Welding robot

Abstract

The invention is suitable for the technical field of welding robots, and provides a welding robot which comprises a base assembly, a stabilizing assembly is arranged on the outer wall of the base assembly, a mechanical arm is arranged on the outer wall of the base assembly, the output end of the mechanical arm is connected with an upper connecting disc seat, and a welding assembly is installed on the inner wall of the upper connecting disc seat. A cleaning assembly is arranged on the inner wall of the upper connecting disc seat, the welding assembly comprises a first micro-control hydraulic cylinder fixedly arranged on the inner wall of the upper connecting disc seat, and the output end of the first micro-control hydraulic cylinder is connected with a first upper connecting plate; the welding assembly is arranged and used in cooperation with the cleaning assembly, through a precise fine adjustment mechanism, an innovative vibration stripping and adhesive tape adhesion grading cleaning method and integrated compact design, high-precision positioning in the welding process and efficient and automatic removal of welding slag after welding are achieved, the device is particularly suitable for a complex curved surface, core welding equipment is effectively protected, and the welding efficiency is improved. And the efficiency of welding operation is obviously improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of welding robots, and particularly relates to a welding robot. BACKGROUND

[0002] The welding robot is an indispensable automated equipment in modern manufacturing industry, which provides a strong power for enterprises in fierce market competition by improving efficiency, ensuring quality, reducing cost and improving safety. With the continuous development of intelligentization, ease of use, collaboration and other technologies, the application range of the welding robot will be wider and wider, the threshold will be gradually reduced, and the welding robot will become a key driving force for the transformation and upgrading of the manufacturing industry. The welding robot described in the patent application with the publication number CN120133824A relates to the field of welding equipment, which includes a mechanical arm, a mounting seat and an end effector, wherein the end effector includes a sleeve assembly and a welding assembly, the sleeve assembly includes a first sleeve, a second sleeve and a rotating connecting piece, one end of the first sleeve is connected to the mounting seat, and the second sleeve is connected to the other end of the first sleeve through the rotating connecting piece; the welding assembly is fixedly arranged on the second sleeve, and a driving assembly is drivingly connected to the rotating connecting piece, and the driving assembly is used to adjust the angle between the rotating connecting piece and the first sleeve. The present application can drive the second sleeve to rotate through the rotating connecting piece, adjust the included angle between the welding member and the weld, without moving the mechanical arm and the first sleeve, reduce the probability of interference with the workpiece, and enable the welding robot to adjust the angle of the welding member for welding operation in a narrow working space. The existing welding robot is usually installed with a welding device on a mechanical arm to achieve flexible regulation and control of the use angle of the welding device (for example, the above technical means) to achieve better welding effect in the welding operation. However, welding slag is generated during the welding process, which needs to be cleaned again subsequently, increasing the steps and workload of the welding operation, and the cleaning device is prone to collision with the welding structure during subsequent operation, affecting the welding effect. In order to avoid the above situation, it is necessary to provide a welding robot which is convenient to use. SUMMARY

[0003] The present application provides a welding robot, which aims to solve the problem that the existing welding robot is usually installed with a welding device on a mechanical arm to achieve flexible regulation and control of the use angle of the welding device to achieve better welding effect in the welding operation. However, welding slag is generated during the welding process, which needs to be cleaned again subsequently, increasing the steps and workload of the welding operation, and the cleaning device is prone to collision with the welding structure during subsequent operation, affecting the welding effect.

[0004] The present invention is implemented as follows: a welding robot includes a base assembly: a stabilizing assembly is provided on the outer wall of the base assembly; a mechanical arm is provided on the outer wall of the base assembly; an output end of the mechanical arm is connected to an upper connecting disc seat; a welding assembly is installed on the inner wall of the upper connecting disc seat; and a cleaning assembly is provided on the inner wall of the upper connecting disc seat; The welding assembly includes a first fine-tuning hydraulic cylinder fixedly arranged on the inner wall of the upper connecting plate seat, the output end of the first fine-tuning hydraulic cylinder is connected to the first upper connecting plate, and the top of the first upper connecting plate is provided with a welding mechanism; Through the setting of welding components and use with cleaning components: 1. Efficient integrated function: The welding and post-weld cleaning functions are integrated into the same device, and the welding and subsequent cleaning operations can be completed through a single positioning of the robotic arm, which significantly improves work efficiency and reduces equipment conversion time.

[0005] 2. High welding precision and flexibility: Fine position adjustment of the welding assembly 2 can be achieved through the first fine-tuning hydraulic cylinder 201 .

[0006] The upper rotation control motor 2031 can drive the micro welding device 2032 to rotate and flexibly adjust the angle of the welding gun output end.

[0007] Combined with the large range of movement of the robot arm 1, it can accurately align welds in complex spatial positions.

