the present invention, wherein: the accommodating mechanism includes a placing seat, the placing seat is provided with a positioning seat and a through groove corresponding to the driving assembly, the accommodating mechanism is provided with an annular groove corresponding to the driving disk, a limiting groove is opened on one side of the annular groove, the limiting groove is slidably connected with the push plate, and the top of the extrusion airbag is arc-shaped.

[0009] As a preferred embodiment of the friction stir welding intelligent crawling welding robot of the present invention, wherein: the driving assembly includes a motor located at the bottom of the placing seat, the driving end of the motor is meshed with a second gear through a first gear, the second gear is located in the through groove and fixedly connected with a driving rotating cylinder, the driving rotating cylinder is connected with a movable rod through a guiding groove and a round rod, and the movable rod is slidably connected with the positioning seat.

[0010] As a preferred embodiment of the friction stir welding intelligent crawling welding robot of the present invention, wherein: the motor is located at the edge of the placing seat, the motor is fixedly connected with the placing seat through a protection bracket, the cross section of the driving rotating cylinder is circular, and the first gear is located at the bottom of the second gear.

[0011] As a preferred embodiment of the friction stir welding intelligent crawling welding robot of the present invention, wherein: the movable rod is attached to the active plate, the movable rod is slidably connected with the positioning seat through a side groove, the driving rotating cylinder is rotatably connected with the through groove, the inner wall of the guiding groove is attached to the outer wall of the round rod, and the guiding groove is thread-shaped.

[0012] As a preferred embodiment of the friction stir welding intelligent crawling welding robot of the present invention, wherein: the cross section of the movable rod is circular, the movable rod is made of metal and the two ends are chamfered, the side grooves are opened on both sides of the movable rod, and the positioning seat is located at the top edge of the placing seat.

[0013] As a preferred embodiment of the friction stir welding intelligent crawling welding robot of the present invention, wherein: the accommodating mechanism is located at the center of the bearing mechanism, and the center point of the accommodating mechanism and the center point of the bearing mechanism are on the same vertical line.

[0014] As a preferred solution of the friction stir welding intelligent crawling welding robot of the present invention, wherein: the carrying mechanism includes a walking track base, and auxiliary wheels are connected to the four corners of the walking track base through steering gears.

[0015] As a preferred solution of the friction stir welding intelligent crawling welding robot of the present invention, wherein: the walking track base is arranged in a flat shape, and the track height of the walking track base is the same as the track height at the highest point of the auxiliary wheels.

[0016] The beneficial effects of the friction stir welding intelligent crawling welding robot of the present invention: The setting of the driving component of the device can drive the active plate to move, and the two sides of the workpiece can be clamped during the movement. During the movement of the active plate, the driven plate is driven to move, so that the active plate and the driven plate move simultaneously, enabling workpieces of various sizes to be limited at the center of the holding seat. At the same time, the shaft rod drives the auxiliary component to clamp the two sides of the workpiece, further improving the clamping effect of the workpiece. Cooperating with the movable carrying mechanism, the bar-shaped workpiece can be effectively welded. Brief Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for description in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic diagram of the overall structure of the friction stir welding intelligent crawling welding robot.

[0019] Figure 2 It is a schematic diagram of the accommodating mechanism structure of the friction stir welding intelligent crawling welding robot.

[0020] Figure 3 is Figure 2 The enlarged view at position A in

[0021] Figure 4 It is a schematic diagram of a partial structure of the driving component of the friction stir welding intelligent crawling welding robot.

[0022] Figure 5 It is a schematic diagram of the clamping mechanism of the friction stir welding intelligent crawling welding robot.

[0023] Figure 6 It is a schematic diagram of the auxiliary mechanism of the friction stir welding intelligent crawling welding robot.

[0024] Figure 7Schematic diagram of the ring box structure of the friction stir welding intelligent crawling welding robot.

[0025] Figure 8 Schematic diagram of the internal structure of the movable cylinder of the friction stir welding intelligent crawling welding robot.

