A welding electrode insulation dispensing system

Abstract

This invention relates to the field of welding technology management, specifically to a welding electrode warming and dispensing system, comprising: multiple welding electrode storage and transportation robots and a control system; the welding electrode storage and transportation robots dry and keep the welding electrodes warm in a drying chamber; the control system receives user instructions, determines the workstation where welding electrodes need to be delivered according to the user instructions, and allocates the corresponding welding electrode storage and transportation robot; the welding electrode storage and transportation robot generates a navigation trajectory according to a pre-built digital map and arrives at the workstation. Addressing the problem of temperature drop that may occur in existing welding electrode drying boxes during actual use, this solution uses storage and transportation robots to dry and keep the welding electrodes warm, and connects to the control system to receive user instructions to navigate the welding electrode storage and transportation robots to the designated workstation. This allows users to obtain dried and kept warm welding electrodes nearby, avoiding the problem of temperature drop due to excessive electrode removal time, and improving welding quality.

Description

Technical Field

[0001] This invention relates to the field of welding technology management technology, specifically to a welding electrode insulation and dispensing system. Background Technology

[0002] Electrode welding is the most commonly used welding material in arc welding. During the welding process, it acts as filler metal, forming the weld seam, and also as a conductor, igniting and forming an electric arc. Simultaneously, its coating decomposes to produce gases and slag, providing protection for the weld. During welding, the components in the coating decompose, burn, and melt at high temperatures, generating gases and slag. Some of the slag mixes in the molten pool, while some comes into contact with the weld seam. Therefore, when the coating absorbs moisture, it can lead to porosity and hydrogen-induced cracking during welding. To avoid this problem, it is usually required to dry the electrode before welding. For example, acidic electrodes need to be baked at 100-150 degrees Celsius for 1 to 2 hours.

[0003] In the existing technology, corresponding welding electrode drying devices have been designed.

[0004] For example, patent document CN201310620540.5 discloses a welding rod drying oven, including an oven body and an electric heating tube. The oven body has one or more support frames arranged from top to bottom; two adjacent support frames are fixed to different sides inside the oven, and the total length of the two support frames is greater than the inner diameter of the oven; the electric heating tube is located in the middle of the oven body. With this structure, by staggering the welding rod support frames in the oven and placing the electric heating tube in the middle of the oven, heat is evenly diffused within the oven, allowing the welding rods on the support frames to be fully utilized. There are no blind spots in the oven where there is heat but no welding rod, thus fully utilizing the heat and saving energy.

[0005] For example, patent document CN201810992394.1 discloses an automatic temperature-controlled welding rod drying box, including a box body and a control device. The box body contains a drying mechanism and a ventilation mechanism. The drying mechanism includes a heating element, a multi-layer mounting rack, and a multi-layer holding rack. The control device includes an input module, an output module, a measurement module, and a timing module connected to a control module. This integrated software and hardware control method achieves the drying function of the drying equipment. The drying time of the welding materials is set by the software program and controlled by the equipment. It connects to a standard expert process library to execute drying processes of different drying standards. When the drying time ends, it automatically switches to the heat preservation temperature for heat preservation. The drying temperature and heat preservation temperature can be manually entered on the PC as needed, i.e., after input through the input module, and then controlled by the PLC, reducing the time workers spend working in high-temperature environments and simplifying the temperature setting method.

[0006] However, in practice, the inventors found that existing welding electrode drying boxes are usually placed in the drying room, requiring welders to personally go there to collect the welding electrodes, load them into the electrode insulation container, and then carry them to various construction sites for welding. The process of traveling to the welding workshop is time-consuming and may cause the welding electrode temperature to drop to an unacceptable level. Summary of the Invention

[0007] In view of the above-mentioned problems in the existing technology, a welding electrode insulation dispensing system is provided.