[0008] 3. Automation and grading of welding slag treatment: Immediate post-weld processing: After welding is completed, immediately start the upper vibrator on the micro-welding equipment to tap lightly to peel off most of the attached welding slag, laying the foundation for subsequent cleaning and reducing manual intervention.

[0009] Adhesion removal of large particles: Use the tape of cleaning component 3 to absorb larger particles of welding slag. This method is simple, effective and low-cost.

[0010] Natural removal of fine slag: Fine welding slag is removed by equipment movement, wind power or natural falling off, avoiding excessive cleaning or complicated equipment.

[0011] 4. Good fit during cleaning process: The second fine-tuning hydraulic cylinder 301 can adjust the position of the cleaning component as a whole.

[0012] The plurality of resisting hydraulic cylinders 305 can independently drive the arc-shaped resisting blocks 306, so that the adhesive tape can better adapt to and fit weld areas of different shapes, thereby improving the slag sticking efficiency.

[0013] 5. Equipment protection and heat dissipation optimization: The double-layer shell design of the Micro Welding Equipment 2032, combined with a connecting short rod and heat sink / micro cooling fan, effectively isolates the impact of welding heat on the motor and enhances heat dissipation, extending the life of the equipment and ensuring welding stability.

[0014] 6. Operational convenience and maintainability: The tape is automatically retracted and released through the reel and the upper and lower retracting and discharging motor 304, making the tape replacement convenient and quick.

[0015] Multiple welding mechanisms 203 can be arranged in parallel to meet different welding requirements.

[0016] 7. Compact structure and reasonable design: The welding assembly 2 and the cleaning assembly 3 are both fixed to the inner wall of the concave upper connecting disc seat 6, with a compact layout and strong integrity, which is conducive to stable control of the robotic arm.

[0017] In summary, the core benefits of this device are: Through a precise fine-tuning mechanism, an innovative vibration stripping + tape adhesion graded cleaning method, and an integrated, compact design, it achieves high-precision positioning during the welding process and efficient, automated removal of post-weld slag, particularly suitable for complex curved surfaces. It also effectively protects core welding equipment, significantly improving the efficiency, quality, and automation level of welding operations. The cleaning assembly includes a second fine-tuning hydraulic cylinder fixedly arranged on the inner wall of the upper connecting disc seat, one end of the second fine-tuning hydraulic cylinder is fixedly connected to the second upper connecting plate, the top of the second upper connecting plate is provided with a second upper support plate, and the outer wall of the second upper support plate is provided with an upper retractable and discharge motor.

[0018] Preferably, there are multiple welding mechanisms, and the multiple welding mechanisms are arranged in parallel and equidistantly; The welding mechanism includes a first upper support plate fixedly arranged on the first upper connecting plate, the number of the first upper support plates is two, the outer wall of the first upper support plate is fixedly connected to the upper rotation control motor, and the micro welding equipment is movably connected between the two first upper support plates; The micro welding device includes an external integrated hard shell, the inner wall of the external integrated hard shell is equipped with a welding device, the outer wall of the welding device is provided with an inner shell, the inner shell and the external integrated hard shell are fixedly connected by a plurality of connecting short rods, the outer wall of the external integrated hard shell is provided with a heat dissipation groove, and a micro heat dissipation fan is provided at the connection between the inner shell and the external integrated hard shell; An upper vibrator is provided at the output end of the welding equipment corresponding to the outer wall of the external integrated hard shell; The outer wall of the external integrated hard shell is movably connected to the outer wall via a short rotating shaft, and the output shaft of the upper rotation control motor is fixedly connected to one end of the short rotating shaft via a coupling.

[0019] Preferably, a resisting hydraulic cylinder is provided on the top of the second upper supporting plate, and a resisting block is fixedly connected to the output end of the resisting hydraulic cylinder; There are multiple abutting hydraulic cylinders, and the top of the abutting block is in an arc shape; There are multiple second upper support plates, and every two second upper support plates are symmetrically arranged to form a group. A winding shaft is arranged between each group of second upper support plates, and the output shaft of the upper winding motor is fixedly connected to one end of the winding shaft through a coupling.

[0020] Preferably, the interior of the upper connecting disc seat is concave, and the inner wall of the upper connecting disc seat is fixedly connected to the bottom of the first fine-tuning hydraulic cylinder and the bottom of the second fine-tuning hydraulic cylinder respectively.

[0021] Preferably, the base assembly includes a lower connecting seat, the inner wall of the lower connecting seat is fixedly connected to a driving seat, the number of the driving seats is two, and the two driving seats are symmetrically arranged at the bottom of the lower connecting seat; Through the setting of the base component and the use of the stabilizing component: 1. Excellent maneuverability and precise positioning ability: By driving the rolling wheels with a driving motor, the robot can move flexibly on the ground and easily adjust its working position.

