A crawling welding robot

Abstract

This invention relates to the field of welding robot technology, specifically a crawling welding robot. It solves the problems of crawling welding robots being unable to simultaneously perform both pipe welding and planar welding, and the fact that during pipe welding, they can only rotate around the pipe axis, requiring manual adjustment of the robot's welding position when changing positions. The crawling welding robot includes a mainboard and a clamping mechanism. A welding gun is detachably mounted on the front end of the mainboard, and a control terminal is fixedly mounted on the upper surface of the mainboard. A battery and a counterweight are fixedly mounted on both sides of the control terminal. The battery is connected to the welding gun via wires. Adjustable walking arms are mounted on both sides of the mainboard. This invention enables the crawling welding robot to move in a planar manner or to surround the outside of a pipe, thus allowing it to perform both planar welding and pipe welding operations.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, specifically a crawling welding robot. Background Technology

[0002] Welding robots are industrial robots that perform welding (including cutting and spraying). They are multi-purpose, reprogrammable, and automatically controlled manipulators with three or more programmable axes. They are used in the field of industrial automation. To adapt to different applications, the mechanical interface of the robot's last axis is usually a connecting flange, which can be connected to different tools or end effectors. Welding robots are industrial robots with welding pliers or welding (cutting) guns attached to the flange of the last axis, enabling them to perform welding, cutting, or thermal spraying.

[0003] Crawling welding robots are special industrial robots that integrate autonomous mobility technology and intelligent welding functions. They are mainly used for automated welding operations in large, complex or high-risk environments. Their core feature is that they crawl and move on the surface of the workpiece through an adsorption device (such as a permanent magnet track), without the need for a fixed track or external guide. Combined with an intelligent recognition system, they achieve high-precision welding.

[0004] However, crawling welding robots cannot perform both pipe welding and planar welding simultaneously. Furthermore, when welding pipes, they can only rotate around the pipe axis. When changing the welding position, the robot's position needs to be manually adjusted. Therefore, they do not meet the current requirements. To address this, we propose a crawling welding robot. Summary of the Invention

[0005] The purpose of this invention is to provide a crawling welding robot to solve the problems mentioned in the background art, such as the inability of crawling welding robots to perform both pipe welding and planar welding simultaneously, the fact that they can only rotate around the pipe axis during pipe welding, and the need for manual adjustment of the welding position when changing the welding position.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a crawling welding robot, comprising a main board and a circumferential locking mechanism, wherein a welding gun is detachably mounted on the front end of the main board, a control terminal is fixedly mounted on the upper surface of the main board, and a battery and a counterweight are fixedly mounted on both sides of the control terminal, the battery and the welding gun are connected by wires, and an adjustable walking arm is mounted on both sides of the main board, thereby changing the working mode and walking mode of the entire crawling welding robot;

[0007] A rotating disk is rotatably mounted on the bottom of the main board, and a rotating motor is fixedly embedded in the bottom of the main board. The output shaft of the rotating motor is vertically downward, and a drive gear is fixed on the outer side of the output shaft of the rotating motor. A movable walking track is mounted on the bottom surface of the rotating disk, and a transmission gear ring is fixed on the outer side of the bottom end of the rotating disk. The transmission gear ring is engaged with the drive gear.

[0008] Preferably, the walking arm includes multiple interconnected splicing modules. Each splicing module includes two symmetrically distributed splicing walking blocks. Two symmetrical docking slots are provided on both sides of the main board. A connecting fixing block is fixed between the two splicing walking blocks. Two docking protrusions are provided on one side of the splicing walking block, and two symmetrical splicing slots are provided on the other side of the splicing walking block. A connecting short shaft is inserted through the inside of the docking protrusion. The splicing walking block is rotatably connected to the main board by inserting the docking protrusion into the docking slot and the connecting short shaft. Two adjacent splicing walking blocks are rotatably connected by inserting the docking protrusion into the inside of the splicing slot and the connecting short shaft.

[0009] Preferably, a limiting plate is provided above the side of the splicing walking block where the splicing slot is provided, and two fastening screws are provided through one side of the limiting plate, with the bottom end of the fastening screws screwed into the interior of the splicing walking block by threads.

[0010] Preferably, the bottom of the splicing walking block is rotatably connected to a walking wheel, the outer side of the top of the walking wheel is provided with a connecting ring groove, the inner side of the connecting ring groove is provided with a transmission rope, the transmission rope passes through the inside of the splicing walking block and is wound in a crisscross manner between adjacent walking wheels, one end of the transmission rope extends into the inside of the main board, and the inner side of the secondary end of the transmission rope is provided with an adjusting wheel, the axis of the adjusting wheel is fixed through and fixed to an adjusting motor, and the adjusting motor is fixed inside the main board.