[0026] In the figure: 1. Bearing mechanism; 10. Crawler base; 11. Steering gear; 12. Auxiliary wheel; 2. Accommodating mechanism; 20. Placing seat; 21. Positioning seat; 22. Through groove; 23. Ring groove; 24. Limit groove; 3. Clamping mechanism; 30. Driving assembly; 31. Driving plate; 32. Adapter plate; 33. Shaft rod; 34. Driven plate; 35. Clamping plate; 36. Reset rope; 300. Motor; 301. First gear; 302. Second gear; 303. Driving rotating cylinder; 304. Guide groove; 305. Round rod; 306. Movable rod; 307. Side groove; 4. Auxiliary mechanism; 40. Extrusion assembly; 41. Transfer assembly; 42. Pushing plate; 400. Driving disc; 401. Accommodating groove; 402. Extrusion groove; 410. Ring box; 411. Bottom box; 412. Extrusion airbag; 413. Duct; 414. Sealing plate; 415. Spring; 416. Movable cylinder. Specific embodiments

[0027] To make the above objects, features, and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings of the specification.

[0028] Example 1, referring to Figures 1 to 8 , which is the first embodiment of the present invention. This embodiment provides a friction stir welding intelligent crawling welding robot that can achieve the effect of driving the workpiece to move. It includes a bearing mechanism 1, a detachable accommodating mechanism 2 is connected to the bearing mechanism 1, a clamping mechanism 3 is arranged inside the accommodating mechanism 2, and an auxiliary mechanism 4 is arranged between the clamping mechanism 3 and the bearing mechanism 1; Specifically, the setting of the bearing mechanism 1 can drive the accommodating mechanism 2 to move. During the movement of the accommodating mechanism 2, the workpiece can be driven to move, so that the robotic arm stirring head can completely cover the movement range of the workpiece, and the strip-shaped workpiece can be effectively welded. The setting of the clamping mechanism 3 can clamp the workpiece and ensure that the workpiece is fixed during welding. The setting of the auxiliary mechanism 4 can limit both ends of the workpiece. When performing friction stir welding on a strip-shaped workpiece, since most of the torque generated by the friction stir welding is received by the lateral fixture, the clamping force requirement for both ends of the strip-shaped workpiece is relatively low. Therefore, the positioning of both ends of the strip-shaped workpiece can be completed through the auxiliary mechanism 4.

[0029] The clamping mechanism 3 includes a driving component 30 fixedly connected to the accommodating mechanism 2. An active plate 31 is attached to the driving component 30. Rotating plates 32 are rotatably connected to both sides of the active plate 31. The rotating plates 32 and the accommodating mechanism 2 are rotatably connected through a shaft rod 33. The shaft rod 33 is fixedly connected to the rotating plate 32 and rotatably connected to the accommodating mechanism 2. The other ends of the two rotating plates 32 are jointly rotatably connected to a driven plate 34. Clamping plates 35 are fixedly connected to the opposite sides of the active plate 31 and the driven plate 34. A reset rope 36 is provided between the driven plate 34 and the accommodating mechanism 2. The auxiliary mechanism 4 is fixedly connected to the shaft rod 33.

[0030] The driving component 30 pushes the active plate 31 to move horizontally. During the movement of the active plate 31, both sides of the workpiece are clamped synchronously. When the driving component 30 drives the active plate 31 to move, the active plate 31 drives the driven plate 34 to move towards the workpiece synchronously through the rotating plate 32. The clamping plates 35 on the active plate 31 and the driven plate 34 simultaneously contact the workpiece, thereby completing the lateral clamping of the workpiece, so that strip-shaped workpieces of various sizes can be limited at the center of the accommodating mechanism 2, and it is more convenient to weld the workpiece. The cross-section of the shaft rod 33 is circular. The shaft rod 33 is made of metal material and can rotate along with the rotation of the rotating plate 32. The outer wall of the clamping plate 35 is provided with a rubber layer, which can protect the workpiece when clamping the workpiece and prevent abrasion between the workpiece and the clamping plate 35 during welding.