[0022] The symmetrically positioned drive mount and roller wheel design contribute to smooth movement and precise control.

[0023] 2. Extremely high operational stability: Multi-stage hydraulic support system: The core lies in six equidistant ring-shaped stabilizing mechanisms. Each mechanism contains a telescopic hydraulic cylinder and an external support mechanism.

[0024] Large-area stable support: The telescopic hydraulic cylinder disperses the outer support plate and the two outer support mechanisms below it outward to form a wide support surface, greatly improving the robot's anti-overturning ability.

[0025] Release from ground lock: The lower support hydraulic cylinder drives the lower chassis downward, allowing the positioning plugs to penetrate the ground and continue to apply pressure to lift the rolling wheels off the ground. This completely eliminates vibration caused by rolling wheels or uneven ground, ensuring that the main body of the robot is absolutely firmly in contact with the ground.

[0026] Strong ground anchoring: Multiple inverted cone-shaped positioning plugs set at the bottom of the lower chassis can be effectively embedded in the ground, providing strong anti-slip and anti-pullout forces. It is particularly suitable for working in working conditions with a certain degree of softness or requiring resistance to lateral forces, such as welding vibration.

[0027] 3. Convenient mode switching and restoring mobility: After the operation is completed, the lower support hydraulic cylinder contracts, driving the lower chassis and positioning plug to rise off the ground.

[0028] At the same time, the rolling wheels re-contact the ground, and the robot immediately regains its mobility, facilitating rapid transfer.

[0029] 4. Efficient automatic cleaning and maintenance function: After retracting the support mechanism and pulling the positioning plug out of the ground, start the lower vibrator.

[0030] The vibrator drives the lower chassis and the positioning plug to vibrate at high frequency.

[0031] This vibration can effectively shake off and remove the dirt or debris stuck in the gap of the inverted cone-shaped positioning plug.

[0032] This design significantly reduces the need for manual cleaning, prevents soil accumulation from affecting the next positioning effect or mechanism operation, and improves the self-maintenance and long-term reliability of the equipment.

[0033] 5. Reasonable structural design and high functional integration: The drive, motor, wheels, stabilization, hydraulic cylinder and support legs are modularly integrated on the base.

[0034] Six equidistant ring designs of stabilizing mechanisms provide balanced support.

[0035] Each outer support plate is connected to two outer support mechanisms, further enhancing the support strength of a single stable point.

[0036] In summary, the key benefits of this design are: It perfectly addresses the core conflicting requirements of mobile robots, such as welding robots: the need for high mobility to reach the work position, yet the need for extreme operational stability to ensure operational precision and quality. Through innovative multi-hydraulic leg deployment, ground plug locking, wheel lift-off, and a unique vibration cleaning design, it achieves efficient and reliable switching between mobile mode and stable operation mode, effectively ensuring long-term convenience and stability. It is particularly suitable for industrial applications that require high ground stability. The inner wall of the driving seat is movably connected with a plurality of bearing rods, the bearing rods and the driving seat are connected via bearings, and the outer wall of the bearing rod is fixedly connected with a rolling wheel.

[0037] Preferably, a plurality of drive motors are provided on the outer wall of the drive seat, and the plurality of drive motors are provided corresponding to the rolling wheels, and the output shafts of the drive motors are fixedly connected to one end of the bearing rod through a coupling.

[0038] Preferably, the stabilizing assembly includes a central seat fixedly arranged on the outer wall of the lower connecting seat, and the outer wall of the central seat is provided with a stabilizing mechanism. The number of the stabilizing mechanisms is six, and the six stabilizing mechanisms are equidistantly arranged in a ring on the outer wall of the central seat.

[0039] Preferably, the stabilizing mechanism comprises a telescopic hydraulic cylinder fixedly arranged on the outer wall of the center seat, the outer wall of the center seat is disc-shaped, one end of the telescopic hydraulic cylinder is fixedly connected to an outer support plate, and the bottom of the outer support plate is fixedly connected to the outer support mechanism; The bottom of each outer supporting plate is fixedly connected to two outer supporting mechanisms.

[0040] Preferably, the outer support mechanism includes a lower support hydraulic cylinder fixedly arranged at the bottom of the outer support plate, the bottom of the lower support hydraulic cylinder is fixedly connected to the lower chassis, the bottom of the lower chassis is fixedly connected to a positioning plug, and the top of the lower chassis is provided with a lower vibrator; There are multiple positioning plugs, and the multiple positioning plugs are arranged in an equidistant array at the bottom of the lower chassis. The positioning plugs are inverted cone-shaped positioning plugs. The lower vibrator and the upper vibrator are miniature industrial vibrators.