[0008] The specific technical solution is as follows:

[0009] A welding electrode insulation and dispensing system includes multiple welding electrode storage and transportation robots and a control system;

[0010] The welding electrode storage and transportation robot dries and keeps the welding electrodes warm in a drying chamber;

[0011] The control system is wirelessly connected to each of the welding electrode storage and transportation robots;

[0012] The control system acquires user instructions, determines the workstations where welding electrodes need to be delivered according to the user instructions, and allocates the corresponding welding electrode storage and transportation robots accordingly.

[0013] The welding electrode storage and transportation robot generates a navigation trajectory according to a pre-built digital map and arrives at the workstation.

[0014] On the other hand, the corresponding number of welding rods are counted and discharged in the drying chamber by the dispensing mechanism;

[0015] The dispensing mechanism includes a base, a welding rod support plate, a welding rod slot baffle, and a baffle lifting mechanism;

[0016] The welding rod support plate is fixed at a certain angle above the base via a support plate bracket;

[0017] The welding rod support plate is provided with multiple slot baffle holes, and a baffle guide plate is provided below the welding rod support plate at the position corresponding to the slot baffle holes;

[0018] The welding electrode groove baffle is disposed in the baffle guide plate;

[0019] The electrode slot baffle passes through the electrode support plate through the slot baffle holes and reaches the upper surface of the electrode support plate;

[0020] Multiple electrode slot baffles are arranged in parallel along the vertical direction to divide the space above the electrode support plate into multiple electrode receiving spaces, which are used to store the electrode stacked in the vertical direction.

[0021] The bottom of the welding rod groove baffle is connected to the baffle lifting mechanism located below the welding rod support plate, and moves downward sequentially under the drive of the baffle lifting mechanism to release the welding rod;

[0022] The tray support has a discharge port located below the inclined direction.

[0023] On the other hand, the baffle lifting mechanism includes:

[0024] A baffle rod, the top end of which is connected to the bottom of the welding rod groove baffle;

[0025] Multiple levers are formed on the first side of the baffle rod according to a preset moving height;

[0026] The preset moving height is determined according to the diameter of the welding electrode;

[0027] The lifting bracket is equipped with a drive motor for each group of baffle rods in the direction corresponding to the first side.

[0028] Multiple paddles are distributed along the fan-out direction on the shaft of the drive motor. The paddles are coupled to the lever so that the lever moves downward under the drive of the drive motor.

[0029] A baffle spring is disposed between the bottom of the welding rod groove baffle and the base;

[0030] The baffle spring is in a pre-compressed state in the initial state.

[0031] On the other hand, a plunger baffle is provided correspondingly on the second side of the baffle rod.

[0032] The plunger baffle is disposed on the base along the height direction;

[0033] The plunger baffle is provided with multiple plunger holes according to the preset moving height;

[0034] A plunger head is provided on the second side of the baffle rod. The plunger head moves back and forth under the drive of the plunger spring to engage with the plunger hole for limiting and fixing.

[0035] On the other hand, each of the plunger heads is connected to a plunger connecting rod, which extends to the other end of the dispensing mechanism and, under the action of external pulling force, causes all the plunger heads to retract uniformly.

[0036] On the other hand, the bottom of the drying chamber is equipped with a slide rail;

[0037] The dispensing mechanism is removably mounted in the drying chamber via the slide rail.

[0038] On the other hand, a U-shaped heating device is provided at the bottom of the drying chamber.

[0039] On the other hand, the processing system includes a workshop modeling module;

[0040] The workshop modeling module includes:

[0041] An environmental modeling module obtains laser modeling data and image data by performing laser scanning and visual image acquisition inside the workshop.

[0042] The environment modeling module fuses the laser modeling data and the image data to obtain a pre-modeled map;

[0043] A marker addition module, which is connected to the environment modeling module;

[0044] The marker addition module adds marker points and workstations to the pre-modeled map to form the digital map.

[0045] On the other hand, the welding electrode storage and transportation robot includes:

[0046] A map update module updates the digital map based on real-time scan results.

