Welding wall-climbing robot

Abstract

The invention relates to a welding wall-climbing robot, which comprises a vehicle body, a wall-climbing robot body and a wall-climbing robot body, the welding module comprises a welding gun; each walking mechanism comprises a driven wheel, a driving wheel and a crawler belt, and the crawler belt comprises two chains; two groups of magnetic suction modules, wherein each group of magnetic suction module comprises a plurality of magnetic suction modules; the magnetic suction module comprises a magnetic suction main body, a magnetic block and a shifting block; the magnetic block is provided with a first position capable of enabling the magnetic attraction module to have magnetic attraction force and a second position capable of enabling the magnetic attraction module not to have the magnetic attraction force; and each guiding device comprises two shifting pieces, and the shifting pieces can shift the shifting block to rotate when the magnetic attraction module passes through so as to drive the magnetic block to be switched to the second position from the first position or switched to the first position from the second position. The problems that in the prior art, a wall-climbing robot used for welding is insufficient in load capacity and poor in complex wall surface adaptability, and the contradiction between magnetic attraction force and movement performance is prominent can be effectively solved.

Description

Technical Field

[0001] The present invention relates to the field of welding robots, and in particular to a welding wall-climbing robot. Background Art

[0002] In industrial fields such as shipbuilding, large storage tank construction, and steel structure installation, welding is a critical process with high risks and high demands. Traditional welding operations often rely on manual labor, which is not only labor-intensive and dangerous, but also difficult to ensure stable work quality. With the development of automation technology, magnetically adsorbed crawler wall-climbing robots, capable of autonomously moving and performing welding tasks on metal surfaces, have become a key research and application area due to their excellent adhesion and terrain adaptability.

[0003] Existing wall-climbing robots are primarily categorized by their locomotion mechanism: tracked, wheeled, and legged. Tracked structures, due to their larger contact area and greater wall adaptability, are more suitable for stable operation on complex curved surfaces. Wheeled wall-climbing robots have a simple structure but limited ability to navigate uneven surfaces. Legged wall-climbing robots offer high flexibility but complex control and a lower load capacity. Classified by adsorption method, they mainly include magnetic, vacuum, and electrostatic adsorption. Magnetic adsorption is suitable for ferromagnetic metal surfaces and offers advantages such as strong adsorption, simple structure, and adaptability to various wall postures, making it an ideal choice for high-load tasks such as welding. Vacuum adsorption requires high wall sealing and consumes a lot of energy. Electrostatic adsorption utilizes electrostatic field forces for adsorption, but the adsorption force is relatively weak and easily affected by environmental factors.

[0004] Although existing magnetic adsorption crawler wall-climbing robots have been used in industrial inspection, cleaning, and spraying, they still have the following major problems in welding operations:

[0005] (1) Insufficient load capacity

[0006] Due to the lightweight design of magnetic adsorption wall-climbing robots, existing systems are usually difficult to carry key welding components such as welding power supplies, wire feeders, and welding guns, resulting in limited welding functions. They can only complete simple auxiliary operations and are unable to perform high-intensity and high-reliability welding tasks in industrial sites.

[0007] (2) Poor adaptability to complex wall surfaces

[0008] Many robots use rigid structures, which are fine for running on flat walls. However, when faced with complex curvature surfaces such as large storage tanks, spherical structures, or the inner and outer walls of pipes, they cannot achieve stable attachment and continuous welding, affecting operation continuity and weld quality.

[0009] (3) The contradiction between magnetic attraction and motion performance is prominent

[0010] To ensure reliable wall adsorption, robots often use high-magnetic-strength permanent magnets or electromagnets. However, excessive adsorption can significantly increase frictional resistance during robot movement, reducing motion control accuracy and making path tracking difficult. In severe cases, this can affect welding trajectory accuracy and reduce weld quality.

[0011] (4) Lack of weld identification and real-time tracking capabilities

[0012] Existing wall-climbing welding robots often use preset paths for welding. They lack the ability to identify and adaptively adjust the weld seam position in real time, making them difficult to adapt to actual working conditions such as weld seam offset, wall deformation, or posture disturbances, affecting welding quality and structural reliability. Controlling welding precision is particularly challenging on complex curved surfaces or deformed components.

[0013] Therefore, the present invention proposes a welding wall-climbing robot to solve at least one of the above-mentioned technical problems. Summary of the Invention

[0014] The purpose of the present invention is to provide a welding wall-climbing robot that can effectively solve the problems of insufficient load capacity, poor adaptability to complex wall surfaces, and prominent contradiction between magnetic attraction and motion performance of wall-climbing robots used for welding in the prior art.

[0015] The object of the present invention is achieved in this way: a welding wall-climbing robot comprises: a vehicle body, a plurality of permanent magnets are provided at the bottom of the vehicle body, and the permanent magnets can form a preset interval between the welding wall-climbing robot and the working wall surface when the welding wall-climbing robot is working; a welding module can be detachably arranged on the top surface of the vehicle body, and the welding module includes a welding gun; two sets of walking mechanisms are respectively arranged on the left and right sides of the vehicle body, and each set of walking mechanisms includes a driven wheel and a driving wheel respectively close to the front and rear ends of the vehicle body, and the driven wheel and the driving wheel are connected by a crawler, and the crawler includes two chains arranged at intervals; two sets of magnetic suction modules, each set of magnetic suction modules includes a plurality of chains arranged at intervals along the length direction of the crawler a magnetic module, each magnetic module is connected between two chains; the magnetic module includes a magnetic body and a magnetic block and a shift block rotatably installed in the magnetic body and circumferentially fixed, with part of the shift block exposed from the magnetic body; the magnetic block has a first position in which the magnetic module has a magnetic attraction force and a second position in which the magnetic module has no magnetic attraction force; two sets of guide devices are respectively connected to both sides of the vehicle body, and each set of guide devices includes two shifters close to the driving wheel and the driven wheel respectively, and the shifters can shift the shifter block to rotate when the magnetic module passes, so as to drive the magnetic block to switch from the first position to the second position, or from the second position to the first position.

[0016] In a preferred embodiment of the present invention, the welding module also includes a mobile drive device and a line laser vision sensor. The line laser vision sensor is used to obtain the position of the weld in real time. The mobile drive device can drive the welding gun to move according to the information detected by the line laser vision sensor so that the welding gun is aligned with the weld.

[0017] In a preferred embodiment of the present invention, the welding module also includes a base, the mobile drive device includes a transverse drive device and a vertical drive device, and the base can be connected to the top surface of the vehicle body through fasteners; the vertical drive device includes a connecting frame and a vertical drive motor, a vertical screw rod and a vertical slider arranged on the connecting frame, the vertical slider is sleeved on the vertical screw rod and is fixed to the welding gun and the line laser vision sensor; the vertical drive motor is connected to the vertical screw rod through a vertical transmission mechanism, and can drive the vertical screw rod to rotate, so as to drive the vertical slider to move in a straight line in a direction perpendicular to the top surface of the vehicle body; the transverse drive device is arranged on the base and connected to the connecting frame through a sliding rod, and the transverse drive device can drive the sliding rod to move in a straight line in a direction perpendicular to the walking direction of the welding wall-climbing robot.