[0011] Preferably, a limiting ring is fixed to the outer top of the walking wheel, and a snap-fit ​​plate is provided below the limiting ring. The snap-fit ​​plate is installed at the bottom of the splicing walking block by screws, and the snap-fit ​​plate is sleeved on the outside of the walking wheel.

[0012] Preferably, the top end face of the walking wheel is provided with a cross-shaped groove, and a power supply battery and an electromagnet are fixed inside the splicing walking block. The power supply battery and the electromagnet are connected by a wire.

[0013] Preferably, a magnetic metal cross block is magnetically attracted to the bottom of the electromagnet, the magnetic metal cross block is slidably engaged inside the cross slot, and a return spring is fixed between the electromagnet and the magnetic metal cross block.

[0014] Preferably, a threaded hole is provided on one side of the connecting fixing block, and a threaded short rod is threadedly connected to the inner side of the threaded hole. A connecting ring is fixed to the outer side of the end of the threaded short rod. The circumferential locking mechanism includes a storage sleeve, and storage grooves are provided through both sides of the storage sleeve. A locking rope is inserted through the inner side of the storage groove. A connecting hook is fixed to the end of the locking rope outside the storage groove. The locking rope is connected to the connecting ring through the connecting hook. Multiple ball grooves are provided on both end faces of the storage sleeve, and contact balls are rolled and embedded in the inner side of the ball grooves.

[0015] Preferably, a winding motor is fixed inside the storage sleeve, an output gear is fixed to the output shaft end of the winding motor, two winding gears are meshed on the outer side of the output gear, a winding shaft is fixed through the axis of the winding gear, the two ends of the winding shaft are inserted into the storage sleeve, a winding roller is fixed to the outer side of the winding shaft, and one end of the locking rope passes through the storage groove into the storage sleeve and is wound and fixed to the outer side of the winding roller.

[0016] Preferably, four support rods are rotatably installed on the inner side of the storage slot, and the four support rods are distributed on both sides of the two locking ropes.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. This invention has adjustable walking arms installed on both sides of the motherboard. By changing the bending state of the walking arms, the crawling welding robot can move on a plane or surround the outside of the pipe, thereby enabling the crawling welding robot to perform both plane welding and pipe welding operations.

[0019] 2. In this invention, when the crawling welding robot is performing pipe welding operations, the travel mode of the walking wheels is adjusted by adjusting the motor, adjusting the reel, and the transmission rope. At the same time, the direction of the walking track at the bottom of the rotating disk is changed by rotating the motor, driving gear, and transmission gear ring, so that the direction of the walking track is consistent with the direction of the walking wheels. When the travel direction of the walking wheels is perpendicular to the pipe axis, the crawling welding robot rotates around the pipe axis by running the walking track. When the travel direction of the walking wheels is parallel to the pipe axis, the crawling welding robot moves in a straight line along the pipe axis by running the walking track. In this way, the position of the crawling welding robot on the outside of the pipe can be changed without manual operation, thereby shortening the preparation time and improving the welding efficiency of the crawling welding robot.

[0020] 3. In this invention, when the crawling welding robot is performing pipe welding operations, the walking arms are bent so that the walking wheels are in contact with the outer wall of the pipe. Then, the connecting hooks are used to connect with the connecting rings. The locking rope is wound up by the winding roller, so that the locking rope and the connecting hooks tighten the connecting rings. This ensures that the two walking arms surround the outside of the pipe and will not loosen, thus ensuring the stability of the crawling welding robot during operation. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a bottom view of the motherboard of the present invention;

[0023] Figure 3 for Figure 2 Enlarged view of the structure at point A in the middle;

[0024] Figure 4 This is a schematic diagram of the structure of the walking arm of the present invention;

[0025] Figure 5 This is a cross-sectional view of the structure of the splicing walking block of the present invention;

[0026] Figure 6 This is a schematic diagram showing the connection between the splicing walking block and the mainboard of the present invention;

[0027] Figure 7 This is a schematic diagram of the transmission connection between the walking wheel and the transmission rope of the present invention;

[0028] Figure 8 This is a schematic diagram of the circumferential locking mechanism of the present invention;

[0029] Figure 9 This is a cross-sectional view of the storage sleeve of the present invention;

[0030] Figure 10 This is a schematic diagram of the transmission between the winding roller and the winding roller of the present invention.