[0041] Compared with the prior art, the embodiments of the present application have the following beneficial effects: Through the setting of welding components and the use of cleaning components: Through the precise fine-tuning mechanism, the innovative vibration peeling + tape adhesion graded cleaning method, and the integrated compact design, high-precision positioning of the welding process and efficient and automated removal of welding slag after welding are achieved. It is especially suitable for complex curved surfaces and effectively protects the core welding equipment, significantly improving the efficiency, quality and automation level of welding operations. Through the use of a base assembly and stabilization components, it perfectly addresses the core conflicting requirements of mobile robots, such as welding robots: the need for high mobility to reach the work position, while also requiring extreme operational stability to ensure precision and quality. Through innovative multi-hydraulic leg deployment, ground plug locking, wheel lift-off, and a unique vibration cleaning design, it achieves efficient and reliable switching between mobile and stable operating modes, effectively ensuring long-term convenience and stability. It is particularly suitable for industrial applications requiring high ground stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a front view of the present invention; Figure 2 is a top view of the present invention; Figure 3 It is a schematic diagram of the welding assembly structure of the present invention; Figure 4 It is a schematic structural diagram of the welding mechanism of the present invention; Figure 5 It is a schematic structural diagram of the cleaning component of the present invention; Figure 6 It is a schematic structural diagram of the base assembly of the present invention; Figure 7 It is a schematic diagram of the structure of the stabilizing assembly of the present invention; Figure 8 It is a schematic structural diagram of the stabilizing mechanism of the present invention; Figure 9 It is a schematic structural diagram of the external support mechanism of the present invention.

[0043] Figure: 1, robotic arm; 2, welding assembly; 201, first fine-tuning hydraulic cylinder; 202, first upper connecting plate; 203, welding mechanism; 2031, upper rotary control motor; 2032, micro-welding equipment; 2033, first upper support plate; 3, cleaning assembly; 301, second fine-tuning hydraulic cylinder; 302, second upper connecting plate; 303, second upper support plate; 304, upper retractable discharge motor; 305, contact hydraulic cylinder; 3 06. Abutment; 4. Base assembly; 401. Lower connecting seat; 402. Drive seat; 403. Roller; 5. Stabilizing assembly; 501. Center seat; 502. Stabilizing mechanism; 5021. Telescopic hydraulic cylinder; 5022. Outer support plate; 5023. Outer support mechanism; 5023a. Lower supporting hydraulic cylinder; 5023b. Lower chassis; 5023c. Lower vibrator; 5023d. Positioning plug; 6. Upper connecting plate seat. DETAILED DESCRIPTION

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit this application. The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0045] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0046] An embodiment of the present invention provides a welding robot, including a base assembly 4: a stabilizing assembly 5 is provided on the outer wall of the base assembly 4; a robotic arm 1 is provided on the outer wall of the base assembly 4; an output end of the robotic arm 1 is connected to an upper connecting plate base 6; a welding assembly 2 is installed on the inner wall of the upper connecting plate base 6; and a cleaning assembly 3 is provided on the inner wall of the upper connecting plate base 6; The welding assembly 2 includes a first fine-tuning hydraulic cylinder 201 fixedly mounted on the inner wall of the upper connecting plate 6. The output end of the first fine-tuning hydraulic cylinder 201 is connected to a first upper connecting plate 202. A welding mechanism 203 is mounted on the top of the first upper connecting plate 202. The cleaning component 3 includes a second fine-tuning hydraulic cylinder 301 fixedly arranged on the inner wall of the upper connecting disc seat 6, one end of the second fine-tuning hydraulic cylinder 301 is fixedly connected to the second upper connecting plate 302, the top of the second upper connecting plate 302 is provided with a second upper support plate 303, and the outer wall of the second upper support plate 303 is provided with an upper retractable and discharge motor 304.

[0047] There are multiple welding mechanisms 203, and the multiple welding mechanisms 203 are arranged in parallel and equidistantly; The welding mechanism 203 includes two first upper supporting plates 2033 fixedly mounted on the first upper connecting plate 202. An upper rotation control motor 2031 is fixedly connected to the outer wall of each first upper supporting plate 2033, and a micro-welding device 2032 is movably connected between the two first upper supporting plates 2033. The micro-welding device 2032 includes an outer integrated hard shell, the inner wall of which is mounted with a welding device, the outer wall of which is provided with an inner shell, the inner shell and the outer integrated hard shell being fixedly connected by a plurality of connecting short rods, the outer wall of which is provided with a heat dissipation groove, and a micro-heat dissipation fan is provided at the connection between the inner shell and the outer integrated hard shell; An upper vibrator is provided at the output end of the welding equipment corresponding to the outer wall of the external integrated hard shell; The outer wall of the external integrated hard shell is movably connected to the outer wall via a short rotating shaft, and the output shaft of the upper rotation control motor 2031 is fixedly connected to one end of the short rotating shaft via a coupling.

