Welding robot

Abstract

The invention provides a welding robot which comprises an aircraft and a welding robot body, the aircraft comprises a main body and a shell, the shell is connected with the main body and surrounds the main body, and an opening is formed in the side face of the shell; the rotating mechanism is arranged on the main body; the telescopic mechanism is connected to the rotating mechanism; the welding module is connected with the telescopic mechanism, and the welding module can be driven by the rotating mechanism to be aligned with the opening and driven by the telescopic mechanism to enter and exit from the shell through the opening so as to achieve welding. The welding robot can replace manual work to conduct welding in places where manual work cannot reach, and accidents can be prevented.

Description

Technical Field

[0001] The present invention relates to the field of ship welding, and particularly to a welding robot. Background Art

[0002] During the ship welding process, in some occasions or positions, operators cannot enter, such as inside ventilation shafts, air ducts, pipes (liquid pipes or gas pipes), etc. At this time, usually only the process of single-sided welding with double-sided forming can be implemented. However, this process has high requirements for operators and also increases the time cost, labor cost, and consumable material costs such as welding wires. In addition, the welding slag formed by the double-sided forming welds is very difficult to clean up completely. It will enter the equipment along with the air ducts and water pipes or be blown into the rooms that require HVAC, which may not only block some small pipes and equipment in the pipe system but also be inhaled into the lungs by the people in the HVAC rooms; the weld quality of the single-sided welding with double-sided forming is not good, and pipeline leakage is likely to occur after a long time. Summary of the Invention

[0003] In view of the above-mentioned disadvantages of the related art, the purpose of the present invention is to provide a welding robot for solving the problem that operators cannot enter the construction and welding in some occasions in the related art.

[0004] To achieve the above purpose and other related purposes, the present invention provides a welding robot, including: an aircraft, including a main body and a housing, the housing is connected to the main body and surrounds the main body inside, and an opening is provided on the side surface of the housing; a rotating mechanism, arranged on the main body; a telescopic mechanism, connected to the rotating mechanism; a welding module, connected to the telescopic mechanism, and the welding module can be aligned with the opening under the drive of the rotating mechanism and enter and exit the housing through the opening under the drive of the telescopic mechanism to achieve welding.

[0005] Optionally, the rotating mechanism includes a rotating motor, a central shaft, and a horizontal support rod. The rotating motor is arranged on the main body, the central shaft is rotatably connected to the main body, the central shaft is vertically arranged and connected to the rotating motor, the horizontal support rod is horizontally connected to the central shaft, and the telescopic mechanism is connected to the end of the horizontal support rod away from the central shaft.

[0006] Optionally, the telescopic mechanism includes a telescopic motor and a multi-section telescopic rod. The telescopic motor is connected to the rotating mechanism, the telescopic motor is connected to the multi-section telescopic rod, the telescopic motor is used to drive the multi-section telescopic rod to expand and contract, and the welding module is connected to the multi-section telescopic rod.

[0007] Optionally, the welding module includes a welding torch and a wire feeding assembly. The welding torch is connected to the telescopic mechanism, the wire feeding assembly is connected to the horizontal support rod, and the wire feeding assembly is used to provide the welding wire required by the welding torch.

[0008] Optionally, a first watertight door for opening and closing the opening is provided at the opening of the housing. A driving motor is provided on the main body, and a hollow telescopic cover is connected to the driving motor. The telescopic cover is located inside the housing and aligned with the opening. After the first watertight door is opened, the driving motor drives the telescopic cover to extend out of the housing and cover the part to be welded to form a water-proof space.

[0009] Optionally, a sealing strip is provided at the gap between the first watertight door and the housing.

[0010] Optionally, the welding robot further includes at least one of a weld flaw detection module, a gas detection module, a weld anti-rust module, a weld painting module, a grinding and chiseling module, a cleaning module, and a water spraying module. At least one of the weld flaw detection module, the gas detection module, the weld anti-rust module, the weld painting module, the grinding and chiseling module, the cleaning module, and the water spraying module is respectively connected to the rotating mechanism through a telescopic mechanism.