[0031] In the diagram: 1. Mainboard; 2. Control terminal; 3. Battery; 4. Welding gun; 5. Counterweight; 6. Traveling arm; 601. Splicing traveling block; 602. Connecting fixing block; 603. Traveling wheel; 604. Limiting plate; 605. Connecting short shaft; 606. Threaded hole; 607. Threaded short rod; 608. Connecting ring; 609. Splicing slot; 610. Clip plate; 611. Limiting ring; 612. Connecting ring groove; 613. Cross slot; 614. Electromagnet; 615. Transmission rope; 616. Power supply battery; 617. Reset. 618. Spring; 619. Magnetic metal cross block; 620. Adjusting motor; 7. Adjusting reel; 7. Encircling locking mechanism; 701. Storage sleeve; 702. Storage slot; 703. Locking rope; 704. Connecting hook; 705. Contact ball; 706. Support rod; 707. Winding roller; 708. Winding shaft; 709. Winding gear; 710. Output gear; 711. Winding motor; 8. Rotary disc; 9. Walking track; 10. Transmission gear ring; 11. Drive gear; 12. Docking slot; 13. Rotary motor. Detailed Implementation

[0032] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0033] like Figures 1 to 3 As shown, a crawling welding robot includes a main board 1 and a circumferential locking mechanism 7. A welding gun 4 is detachably mounted on the front end of the main board 1. A control terminal 2 is fixedly mounted on the upper surface of the main board 1. A storage battery 3 and a counterweight 5 are fixedly mounted on both sides of the control terminal 2. The storage battery 3 and the welding gun 4 are connected by wires. An adjustable walking arm 6 is mounted on both sides of the main board 1. The walking arm 6 changes the working mode and walking mode of the entire crawling welding robot so that the crawling welding robot can perform planar welding operations and pipe welding operations. When performing pipe welding operations, the crawling welding robot can move linearly along the pipe axis.

[0034] A rotating disk 8 is rotatably mounted on the bottom of the main board 1, and a rotating motor 13 is fixedly embedded in the bottom of the main board 1. The output shaft end of the rotating motor 13 is vertically downward, and a drive gear 11 is fixed on the outer side of the output shaft end of the rotating motor 13. A movable walking track 9 is mounted on the bottom surface of the rotating disk 8, and a transmission gear ring 10 is fixed on the outer side of the bottom end of the rotating disk 8. The transmission gear ring 10 is meshed with the drive gear 11. Both ends of the walking track 9 are equipped with transmission shafts on their inner sides. The ends of the transmission shafts are inserted into the rotating disk 8 and are rotatably connected to the rotating disk 8 through roller bearings. One end of one of the transmission shafts is connected to an output motor. The walking track 9 at the bottom of the rotating disk 8 contacts the ground or pipe to realize the walking of the crawling welding robot. The walking direction of the walking track 9 is changed by the rotating motor 13, the drive gear 11, and the transmission gear ring 10, thereby changing the movement direction and working mode of the crawling welding robot.

[0035] like Figure 1 , Figure 2 , Figures 4 to 7As shown, the traveling arm 6 includes multiple interconnected splicing modules. Each splicing module includes two symmetrically distributed splicing traveling blocks 601. Two symmetrical docking slots 12 are provided on both sides of the main board 1. A connecting fixing block 602 is fixed between the two splicing traveling blocks 601. Two docking protrusions are provided on one side of each splicing traveling block 601, and two symmetrical splicing slots 609 are provided on the other side. A connecting short shaft 605 is inserted through the interior of each docking protrusion. The splicing traveling block 601 is connected to the opposite side via the docking protrusions. The connecting slot 12 and the connecting short shaft 605 are rotatably connected to the main board 1. Two adjacent splicing walking blocks 601 are inserted into the splicing slot 609 and the connecting short shaft 605 through the mating protrusions to achieve a rotatable connection. The length of the walking arm 6 can be changed by splicing the splicing modules. The splicing modules are rotatably connected to the main board 1 and the splicing modules, so that the walking arm 6 can be rotated and adjusted. This allows the crawling welding robot to surround the outside of the pipe and realize two operation modes of crawling welding robot: planar welding and pipe welding.