[0018] In a preferred embodiment of the present invention, the transverse drive device includes a transverse drive motor, a transverse screw and a transverse slider arranged on the base, the transverse slider is mounted on the transverse screw and fixed to the sliding rod; the transverse drive motor is connected to the transverse screw through a transverse transmission mechanism, and can drive the transverse screw to rotate, so as to drive the transverse slider to move in a straight line along a direction perpendicular to the walking direction of the welding wall-climbing robot.

[0019] In a preferred embodiment of the present invention, a dust cover is provided on the sliding rod.

[0020] In a preferred embodiment of the present invention, the magnetic block is a cylinder with a groove at one end of the magnetic block, and the parts on both sides of the groove are the N pole and S pole of the magnetic block respectively; the shift block includes a cross-shaped structure composed of two vertical rods, and one side of the cross-shaped structure is inserted into the groove through a key block; wherein, when the magnetic block is rotated until the length direction of the groove is vertical, the magnetic block is in a first position, and the magnetic body can prevent the magnetic lines of force emitted by the N pole from directly returning to the S pole from the inside of the magnetic body; when the magnetic block is rotated until the length direction of the groove is horizontal, the magnetic block is in a second position, and the magnetic body can make the magnetic lines of force emitted by the N pole return directly from the inside of the magnetic body to the S pole.

[0021] In a preferred embodiment of the present invention, the magnetic attraction body includes two magnets arranged at intervals and two cover plates fixed at both ends of the two magnets. The middle parts of the two magnets are enclosed to form a accommodating cavity for accommodating the magnetic block and the shift block. The top of one end of the two magnets has a notch connected to the accommodating cavity to expose the shift block; the upper end interval and the lower end interval of the two magnets are respectively clamped and fixed with an upper blocking magnet and a lower blocking magnet, and the cover plates and the shift blocks are both blocking magnet parts.

[0022] In a preferred embodiment of the present invention, two ball plungers are symmetrically provided at the positions corresponding to the shift blocks in the two magnetic conductors. The inner ends of the ball plungers have elastically retractable limiting balls. The two limiting balls can be clamped in the limiting grooves at both ends of the corresponding vertical rods of the shift blocks when the magnetic block is in the first position or the second position.

[0023] In a preferred embodiment of the present invention, a plurality of pins are provided in the chain, and one end of some of the pins is fixedly connected to the corresponding cover plate.

[0024] In a preferred embodiment of the present invention, the magnetic body also includes a guide block, the bottom of the guide block is clamped in the top clamping groove of the two magnets and is connected to the magnets through fasteners; each set of guide devices also includes two guide members close to the driving wheel and the driven wheel respectively, and the paddles are installed on the corresponding guide members; the guide members are connected to the side of the vehicle body through a connecting member, and the guide members have a guide groove with an opening facing downward, and the guide block can pass through the guide groove during movement.

[0025] In a preferred embodiment of the present invention, a dial wheel is provided at the lower end of the paddle, and the dial wheel can contact the paddle block to drive the paddle block to rotate.

[0026] In a preferred embodiment of the present invention, the driven wheel includes a driven sprocket group, which includes two driven sprockets arranged at intervals and driven sprocket spokes connecting the two driven sprockets; an axle is also provided between the two driven wheels in the two walking mechanisms, and the axle is connected to the two driven sprocket groups; the driving wheel includes a driving sprocket group, which includes two driving sprockets arranged at intervals and driving sprocket spokes connecting the two driving sprockets; a driving device is also provided in the vehicle body to drive the two driving wheels to rotate; each chain of the crawler track is installed on the driving sprocket and the corresponding driven sprocket of the same walking mechanism.

[0027] In a preferred embodiment of the present invention, the driven wheel also includes a driven steel wheel, which is coaxially fixed to the driven sprocket group and located on the outside of the driven sprocket group, and both ends of the wheel axle pass through the corresponding driven sprocket group and are fixed to the corresponding driven steel wheel; the driving wheel also includes a driving steel wheel, which is coaxially fixed to the driving sprocket group and located on the outside of the driving sprocket group.

[0028] In a preferred embodiment of the present invention, the driving device includes two driving motors, and the driving shafts of the driving motors pass through the corresponding driving sprocket sets and are fixedly connected to the corresponding driving steel wheels.

[0029] In a preferred embodiment of the present invention, a tensioning mechanism is provided on the wheel axle near each driven wheel, and the tensioning mechanism can drive the wheel axle to move away from the driving wheel to tension the crawler track.

[0030] In a preferred embodiment of the present invention, the tensioning mechanism includes a bearing seat, a fixing seat, an adjusting rod and an adjusting handle. The bearing seat is connected to the wheel axle through an internal bearing. A sliding notch is provided on the side of the vehicle body corresponding to the position of the wheel axle, and the bearing seat can be slidably installed in the sliding notch; the fixing seat is fixed at a position at the front end of the vehicle body facing the sliding notch, one end of the adjusting rod is fixed to the bearing seat, and the other end passes through the fixing seat and is threadedly connected to the adjusting handle on the outside of the fixing seat.

[0031] In a preferred embodiment of the present invention, the vehicle body includes a support plate, two connecting shafts and two side plates arranged in parallel and spaced apart. The support plate is connected to the middle of the two side plates and the plate surface is perpendicular to the side plates. A plurality of mounting holes are provided on the support plate; the two connecting shafts are respectively connected to the front and rear ends of the two side plates, and both ends of each connecting shaft have threads and are adjustably threadedly connected to the clamping nuts installed on the side plates; a plurality of permanent magnets are arranged on the inner side of the bottom of the side plates, the welding module is arranged on the support plate, and the two sets of walking mechanisms are respectively arranged on the outer sides of the two side plates.

[0032] As described above, the welding wall-climbing robot of the present invention has a welding module mounted on a vehicle body, which allows the robot to perform welding operations using a welding gun. The vehicle body and welding module are independent and detachably connected, making it easy for maintenance personnel to repair or replace the welding module. The crawler-type structure is adaptable to various curved surfaces and has greater adaptability to complex surfaces. This facilitates stable adhesion and continuous welding on complex curved surfaces, such as large storage tanks, spherical structures, or the inner and outer walls of pipelines, thereby improving operational consistency and weld quality. By mounting multiple permanent magnets on the underside of the vehicle body, the permanent magnets maintain a small gap with the working surface during the robot's movement, generating a strong magnetic attraction without friction with the working surface. This reduces resistance and energy loss during the robot's movement. The multiple magnetic modules mounted on the crawler tracks can be adjusted in magnetic attraction by rotating a shift block. Controlled by a guide device, the magnetic modules maintain magnetic attraction when in contact with the working surface and lose it when about to detach, ensuring that they can be detached without significant force.

[0033] By coordinating the permanent magnets and the magnetic modules, the friction of the welding wall-climbing robot during movement can be reduced while ensuring the reliability of wall adsorption, which is more conducive to improving the accuracy of the welding trajectory and improving the welding quality. Moreover, by using multiple permanent magnets and multiple magnetic modules with magnetic attraction, the magnetic attraction of the welding wall-climbing robot can be made stronger. The number of permanent magnets can be appropriately increased within a certain weight range, which can improve the load capacity of the welding wall-climbing robot and is more conducive to carrying welding power supplies, wire feeders, welding guns and other key welding components on the vehicle body to adapt to different welding application requirements and better perform high-intensity and high-reliability welding tasks on industrial sites. This effectively solves the problems of insufficient load capacity, poor adaptability to complex walls, and prominent contradictions between magnetic attraction and motion performance of the wall-climbing robots used for welding in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The following drawings are intended only to illustrate and explain the present invention, and are not intended to limit the scope of the present invention.