[0011] Optionally, another opening is further provided on the side of the housing, and the two openings are arranged at intervals. A second watertight door is provided at the other opening of the housing. Both the first watertight door and the second watertight door are used for any one of the welding module, the weld flaw detection module, the gas detection module, the weld anti-rust module, the weld painting module, the grinding and chiseling module, the cleaning module, and the water spraying module to enter and exit.

[0012] Optionally, the welding robot further includes a weld anti-rust module, a weld painting module, a cleaning module, and a water spraying module. A control valve is provided on the main body. The weld anti-rust module, the weld painting module, the cleaning module, and the water spraying module are respectively connected to the control valve through a horizontal connecting pipe. An external interface is provided on the housing, and the external interface is connected to the control valve through a vertical connecting pipe. The vertical connecting pipe is used to transport the materials required by the weld anti-rust module, the weld painting module, the cleaning module, and the water spraying module respectively. The control valve is used to distribute the materials required by the weld anti-rust module, the weld painting module, the cleaning module, and the water spraying module to the corresponding positions.

[0013] Optionally, the welding robot further includes a control unit, which is used to control the flight of the aircraft and the operation of the rotating mechanism, the telescopic mechanism, and the welding module.

[0014] As described above, the welding robot of the present invention has the following beneficial effects: The welding robot of the present invention can be used in the air, such as at high altitudes, dangerous places that are difficult for people to reach, or the back of workpieces to be welded, ventilation shafts, air ducts, pipelines (liquid pipes or gas pipes) etc. where people cannot reach; it can not only replace manual welding, but also prevent accidents from occurring. It not only improves safety, but also saves labor costs, time costs, and production costs, and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It shows a schematic top view of the inside of the welding robot in an embodiment of the present invention.

[0016] Figure 2 It shows a schematic top view of the welding robot in an embodiment of the present invention.

[0017] Figure 3 It shows a schematic side view of the inside of the welding robot in an embodiment of the present invention.

[0018] Figure 4 It shows a schematic diagram of the welding module in an embodiment of the present invention.

[0019] Figure 5 It shows a schematic diagram of the working state of the welding robot using a telescopic cover in an embodiment of the present invention.

[0020] DESCRIPTION OF REFERENCE NUMERALS

[0021] 1. Welding module; 2. Weld flaw detection module; 3. Gas detection module; 4. Weld rust prevention module; 5. Weld painting module; 6. Grinding and chiseling module; 7. Cleaning module; 8. Water spraying module; 9. Outer shell; 10. Lighting lamp; 11. Camera; 12. Ultrasonic sensor; 13. Laser detector; 14. Central axis; 15. Horizontal support rod; 16. Telescopic motor; 17. Multi-section telescopic rod; 18. Welding torch; 19. Compressed gas box; 20. Bearing pipe; 21. Wire feeding motor; 22. Wire spool; 23. Wire pipe; 24. Driving motor; 25. Telescopic cover; 26. Control valve; 27. Outer interface; 28. Vertical support rod; 29. Flight barometer; 30. GPS; 31. Gyroscope; 32. Accelerometer; 33. Host; 34. Battery. DETAILED DESCRIPTION OF THE INVENTION

[0022] The following specific examples illustrate the embodiments of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0023] When describing embodiments of the present invention in detail, for ease of explanation, sectional views showing the device structure may be enlarged locally out of the general scale, and the schematic diagrams are only examples and should not limit the scope of protection of the present invention herein. In addition, in actual production, three-dimensional spatial dimensions including length, width, and depth should be included.

[0024] For convenience of description, spatial relationship terms such as "beneath", "below", "lower", "under", "above", "on" may be used herein to describe the relationship of one element or feature shown in the drawings to other elements or features. It will be understood that these spatial relationship terms are intended to encompass other directions of the device in use or operation in addition to the directions depicted in the drawings. In addition, when a layer is referred to as being "between" two layers, it can be the only layer between the two layers, or there can be one or more intervening layers. As used herein, "between" means including the endpoint values.