[0047] On the other hand, the welding rod storage and transportation robot includes a wireless charging device;

[0048] The marker addition module also adds wireless charging points to the digital map.

[0049] The above technical solution has the following advantages or beneficial effects:

[0050] To address the issue of temperature drop that may occur in existing welding electrode drying boxes during actual use, this solution employs a storage and transportation robot to dry and maintain the temperature of the welding electrodes. This robot is connected to a control system to receive user commands and navigate to a designated workstation, allowing users to obtain dried and maintained welding electrodes conveniently. This avoids the problem of temperature drop due to prolonged electrode removal time and improves welding quality. Attached Figure Description

[0051] Embodiments of the invention will be described more fully with reference to the accompanying drawings. However, the drawings are for illustration and explanation only and do not constitute a limitation on the scope of the invention.

[0052] Figure 1 This is an overall schematic diagram of an embodiment of the present invention;

[0053] Figure 2 This is a front view of the welding rod storage and transportation robot in an embodiment of the present invention;

[0054] Figure 3 This is an isometric view of the baffle lifting mechanism in an embodiment of the present invention;

[0055] Figure 4 This is a schematic diagram of the plunger connecting rod in an embodiment of the present invention;

[0056] Figure 5 This is a schematic diagram of the heating device in an embodiment of the present invention. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0059] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0060] This invention includes:

[0061] A welding electrode insulation dispensing system, such as Figure 1 As shown, it includes multiple welding electrode storage and transportation robots A1 and a control system A2;

[0062] The welding electrode storage and transportation robot A1 dries and keeps the welding electrodes warm in the drying chamber;

[0063] The control system A2 is wirelessly connected to each welding electrode storage and transportation robot A1;

[0064] The control system A2 receives user instructions, determines the workstation where welding rods need to be delivered according to the user instructions, and allocates the corresponding welding rod storage and transportation robot A1.

[0065] The welding electrode storage and transportation robot A1 generates a navigation trajectory based on a pre-built digital map and arrives at the workstation.

[0066] Specifically, in response to the problem that the temperature of the welding electrode drying box in the existing technology may drop during actual use, this solution uses a storage and transportation robot to dry and keep the welding electrodes warm. The robot is connected to the control system to receive user instructions and guide the robot to the designated workstation. This allows users to obtain the dried and kept warm welding electrodes nearby, avoiding the problem of temperature drop due to excessive welding electrode removal time and improving welding quality.

[0067] Specifically, the aforementioned welding electrode insulation and dispensing system is set up in the factory area in accordance with relevant requirements. It mainly consists of a welding electrode storage and transportation robot A1, a control system A2, and a control interface A3. The control interface A3 is used to provide an operation interface for users, so that users who need welding electrodes can input corresponding instructions to respond, thereby enabling the control system A2 to allocate the corresponding welding electrode storage and transportation robot A1 to perform the delivery work according to the user's instructions.

[0068] To achieve better control, the control interface A3 can be installed on various devices as software, such as users' mobile phones or computers in the factory. Users can deploy software on these computer devices to present the control interface A3 and send user commands to the control system A2.

[0069] The welding electrode storage and transportation robot A1 is a robotic system capable of drying, heat-insulating storage, and transporting welding electrodes. It is essentially a wheeled chassis-based system with environmental perception, autonomous navigation, and obstacle avoidance capabilities. The A1 robot includes a drying chamber where hot air circulation continuously dries the stored welding electrodes. After drying, the electrodes are kept at a pre-set temperature according to a preset program, ensuring that any type of welding electrode meets the relevant temperature requirements during use.

[0070] Control system A2 is a control system deployed in the factory that enables wireless control of each welding electrode storage and transportation robot A1 and sends corresponding instructions.

[0071] Upon receiving a user command, the control system A2 can parse the corresponding workshop from which the user command was issued. For user commands issued by fixed equipment, the system can pre-bind the workstation where the command is located. For user commands issued by mobile terminals, the system can match the nearest workstation based on the location of the mobile terminal, or determine the workstation based on the workstation information for which welding rods are required, as entered by the user in the interface.