[0035] Figure 1 This is an overall schematic diagram of the welding wall-climbing robot provided by the present invention before the welding module is installed.

[0036] Figure 2 This is a schematic diagram of the driven wheel of the welding wall-climbing robot provided by the present invention.

[0037] Figure 3 This is a schematic diagram of the tensioning mechanism of the welding wall-climbing robot provided by the present invention.

[0038] Figure 4 This is an overall schematic diagram from another angle of the welding wall-climbing robot provided by the present invention before the welding module is installed.

[0039] Figure 5 This is an overall schematic diagram of the magnetic suction module of the welding wall-climbing robot provided by the present invention.

[0040] Figure 6 This is an exploded view of the magnetic suction module of the welding wall-climbing robot provided by the present invention.

[0041] Figure 7 This is a cross-sectional view of the magnetic suction module of the welding wall-climbing robot provided by the present invention.

[0042] Figure 8 This is a schematic diagram of the welding wall-climbing robot provided by the present invention at the guiding device.

[0043] Figure 9 This is a schematic diagram of the crawler track of the welding wall-climbing robot provided by the present invention.

[0044] Figure 10 This is an overall schematic diagram of the welding wall-climbing robot provided by the present invention after the welding module is installed.

[0045] Figure 11 This is a schematic diagram of the welding module provided by the present invention.

[0046] Figure 12 This is a partial schematic diagram of the welding module provided by the present invention.

[0047] Description of Figure Numbers:

[0048] 1. Car body; 11. Support plate; 111. Connecting shaft; 12. Connecting shaft; 13. Side plate; 131. Sliding notch; 132. Base; 15. Pressing nut; 16. Permanent magnet;

[0049] 2. Driven wheel; 21. Driven sprocket; 22. Driven sprocket spokes; 23. Driven steel wheel; 24. Axle;

[0050] 3. Tensioning mechanism; 31. Bearing seat; 311. Slideway; 32. Fixed seat; 33. Adjustment rod; 34. Adjustment handle;

[0051] 4. Driving wheel; 41. Driving sprocket; 42. Driving sprocket spoke; 43. Driving steel wheel; 44. Driving motor;

[0052] 5. Track; 51. Chain; 52. Pin;

[0053] 6. Magnetic module;

[0054] 61, magnetic body; 611, magnetic conductor; 6111, notch; 6112, horizontal screw hole; 6113, slot; 612, cover; 6121, bolt; 613, upper magnetic block; 6131, middle slot; 614, lower magnetic block; 615, guide block; 6151, bolt;

[0055] 62. Magnetic block; 621. Groove;

[0056] 63, shift block; 631, first vertical rod; 632, second vertical rod; 633, key block; 634, horizontal axis; 635, limit slot;

[0057] 64. Ball plunger; 641. Cylindrical plunger; 642. Stop ball; 643. Spring;

[0058] 7. Guide device; 71. Paddle; 711. Paddle wheel; 72. Guide member; 721. Guide groove; 73. Connector;

[0059] 8. Welding module;

[0060] 81. Welding gun;

[0061] 82. Line laser vision sensor;

[0062] 83. Transverse drive device; 831. Transverse drive motor; 832. Transverse transmission mechanism; 833. Transverse screw rod; 834. Transverse slider; 835. Sliding rod; 836. Guide rail;

[0063] 84. Vertical drive device; 841. Vertical drive motor; 842. Vertical transmission mechanism; 843. Vertical screw rod; 844. Vertical slider; 845. Connecting frame;

[0064] 85, base; 851, connecting seat;

[0065] 86. Dust cover. DETAILED DESCRIPTION

[0066] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0067] like Figures 1 to 12 As shown, the present application provides a welding wall-climbing robot, comprising:

[0068] The body 1 has a plurality of permanent magnets 16 at its bottom, which can form a preset gap between the welding wall climbing robot and the working wall when the welding wall climbing robot is working;

[0069] A welding module 8 is detachably mounted on the top surface of the vehicle body 1 and includes a welding gun 81;

[0070] Two sets of running mechanisms are respectively provided on the left and right sides of the vehicle body 1. Each set of running mechanisms includes a driven wheel 2 and a driving wheel 4 respectively close to the front and rear ends of the vehicle body 1. The driven wheel 2 and the driving wheel 4 are connected by a crawler track 5. The crawler track 5 includes two chains 51 arranged at intervals.

[0071] Two sets of magnetic modules, each set of magnetic modules includes a plurality of magnetic modules 6 spaced apart along the length of the crawler 5, and each magnetic module 6 is connected between two chains 51. The magnetic modules 6 include a magnetic body 61, a magnetic block 62 rotatably mounted within the magnetic body 61 and circumferentially fixed, and a shift block 63, with the shift block 63 partially exposed from the magnetic body 61. The magnetic block 62 has a first position that enables the magnetic module 6 to have magnetic attraction, and a second position that disables the magnetic attraction.

[0072] Two sets of guiding devices 7 are respectively connected to the two sides of the vehicle body 1. Each set of guiding devices 7 includes two paddles 71 respectively close to the driving wheel 4 and the driven wheel 2. The paddles 71 can drive the paddle block 63 to rotate when the magnetic module 6 passes by, so as to drive the magnetic block 62 to switch from the first position to the second position, or from the second position to the first position.

[0073] The specific number of permanent magnets 16 can be determined according to the required load capacity and magnetic attraction force, for example, Figure 4 As shown, two rows of permanent magnet groups are spaced apart at the bottom of the vehicle body 1. Each row includes multiple permanent magnets 16 spaced apart from the front to the rear of the vehicle body 1. The number of magnetic modules 6 can be increased or decreased as needed. Mounting holes can be provided on the top of the vehicle body 1 to mount the welding module 8 using multiple fasteners (e.g., bolts). The two paddles 71 in each guide device 7 are positioned between the driven wheel 2 and the driving wheel 4 on the same side.

[0074] The welding wall-climbing robot also constitutes a magnetic adsorption crawler wall-climbing robot. The actual use of the welding wall-climbing robot is as follows: first, rotate the shift block 63 so that all magnetic modules 6 have no magnetic attraction. Then, use the magnetic force of the permanent magnet 16 to place the welding wall-climbing robot on a suitable working wall. Rotate the shift block 63 so that each magnetic module 6 between the two shifters 71 in each set of guide devices 7 has magnetic attraction. As the crawler 5 rotates, the magnetic module 6 on the front side of the forward movement direction of the welding wall-climbing robot will pass through the guide device 7, so that the magnetic module 6 has magnetic attraction and can be adsorbed on the working wall. The magnetic module 6 on the rear side of the forward movement direction of the welding wall-climbing robot will lose its magnetic attraction after passing through the guide device 7, ensuring that it does not require a lot of force to detach from the working wall, thereby reducing the extra energy loss caused by detaching the magnetic module 6 from the working wall. During the walking process of the welding wall-climbing robot, the welding gun 81 can be used for corresponding welding according to the needs of the welding operation.