[0025] In the context of the present application, the structure in which the first feature is "above" the second feature as described may include embodiments where the first and second features are formed in direct contact, and may also include embodiments where additional features are formed between the first and second features, such that the first and second features may not be in direct contact.

[0026] It should be noted that the illustrations provided in this embodiment only schematically illustrate the basic concept of the present invention. Therefore, only the components related to the present invention are shown in the illustrations, rather than being drawn according to the number, shape, and size of the components in actual implementation. The types, quantities, and proportions of the components in actual implementation may be arbitrarily changed, and the component layout type may also be more complex.

[0027] As Figures 1 to 3 shown, this embodiment provides a welding robot, which includes an aircraft, a welding module 1, a weld flaw detection module 2, a gas detection module 3, a weld rust prevention module 4, a weld painting module 5, a grinding and chiseling module 6, a cleaning module 7, and a water spraying module 8.

[0028] The aircraft in this embodiment is a four-rotor amphibious aircraft that can fly in the air and also in water. It is circular when viewed from above and elliptical when viewed from the front. The aircraft includes a main body and a housing 9. The housing 9 is connected to the main body and surrounds the main body inside. The housing 9 in this embodiment has watertightness and is made of a light and high-temperature and corrosion-resistant metal material such as magnesium alloy, titanium alloy, or tungsten alloy.

[0029] It can be understood that the aircraft also includes structures such as rotors, rotor motors, and control modules, etc. The setting methods of each structure will not be elaborated here. Among them, the aircraft realizes operations such as ascending, descending, moving forward, moving backward, moving left, moving right, rotating clockwise, rotating counterclockwise, and hovering through the rotors.

[0030] There are two openings (not shown in the figure) provided at intervals on the side of the outer shell 9. The two openings are located at both ends of the outer shell 9. Two watertight doors (not shown in the figure) are respectively provided at the two openings. The two watertight doors are electrically controlled. Since the setting method of the doors is already mature in the prior art, the specific setting of the two watertight doors will not be described here. The opening and closing method of the watertight door is not limited here. The watertight door can be opened bilaterally, upward, or downward.

[0031] The two watertight doors are respectively called the first watertight door and the second watertight door. The first watertight door and the second watertight door are used to control the opening and closing of the two openings. For example, when the first watertight door is opened, the welding module 1, the weld flaw detection module 2, the weld anti-rust module 4, and the weld painting module 5 can enter and exit the outer shell 9 to work; when the second watertight door is opened, the weld flaw detection module 2 (when working in the air), the gas detection module 3, the weld anti-rust module 4 (when working in the air), the weld painting module 5 (when working in the air), the grinding and chiseling module 6, the cleaning module 7, and the water spraying module 8 enter the outer shell 9 to work.

[0032] When working underwater, in order to ensure the sealing performance at the two watertight doors, sealing strips are provided between the two watertight doors and the outer shell 9.

[0033] There are also two lighting lamps 10 provided on the outer shell 9. The two lighting lamps 10 are respectively arranged adjacent to the two watertight doors, and a camera 11 is provided on one side of each lighting lamp 10 for real-time observation of the picture.

[0034] An ultrasonic sensor 12 and a laser detector 13 are provided on one side of the outer shell 9 where the first watertight door is located. The ultrasonic sensor 12 is used for obstacle avoidance and ranging. The ultrasonic sensor 12, the camera 11, and the laser detector 13 are combined together to improve the controllability and navigability of the aircraft.

[0035] It can be understood that a flight barometer 29, a gyroscope 31, an accelerometer 32, and a GPS 30 can also be provided on the aircraft, which will not be elaborated here.