[0048] Preferably, a resisting hydraulic cylinder 305 is provided on the top of the second upper support plate 303, and a resisting block 306 is fixedly connected to the output end of the resisting hydraulic cylinder 305; There are multiple resisting hydraulic cylinders 305, and the top of the resisting block 306 is in an arc shape; There are multiple second upper support plates 303, and every two second upper support plates 303 are symmetrically arranged to form a group. A winding shaft is set between each group of second upper support plates 303, and the output shaft of the upper winding motor 304 is fixedly connected to one end of the winding shaft through a coupling.

[0049] Preferably, the interior of the upper connecting disc seat 6 is concave, and the inner wall of the upper connecting disc seat 6 is fixedly connected to the bottom of the first fine-tuning hydraulic cylinder 201 and the bottom of the second fine-tuning hydraulic cylinder 301 respectively.

[0050] It should be noted that, since existing welding robots usually install welding equipment on a robotic arm to achieve flexible adjustment of the use angle of the welding equipment, so as to achieve better welding effects in the welding operation, welding slag will be generated during the welding process, which needs to be cleaned again later, increasing the steps and workload of the welding operation, and in subsequent operations, the cleaning equipment is prone to collision with the welding structure, affecting the welding effect.

[0051] Specifically, in this embodiment, this solution is mainly through the arrangement and coordinated use of the base assembly 4, the stabilizing assembly 5, the robotic arm 1, the upper connecting plate seat 6, the welding assembly 2 and the cleaning assembly 3. First, the driving motor is controlled to drive the rolling wheel 403 to rotate, so as to realize flexible movement and adjustment of the use position of the robot. When it moves to the use position, the telescopic hydraulic cylinder 5021 is started and controlled to disperse the outer support plate 5022 and the outer support mechanism 5023 outward, and the lower support hydraulic cylinder 5023a is controlled to position the bottom of the lower chassis 5023b. The insert 5023d contacts the ground, and the lower supporting hydraulic cylinder 5023a is continued to be controlled to make the rolling wheel 403 leave the ground, thereby achieving stable contact with the ground to maintain the stability of the welding operation. After the welding operation is completed, the lower supporting hydraulic cylinder 5023a is controlled to move the lower chassis 5023b upward, the rolling wheel 403 contacts the ground, and the positioning insert 5023d is pulled out. Then, the lower vibrator 5023c is controlled to drive the lower chassis 5023b to vibrate, thereby achieving the vibration and removal of the soil in the gap of the positioning insert 5023d.

[0052] In this embodiment, in use, the use angle of the upper connecting disc seat 6 and the welding assembly 2 is flexibly adjusted using the mechanical arm 1, a suitable welding assembly 2 is selected, the upper rotary control motor 2031 is started and controlled to drive the micro welding device 2032 to rotate and adjust the position of the output end of the micro welding device 2032, and then the position of the first fine control hydraulic cylinder 201 is controlled to finely adjust the position, so that the micro welding device 2032 is aligned with the weld for welding; after the welding is completed, the upper vibrator on the external integrated hard shell is started and controlled to tap the welding position to strip the welding slag for subsequent cleaning, then the adhesive tape is placed on the winding shaft close to the welding assembly 2, one end of the adhesive tape is fixed on the winding shaft away from the welding assembly 2, the smooth surface of the adhesive tape is attached to the top of the abutting block 306, the adhesive surface of the adhesive tape faces upward, the position of the welding assembly 2 is controlled to retract using the first fine control hydraulic cylinder 201, and the second fine control hydraulic cylinder 301 is controlled to move and adjust the position of the cleaning assembly 3, according to the shape of the welding position, the abutting block 306 is adjusted in position by starting and controlling the abutting hydraulic cylinder 305, so that the adhesive tape on the abutting block 306 is as close as possible to the weld, and then the two are controlled to slowly release and retract the adhesive tape, and in the process of releasing and retracting the adhesive tape, the larger particles of the welding slag are adhered and retracted, and the fine welding slag can be blown out by the wind, thereby achieving cleaning of the welding position. Through the use of the welding assembly 2 and the cleaning assembly 3, the following advantages are achieved: 1. High-efficiency integrated function: The welding and post-weld cleaning functions are integrated in the same device, the upper connecting disc seat 6, and the welding and subsequent cleaning operations can be completed by one positioning of the mechanical arm, which significantly improves the work efficiency and reduces the equipment conversion time.

[0053] 2. High welding precision and flexibility: The first fine control hydraulic cylinder 201 can realize fine position adjustment of the welding assembly 2.