[0075] Therefore, the welding wall-climbing robot of the present application has a welding module 8 installed on the vehicle body 1, and a welding gun 81 is used for the wall-climbing robot to perform welding operations; the vehicle body 1 and the welding module 8 are independent of each other and can be detachably connected, which makes it convenient for maintenance personnel to repair or replace the welding module 8. The crawler structure is suitable for different curved surface conditions and has a stronger adaptability to complex wall surfaces. When facing complex curvature surfaces such as large storage tanks, spherical structures or the inner and outer walls of pipelines, it is more conducive to achieving stable attachment and continuous welding, improving operation continuity and weld quality. By installing multiple permanent magnets 16 at the bottom of the vehicle body 1, the permanent magnets 16 can have a small gap with the working wall surface when the welding wall-climbing robot walks (the gap is generally 2-5mm). While generating a large magnetic attraction, it will not rub against the working wall surface, reducing the resistance of the welding wall-climbing robot when walking and reducing energy loss. By utilizing the multiple magnetic modules 6 arranged on the crawler 5, the magnetic force of the magnetic module 6 can be changed by rotating the dial block 63; through the control of the guiding device 7, the magnetic module 6 will have magnetic force when it contacts the working wall surface, and will lose the magnetic force when it is about to leave the working wall surface, ensuring that it can leave the working wall surface without much force.

[0076] By cooperating with the permanent magnet 16 and the magnetic module 6, the friction force of the welding wall-climbing robot during movement can be reduced while ensuring the reliability of wall adsorption, which is more conducive to improving the accuracy of the welding trajectory and improving the welding quality. Moreover, by using multiple permanent magnets 16 and multiple magnetic modules 6 with magnetic attraction, the magnetic attraction of the welding wall-climbing robot can be made stronger. The number of permanent magnets 16 can be appropriately increased within a certain weight range, which can improve the load capacity of the welding wall-climbing robot and is more conducive to carrying welding power supplies, wire feeders, welding guns and other key welding components on the vehicle body 1 to adapt to different welding application requirements and better perform high-intensity and high-reliability welding tasks on industrial sites. This effectively solves the problems of insufficient load capacity, poor adaptability to complex walls, and prominent contradictions between magnetic attraction and motion performance of wall-climbing robots used for welding in the prior art.

[0077] In some embodiments, reference Figure 10 The welding module 8 also includes a mobile drive device and a line laser vision sensor 82. The line laser vision sensor 82 is used to obtain the position of the weld in real time. The mobile drive device can drive the welding gun 81 to move according to the information detected by the line laser vision sensor 82 so that the welding gun 81 is aligned with the weld.

[0078] The specific structure of the line laser vision sensor 82 is based on existing technology. It can detect the position of the weld in real time. After calculation using a weld tracking algorithm, the motion of the welding torch 81 is controlled by a mobile drive device, ensuring that the welding torch 81 is aligned with the weld and tracks it in real time. This enables real-time recognition and adaptive adjustment of the weld position, better adapting to actual working conditions such as weld offset, wall deformation, or posture disturbances, improving welding quality and structural reliability. This improves welding accuracy, especially on complex curved surfaces or deformed components, and addresses the problem of existing wall-climbing robots for welding lacking the weld recognition and real-time tracking capabilities.

[0079] It can be understood that the entire welding wall-climbing robot will also be equipped with a corresponding controller, which is connected to the line laser vision sensor 82 and the mobile drive device, and can control the action of the mobile drive device according to the information detected by the line laser vision sensor 82.

[0080] In order to facilitate the movement of the driving device to drive the welding gun 81 to drive, further optional, refer to Figures 10 to 12 The welding module 8 also includes a base 85, and the mobile driving device includes a horizontal driving device 83 and a vertical driving device 84. The base 85 can be connected to the top surface of the vehicle body 1 through fasteners to facilitate installation and disassembly.

[0081] The vertical drive device 84 includes a connecting frame 845 and a vertical drive motor 841, a vertical screw rod 843 and a vertical slider 844 arranged on the connecting frame 845. The vertical slider 844 is mounted on the vertical screw rod 843 and is fixed to the welding gun 81 and the line laser vision sensor 82; the vertical drive motor 841 is connected to the vertical screw rod 843 through the vertical transmission mechanism 842, and can drive the vertical screw rod 843 to rotate, so as to drive the vertical slider 844 to move in a straight line in a direction perpendicular to the top surface of the vehicle body 1; the transverse drive device 83 is arranged on the base 85 and is connected to the connecting frame 845 through a sliding rod 835. The transverse drive device 83 can drive the sliding rod 835 to move in a straight line in a direction perpendicular to the walking direction of the welding wall-climbing robot.

[0082] Further optionally, the transverse drive device 83 includes a transverse drive motor 831, a transverse screw rod 833 and a transverse slider 834 arranged on the base 85, and the transverse slider 834 is mounted on the transverse screw rod 833 and fixed to the sliding rod 835; the transverse drive motor 831 is connected to the transverse screw rod 833 through the transverse transmission mechanism 832, and can drive the transverse screw rod 833 to rotate, so as to drive the transverse slider 834 to move in a straight line perpendicular to the direction of movement of the welding wall-climbing robot.

[0083] The axial direction of the vertical drive motor 841 and the axial direction of the vertical screw 843 are parallel and arranged perpendicular to the top surface of the vehicle body 1. The connecting frame 845 can be, for example, a rectangular frame. The vertical screw 843 is disposed within the connecting frame 845, and both ends of the vertical screw 843 are rotatably connected to the connecting frame 845. The vertical slider 844 can be, for example, a rectangular slider and is secured to both the welding gun 81 and the line laser vision sensor 82 via corresponding fasteners. The welding nozzle of the welding gun 81 should be positioned toward the front end of the vehicle body 1, and the laser emitting end of the line laser vision sensor 82 should be able to emit laser light onto the weld surface. The vertical slider 844 is threadedly connected to the vertical screw 843. The housing of the vertical drive motor 841 is fixed to the connecting frame 845, and its motor shaft can be drivingly connected to the end of the vertical screw 843 via a vertical transmission mechanism 842 (e.g., a conveyor belt).

[0084] The transverse drive device 83 also includes a guide rail 836, which is fixed to the base 85. The sliding rod 835 can slide along the guide rail 836. The axial direction of the transverse drive motor 831, the axial direction of the transverse screw rod 833, the length direction of the guide rail 836, and the length direction of the sliding rod 835 are parallel to each other and arranged perpendicular to the direction of movement of the welding wall-climbing robot. The base 85 may, for example, include a support frame and two connecting blocks disposed on the support frame. The transverse screw rod 833 is disposed between the two connecting blocks, and the ends of the transverse screw rod 833 are rotatably connected to the two connecting blocks. The transverse slider 934 is threadedly connected to the transverse screw rod 833. The housing of the transverse drive motor 831 is fixed to the support frame, and its motor shaft is transmission-connected to the end of the transverse screw rod 833 via a transverse transmission mechanism 832 (e.g., a conveyor belt). The guide rail 836 is fixed to the support frame. The ends of the sliding rod 835 are respectively fixed to the connecting block 845 and the transverse slider 834, and the sliding rod 835 can slide linearly along the guide rail 836. A corresponding opening is provided on the connecting seat for the sliding rod 835 to pass through.

[0085] The rotation of the vertical drive motor 841 drives the vertical lead screw 843 to rotate via the vertical transmission mechanism 842, causing the vertical slider 844 to slide in a direction perpendicular to the top surface of the vehicle body 1, thereby controlling the movement of the welding gun 81 in a direction perpendicular to the top surface of the vehicle body 1. The rotation of the transverse drive motor 831 drives the transverse lead screw 833 to rotate via the transverse transmission mechanism 832, causing the transverse slider 834 to slide with the sliding rod 835 in a direction perpendicular to the travel direction of the welding wall-climbing robot, thereby controlling the movement of the welding gun 81 in a direction perpendicular to the travel direction of the welding wall-climbing robot.