[0036] The main body is provided with a rotating mechanism. The rotating mechanism includes a rotating motor, a central shaft 14 and horizontal support rods 15. The central shaft 14 is rotatably arranged on the main body and connected to the rotating motor. The rotating motor is arranged on the main body. The number of the horizontal support rods 15 is 8. One ends of the 8 horizontal support rods 15 are connected to the central shaft 14, and the interval between adjacent two horizontal support rods 15 is 45 degrees. The welding module 1, the weld flaw detection module 2, the gas detection module 3, the weld anti-rust module 4, the weld painting module 5, the grinding and chiseling module 6, the cleaning module 7 and the water spraying module 8 are respectively connected to the 8 horizontal support rods 15 one by one. When the central shaft 14 rotates, each module can be respectively aligned with the first watertight door or the second watertight door. For example, when the welding module 1 needs to be used, the central shaft 14 rotates a certain angle to align the welding module 1 with the first watertight door; when one of the weld flaw detection module 2, the gas detection module 3, the weld anti-rust module 4, the weld painting module 5, the grinding and chiseling module 6, the cleaning module 7 or the water spraying module 8 needs to be used, the central shaft 14 rotates a certain angle to align the module to be used with the second watertight door.

[0037] As Figure 3 and Figure 4 shown, in order to facilitate the entry and exit of each module from the first watertight door or the second watertight door, the other ends of each horizontal support rod 15 are provided with a telescopic mechanism. The telescopic mechanism includes a telescopic motor 16 and multi-stage telescopic rods 17. The telescopic motor 16 is arranged on the horizontal support rod 15. The telescopic motor 16 is connected to the multi-stage telescopic rods 17. Each module is connected to the corresponding multi-stage telescopic rods 17. The multi-stage telescopic rods 17 include a plurality of telescopic rods with different diameters. The plurality of telescopic rods with different diameters are nested in sequence according to the diameter size. The adjacent two telescopic rods can slide relative to each other, and the telescopic rod with a smaller diameter among the adjacent two will not slide out of the telescopic rod with a larger diameter. The movable end of the telescopic motor 16 is connected to the telescopic rod with the smallest diameter in the multi-stage telescopic rods 17. The telescopic rod with the largest diameter in the multi-stage telescopic rods 17 can be fixed to the horizontal support rod 15. When the telescopic motor 16 drives the telescopic rod with the smallest diameter to extend, the telescopic rod with the smallest diameter will drive the plurality of telescopic rods with larger diameters to extend in sequence, so that the whole multi-stage telescopic rods 17 become longer. It should be noted that the central shaft 14, the horizontal support rods 15 and the multi-stage telescopic rods 17 are all hollow in the middle.

[0038] The welding module 1 includes a welding torch 18, a compressed gas box 19 and a wire feeding assembly. Here, the wire feeding assembly includes a carrier pipe 20, a wire feeding motor 21, a wire spool 22 and a wire pipe 23.

[0039] Here, the welding torch 18 is a laser welding torch 18. The laser welding torch 18 is connected to the corresponding multi-stage telescopic rods 17. When the telescopic motor 16 drives the multi-stage telescopic rods 17 to expand and contract, the multi-stage telescopic rods 17 can drive the laser welding torch 18 to enter and exit the housing 9.

[0040] The compressed gas cartridge 19 is disposed within a cavity provided in the corresponding horizontal support rod 15, and the compressed gas cartridge 19 stores the gas required for laser welding. A telescopic delivery hose is connected to the compressed gas cartridge 19, and the telescopic delivery hose passes through multiple telescopic rods 17 and is connected to the welding torch 18.

[0041] The carrier tube 20 is disposed below the horizontal support rod 15. One end of the carrier tube 20 is connected to the central shaft 14. The other end of the carrier tube 20 is also provided with a telescopic motor 16 and multiple telescopic rods 17. A welding wire tube 23 is connected to the multiple telescopic rods 17 on the carrier tube 20. A wire feeding motor 21 is disposed within the carrier tube 20. The wire feeding motor 21 is connected to the welding wire reel 22, and the welding wire on the welding wire reel 22 extends into the welding wire tube 23. When the wire feeding motor 21 drives the welding wire reel 22 to rotate, the welding wire reel 22 can feed the welding wire into the welding wire tube 23 to meet the requirements of the welding torch 18.