[0072] Subsequently, the control system A2 matches the welding rod storage and transportation robot A1, finds the corresponding welding rod storage and transportation robot A1, and enables the welding rod storage and transportation robot A1 to plan the corresponding navigation path to the target workstation, so that the user can obtain the corresponding heat-insulated welding rod nearby, avoiding the problem of the welding rod temperature dropping when it is actually picked up.

[0073] In order to effectively count the number of welding electrodes issued during the electrode dispensing process, the corresponding number of welding electrodes can be counted and discharged in the drying chamber through the dispensing mechanism.

[0074] like Figure 2-5 As shown, the dispensing mechanism includes a base 1, a welding rod support plate 2, a welding rod groove baffle 3, and a baffle lifting mechanism;

[0075] The welding rod support plate 2 is fixed above the base 1 at a certain angle by the support plate bracket 4;

[0076] Multiple slot baffle holes are provided on the welding rod support plate 2, and a baffle guide plate 5 is provided below the welding rod support plate 2 at the position corresponding to the slot baffle holes;

[0077] The electrode groove baffle 3 is installed in the baffle guide plate 5;

[0078] The electrode slot baffle 3 passes through the slot baffle holes and reaches the upper surface of the electrode support plate 2;

[0079] Multiple electrode slot baffles 3 are arranged in parallel along the vertical direction to divide the space above the electrode support plate 2 into multiple electrode receiving spaces. The electrode receiving spaces are used to store electrodes stacked along the vertical direction.

[0080] The bottom of the welding rod groove baffle 3 is connected to a baffle lifting mechanism located below the welding rod support plate 2, and moves downwards sequentially under the drive of the baffle lifting mechanism to release the welding rod;

[0081] A discharge port is provided below the inclined direction of the welding rod support plate 2.

[0082] Specifically, to achieve better quantitative dispensing of welding electrodes, this embodiment employs a specific dispensing mechanism within the drying chamber for quantitative dispensing of welding electrodes. Specifically, this dispensing mechanism consists of an inclined electrode tray 2 and multiple vertically arranged electrode slot baffles 3. The multiple electrode slot baffles 3 are arranged parallel to each other in the vertical direction to divide the space above the electrode tray 2 into multiple sets of electrode receiving spaces, which are used to accommodate welding electrodes stacked vertically.

[0083] The gap between adjacent electrode slot baffles 3 is determined according to the diameter of the electrode, and is slightly larger than the diameter of the electrode. When the electrode falls into the gap between the electrode slot baffles 3, they will be stacked sequentially to achieve a certain height.

[0084] The electrode support plate 2 is set at a certain angle relative to the horizontal surface, while the electrode slot baffles 3 have the same height. In the initial state, the electrode slot baffles 3 are in the highest position, so the top of all the electrode slot baffles 3 will have an angle parallel to the electrode support plate 2.

[0085] At this point, when welding rods are placed between the slots, the welding rods between each group of slots will also have a certain relative height.

[0086] When welding rods need to be removed, the lowest welding rod groove baffle 3 first lowers, causing the welding rod in the first groove to roll out and fall into the discharge port along the inclined direction. When welding rods need to be removed or placed subsequently, the second welding rod groove baffle 3 lowers, causing the welding rod in the second groove to roll out. The baffles are lowered and welding rods are released in sequence until all welding rod groove baffles 3 have been lowered to a certain height and the welding rods of the same layer have been released. Then, the welding rod groove baffle 3 returns to the lowest position to continue releasing welding rods.

[0087] According to the above design, the precise counting of the dispensed welding electrodes can be achieved by controlling the number of electrode slot baffles 3 that descend in a single operation.