[0054] The upper rotary control motor 2031 can drive the micro welding device 2032 to rotate and flexibly adjust the angle of the output end of the welding gun.

[0055] Combined with the large-range movement of the mechanical arm 1, the weld in the complex space position can be accurately aligned.

[0056] 3. Automatic and hierarchical treatment of welding slag: Instant treatment after welding: after the welding is completed, the upper vibrator on the micro welding device is started to tap and strip most of the attached welding slag, which lays a foundation for subsequent cleaning and reduces manual intervention.

[0057] Adhesion and removal of large particles: the adhesive tape of the cleaning assembly 3 is used to adhere and remove larger particles of welding slag, which is achieved by slow release and slow retraction of the winding shaft, and the method is simple, effective and low in cost.

[0058] Natural removal of fine slag: Fine welding slag is removed by equipment movement, wind power or natural falling off, avoiding excessive cleaning or complicated equipment.

[0059] 4. Good fit during cleaning process: The second fine-tuning hydraulic cylinder 301 can adjust the position of the cleaning component as a whole.

[0060] The plurality of resisting hydraulic cylinders 305 can independently drive the arc-shaped resisting blocks 306, so that the adhesive tape can better adapt to and fit different shapes, especially the weld area of ​​the curved surface, thereby improving the slag sticking efficiency.

[0061] 5. Equipment protection and heat dissipation optimization: The double-layer shell design of the micro welding equipment 2032, with an inner shell + an outer hard shell combined with a connecting short rod and a heat sink / micro cooling fan, effectively isolates the impact of welding heat on the motor and enhances heat dissipation, extending the life of the equipment and ensuring welding stability.

[0062] 6. Operational convenience and maintainability: The tape is automatically retracted and released through the reel and the upper and lower retracting and discharging motor 304, making the tape replacement convenient and quick.

[0063] A plurality of welding mechanisms 203 can be arranged in parallel to meet different welding requirements such as welding multiple welds simultaneously.

[0064] 7. Compact structure and reasonable design: The welding assembly 2 and the cleaning assembly 3 are both fixed to the inner wall of the concave upper connecting disc seat 6, with a compact layout and strong integrity, which is conducive to stable control of the robot arm.

[0065] In summary, the core beneficial effects of this device are: through precise fine-tuning mechanism, innovative vibration stripping + tape adhesion graded cleaning method, and integrated compact design, it achieves high-precision positioning of the welding process and efficient and automatic removal of welding slag after welding. It is especially suitable for complex curved surfaces and effectively protects core welding equipment, significantly improving the efficiency, quality and automation level of welding operations.

[0066] In a further preferred embodiment of the present invention, the base assembly 4 includes a lower connecting seat 401, an inner wall of the lower connecting seat 401 is fixedly connected to a driving seat 402, the number of the driving seats 402 is two, and the two driving seats 402 are symmetrically arranged at the bottom of the lower connecting seat 401; The inner wall of the driving seat 402 is movably connected to a plurality of bearing rods, the bearing rods and the driving seat 402 are connected via bearings, and the outer wall of the bearing rods is fixedly connected to the rolling wheel 403 .

[0067] Several driving motors are provided on the outer wall of the driving seat 402 , and the driving motors are provided corresponding to the rolling wheels 403 , and the output shafts of the driving motors are fixedly connected to one end of the bearing rod through a coupling.

[0068] The stabilizing assembly 5 includes a central seat 501 fixedly arranged on the outer wall of the lower connecting seat 401. The outer wall of the central seat 501 is provided with six stabilizing mechanisms 502 arranged equidistantly in a ring on the outer wall of the central seat 501.

[0069] The stabilizing mechanism 502 includes a telescopic hydraulic cylinder 5021 fixedly arranged on the outer wall of the central seat 501. The outer wall of the central seat 501 is disc-shaped. One end of the telescopic hydraulic cylinder 5021 is fixedly connected with an outer support plate 5022. The bottom of the outer support plate 5022 is fixedly connected with an outer support mechanism 5023. The bottom of each outer support plate 5022 is fixedly connected with two outer support mechanisms 5023.

[0070] The outer support mechanism 5023 includes a lower support hydraulic cylinder 5023a fixedly arranged on the bottom of the outer support plate 5022. The bottom of the lower support hydraulic cylinder 5023a is fixedly connected with a lower chassis 5023b. The bottom of the lower chassis 5023b is fixedly connected with a positioning plug 5023d. The top of the lower chassis 5023b is provided with a lower vibrator 5023c. The number of the positioning plugs 5023d is multiple. The multiple positioning plugs 5023d are arranged equidistantly in an array on the bottom of the lower chassis 5023b. The positioning plug 5023d is an inverted conical positioning plug. The lower vibrator 5023c and the upper vibrator are micro industrial vibrators.