[0042] When underwater welding is required, a water isolation tooling needs to be set at the first watertight door of the outer shell 9. Specifically, a driving motor 24 is disposed inside the outer shell 9. The driving motor 24 is located between the telescopic motor 16 and the first watertight door. A hollow telescopic cover 25 is connected to the driving motor 24. The telescopic structure of the telescopic cover 25 is the same as that of the multiple telescopic rods 17. The telescopic cover 25 is aligned with the opening at the first watertight door, and the maximum size end of the telescopic cover 25 is connected to the opening. When the telescopic cover 25 needs to be extended, the driving motor 24 drives the minimum size end of the telescopic cover 25 to extend, and the minimum size end simultaneously drives multiple larger size ends to extend (the extended state is as shown in Figure 5 ). When used in water, the first watertight door is first opened and abuts against the surface of the workpiece to be welded (such as the outer part of a ship immersed in water or a damaged opening inside a pipeline with water flow, etc.). The driving motor 24 extends the telescopic cover 25 to the surface of the workpiece (simultaneously, the entire aircraft retreats, and the retreat distance is the same as the forward extension distance of the telescopic cover 25). The hollow telescopic cover 25 forms a water isolation welding operation space for the extended welding torch 18 and the welding wire tube 23 inside.

[0043] The weld flaw detection module 2 is an ultrasonic flaw detector. The weld flaw detection module 2 is connected to the multiple telescopic rods 17 on the corresponding horizontal support rod 15. When the weld flaw detection module 2 needs to be used, the aircraft flies near the weld to be detected and rotates a certain angle. First, align the second watertight door with the weld to be detected, and the rotation motor drives the central shaft 14 to rotate a certain angle to align the weld flaw detection module 2 with the second watertight door. The telescopic motor 16 extends the multiple telescopic rods 17 out of the outer shell 9 and presses the weld flaw detection module 2 tightly against the weld surface and performs flaw detection along the weld.

[0044] Since the aircraft is provided with a camera 11, the operator holds a remote monitoring terminal (which can be a mobile phone, tablet or computer on a monitoring station, etc.) and receives the image information sent via wireless signals, thereby understanding the remote operation status of the entire device and saving it into a file to form a big data model of weld quality.

[0045] Through such a setting, the device can realize double-sided continuous welding and double-sided weld flaw detection in areas that are inaccessible or difficult to reach for operators, greatly improving welding quality and detection accuracy, and reducing construction difficulty and labor costs.

[0046] In addition, the device can also inspect welds in water. When inspecting welds in water, align the weld inspection module 2 with the first watertight door. The first watertight door is opened and against the weld surface to be inspected, and the drive motor 24 extends the telescopic cover 25 to the weld surface. The hollow telescopic cover 25 forms a water-isolated inspection space for the weld inspection module 2, so there is no need to make and install large water-isolating tooling in advance, which can save time and labor, reduce costs and increase efficiency.

[0047] The gas detection module 3 is a gas detector, and the gas detection module 3 is connected to the multi-section telescopic rod 17 on the corresponding horizontal support rod 15. When the gas detection module 3 is needed, the aircraft flies to the space to be detected, and the central axis 14 rotates a certain angle to first align the gas detection module 3 with the second watertight door. The telescopic motor 16 drives the multi-section telescopic rod 17 to extend so that the gas detection module 3 extends out of the housing 9 to detect the gas in the space.

[0048] The operator can use a remote monitoring terminal (can be a mobile phone, tablet or computer on a monitoring station, etc.) to receive the detection data sent via wireless signals, so as to determine whether the gas in the space meets the standard and whether the next step of work can be carried out.

[0049] During welding, high temperature will damage the metal surface on both sides of the weld, making the weld prone to rust. After welding and weld flaw detection are completed, it is necessary to spray rust inhibitor on the weld of the original metal (unpainted) workpiece surface, or spray paint of the same material and color on the weld of the painted workpiece surface.