[0088] As an optional implementation, the discharge port is equipped with a V-shaped tilting platform, which includes two inclined plates controlled by a tilting motor. Initially, the bottom edges of the two inclined plates abut each other, and the welding rods fall onto the inclined plates first. After a predetermined number of welding rods have been discharged, the motor drives the inclined plates to rotate, and the bottoms separate, which is used to transfer the counted welding rods from the drying chamber to the dispensing port.

[0089] In one embodiment, the baffle lifting mechanism includes:

[0090] The top end of the baffle rod 6 is connected to the bottom of the welding rod groove baffle 3;

[0091] Multiple levers are formed on the first side of the baffle rod 6 according to a preset moving height;

[0092] The preset moving height is determined according to the diameter of the welding rod;

[0093] The tray bracket 4 is equipped with a drive motor for each set of baffle rods 6 in the direction corresponding to the first side.

[0094] Multiple paddles are distributed along the fan-out direction on the shaft of the drive motor. The paddles are coupled with the lever to drive the lever downward under the drive of the drive motor.

[0095] A baffle spring 7 is positioned between the bottom of the welding rod groove baffle 3 and the base 1.

[0096] The leaf spring 7 is in a pre-compressed state in the initial state.

[0097] Specifically, to effectively control the position of the electrode groove baffle 3, in this embodiment, a pair of baffle springs 7 are first installed between the bottom of the electrode groove baffle 3 and the base 1. When the electrode groove baffle 3 is in its highest initial state, the baffle springs 7 are still in a pre-compressed state; when the electrode groove baffle 3 is in its lowest state, the baffle springs 7 still have a certain compression stroke. The baffle springs 7 ensure that the electrode groove baffle 3 always has an upward tendency to move.

[0098] Meanwhile, in order to control the movement direction of the welding electrode slot baffle 3, in this embodiment, a pair of baffle guide plates 5 are provided below each slot baffle hole. The baffle guide plates 5 connect the slot baffle hole and the base to limit the movement direction of the welding electrode slot baffle 3.

[0099] Near the front end, the bottom of the electrode slot baffle 3 is connected to a baffle rod 6. Multiple levers are formed on the first side of the baffle rod 6 according to a preset moving height. The spacing between the levers is determined according to the electrode diameter, so that after the electrode slot baffle 3 moves downward to a preset moving height under the action of the baffle rod 6, it can just release an electrode.

[0100] The tray bracket 4 is equipped with a drive motor for each set of baffle rods 6 in the direction corresponding to the first side. Multiple paddles are distributed along the fan-out direction on the shaft of the drive motor. The paddles are coupled to the levers to drive the levers downward under the drive of the drive motor.

[0101] Each paddle has an included angle of (360 - neutral angle) / N, forming an axial array. The N paddles together have a total angle of (360 - neutral angle)°, with a neutral angle to prevent interference between the paddles and the lever. The axial spacing between each paddle is A mm, and the outer edge of the paddle can be rounded. When rotating, the paddle moves the lever, which in turn moves the baffle rod downward, thereby allowing the welding rod in the compartment to roll freely to the lower end.

[0102] In one embodiment, a plunger baffle 8 is provided on the second side of the baffle rod 6;

[0103] The plunger baffle 8 is disposed on the base 1 along the height direction;

[0104] Multiple plunger holes are provided on the plunger baffle 8 according to the preset moving height;

[0105] The tray bracket 3 has a plunger head 9 on its second side relative to the baffle rod 6. The plunger head 9 moves back and forth under the drive of the plunger spring to engage with the plunger hole for limiting and fixing.

[0106] Specifically, in order to achieve a better height effect, in this embodiment, a plunger baffle 8 is provided correspondingly on the second side of the baffle rod 6 and multiple plunger holes are opened in combination with the preset moving height. A plunger head 9 is provided on the second side of the baffle rod 6. The plunger head 9 moves back and forth under the drive of the plunger spring to lock into the plunger hole for limiting and fixing.