[0036] The splicing walking block 601 has a splicing slot 609 and a limiting plate 604 is provided on the upper side. Two fastening screws are provided through one side of the limiting plate 604. The bottom end of the fastening screws is screwed into the splicing walking block 601 through the thread. By setting the limiting plate 604 above the splicing walking block 601, the rotation of the splicing walking block 601 is restricted, so as to ensure that the splicing walking block 601 will not rotate upward after being horizontal with the main board 1, thereby ensuring the stability of the walking arm 6 when the crawling welding robot is performing planar welding operations.

[0037] A walking wheel 603 is rotatably inserted into the bottom of the splicing walking block 601. A connecting ring groove 612 is provided on the outer side of the top of the walking wheel 603. A transmission rope 615 is provided on the inner side of the connecting ring groove 612. The transmission rope 615 passes through the inside of the splicing walking block 601 and is wrapped in a cross manner between adjacent walking wheels 603. One end of the transmission rope 615 extends into the inside of the main board 1. An adjusting wheel 620 is provided on the inner side of the secondary end of the transmission rope 615. An adjusting motor 619 is fixed through the axis of the adjusting wheel 620. The adjusting motor 619 is fixed inside the main board 1. The adjusting motor 619 drives the adjusting wheel 620 to drive the transmission rope 615. When the transmission rope 615 is wrapped in a cross manner between adjacent walking wheels 603, the friction between the transmission rope 615 and the walking wheel 603 causes the walking wheel 603 to rotate 90 degrees, thereby changing the direction of travel of the walking wheel 603, so that the crawling welding robot moves along the axis of the pipe.

[0038] A limiting ring 611 is fixed to the outer top of the walking wheel 603. A snap-fit ​​plate 610 is provided below the limiting ring 611. The snap-fit ​​plate 610 is installed at the bottom of the splicing walking block 601 by screws, and the snap-fit ​​plate 610 is sleeved on the outside of the walking wheel 603. This ensures that after the splicing walking block 601 is connected, the walking wheel 603 can rotate, but the walking wheel 603 will not separate from the splicing walking block 601.

[0039] The top end face of the walking wheel 603 is provided with a cross-shaped slot 613. The inside of the splicing walking block 601 is fixed with a power supply battery 616 and an electromagnet 614. The power supply battery 616 and the electromagnet 614 are connected by a wire. The bottom of the electromagnet 614 is magnetically attracted to a magnetic metal cross block 618. The magnetic metal cross block 618 is slidably engaged in the inside of the cross-shaped slot 613. A return spring 617 is fixed between the electromagnet 614 and the magnetic metal cross block 618. The rotation of the walking wheel 603 is restricted by the magnetic metal cross block 618 being engaged in the inside of the cross-shaped slot 613. After the magnetic metal cross block 618 is magnetically attracted by the electromagnet 614, the rotation restriction of the walking wheel 603 is released.

[0040] like Figure 4 , Figures 8 to 10 As shown, a threaded hole 606 is provided on one side of the connecting fixing block 602. A threaded short rod 607 is threadedly connected to the inner side of the threaded hole 606. A connecting ring 608 is fixed to the outer side of the end of the threaded short rod 607. The circumferential locking mechanism 7 includes a storage sleeve 701. Storage grooves 702 are provided through both sides of the storage sleeve 701. A locking rope 703 is inserted through the inner side of the storage groove 702. A connecting hook 704 is fixed to the end of the locking rope 703 located outside the storage groove 702. The locking rope 703 passes through... The connecting hook 704 is connected to the connecting ring 608. Both ends of the storage sleeve 701 are provided with multiple ball grooves. Contact balls 705 are rolled and embedded in the inner side of the ball grooves. The end of the storage sleeve 701 is rolled and connected to the pipe through the contact balls 705. This ensures that when the crawling welding robot rotates along the pipe axis or moves in a straight line along the pipe axis, the ring locking mechanism 7 can move with the crawling welding robot and will not cause adverse effects due to the movement of the crawling welding robot.

[0041] A winding motor 711 is fixed inside the storage sleeve 701. An output gear 710 is fixed to the output shaft end of the winding motor 711. Two winding gears 709 are meshed on the outer side of the output gear 710. A winding shaft 708 is fixed through the axis of the winding gear 709. Both ends of the winding shaft 708 are inserted into the storage sleeve 701. A winding roller 707 is fixed to the outer side of the winding shaft 708. One end of the locking rope 703 passes through the storage groove 702 and enters the storage sleeve 701 and is wound and fixed to the outer side of the winding roller 707. The winding motor 711 drives the output gear 710 and the winding gear 709 to rotate, thereby causing the winding roller 707 to wind or unwind the locking rope 703, thereby causing the locking rope 703 to tighten or loosen the connecting ring 608 through the connecting hook 704.