[0050] The weld anti-rust module 4 includes an anti-rust agent box and a nozzle. The anti-rust agent box stores anti-rust agent. The anti-rust agent box is provided with a pusher for conveying the anti-rust agent. The anti-rust agent box is installed in the cavity of the corresponding horizontal support rod 15. The nozzle is arranged on the corresponding multi-section telescopic rod 17. The anti-rust agent box and the nozzle are connected by a telescopic conveying hose.

[0051] When the weld anti-rust module 4 needs to be used, the aircraft flies near the weld to be sprayed and rotates by a certain angle. First, align the second watertight door with the weld to be sprayed, and the rotation motor drives the central shaft 14 to rotate by a certain angle accordingly, aligning the weld anti-rust module 4 with the second watertight door. The telescopic motor 16 extends the nozzle out of the housing 9 by driving the multi-section telescopic rod 17. The pusher squeezes the anti-rust agent in the anti-rust agent box and conveys it to the nozzle. The aircraft moves linearly along the weld and completes the spraying of the anti-rust agent on the weld.

[0052] Of course, the present invention can also perform the work of spraying anti-rust agent on the welds located in water, aligning the weld anti-rust module 4 with the first watertight door. The first watertight door opens and presses against the surface of the weld to be sprayed, and the driving motor 24 extends the telescopic cover 25 to the surface of the weld. The hollow interior of the telescopic cover 25 forms a spraying space that isolates water for the nozzle.

[0053] The weld painting module 5 includes a paint box with a pusher and a nozzle. The setting method and usage method of the paint box and the nozzle are the same as those of the anti-rust agent box and the nozzle, and will not be elaborated here.

[0054] After welding, grinding is required. The grinding and chiseling module 6 can replace the operator to work in positions that are inaccessible to personnel. The grinding and chiseling module 6 includes a rotating motor and a grinding and chiseling head. When the grinding and chiseling module 6 needs to be used, the aircraft flies near the weld to be ground and rotates by a certain angle. First, align the second watertight door with the weld to be ground, and then align the grinding and chiseling module 6 with the second watertight door. The telescopic motor 16 extends the multi-section telescopic rod 17 out of the housing 9 and presses the grinding and chiseling head tightly against the surface of the weld. The grinding and chiseling head makes a circular motion following the rotating motor while making a linear motion following the aircraft along the surface of the weld, thus completing the grinding work.

[0055] If there are soft blockages such as sediment, deposits, hair, and kitchen waste in the pipeline, the grinding and chiseling head can be used to impact the blockage to more quickly dredge the pipeline.

[0056] The cleaning module 7 includes a cleaner box and a brush head. The cleaner box is equipped with a pusher, and the cleaner box stores the cleaner prepared in a proportionate concentration. The setting method and usage method of the cleaner box and the brush head are the same as those of the anti-rust agent box and the nozzle, and will not be elaborated here.

[0057] After the brush head applies the cleaner to the surface of the part to be cleaned, it is necessary to spray clean water to wash it. The water spraying module 8 includes a water box with a pusher and a water spraying head. The water box stores clean water. The setting method of the water box and the water spraying head is the same as that of the anti-rust agent box and the nozzle, and will not be elaborated here.

[0058] This device can first use the gas detection module 3 to detect the gas inside. If the internal gas is qualified, then use the welding module 1 to carry out the internal welding work; after welding is completed, use the grinding and chiseling module 6 to grind the internal welds; then use the cleaning module 7 and the water spraying module 8 to clean the internal welds; then, the operator ventilates the inside (such as turning on the fan or passing compressed air) for drying; after drying, use the weld flaw detection module 2 to detect the internal welds; after the weld quality is qualified, use the weld anti-rust module 4 or the weld painting module 5 to carry out anti-rust work on the internal welds; finally, the operator ventilates the inside (such as turning on the fan or passing compressed air) for drying again.