[0107] The plunger head 9 is round-headed. When the baffle rod 6 moves downward, it will hit the plunger head 9. Under the pushing force of the rod, the plunger head 9 compresses the spring and moves backward. When the plunger hole is aligned with the plunger head, the plunger will push into the plunger hole under the spring force, thus locking the baffle rod and preventing the baffle from springing back upward. The motor drives the paddle shaft to rotate (360-neutral angle) / N°, which can realize the downward movement of the baffle rod without springing back. This continues until all N baffles are locked by the rod plunger. At this time, the welding rod in the multi-layer drawer-type drying chamber is 0, and all welding rods have been removed.

[0108] In one embodiment, each plunger head is connected to a plunger connecting rod 10, which extends to the other end of the dispensing mechanism and, under the action of external pulling force, causes all plunger heads to retract uniformly.

[0109] Specifically, in order to achieve better control, in this embodiment, each plunger head is connected to a plunger connecting rod 10, which extends to the other end of the dispensing mechanism as a handle. When the welding rod is used up and needs to be refilled, the plunger connecting rod 10 is pulled to retract the plunger heads uniformly and release the welding rod slot baffle 3.

[0110] Based on the above settings, the following control process is implemented when dispensing welding electrodes:

[0111] After the welder inputs their welding material requirements on their mobile phone, the robot arrives at the designated welder's location according to the distribution mechanism. The welder needs to undergo facial recognition via the camera on the display screen to trigger the electrode dispensing mechanism. The electrodes are placed on an inclined electrode tray, which is divided into N-1 compartments by N baffles. Each compartment can hold n electrodes. The baffles are pushed out of the electrode tray by springs by L+X mm, thus preventing the electrodes from rolling. N paddles are mounted on the paddle shaft, each with an included angle of (360 - neutral angle) / N°, forming an axial array. The total angle of the N paddles is (360 - neutral angle)°, with a neutral angle to prevent interference between the paddles and the lever. The axial spacing between each paddle is Amm, and the outer edge of the paddle is rounded. When rotating, the first paddle first moves the first lever, causing the baffle lever to move downward, so that the welding rod in compartment 1 can roll freely to the lower end to the V-shaped flip platform. After all the welding rods have rolled to the V-shaped flip platform, the motor control automatically starts the command "V-shaped platform shaft rotates counterclockwise 80°". The V-shaped flip platform is connected to the discharge port, and the welder takes out the welding rod from the discharge port. The rotating shaft motor rotates in steps according to a pre-set program, driving the paddle shaft to rotate (360 - neutral angle) / N° each time. Under the pushing force of the baffle rod, the plunger head compresses the spring and moves backward. When the plunger hole aligns with the plunger head, the plunger, under the spring force, pushes into the plunger hole, thus locking the baffle rod and preventing the baffle from springing back upward. This process continues N times in one cycle until all N baffles are locked by the rod plungers. At this point, the welding rods in the multi-layer drawer-type drying chamber are empty (0), indicating all welding rods have been removed. The control program self-locks, and a new rotation cycle begins after welding rods are refilled.

[0112] In one embodiment, a slide rail is provided at the bottom of the drying chamber;

[0113] The dispensing mechanism is removably installed in the drying chamber via a sliding rail.

[0114] Specifically, to enable rapid replenishment of welding rods in the welding rod storage and transportation robot, this embodiment features a slide rail at the bottom of the drying chamber and a dispensing mechanism configured to be removable as a whole via the slide rail. The dispensing mechanism is connected to the robot via a cable for power supply and baffle control. When welding rods need to be replenished, the dispensing mechanism can be pulled out entirely for replenishment.

[0115] In actual control processes, the triggering conditions for electrode replenishment include manual triggering and automatic triggering when the electrode is depleted. Manual triggering includes:

[0116] The drying operator selects the welding rod delivery robot number and enters the replenishment requirements on the control interface. After clicking the "Call" button, the software will generate a data packet containing task instructions, calling the specific welding rod storage and transportation robot to return and replenish the welding rods.