[0086] Optionally, a dust cover 86 is provided on the sliding rod 835 to prevent spatter from the welding process from affecting the sliding movement of the sliding rod 835. The two ends of the dust cover 86 are respectively connected to the connecting frame 845 and the corresponding connecting seat. The dust cover 86 can be a flexible cover so that when the connecting frame 845 moves, the dust cover 86 can be extended and retracted to adjust its own length.

[0087] In some embodiments, in order to facilitate the change of the magnetic attraction force of the magnetic module 6 when the dial block 63 is dialed, refer to Figure 5 and Figure 6The magnetic block 62 is a cylinder, and a groove 621 is provided at one end of the magnetic block 62. The parts on both sides of the groove 621 are the N pole and the S pole of the magnetic block 62 respectively; the dial block 63 includes a cross-shaped structure composed of two vertical rods, and one side of the cross-shaped structure is inserted into the groove 621 through the key block 633; wherein, when the magnetic block 62 is rotated until the length direction of the groove 621 is vertical, the magnetic block 62 is in the first position, and the magnetic body 61 can prevent the magnetic lines of force emitted by the N pole from directly returning to the S pole from the inside of the magnetic body 61, so that the magnetic module 6 has magnetic attraction; when the magnetic block 62 is rotated until the length direction of the groove 621 is horizontal, the magnetic block 62 is in the second position, and the magnetic body 61 can make the magnetic lines of force emitted by the N pole directly return to the S pole from the inside of the magnetic body 61, so that the magnetic module 6 has no magnetic attraction.

[0088] Specifically, the magnetic body 61 includes two magnets 611 arranged at intervals and two cover plates 612 fixed at both ends of the two magnets 611. The middle parts of the two magnets 611 are enclosed to form a accommodating cavity for accommodating the magnetic block 62 and the shift block 63. The top of one end of the two magnets 611 has a notch 6111 connected to the accommodating cavity to expose the shift block 63; the upper end interval and the lower end interval of the two magnets 611 are respectively clamped and fixed with an upper blocking magnet 613 and a lower blocking magnet 614, and the cover plate 612 and the shift block 63 are both blocking magnet parts.

[0089] Reference Figure 6 The cylindrical magnetic block 62 is a magnet with strong magnetism. The axial direction of the cylinder is perpendicular to the left or right side of the vehicle body 1. The groove 621 is opened on the end face of the cylinder away from the vehicle body 1 and the length direction of the groove 621 extends along the diameter direction of the end face and passes through the side wall of the cylinder. The two sides of the groove 621 are the N pole and S pole of the magnet. The first vertical rod 631 and the second vertical rod 632 of the cross-shaped structure are perpendicular to each other, and the length direction of the first vertical rod 631 is parallel to the length direction of the groove 621. A horizontal axis 634 is vertically connected to the center of one side of the first vertical rod 631, and the horizontal axis 634 can be rotatably inserted into the mounting hole of one of the cover plates 612, so that the shift block 63 can rotate along the horizontal axis 634; the other side of the first vertical rod 631 is connected to a key block 633, which is connected to the magnetic block 62 through a key to ensure that the shift block 63 and the magnetic block 62 can rotate together; the groove 621 on the magnetic block 62 cooperates with the shift block 63, and shifting the shift block 63 can realize the rotation of the magnetic block 62 inside the magnetic suction body 61.

[0090] When the magnetic module 6 passes over the paddle 71, it rotates the paddle block 63 90 degrees. Each time the paddle 71 rotates the paddle block 63, it rotates the paddle block 63 90 degrees, causing the first vertical rod 631 or the second vertical rod 632 to be in a vertical position. Optionally, a paddle wheel 711 is provided at the lower end of the paddle 71. The paddle wheel 711 can contact the paddle block 63 to rotate the paddle block 63. The paddle wheel 711 at the end of the paddle 71 can reduce wear between the paddle 71 and the paddle block 63.

[0091] The two magnetic conductors 611 can be, for example, Figure 6 The rectangular blocks shown are symmetrically spaced and have arcuate grooves in the middle of their opposing surfaces, allowing the central portions of the two magnetizers 611 to enclose a cylindrical accommodating cavity. The diameter of the accommodating cavity is slightly larger than the diameter of the magnet block 62, and the two are spaced apart to facilitate smooth rotation of the magnet block 62. The aforementioned notches 6111 are located at the top corners of the ends of the magnetizers 611 away from the vehicle body 1. The two vertical rods of the shift block 63 are of equal length, and can be equal to the diameter of the magnet block 62. The upper and lower resistive magnets 613 and 614 both utilize elongated rectangular parallelepiped structures. The length of the upper resistive magnet 613 is equal to the top length of the magnetizer 611, and the length of the lower resistive magnet 614 is equal to the bottom length of the magnetizer 611 and greater than the length of the upper resistive magnet 613. The widths of the two resistive magnets are equal to the widths of the two vertical rods.

[0092] The two cover plates 612 can each be a rectangular plate. Each cover plate 612 is connected to the ends of the two magnets 611 via corresponding fasteners, for example, by two bolts 6121. The horizontal length of the cover plate 612 should be greater than the total width of the two magnets 611. The bottom of the cover plate 612 should be aligned with or slightly lower than the bottom of the magnets 611. The top of the cover plate 612 should be higher than the shift block 63. The cover plate 612 and the shift block 63 are made of a magnetically resistive material. The upper resistive magnet 613, the lower resistive magnet 614, the cover plate 612, and the shift block 63 can all function to isolate the magnetic field.

[0093] The magnetic module 6 has the function of variable magnetic force, and its specific working method is: when the cylindrical magnetic block 62 rotates to the left and right distribution of the two magnetic poles, that is, when the groove 621 is in the vertical direction, the magnetic block 62 is in the first position. Due to the obstruction of the upper resistive magnet 613, the lower resistive magnet 614, the shift block 63 and the cover plate 612, the magnetic lines of force emitted by the N level on the magnetic block 62 cannot directly pass through the inside of the magnet 611 and return to the S level. Therefore, the magnetic lines of force emitted by its N level will pass through the magnet 611 on one side and be transmitted to the magnetic working wall surface, and then pass through the magnet 611 on the other side to return to the S level of the magnetic block 62. At this time, there is an attraction between the magnetic module 6 and the working wall surface, and the magnetic module 6 has magnetic attraction. When the magnetic block 62 rotates to the point where the two magnetic poles are distributed vertically, that is, when the groove 621 is in the horizontal direction, the magnetic block 62 is in the second position. The magnetic lines of force emitted from the N-pole on the magnetic block 62 will not be blocked by the upper resisting magnet 613 and the lower resisting magnet 614, and will directly pass through the inside of the magnetic conductor 611 and return to the S-pole. Therefore, there will be no attraction between the magnetic module 6 and the working wall surface, and the magnetic module 6 has no magnetic attraction force.

[0094] For further optional reference, see Figures 5 to 7 Two ball plungers 64 are symmetrically provided at the positions corresponding to the shift blocks 63 in the two magnetic conductors 611. The inner ends of the ball plungers 64 have elastically retractable limiting balls 642. The two limiting balls 642 can be clamped in the limiting grooves 635 at both ends of the corresponding vertical rods of the shift block 63 when the magnetic block 62 is in the first position or the second position.