[0059] As Figure 3 As shown, a control valve 26 is provided in the hollow cavity of the central shaft 14. The control valve 26 is connected to the main body. The control valve 26 is a six-way electric valve. Water-tight covers are respectively provided at the upper and lower ends of the outer shell 9. Two hollow vertical support rods 28 are provided inside the outer shell 9. The two vertical support rods 28 are respectively connected to the upper and lower ends of the central shaft 14, and the ends of the two vertical support rods 28 far from the central shaft 14 are respectively connected to the two outer interfaces 27. Vertical connecting pipes are respectively arranged inside the two vertical support rods 28. One ends of the two vertical connecting pipes are respectively connected to the upper and lower two valve ports of the six-way electric valve, and the other ends of the two vertical connecting pipes are respectively connected to the two outer interfaces 27.

[0060] The remaining four valve ports of the six-way electric valve are respectively connected to the compressed gas box 19, the anti-rust agent box, the paint box and the water box through horizontal connecting pipes. The vertical connecting pipes can be used to transport gas, anti-rust agent, paint or cleaning water to the flow control electric valve, and then the six-way electric control valve transports them to the compressed gas box 19, the anti-rust agent box, the paint box or the water box respectively.

[0061] By setting it like this, when welding, spraying anti-rust agent, paint or cleaning large workpieces is required and the gas, anti-rust agent, paint and water stored inside are not enough, the operator can continuously transport the required materials through the two outer interfaces 27 on the surface of the outer shell 9.

[0062] In addition, a gas storage box barometer is provided in the compressed gas box 19, and liquid level sensors are provided in the anti-rust agent box, the paint box, the cleaner box and the water box. At this time, the operator can monitor the compressed gas box 19, the anti-rust agent box, the paint box, the cleaner box and the water box in real time.

[0063] As Figure 2As shown, the device includes a control unit. The control unit in this embodiment can be used to control the flight of the aircraft, control the turning on or off of the lighting lamp 10, control the opening or closing of each watertight door, control the operation of the rotary motor, the telescopic motor 16 and the rotating motor, control the opening or closing of the welding torch 18, control the on-off of the six-way electric valve, control the operation of the pusher in each module, and monitor the operating states of the camera 11, the ultrasonic sensor 12, the laser detector 13, the flight barometer 29, the GPS 30, the gyroscope 31, the accelerometer 32, the ultrasonic flaw detector, the gas detector, the air pressure gauge of the gas storage box and the liquid level sensor, and perform comprehensive fault alarms.

[0064] Specifically, the control unit includes a main unit 33, a storage battery 34 and a remote monitoring terminal. The main unit 33 is the main body located inside the housing 9 and has data analysis and processing functions. The main unit 33 can be connected to each motor, the six-way electric valve, the camera 11, the ultrasonic sensor 12, the laser detector 13, the flight barometer 29, the GPS 30, the gyroscope 31, the accelerometer 32, the ultrasonic flaw detector, the gas detector, the air pressure gauge of the gas storage box and the liquid level sensor in a wired or wireless manner. The connection method is not limited here, and the operating state data of each component is sent to the remote monitoring terminal for display. When a fault occurs, the main unit 33 can also give an alarm in time, and at the same time, the remote monitoring terminal displays the fault information. The storage battery 34 is located in the main body and provides the required power for the device. If the power in the storage battery 34 is insufficient, there is an external power port on the housing 9 for connecting an external power cord to provide continuous electrical energy for the storage battery 34. The remote monitoring terminal can be a mobile phone, a tablet or a computer on the monitoring console in the operator's hand, etc. The wireless transmission is between the remote monitoring terminal and the main unit 33. The operator can control and monitor the operation of the camera 11, the ultrasonic sensor 12, the laser detector 13, the six-way electric valve, the flight barometer 29, the GPS 30, the gyroscope 31, the accelerometer 32, the ultrasonic flaw detector, the gas detector, the air pressure gauge of the gas storage box and the liquid level sensor on the screen.