[0117] When automatically triggered, the system counts the number of rotations of each motor to calculate the current electrode balance. When the electrode balance reaches the limit, it triggers an automatic return.

[0118] In one embodiment, a U-shaped heating device 11 is provided at the bottom of the drying chamber.

[0119] Specifically, in order to achieve temperature control of the welding rod, a U-shaped heating device 11 is provided at the bottom of the drying chamber in this embodiment, and a micro axial flow fan is used to force convection heat dissipation to avoid local overheating.

[0120] The robot is equipped with a welding electrode parameter database, storing standard parameters such as drying temperature, drying time, and holding temperature for various welding electrode models. For example, the E7018 welding electrode has a drying temperature of 350℃, a drying time of 1 hour, and a holding temperature of 150℃. Users can automatically obtain the corresponding parameters by searching for the welding electrode model, or they can manually modify them.

[0121] Meanwhile, the mobile terminal's control interface also provides a corresponding modification interface to adjust the temperature, drying time, and heat preservation temperature.

[0122] In one embodiment, the processing system includes a workshop modeling module;

[0123] The workshop modeling module includes:

[0124] The environmental modeling module U11 obtains laser modeling data and image data by performing laser scanning and visual image acquisition inside the workshop.

[0125] The environment modeling module U11 fuses laser modeling data and image data to obtain a pre-modeled map;

[0126] Marker point addition module U12, which is connected to environment modeling module U11;

[0127] The marker addition module U12 adds marker points and workstations to a pre-modeled map to create a digital map.

[0128] Specifically, to achieve better navigation results, in this embodiment, the processing system first uses the environment modeling module U11 to obtain laser modeling data and image data by laser scanning and visual image acquisition of the workshop interior, and then builds a digital map. Based on the constructed digital map, marker points and workstations are added manually to form a complete digital map. These marker points are provided to the welding rod storage and transportation robot to confirm and identify its current location. The location information of surrounding obstacles is detected using LiDAR and a no-blind-spot camera. Outliers in the LiDAR data are also removed to make the images captured by the camera clearer. The processed data is then used to create a map. The site is divided into small grids, and the presence of obstacles in each grid is determined to create a two-dimensional map. The LiDAR data collected at different times is integrated, along with information from the no-blind-spot camera, to create a three-dimensional map, on which objects such as shelves, welding machines, and personnel are marked.

[0129] In one embodiment, the welding electrode storage and transportation robot includes:

[0130] The map update module updates the digital map based on real-time scan results.

[0131] Specifically, to achieve better recognition of dynamic objects, a map update module was added to the welding rod storage and transportation robot in this embodiment. When the robot is running, if it detects changes in the surrounding environment, such as the movement or addition of objects, it will update the map promptly.

[0132] The robot updates map information differently for moving and stationary objects. When encountering obstacles, the robot has three coping strategies: slowing down and issuing a warning when the obstacle is far away, and planning an alternative route; changing the route to avoid the obstacle while maintaining a safe distance when the obstacle is at a moderate distance; and stopping immediately when the obstacle is very close, waiting for it to disappear before continuing.

[0133] In one embodiment, the welding electrode storage and transportation robot includes a wireless charging device;

[0134] The marker addition module U12 also adds wireless charging points to the digital map.

[0135] Specifically, in order to achieve better automatic control, in this embodiment, wireless charging points are added to the digital map and provided to the welding rod storage and transportation robot.

[0136] The welding electrode storage and transportation robot is equipped with a charging interface, which may be wired or wireless. The wireless charging algorithm comprehensively considers multiple variables, including the current battery status of the drying box delivery robot, the estimated task time, the actual distance to the charging location, and the maximum output power of the wireless charging device. By dynamically adjusting the power level of the wireless charging, the algorithm aims to shorten the charging time as much as possible so that the robot can quickly return to its working state. The algorithm monitors key parameters such as battery temperature, voltage, and charging current in real time, and automatically adjusts the charging strategy according to preset safety thresholds, such as reducing the power or pausing charging when necessary, until conditions are safe to resume.