[0042] Four support rods 706 are rotatably installed on the inner side of the storage slot 702. The four support rods 706 are distributed on both sides of the two locking ropes 703. The support rods 706 isolate the locking ropes 703 from the storage sleeve 701, so as to avoid friction between the locking ropes 703 and the storage sleeve 701 during the winding or unwinding process, thereby preventing the locking ropes 703 from being damaged or broken due to friction.

[0043] Working principle: When using a crawling welding robot for welding operations, first determine the working mode of the crawling welding robot. When the crawling welding robot is performing planar welding operations, simply unfold the walking arm 6 and keep the walking arm 6 horizontal with the main board 1. Then, place the crawling welding robot at the welding operation position and align the welding gun 4 with the weld seam. Then, adjust the movement mode of the walking wheel 603 by adjusting the motor 619, adjusting the thread wheel 620 and the transmission rope 615. At the same time, change the direction of the walking track 9 at the bottom of the rotating disk 8 by rotating the motor 13, driving gear 11 and transmission gear ring 10, so that the direction of the walking track 9 is consistent with the direction of the walking wheel 603. This makes the splicing slot 609 and the walking wheel 603 move in the direction of the weld seam. The walking track 9 drives the entire crawling welding robot to move along the weld seam direction, thus completing the planar welding operation.

[0044] When performing pipe welding operations, the walking track 9 at the bottom of the main board 1 needs to contact the outer surface of the pipe. Then, the splicing module that makes up the walking arm 6 is rotated and adjusted so that the splicing module moves closer to the outer surface of the pipe until the walking wheel 603 contacts the outer surface of the pipe. Then, the locking rope 703 is connected to the connecting ring 608 through the connecting hook 704. At this time, the winding motor 711 is powered on and started. The winding motor 711 drives the winding gear 709, winding drum 707 and winding drum 707 to rotate through the output gear 710. The winding drum 707 winds up the locking rope 703, so that the locking rope 703 tightens the connecting ring 608 through the connecting hook 704, so that the two walking arms 6 surround the outside of the pipe and will not fall off.

[0045] When performing pipe welding, if the weld seam is around the pipe, the travel mode of the traveling wheel 603 can be adjusted by adjusting the motor 619, the adjusting wheel 620 and the transmission rope 615. At the same time, the direction of the traveling track 9 at the bottom of the rotating disk 8 can be changed by rotating the motor 13, the drive gear 11 and the transmission gear ring 10, so that the direction of the traveling track 9 is consistent with the direction of the traveling wheel 603 and perpendicular to the pipe axis. At this time, the traveling track 9 drives the main board 1 to rotate around the axis of the main board 1. The main board 1 can then use the traveling arm 6 to make the traveling arm 6 move in a circular motion against the outside of the pipe by relying on the traveling wheel 603, so as to realize the welding of the circumferential weld seam on the outside of the pipe.

[0046] If the weld seam of the pipe is along the pipe axis, the travel mode of the walking wheel 603 can be adjusted by adjusting the motor 619, the adjusting wheel 620, and the transmission rope 615. At the same time, the direction of the walking track 9 at the bottom of the rotating disk 8 can be changed by rotating the motor 13, the drive gear 11, and the transmission gear ring 10, so that the direction of the walking track 9 is consistent with the direction of the walking wheel 603 and parallel to the pipe axis. At this time, the walking track 9 drives the main board 1 to move linearly around the axis of the main board 1. The main board 1 can then use the walking arm 6 to move linearly along the outside of the pipe by relying on the walking wheel 603, so as to realize the welding of the weld seam distributed along the pipe axis on the outside of the pipe. The crawling welding robot can move in a plane or surround the outside of the pipe, so that the crawling welding robot can perform both plane welding and pipe welding operations.