[0065] The above embodiments only illustrate the principles and effects of the present invention by way of example, rather than limiting the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A welding robot, characterized in that, Comprising: An aircraft, including a main body and a housing, the housing is connected to the main body and encloses the main body inside, and an opening is provided on the side of the housing; A rotating mechanism, provided on the main body; A telescopic mechanism, connected to the rotating mechanism; A welding module, connected to the telescopic mechanism, the welding module can be aligned with the opening under the drive of the rotating mechanism, and can enter and exit the housing through the opening under the drive of the telescopic mechanism to perform welding.

2. The welding robot according to claim 1, characterized in that: The rotating mechanism includes a rotating motor, a central shaft and a horizontal support rod, the rotating motor is provided on the main body, the central shaft is rotatably connected to the main body, the central shaft is vertically arranged and connected to the rotating motor, the horizontal support rod is horizontally connected to the central shaft, and the telescopic mechanism is connected to the end of the horizontal support rod away from the central shaft.

3. The welding robot according to claim 1, characterized in that: The telescopic mechanism includes a telescopic motor and the multi-stage telescopic rod, the telescopic motor is connected to the rotating mechanism, the telescopic motor is connected to the multi-stage telescopic rod, the telescopic motor is used to drive the multi-stage telescopic rod to expand and contract, and the welding module is connected to the multi-stage telescopic rod.

4. The welding robot according to claim 2, characterized in that: The welding module includes a welding torch and a wire feeding assembly, the welding torch is connected to the telescopic mechanism, the wire feeding assembly is connected to the horizontal support rod, and the wire feeding assembly is used to provide the welding wire required by the welding torch.

5. The welding robot according to claim 1, wherein: A first watertight door for opening and closing the opening is provided at the opening of the housing, a driving motor is provided on the main body, a hollow telescopic cover is connected to the driving motor, the telescopic cover is located inside the housing and aligned with the opening, after the first watertight door is opened, the driving motor drives the telescopic cover to extend out of the housing and cover the part to be welded to form a water isolation space.

6. The welding robot according to claim 5, characterized in that: A sealing strip is provided at the gap between the first watertight door and the housing.

7. The welding robot according to claim 5, characterized in that: The welding robot further includes at least one of a weld flaw detection module, a gas detection module, a weld anti-rust module, a weld painting module, a grinding and chiseling module, a cleaning module and a water spraying module, and at least one of the weld flaw detection module, the gas detection module, the weld anti-rust module, the weld painting module, the grinding and chiseling module, the cleaning module and the water spraying module is respectively connected to the rotating mechanism through a telescopic mechanism.

8. The welding robot according to claim 7, characterized in that: Another opening is further provided on the side of the housing, the two openings are arranged at intervals, a second watertight door is provided at the other opening of the housing, and both the first watertight door and the second watertight door are used for any one of the welding module, the weld flaw detection module, the gas detection module, the weld anti-rust module, the weld painting module, the grinding and chiseling module, the cleaning module and the water spraying module to enter and exit.

9. The welding robot according to claim 1, wherein: The welding robot further includes a weld anti-rust module, a weld painting module, a cleaning module, and a water spraying module. A control valve is provided on the main body. The weld anti-rust module, the weld painting module, the cleaning module, and the water spraying module are respectively connected to the control valve through a horizontal connecting pipe. An external interface is provided on the outer shell, and the external interface is connected to the control valve through a vertical connecting pipe. The vertical connecting pipe is used to convey the materials required by the weld anti-rust module, the weld painting module, the cleaning module, and the water spraying module respectively. The control valve is used to distribute the materials required by the weld anti-rust module, the weld painting module, the cleaning module, and the water spraying module to the corresponding positions.

10. The welding robot according to claim 1, characterized in that: The welding robot further includes a control unit, which is used to control the flight of the aircraft and the operation of the rotating mechanism, the telescopic mechanism, and the welding module.

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