[0031] The auxiliary mechanism 4 includes a pressing component 40 fixedly connected to the shaft rod 33. The pressing component 40 is connected to a push plate 42 through a transfer component 41. The pressing component 40 includes a driving disk 400 fixedly connected to the shaft rod 33. A plurality of accommodating grooves 401 are formed on the driving disk 400, and pressing grooves 402 are formed on the accommodating grooves 401. The transfer component 41 includes an annular box 410 adapted to the driving disk 400. The bottom of the annular box 410 is fixedly connected to a pressing airbag 412 through a bottom box 411. The pressing airbag 412 is located inside the accommodating groove 401. One side of the annular box 410 away from the driving disk 400 is fixedly connected to a conduit 413. The outer wall of the conduit 413 away from the driving disk 400 is fixedly connected to a sealing plate 414. The sealing plate 414 is fixedly connected to a movable cylinder 416 through a spring 415. The other end of the movable cylinder 416 is fixedly connected to the push plate 42. The inner wall of the movable cylinder 416 is slidably connected to the outer wall of the sealing plate 414.

[0032] Among them, the setting of the extrusion assembly 40 can utilize the torsion of the shaft rod 33 to apply force to the push plate 42, so that the push plate 42 clamps both ends of the workpiece. The cross-section of the driving disk 400 is circular, and the driving disk 400 is made of metal. The driving plate needs to apply force during operation, and the metal material enables its rigidity during operation to reduce its own deformation. The center of the driving disk 400 is fixedly connected to the bottom of the shaft rod 33. During the rotation of the shaft rod 33, the driving disk 400 is driven to move. At the same time, the bottom of the driving disk 400 is in contact with the bottom box 411. The bottom box 411 is communicated with the ring box 410. The number of extrusion air bags 412 is multiple and they are distributed in a circular array on the inner circumference of the ring box 410. The extrusion air bags 412 are made of rubber. The extrusion air bags 412 are adapted to the extrusion grooves 402. When the driving disk 400 rotates, the driving disk 400 drives the extrusion grooves 402 to rotate around the center of the driving disk 400. When the extrusion grooves 402 rotate, they press on the extrusion air bags 412, causing the air inside them to move towards the bottom box 411 and the ring box 410. At this time, the pressure inside the bottom box 411 and the ring box 410 increases, and the air inside them flows through the conduit 413 to between the movable cylinder 416 and the sealing plate 414. Since the inner wall of the movable cylinder 416 is slidably connected to the outer wall of the sealing plate 414, the air pressure between the movable cylinder 416 and the sealing plate 414 increases, thereby pushing the movable cylinder 416 to translate, and then driving the push plate 42 to translate. The push plate 42 translates to clamp both ends of the strip-shaped workpiece. The device can effectively limit the workpiece during operation. At the same time, the push plate 42 is located on both sides of the center line at the top of the accommodating mechanism 2, and can adapt to strip-shaped workpieces of different sizes. The push plate 42 can accurately fit the center of both ends of the strip-shaped workpiece to ensure the fixing effect of the workpiece.

[0033] In summary, during the translation of the active plate 31, the two sides of the workpiece can be clamped by the clamping plate 35. During the translation of the active plate 31, the driven plate 34 is driven to translate through the adapter plate and the shaft rod 33, so that the active plate 31 and the driven plate 34 translate towards the workpiece at the same time, and workpieces of various sizes can be limited at the center of the accommodating mechanism 2. The device can effectively limit the workpiece during movement. At the same time, the push plate 42 is located on both sides of the center line at the top of the accommodating mechanism 2 and can adapt to strip-shaped workpieces of different sizes.

[0034] Example 2, refer to Figures 1 to 5, which is the second embodiment of the present invention. Different from the previous embodiment is the clamping mechanism 3. This embodiment provides the clamping mechanism 3 of the friction stir welding intelligent crawling welding robot, which solves the clamping problem of the friction stir welding intelligent crawling welding robot. It includes a driving component 30. The driving component 30 includes a motor 300 located at the bottom of the placing seat 20. The driving end of the motor 300 meshes with a second gear 302 through a first gear 301. The second gear 302 is located in the through groove 22 and is fixedly connected with a driving rotating cylinder 303. The driving rotating cylinder 303 is connected with a movable rod 306 through a guide groove 304 and a round rod 305. The movable rod 306 is slidably connected with the positioning seat 21.