[0071] In this embodiment, by arranging the base assembly 4 and cooperating with the stabilizing assembly 5, the following advantages are achieved. The robot can move flexibly on the ground and easily adjust the working position by driving the rolling wheels 403 driven by the driving motor.

[0072] The symmetrical arrangement of the driving seat 402 and the rolling wheel helps to achieve smooth movement and precise control.

[0073] The robot has high work stability. The multi-stage hydraulic support system includes six equidistantly arranged stabilizing mechanisms 502. Each mechanism includes a telescopic hydraulic cylinder 5021 and an outer support mechanism 5023.

[0074] The telescopic hydraulic cylinder 5021 disperses and expands the outer support plate 5022 and the two outer support mechanisms 5023 below it outward to form a wide support surface, greatly improving the robot's resistance to overturning.

[0075] Release from ground lock: The lower support hydraulic cylinder 5023a drives the lower chassis 5023b downward, inserting the positioning plug 5023d into the ground and continuing to apply pressure to lift the rolling wheel 403 off the ground. This completely eliminates vibration caused by rolling wheels or uneven ground, ensuring that the robot body is absolutely firmly in contact with the ground.

[0076] Strong ground anchoring: The multiple inverted cone-shaped positioning plugs 5023d set at the bottom of the lower chassis 5023b can be effectively embedded in the ground, providing strong anti-slip and anti-pullout forces. It is particularly suitable for working in working conditions with a certain degree of softness or requiring resistance to lateral forces, such as welding vibration.

[0077] 3. Convenient mode switching and restoring mobility: After the operation is completed, the lower supporting hydraulic cylinder 5023a contracts, driving the lower chassis 5023b and the positioning plug 5023d to rise off the ground.

[0078] At the same time, the rolling wheel 403 contacts the ground again, and the robot immediately recovers its mobility, facilitating a quick transition.

[0079] 4. Efficient automatic cleaning and maintenance function: After the support mechanism is retracted and the positioning plug is pulled out of the ground, the lower vibrator 5023c is started.

[0080] The vibrator drives the lower chassis 5023b and the positioning insert 5023d to vibrate at a high frequency.

[0081] This vibration can effectively shake off and remove the dirt or debris stuck in the gap of the inverted cone-shaped positioning plug.

[0082] This design significantly reduces the need for manual cleaning, prevents soil accumulation from affecting the next positioning effect or mechanism operation, and improves the self-maintenance and long-term reliability of the equipment.

[0083] 5. Reasonable structural design and high functional integration: The drive, motor, wheels, stabilizing hydraulic cylinders and support legs are modularly integrated on the base.

[0084] Six equidistant ring designs of stabilizing mechanisms provide balanced support.

[0085] Each outer support plate is connected to two outer support mechanisms, further enhancing the support strength of a single stable point.

[0086] In summary, the key benefits of this design are: It perfectly addresses the core conflicting requirements of mobile robots, such as welding robots: the need for high mobility to reach the work position, yet the need for ultimate operational stability to ensure precision and quality. Through innovative multi-hydraulic leg deployment, ground plug locking, wheel lift-off, and a unique vibration cleaning design, it enables efficient and reliable switching between mobile and stable operating modes, effectively ensuring long-term convenience and stability. It is particularly suitable for industrial applications requiring high ground stability.

[0087] It should be noted that for the aforementioned embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0088] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative, such as the division of the above-mentioned units. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the coupling or communication connection between each other shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be in the form of telecommunications or other forms.

[0089] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0090] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the invention. Obviously, the embodiments described are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the present invention according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the present invention in essence, and these technical solutions also fall within the scope of protection of the present invention.

Claims

1. A welding robot, characterized in that: It comprises a base assembly (4): a stabilizing assembly (5) is provided on the outer wall of the base assembly (4), a mechanical arm (1) is provided on the outer wall of the base assembly (4), an output end of the mechanical arm (1) is connected to an upper connecting disc seat (6), a welding assembly (2) is installed on the inner wall of the upper connecting disc seat (6), and a cleaning assembly (3) is provided on the inner wall of the upper connecting disc seat (6); The welding assembly (2) comprises a first fine-tuning hydraulic cylinder (201) fixedly arranged on the inner wall of the upper connecting plate seat (6); the output end of the first fine-tuning hydraulic cylinder (201) is connected to a first upper connecting plate (202); and a welding mechanism (203) is arranged on the top of the first upper connecting plate (202); The cleaning assembly (3) comprises a second fine-tuning hydraulic cylinder (301) fixedly arranged on the inner wall of the upper connecting disc seat (6); one end of the second fine-tuning hydraulic cylinder (301) is fixedly connected to a second upper connecting plate (302); a second upper supporting plate (303) is arranged on the top of the second upper connecting plate (302); and an upper retractable and discharging motor (304) is arranged on the outer wall of the second upper supporting plate (303).