[0095] A ball plunger 64 is provided in each magnet 611. The axial direction of the ball plunger 64 is horizontally arranged and perpendicular to the axial direction of the magnetic block 62. A limiting groove 635 is provided at both ends of each vertical rod. The limiting ball 642 at the end of the ball plunger 64 can extend into the installation cavity when there is no external force and be stuck in the limiting groove 635 on the vertical rod, and can automatically retract into the ball plunger 64 when subjected to external force.

[0096] Specifically, refer to Figure 7 The ball plunger 64 includes a cylindrical plunger 641. A horizontal screw hole 6112 is formed on the magnet 611, connecting the mounting cavity and the outer surface of the magnet 611. The outer wall of the cylindrical plunger 641 is threaded and mounted within the screw hole. A mounting slot extending along its axial direction is formed on the end of the cylindrical plunger 641 near the shift block 63. A retaining ball 642 is disposed at the slot opening of the mounting slot. A spring 643 is also disposed within the mounting slot, with both ends of the spring 643 connecting the bottom of the mounting slot and the retaining ball 642. When pressed by an external force, the retaining ball 642 compresses the spring 643 and retracts into the mounting slot. In the absence of external force, the retaining ball 642 remains extended from the mounting slot under the action of the spring 643 and is engaged with the retaining slot 635 on the vertical rod.

[0097] During use, the shift block 63 is rotated. When the retaining groove 635 on the shift block 63 aligns with the ball plunger 64, the retaining ball 642 on the ball plunger 64 extends, securing the shift block 63. When a certain external force is applied to the shift block 63, the retaining ball 642 on the ball plunger 64 retracts, allowing the shift block 63 to rotate. By controlling the position of the shift block 63, the ball plunger 64 indirectly controls the groove 621 of the magnetic block 62 to be either horizontal or vertical, preventing it from being in an intermediate position. This ensures that the magnetic module 6 can only exist in two states: attractive or non-attractive.

[0098] Further optionally, in order to facilitate the connection between the magnetic module 6 and the chain 51, refer to Figure 6 、 Figure 8 and Figure 9 The chain 51 has a plurality of pins 52 , and one end of some of the pins 52 is fixedly connected to the corresponding cover plate 612 .

[0099] Generally, each cover plate 612 is fixedly connected to the ends of two corresponding adjacent pins 52. Each chain 51 is an annular structure. The chain 51 can adopt an existing roller chain. The specific structure is an existing structure and will not be described in detail here. It can be understood that the length of the pins 52 at the chain 51 where the magnetic module 6 needs to be installed is longer than the length of the pins 52 at the chain 51 where the magnetic module 6 is not installed. One end of these extended pins 52 is plugged into the chain 51, and the other end is fixed to the cover plate 612; the method of directly plugging and fixing the magnetic module 6 to the chain 51 using the pins 52 is not only low-cost, but also very convenient for disassembly and maintenance of the magnetic module 6.

[0100] For further optional reference, see Figure 5 and Figure 6 The magnetic body 61 further includes a guide block 615 , the bottom of which is clamped in the clamping groove 6113 at the top of the two magnetizers 611 and connected to the magnetizers 611 via fasteners.

[0101] The guide block 615 can be a rectangular block and also made of magnetic-resistance material. A slot 6113 is provided on the top of each magnet 611, and a corresponding middle slot 6131 is also provided on the top surface of the upper magnet 613. The two slots 6113 and the middle slot 6131 constitute a top slot. The bottom of the guide block 615 can be clamped in the top slot and fixed to the two magnets 611 respectively by two bolts 6151; through the cover plate 612 and the guide block 615, the upper magnet 613 and the lower magnet 614 can be tightly clamped in the two magnets 611.

[0102] For further optional reference, see Figure 8 and Figure 9Each set of guiding devices 7 also includes two guiding members 72 respectively close to the driving wheel 4 and the driven wheel 2, and the paddle 71 is installed on the corresponding guiding member 72; the guiding member 72 is connected to the side of the vehicle body 1 through the connecting member 73, and the guiding member 72 has a guiding groove 721 with an opening facing downward, and the guiding block 615 can pass through the guiding groove 721 during the movement.

[0103] Each set of guide devices 7 includes two guide members 72 mounted at either end of the track 5 along the wall-climbing robot's travel direction, located between the drive wheel 4 and the driven wheel 2. The primary function of the guide devices 7 is to use the guide members 72 to guide the movement of the track 5. As the track 5 moves, the guide blocks 615 pass through the guide slots 721, securing the track 5 in place and preventing the chain 51 from disengaging from the corresponding sprockets on the drive wheel 4 and the driven wheel 2. The second function of the guiding device 7 is to use the paddle 71 to control the magnetic attraction force of the magnetic module 6; if the magnetic module 6 originally has no magnetic attraction force, that is, the two magnetic poles of the magnetic block 62 are distributed up and down, after the guiding device 7, the paddle 71 will paddle the paddle 63, so that the magnetic block 62 rotates to the two magnetic poles are distributed left and right, and the magnetic module 6 has magnetic attraction force; on the contrary, if the magnetic module 6 originally has magnetic attraction force, after the guiding device 7, the paddle 71 will paddle the paddle 63, so that the magnetic module 6 does not have magnetic attraction force; through the control of the guiding device 7, the magnetic module 6 will have magnetic attraction force when it contacts the working wall surface, and will lose magnetic attraction force when it is about to leave the working wall surface, ensuring that it does not require a lot of force to leave the working wall surface.

[0104] For further optional reference, see Figure 2 and Figure 4 The driven wheel 2 includes a driven sprocket group, which includes two driven sprockets 21 arranged at intervals and a driven sprocket spoke 22 connecting the two driven sprockets 21; a wheel axle 24 is also provided between the two driven wheels 2 in the two sets of walking mechanisms, and the wheel axle 24 is connected to the two driven sprocket groups; the driving wheel 4 includes a driving sprocket group, which includes two driving sprockets 41 arranged at intervals and a driving sprocket spoke 42 connecting the two driving sprockets 41; a driving device is also provided in the vehicle body 1 to drive the two driving wheels 4 to rotate; each chain 51 of the crawler 5 is installed on the driving sprocket 41 and the corresponding driven sprocket 21 of the same walking mechanism.

[0105] Each driven sprocket 21 and each driving sprocket 41 is primarily responsible for driving the crawler track 5. The two driven sprockets 21 and the two driving sprockets 41 are detachably connected by sprocket spokes. The separation between the sprockets and sprocket spokes reduces manufacturing costs and facilitates maintenance and replacement. The sprocket spokes specifically include two annular mounting plates and a hollow shaft positioned between them. The components of the sprocket spokes can be integrally formed. The two annular mounting plates are connected and secured to the two sprockets via multiple fasteners (e.g., bolts).

[0106] Further optionally, the driven wheel 2 also includes a driven steel wheel 23, which is coaxially fixed to the driven sprocket group and located on the outside of the driven sprocket group 21, and both ends of the wheel axle 24 pass through the corresponding driven sprocket group and are fixed to the corresponding driven steel wheel 23; the driving wheel 4 also includes a driving steel wheel 43, which is coaxially fixed to the driving sprocket group and located on the outside of the driving sprocket group.