[0035] Furthermore, fixing the motor 300 at the bottom of the placing seat 20 can prevent the motor 300 from being in a high-temperature area during workpiece welding. And the top of the first gear 301 is located inside the through groove 22. The setting of the driving rotating cylinder 303 can drive the guide groove 304 to rotate. When the guide groove 304 rotates, it applies force to the round rod 305. The cross-section of the movable rod 306 is circular. The setting of the movable rod 306 can push the active plate 31 to translate. The setting of the positioning seat 21 can effectively limit the movable rod 306.

[0036] The motor 300 is located at the edge of the placing seat 20, which is convenient for overhauling the motor 300. The motor 300 is fixedly connected with the placing seat 20 through a protection bracket to ensure the fixing effect of the motor 300. The cross-section of the driving rotating cylinder 303 is circular. The first gear 301 is located at the bottom of the second gear 302.

[0037] The movable rod 306 is in contact with the active plate 31. The movable rod 306 is slidably connected with the positioning seat 21 through a side groove 307. The setting of the side groove 307 prevents the movable rod 306 from rotating during work. The driving rotating cylinder 303 is rotatably connected with the through groove 22. The inner wall of the guide groove 304 is in contact with the outer wall of the round rod 305. The guide groove 304 is arranged in a thread shape. The guide groove 304 provides a stable movement path for the round rod 305, so that it will not shift or shake during the movement process, improving the accuracy of the round rod 305 during movement and avoiding its back-and-forth movement, which can avoid processing errors caused by workpiece displacement. When the movable rod 306 moves, it can drive the active plate 31 to translate. The cross-section of the movable rod 306 is circular. The movable rod 306 is made of metal and the two ends are chamfered. The side grooves 307 are opened on both sides of the movable rod 306. The positioning seat 21 is located at the top edge of the placing seat 20.

[0038] During operation, the motor 300 drives the first gear 301 to rotate. The first gear 301 drives the second gear 302 to rotate. When the second gear 302 rotates, it drives the driving drum 303 to rotate. When the driving drum 303 rotates, it drives the guide groove 304 to rotate. The guide groove 304 applies a force to the round rod 305. When the round rod 305 is stressed, due to the limitation of the positioning seat 21 and the movable rod 306, the round rod 305 and the movable rod 306 translate. When the movable rod 306 and the round rod 305 translate, they can drive the active plate 31 to move.

[0039] All other structures are the same as those in Embodiment 1.

[0040] In summary, the setting of the positioning seat 21 can effectively limit the movable rod 306. The setting of the side groove 307 can prevent the movable rod 306 from rotating during operation. The guide groove 304 is arranged in a spiral shape and can drive the movable rod 306 to move.

[0041] Embodiment 3, referring to Figures 1 to 8 , is the third embodiment of the present invention. Different from the previous embodiment is the drive assembly 30 and the bearing mechanism 1. This embodiment provides the drive assembly 30 and the bearing mechanism 1 of the friction stir welding intelligent crawling welding robot, which solves the drive problem of the friction stir welding intelligent crawling welding robot. It includes a holding seat 20. The holding seat 20 is provided with a positioning seat 21 and a through groove 22 corresponding to the drive assembly 30. The accommodating mechanism 2 is provided with an annular groove 23 corresponding to the drive disk 400. A limiting groove 24 is opened on one side of the annular groove 23. The limiting groove 24 is slidably connected to the push plate 42. The top of the extrusion airbag 412 is arranged in an arc shape.

[0042] The accommodating mechanism 2 is located at the center of the bearing mechanism 1, and the center point of the accommodating mechanism 2 and the center point of the bearing mechanism 1 are located on the same vertical line. The bearing mechanism 1 includes a walking track base 10. Four corners of the walking track base 10 are connected with auxiliary wheels 12 through steering gears 11. The walking track base 10 is arranged in a flat shape. The track height of the walking track base 10 is the same as the highest track height of the auxiliary wheels 12.