2. A welding robot according to claim 1, characterized in that: There are multiple welding mechanisms (203), and the multiple welding mechanisms (203) are arranged in parallel and at equal distances; The welding mechanism (203) comprises a first upper support plate (2033) fixedly arranged on the first upper connecting plate (202), the number of the first upper support plates (2033) is two, an upper rotation control motor (2031) is fixedly connected to the outer wall of the first upper support plate (2033), and a micro welding device (2032) is movably connected between the two first upper support plates (2033); The micro welding device (2032) comprises an external integrated hard shell, the inner wall of the external integrated hard shell is equipped with a welding device, the outer wall of the welding device is provided with an inner shell, the inner shell and the external integrated hard shell are fixedly connected by a plurality of connecting short rods, the outer wall of the external integrated hard shell is provided with a heat dissipation groove, and a micro heat dissipation fan is provided at the connection between the inner shell and the external integrated hard shell; An upper vibrator is provided at the output end of the welding equipment corresponding to the outer wall of the external integrated hard shell; The outer wall of the external integrated hard shell is movably connected to the outer wall via a short rotating shaft, and the output shaft of the upper rotation control motor (2031) is fixedly connected to one end of the short rotating shaft via a coupling.

3. A welding robot according to claim 1, characterized in that: A resisting hydraulic cylinder (305) is provided on the top of the second upper support plate (303), and a resisting block (306) is fixedly connected to the output end of the resisting hydraulic cylinder (305); The number of the resisting hydraulic cylinders (305) is multiple, and the top of the resisting block (306) is in an arc shape; There are multiple second upper support plates (303), and every two second upper support plates (303) are symmetrically arranged to form a group. A winding shaft is provided between each group of second upper support plates (303), and the output shaft of the upper winding motor (304) is fixedly connected to one end of the winding shaft via a coupling.

4. A welding robot according to claim 2, characterized in that: The interior of the upper connecting disc seat (6) is in a concave state, and the inner wall of the upper connecting disc seat (6) is fixedly connected to the bottom of the first fine-tuning hydraulic cylinder (201) and the bottom of the second fine-tuning hydraulic cylinder (301), respectively.

5. A welding robot according to claim 1, characterized in that: The base assembly (4) includes a lower connecting seat (401), the inner wall of the lower connecting seat (401) is fixedly connected to a driving seat (402), the number of the driving seats (402) is two, and the two driving seats (402) are symmetrically arranged at the bottom of the lower connecting seat (401); The inner wall of the driving seat (402) is movably connected to a plurality of bearing rods, the bearing rods and the driving seat (402) are connected via bearings, and the outer wall of the bearing rod is fixedly connected to a rolling wheel (403).

6. A welding robot according to claim 5, characterized in that: The outer wall of the driving seat (402) is provided with a plurality of driving motors, and the plurality of driving motors are provided corresponding to the rolling wheels (403), and the output shafts of the driving motors are fixedly connected to one end of the bearing rod via a coupling.

7. A welding robot according to claim 5, characterized in that: The stabilizing assembly (5) comprises a central seat (501) fixedly arranged on the outer wall of the lower connecting seat (401), and the outer wall of the central seat (501) is provided with a stabilizing mechanism (502). The number of the stabilizing mechanisms (502) is six, and the six stabilizing mechanisms (502) are arranged in an equidistant circular pattern on the outer wall of the central seat (501).

8. A welding robot according to claim 7, characterized in that: The stabilizing mechanism (502) comprises a telescopic hydraulic cylinder (5021) fixedly arranged on the outer wall of the center seat (501); the outer wall of the center seat (501) is disc-shaped; one end of the telescopic hydraulic cylinder (5021) is fixedly connected to an outer support plate (5022); and the bottom of the outer support plate (5022) is fixedly connected to an outer support mechanism (5023); The bottom of each outer support plate (5022) is fixedly connected to two outer support mechanisms (5023).

9. A welding robot according to claim 8, characterized in that: The outer support mechanism (5023) comprises a lower support hydraulic cylinder (5023a) fixedly arranged at the bottom of the outer support plate (5022); the bottom of the lower support hydraulic cylinder (5023a) is fixedly connected to a lower chassis (5023b); the bottom of the lower chassis (5023b) is fixedly connected to a positioning plug (5023d); and the top of the lower chassis (5023b) is provided with a lower vibrator (5023c); There are multiple positioning plugs (5023d), and the multiple positioning plugs (5023d) are arranged in an equidistant array at the bottom of the lower chassis (5023b), and the positioning plugs (5023d) are inverted cone-shaped positioning plugs; The lower vibrator (5023c) and the upper vibrator are miniature industrial vibrators.

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