[0107] Each sprocket assembly is located near the vehicle body 1 and between the vehicle body 1 and the corresponding steel wheel. During operation, each steel wheel and chain 51 will contact the working wall surface, enabling the wall-climbing robot to move. The steel wheels and sprocket assembly work together, and in addition to the chain 51 contacting the working wall surface, the steel wheels also roll on the working wall surface, sharing some of the load and increasing the overall load of the wall-climbing robot. Optionally, the outer surface of the steel wheels can also be textured to provide a certain degree of anti-slip effect.

[0108] For further optional information, see Figure 4 The drive device includes two drive motors 44. The drive shafts of the drive motors 44 pass through corresponding drive sprocket sets and are fixedly connected to corresponding drive steel wheels 43. The drive motors 44 provide power to the drive wheels 4. By independently driving the drive wheels 4 on both sides with two drive motors 44, differential drive can be achieved, allowing the crawler tracks 5 to operate at differential speeds, enabling the wall-climbing robot to turn.

[0109] For further optional reference, see Figures 1 to 3 A tensioning mechanism 3 is also provided on the wheel axle 24 near each driven wheel 2. The tensioning mechanism 3 can drive the wheel axle 24 to move away from the driving wheel 4 to tension the track 5.

[0110] Specifically, the tensioning mechanism 3 includes a bearing seat 31, a fixing seat 32, an adjusting rod 33 and an adjusting handle 34. The bearing seat 31 is connected to the wheel axle 24 through an internal bearing. A sliding notch 131 is provided on the side of the vehicle body 1 corresponding to the wheel axle 24. The bearing seat 31 can be slidably installed in the sliding notch 131; the fixing seat 32 is fixed at a position at the front end of the vehicle body 1 facing the sliding notch 131. One end of the adjusting rod 33 is fixed to the bearing seat 31, and the other end passes through the fixing seat 32 and is threadedly connected to the adjusting handle 34 on the outside of the fixing seat 32.

[0111] Two tensioning mechanisms 3 are provided on the entire axle 24, with the aforementioned sliding notches 131 defined on both the left and right sides of the vehicle body 1. The bearing seat 31 can be rectangular, for example. The sliding notches 131 are rectangular in shape, extending longitudinally along the front and rear ends of the vehicle body 1. The sliding notches 131 communicate with the front end of the vehicle body 1. The fixing seat 32 has a through-hole for the adjustment rod to pass through. The fixing seat 32 can be secured to the vehicle body 1, for example, via bolts. Optionally, slots 311 are defined at the top and bottom of the bearing seat 31. These slots 311 allow the bearing seat 31 to slidably engage with the vehicle body 1 sections above and below the sliding notches, ensuring sliding stability.

[0112] In actual use, rotating the adjustment handle 34 rotates the adjustment rod 33, causing the bearing seat 31 to move along the sliding notch 131 on the side of the vehicle body 1, thereby driving the driven wheel 2 toward or away from the drive wheel 4 along the wall-climbing robot's travel direction. If the track 5 is loose, the adjustment handle 34 can be turned to move the driven wheel 2 away from the drive wheel 4, thereby tightening the track 5. The connection between the adjustment rod 33 and the adjustment handle 34 uses a thread with a small lead, so the mechanism has a self-locking function after adjustment is completed.

[0113] For further optional reference, see Figure 1 The vehicle body 1 includes a support plate 11, two connecting shafts 12 and two side plates 13 arranged in parallel and spaced apart. The support plate 11 is connected to the middle of the two side plates 13 and the plate surface is perpendicular to the side plates 13. A plurality of mounting holes are opened on the support plate 11; the two connecting shafts 12 are respectively connected to the front and rear ends of the two side plates 13, and both ends of each connecting shaft 12 have threads and are adjustably threadedly connected to the clamping nuts 15 installed on the side plates 13; a plurality of permanent magnets 16 are arranged on the inner side of the bottom of the side plates 13, the welding module 8 is arranged on the support plate 11, and the two sets of walking mechanisms are respectively arranged on the outer sides of the two side plates 13.

[0114] The two connecting shafts 12 secure the side panels 13. Both ends of the connecting shafts 12 are threaded, and together with the compression nuts 15 mounted on either side of the side panels 13, they connect the two connecting shafts 12 to the side panels 13. Adjusting the screw-in depth of the threads adjusts the spacing between the two side panels 13, thereby adjusting the spacing between the two tracks 5 to suit different working environments. When in use, the support plate 11 is parallel to the working wall and has multiple mounting holes to facilitate installation of the welding module 8.

[0115] In order to adjust the distance between the two side plates 13, the connection between the support plate 11 and the side plates 13 can also be adaptively adjusted, for example, referring to Figure 1One side of the support plate 11 is hinged to one of the side plates 13, and the middle part of the other side is connected to a plug-in shaft 111. The axial direction of the plug-in shaft 111 is perpendicular to the side plate 13. A seat body 132 with an axial hole is fixed on the top of the other side plate 13. The plug-in shaft 111 can be slidably inserted into the axial hole. When the threaded insertion amount of the two connecting shafts 12 and the clamping nut 15 is adjusted, the plug-in shaft 111 can adaptively slide in the axial hole.

[0116] It can be understood that the above-mentioned two rows of permanent magnet groups are respectively installed and fixed on the inner side of the bottom of the two side panels 13; the connecting piece 73 in the guide device 7 is specifically connected and fixed to the corresponding side panel 13; the two drive motors 44 are arranged between the two side panels 13, and the drive shaft of the drive motor 44 passes through the corresponding mounting holes on the side panel 13 and then passes through the corresponding driving sprocket group and is fixedly connected to the driving steel wheel 43; the sliding notch 131 is specifically installed at the front end of the side panel 13 and is connected to the front end of the side panel 13, and the fixed seat 32 is fixedly connected to the front end of the side panel 13.

[0117] It should be noted that the left and right directions mentioned in this article are the two sides of the walking direction of the wall-climbing robot, that is, the two sides of the width direction of the vehicle body 1; the front end and the rear end of the vehicle body 1 are the front end and the rear end along the walking direction, that is, the two ends in the length direction of the vehicle body 1; the terms "up", "down", "left", "right" and similar expressions used in this article are for illustrative purposes only and do not represent the only implementation method.

[0118] The above is only an illustrative embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principle of the present invention should fall within the scope of protection of the present invention.

Claims

1. A welding wall-climbing robot, characterized in that: include: The vehicle body has a plurality of permanent magnets at the bottom thereof, which can form a preset gap between the welding wall climbing robot and the working wall surface when the welding wall climbing robot is working; a welding module, detachably mounted on the top surface of the vehicle body, the welding module comprising a welding gun; Two sets of running mechanisms are respectively provided on the left and right sides of the vehicle body, each set of the running mechanisms includes a driven wheel and a driving wheel respectively close to the front and rear ends of the vehicle body, the driven wheel and the driving wheel are connected by a crawler track, and the crawler track includes two chains arranged at intervals; Two sets of magnetic modules, each set of magnetic modules includes a plurality of magnetic modules spaced apart along the length of the track, each magnetic module connected between two chains; the magnetic modules include a magnetic body, a magnetic block and a shift block rotatably mounted within the magnetic body and circumferentially fixed, with a portion of the shift block exposed from the magnetic body; the magnetic block has a first position that enables the magnetic module to have magnetic attraction, and a second position that disables the magnetic attraction; Two sets of guide devices are respectively connected to both sides of the vehicle body, and each set of the guide devices includes two paddles respectively close to the driving wheel and the driven wheel. The paddles can drive the paddle block to rotate when the magnetic module passes by, thereby driving the magnetic block to switch from the first position to the second position, or from the second position to the first position.