[0047] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A crawling welding robot, comprising a main board (1) and a circumferential locking mechanism (7), characterized in that: The front end of the main board (1) is detachably equipped with a welding gun (4), and the upper surface of the main board (1) is fixedly equipped with a control terminal (2). The control terminal (2) is fixedly equipped with a battery (3) and a counterweight (5) on both sides. The battery (3) and the welding gun (4) are connected by wires. The main board (1) is equipped with a posture-adjustable walking arm (6) on both sides. The walking arm (6) changes the working mode and walking mode of the entire crawling welding robot. A rotating disk (8) is rotatably mounted on the bottom of the main board (1), and a rotating motor (13) is fixedly embedded in the bottom of the main board (1). The output shaft end of the rotating motor (13) is vertically downward, and a drive gear (11) is fixed on the outer side of the output shaft end of the rotating motor (13). A movable walking track (9) is mounted on the bottom surface of the rotating disk (8), and a transmission gear ring (10) is fixed on the outer side of the bottom end of the rotating disk (8). The transmission gear ring (10) and the drive gear (11) are engaged. The walking arm (6) includes multiple splicing modules that are spliced ​​together. Each splicing module includes two symmetrically distributed splicing walking blocks (601). The main board (1) has two symmetrical docking slots (12) on both sides. A connecting fixing block (602) is fixed between the two splicing walking blocks (601). Two docking protrusions are provided on one side of the splicing walking block (601), and two symmetrical splicing slots (609) are provided on the other side of the splicing walking block (601). A connecting short shaft (605) is inserted through the inside of the docking protrusion. The splicing walking block (601) is rotatably connected to the main board (1) by inserting the docking protrusion into the docking slot (12) and the connecting short shaft (605). Two adjacent splicing walking blocks (601) are rotatably connected by inserting the docking protrusion into the inside of the splicing slot (609) and the connecting short shaft (605). The splicing walking block (601) has a limiting plate (604) above the side of the splicing slot (609). Two fastening screws are provided through one side of the limiting plate (604), and the bottom end of the fastening screws is screwed into the splicing walking block (601) through the thread. The bottom of the splicing walking block (601) is rotatably connected to a walking wheel (603). The outer side of the top of the walking wheel (603) is provided with a connecting ring groove (612). The inner side of the connecting ring groove (612) is provided with a transmission rope (615). The transmission rope (615) passes through the inside of the splicing walking block (601) and is wound in a cross manner between adjacent walking wheels (603). One end of the transmission rope (615) extends into the inside of the main board (1). The inner side of the secondary end of the transmission rope (615) is provided with an adjusting wheel (620). The axis of the adjusting wheel (620) is fixed through an adjusting motor (619). The adjusting motor (619) is fixed inside the main board (1). A limiting ring (611) is fixed to the outer side of the top of the walking wheel (603). A snap-fit ​​plate (610) is provided below the limiting ring (611). The snap-fit ​​plate (610) is installed at the bottom of the splicing walking block (601) by screws, and the snap-fit ​​plate (610) is sleeved on the outer side of the walking wheel (603). The top end face of the walking wheel (603) is provided with a cross slot (613). The inside of the splicing walking block (601) is fixed with a power supply battery (616) and an electromagnet (614). The power supply battery (616) and the electromagnet (614) are connected by a wire.

2. The crawling welding robot according to claim 1, characterized in that: The bottom of the electromagnet (614) is magnetically attracted to a magnetic metal cross block (618), which is slidably engaged in the inside of the cross slot (613). A return spring (617) is fixed between the electromagnet (614) and the magnetic metal cross block (618).

3. The crawling welding robot according to claim 1, characterized in that: The connecting fixing block (602) has a threaded hole (606) on one side. A threaded short rod (607) is connected to the inside of the threaded hole (606) by a thread. A connecting ring (608) is fixed to the outer side of the end of the threaded short rod (607). The circumferential locking mechanism (7) includes a storage sleeve (701). Storage grooves (702) are provided through both sides of the storage sleeve (701). A locking rope (703) is inserted through the inside of the storage groove (702). A connecting hook (704) is fixed to the end of the locking rope (703) outside the storage groove (702). The locking rope (703) is connected to the connecting ring (608) through the connecting hook (704). Multiple ball grooves are provided on both ends of the storage sleeve (701). Contact balls (705) are rolled and embedded inside the ball grooves.

4. A crawling welding robot according to claim 3, characterized in that: The storage sleeve (701) has a winding motor (711) fixed inside. The output shaft of the winding motor (711) has an output gear (710) fixed at its output shaft end. Two winding gears (709) are meshed on the outer side of the output gear (710). A winding shaft (708) is fixed through the axis of the winding gear (709). Both ends of the winding shaft (708) are inserted into the storage sleeve (701). A winding roller (707) is fixed on the outer side of the winding shaft (708). One end of the locking rope (703) passes through the storage groove (702) and enters the storage sleeve (701) and is wound and fixed on the outer side of the winding roller (707).

5. A crawling welding robot according to claim 4, characterized in that: The inner side of the storage slot (702) is also rotatably mounted with four support rods (706), which are distributed on both sides of the two locking ropes (703).

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