[0043] Among them, the setting of one walking track base 10 and multiple auxiliary wheels 12 can make the device have a larger grounding area and be more stable during movement. It can adapt to different terrains during movement. Compared with other welding methods, friction stir welding has higher requirements for workpiece fixation. When the device welds a workpiece, it provides multiple support areas to improve the stability during welding.

[0044] During operation, place the workpiece in the central area of the placing seat 20, start the motor 300 in the driving assembly 30, the motor 300 drives the first gear 301 to rotate, the first gear 301 drives the second gear 302 to rotate, when the second gear 302 rotates, it drives the driving drum 303 to rotate, when the driving drum 303 rotates, it drives the guiding groove 304 to rotate, the guiding groove 304 applies a force to the round rod 305, when the round rod 305 is stressed, due to the limitation of the positioning seat 21 and the movable rod 306, the round rod 305 and the movable rod 306 translate, when the movable rod 306 and the round rod 305 translate, they can drive the active plate 31 to translate; When the active plate 31 translates, it drives the adapter plate 32 to move. Also, due to the limitation of the shaft rod 33 on the adapter plate 32, the adapter plate 32 rotates when being driven, and at the same time drives the driven plate 34 to translate. The driven plate 34 translating drives the clamping plates 35 to translate towards the workpiece at the center of the placing seat 20, so that the two clamping plates 35 clamp the workpiece simultaneously. During the movement of the driven plate 34, it drives the reset rope 36 to stretch, thereby enabling the reset rope 36 to accumulate elastic potential energy, facilitating the reset of the driven plate 34 and the active plate 31, and facilitating the placement of the workpiece. During the rotation of the shaft rod 33, it drives the driving disc 400 to rotate; When the driving disc 400 rotates, the driving disc 400 drives the extrusion groove 402 to rotate around the center of the driving disc 400. When the extrusion groove 402 rotates, it presses on the extrusion airbag 412, causing the air inside it to move towards the bottom box 411 and the ring box 410. At this time, the pressure inside the bottom box 411 and the ring box 410 increases, and the air inside them flows through the conduit 413 to between the movable cylinder 416 and the sealing plate 414. At this time, the air pressure between the movable cylinder 416 and the sealing plate 414 increases and drives the movable cylinder 416 to move. The movement of the movable cylinder 416 can drive the push plate 42 to move, and the push plate 42 moves to clamp both ends of the strip-shaped workpiece. The device can effectively limit the workpiece during movement. At the same time, the push plate 42 is located on both sides of the center line at the top of the accommodating mechanism 2, and can adapt to strip-shaped workpieces of different sizes. The push plate 42 can accurately fit the center of both ends of the strip-shaped workpiece to ensure the fixing effect of the workpiece.

[0045] All other structures are the same as those in Embodiment 2.

[0046] In summary, the setting of the positioning seat 21 in the device can effectively limit the movable rod 306. The setting of the side groove 307 can prevent the movable rod 306 from rotating during operation. The guiding groove 304 is arranged in a spiral shape, which can drive the movable rod 306 to translate. The setting of the driving assembly 30 can drive the active plate 31 in the device to translate. During the translation of the active plate 31, the active plate 31 and the driven plate 34 move towards the workpiece at the same time, and the active plate 31 and the driven plate 34 drive the clamping plates 35 to clamp both sides of the workpiece.

[0047] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. An intelligent friction stir welding crawling robot, comprising a bearing mechanism (1), characterized in that: A receiving mechanism (2) is detachably connected to the bearing mechanism (1). A clamping mechanism (3) is arranged inside the receiving mechanism (2). An auxiliary mechanism (4) is arranged between the clamping mechanism (3) and the bearing mechanism (1). The clamping mechanism (3) includes a driving component (30) fixedly connected to the receiving mechanism (2). A driving plate (31) is attached to the driving component (30). A transfer plate (32) is rotatably connected to both sides of the driving plate (31). The transfer plate (32) is rotatably connected to the receiving mechanism (2) through a shaft rod (33). The other ends of the two transfer plates (32) are jointly rotatably connected to a driven plate (34). Clamping plates (35) are fixedly connected to the opposite sides of the driving plate (31) and the driven plate (34). A reset rope (36) is arranged between the driven plate (34) and the receiving mechanism (2). The auxiliary mechanism (4) is fixedly connected to the shaft rod (33). The auxiliary mechanism (4) includes a pressing component (40) fixedly connected to the shaft rod (33). The pressing component (40) is connected to a push plate (42) through a transfer component (41).