2. The welding wall-climbing robot according to claim 1, characterized in that: The welding module also includes a mobile drive device and a line laser vision sensor. The line laser vision sensor is used to obtain the position of the weld in real time. The mobile drive device can drive the welding gun to move according to the information detected by the line laser vision sensor so that the welding gun is aligned with the weld.

3. The welding wall-climbing robot according to claim 2, characterized in that: The welding module further includes a base, the mobile drive device includes a transverse drive device and a vertical drive device, and the base can be connected to the top surface of the vehicle body through fasteners; The vertical drive device includes a connecting frame and a vertical drive motor, a vertical screw rod and a vertical slider arranged on the connecting frame. The vertical slider is sleeved on the vertical screw rod and is fixedly connected to the welding gun and the line laser vision sensor; the vertical drive motor is connected to the vertical screw rod through a vertical transmission mechanism, and can drive the vertical screw rod to rotate, so as to drive the vertical slider to move linearly in a direction perpendicular to the top surface of the vehicle body; the transverse drive device is arranged on the base and connected to the connecting frame through a sliding rod. The transverse drive device can drive the sliding rod to move linearly in a direction perpendicular to the walking direction of the welding wall-climbing robot.

4. The welding wall-climbing robot according to claim 3, characterized in that: The transverse drive device includes a transverse drive motor, a transverse screw and a transverse slider arranged on the base, the transverse slider is sleeved on the transverse screw and fixedly connected to the sliding rod; the transverse drive motor is connected to the transverse screw through a transverse transmission mechanism, and can drive the transverse screw to rotate, so as to drive the transverse slider to move in a straight line along a direction perpendicular to the walking direction of the welding wall-climbing robot.

5. The welding wall-climbing robot according to claim 3, characterized in that: A dust cover is provided on the sliding rod.

6. The welding wall-climbing robot according to claim 1, characterized in that: The magnetic block is a cylinder, with a groove at one end of the magnetic block, and the parts on both sides of the groove are the N pole and S pole of the magnetic block respectively; the shift block includes a cross-shaped structure composed of two vertical rods, and one side of the cross-shaped structure is inserted into the groove through a key block; wherein, When the magnetic block rotates until the length direction of the groove is vertical, the magnetic block is in the first position, and the magnetic body can prevent the magnetic lines of force emitted by the N pole from directly returning to the S pole from the inside of the magnetic body; when the magnetic block rotates until the length direction of the groove is horizontal, the magnetic block is in the second position, and the magnetic body can allow the magnetic lines of force emitted by the N pole to directly return to the S pole from the inside of the magnetic body.

7. The welding wall-climbing robot according to claim 6, characterized in that: The magnetic attraction body includes two magnets arranged at intervals and two cover plates fixed at both ends of the two magnets. The middle parts of the two magnets are enclosed to form a accommodating cavity for accommodating the magnetic block and the shift block. The top of one end of each of the two magnets has a notch connected to the accommodating cavity to expose the shift block; the upper end interval and the lower end interval of the two magnets are respectively sandwiched and fixed with an upper blocking magnet and a lower blocking magnet, and the cover plates and the shift block are both blocking magnet parts.

8. The welding wall-climbing robot according to claim 7, characterized in that: Two ball plungers are symmetrically provided at positions corresponding to the shift blocks in the two magnetic conductors. The inner ends of the ball plungers have elastically retractable limiting balls. The two limiting balls can be clamped in the limiting grooves at both ends of the corresponding vertical rods of the shift blocks when the magnetic block is in the first position or the second position.

9. The welding wall-climbing robot according to claim 7, characterized in that: The chain is provided with a plurality of pins, and one end of some of the pins is fixedly connected to the corresponding cover plate.

10. The welding wall-climbing robot according to claim 7, characterized in that: The magnetic attraction body further includes a guide block, the bottom of which is clamped in the top clamping grooves of the two magnetic conductors and connected to the magnetic conductors via fasteners; Each set of the guiding devices further includes two guiding members respectively close to the driving wheel and the driven wheel, and the paddles are mounted on the corresponding guiding members; the guiding members are connected to the side of the vehicle body through connecting members, and the guiding members have a guiding groove with an opening facing downward, and the guiding block can pass through the guiding groove during movement.

11. The welding wall-climbing robot according to claim 1, characterized in that: A dial wheel is provided at the lower end of the paddle, and the dial wheel can contact the paddle block to drive the paddle block to rotate.

12. The welding wall-climbing robot according to claim 1, characterized in that: The driven wheel includes a driven sprocket set, which includes two driven sprockets arranged at intervals and a driven sprocket spoke connecting the two driven sprockets; an axle is further provided between the two driven wheels in the two sets of the walking mechanisms, and the axle is connected to the two driven sprocket sets; The driving wheel includes a driving sprocket group, which includes two driving sprockets arranged at intervals and a driving sprocket spoke connecting the two driving sprockets; a driving device is also provided in the vehicle body to drive the two driving wheels to rotate; each chain of the crawler is installed on the driving sprocket and the corresponding driven sprocket of the same walking mechanism.

13. The welding wall-climbing robot according to claim 12, characterized in that: The driven wheel also includes a driven steel wheel, which is coaxially fixed to the driven sprocket group and located on the outside of the driven sprocket group. Both ends of the wheel axle pass through the corresponding driven sprocket group and are fixed to the corresponding driven steel wheels; the driving wheel also includes an active steel wheel, which is coaxially fixed to the active sprocket group and located on the outside of the active sprocket group.

14. The welding wall-climbing robot according to claim 13, characterized in that: The driving device includes two driving motors, and the driving shafts of the driving motors pass through the corresponding driving sprocket sets and are fixedly connected to the corresponding driving steel wheels.

15. The welding wall-climbing robot according to claim 12, wherein: A tensioning mechanism is also provided on the wheel axle near each driven wheel, and the tensioning mechanism can drive the wheel axle to move in a direction away from the driving wheel to tension the crawler track.

16. The welding wall-climbing robot according to claim 15, characterized in that: The tensioning mechanism includes a bearing seat, a fixing seat, an adjusting rod and an adjusting handle. The bearing seat is connected to the wheel axle through an internal bearing. A sliding notch is provided at a position corresponding to the wheel axle on the side of the vehicle body. The bearing seat can be slidably installed in the sliding notch. The fixing seat is fixed at a position at the front end of the vehicle body facing the sliding notch. One end of the adjusting rod is fixedly connected to the bearing seat, and the other end passes through the fixing seat and is threadedly connected to the adjusting handle on the outside of the fixing seat.

17. The welding wall-climbing robot according to claim 1, characterized in that: The vehicle body includes a support plate, two connecting shafts and two side plates arranged in parallel and spaced apart. The support plate is connected to the middle of the two side plates and the plate surface is perpendicular to the side plates. A plurality of mounting holes are provided on the support plate; the two connecting shafts are respectively connected to the front and rear ends of the two side plates, and both ends of each connecting shaft have threads and are adjustably threadedly connected to the clamping nuts installed on the side plates; a plurality of permanent magnets are arranged on the inner side of the bottom of the side plates, the welding module is arranged on the support plate, and the two groups of walking mechanisms are respectively arranged on the outer sides of the two side plates.

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