2. The friction stir welding intelligent crawling welding robot according to claim 1, characterized in that: The pressing component (40) includes a driving disk (400) fixedly connected to the shaft rod (33). A plurality of receiving grooves (401) are formed in the driving disk (400). A pressing groove (402) is formed in the receiving groove (401). The transfer component (41) includes an annular box (410) adapted to the driving disk (400). An extrusion air bag (412) is fixedly connected to the bottom of the annular box (410) through a bottom box (411). The extrusion air bag (412) is located inside the receiving groove (401). A conduit (413) is fixedly connected to one side of the annular box (410) away from the driving disk (400). A sealing plate (414) is fixedly connected to the outer wall of the conduit (413) away from the driving disk (400). The sealing plate (414) is fixedly connected to a movable cylinder (416) through a spring (415). The other end of the movable cylinder (416) is fixedly connected to the push plate (42). The inner wall of the movable cylinder (416) is slidably connected to the outer wall of the sealing plate (414).

3. The friction stir welding intelligent crawling welding robot according to claim 2, characterized in that: The receiving mechanism (2) includes a placing seat (20). A positioning seat (21) and a through groove (22) corresponding to the driving component (30) are arranged on the placing seat (20). An annular groove (23) corresponding to the driving disk (400) is formed in the receiving mechanism (2). A limiting groove (24) is formed on one side of the annular groove (23). The limiting groove (24) is slidably connected to the push plate (42). The top of the extrusion air bag (412) is arc-shaped.

4. The friction stir welding intelligent crawling welding robot according to claim 3, characterized in that: The driving component (30) includes a motor (300) located at the bottom of the containing seat (20). The driving end of the motor (300) is engaged with a second gear (302) through a first gear (301). The second gear (302) is located in the through groove (22) and is fixedly connected to a driving drum (303). The driving drum (303) is connected to a movable rod (306) through a guide groove (304) and a round rod (305). The movable rod (306) is slidably connected to the positioning seat (21).

5. The friction stir welding intelligent crawling welding robot according to claim 4, wherein: The motor (300) is located at the edge of the containing seat (20). The motor (300) is fixedly connected to the containing seat (20) through a protection bracket. The cross-section of the driving drum (303) is circular. The first gear (301) is located at the bottom of the second gear (302).

6. The friction stir welding intelligent crawling welding robot according to claim 4, wherein: The movable rod (306) is in contact with the active plate (31). The movable rod (306) is slidably connected to the positioning seat (21) through a side groove (307). The driving drum (303) is rotatably connected to the through groove (22). The inner wall of the guide groove (304) is in contact with the outer wall of the round rod (305). The guide groove (304) is arranged in a threaded shape.

7. The friction stir welding intelligent crawling welding robot according to claim 6, characterized in that: The cross-section of the movable rod (306) is circular. The movable rod (306) is made of metal and has chamfers at both ends. The side grooves (307) are opened on both sides of the movable rod (306). The positioning seat (21) is located at the top edge of the containing seat (20).

8. The friction stir welding intelligent crawling welding robot according to claim 6, characterized in that: The accommodating mechanism (2) is located at the center of the carrying mechanism (1), and the center point of the accommodating mechanism (2) and the center point of the carrying mechanism (1) are on the same vertical line.

9. The friction stir welding intelligent crawling welding robot according to claim 8, wherein: The carrying mechanism (1) includes a walking track base (10). Four corners of the walking track base (10) are each connected to a secondary wheel (12) through a steering gear (11).

10. The friction stir welding intelligent crawling welding robot according to claim 9, characterized in that: The walking track base (10) is arranged in a flat shape. The track height of the walking track base (10) is the same as the highest track height of the secondary wheel (12).

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