[0137] In general, to achieve better heat preservation, the control system can also allocate the robot to charge when it is idle.

[0138] Furthermore, the control system allocates robots that deliver welding electrodes based on power level and electrode specifications, specifically including:

[0139] Tasks are assigned based on task priority and the robot's current status (such as welding material type, position, battery level, and load). The calculation method is as follows:

[0140] The overall task suitability score is Score(Ri,T) = 0.5D + 0.5E.

[0141] In the formula, the distance D is calculated as follows: D = 100 − (300m(xt−xi)2+(yt−yi)2×80), where the robot's current coordinates are (xi,yi) and the workstation coordinates are (xt,yt).

[0142] The calculation method for power E includes E=(SoCi−Ereq−15%)×40%*100, where the remaining power is SOTi (%) and the power consumed by the task is Ereq (%).

[0143] In the formula, the -15% portion is a reserved safety power percentage, ensuring that the robot has enough power to deal with emergencies during task execution.

[0144] ×40%*100 is used to convert the score to a percentage system.

[0145] Based on the above configuration, the following usage process can be achieved:

[0146] Step 1: This equipment includes a multi-layer drawer type, allowing the drying operator to place welding rods of the same type and size in batches in the various compartments of the multi-layer drawer type drying chamber.

[0147] Step 2: The operator selects the appropriate parameters based on the welding rod type via a mobile app or the robot's screen software, or manually adjusts the drying temperature, time, insulation temperature, and scheduled drying time. After receiving these parameters, the drying and insulation system's instruction receiving module precisely controls the heating element's on / off state based on real-time temperature monitoring. The time control module starts the drying process according to the scheduled time and automatically switches to insulation mode after drying, sending a notification to the operator's mobile app indicating the end of drying. The drying chamber delivery robot can perform drying and insulation using either magnetic suction or battery pack methods, and can be located within the drying room or workshop during the drying or insulation process.

[0148] Step 3: When the welder needs welding rods, they input key information such as the type and quantity of the required welding rods on their mobile phone. The drying oven delivery robot uses the industrial control computer in the central control system to receive the welder's request command and, combined with the robot's current status (such as location, battery level, and type of welding rods carried), plans the optimal delivery route through a distribution mechanism. The lidar, camera, and ultrasonic obstacle avoidance sensors in the movement and navigation module work together to enable the robot to move autonomously along the planned route, avoiding various obstacles in the workshop, and quickly and accurately reach the welder's workstation.

[0149] Step 4: Upon arrival, the welder performs facial recognition on the robot's human-machine interface screen, triggering the dispensing mechanism. The dispensing mechanism's lever shaft rotates according to a preset program, causing the baffle rod to move downwards. The welding rod rolls from the inclined welding rod tray compartment to the V-shaped flipping platform, and then is transferred to the discharge port, allowing the welder to successfully collect the welding rod.

[0150] Step 5: If the robot's built-in precision counting system detects that the remaining number of welding rods has reached the warning threshold, the robot automatically determines that welding rods need to be replenished. It sends a replenishment request containing information such as the robot's ID, the remaining number of welding rods, and the required welding rod type to the secondary welding material warehouse via the communication module. Subsequently, the robot autonomously navigates back to the secondary welding material warehouse according to a preset path planning algorithm. During the return journey, it relies on various sensors to perceive the surrounding environment in real time, safely arriving at the secondary welding material warehouse to replenish the welding rods.

[0151] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A welding electrode heat preservation dispensing system, characterized in that, Includes multiple welding electrode storage and transportation robots and control systems; The welding electrode storage and transportation robot dries and keeps the welding electrodes warm in a drying chamber; The control system is wirelessly connected to each of the welding electrode storage and transportation robots; The control system acquires user instructions, determines the workstations where welding electrodes need to be delivered according to the user instructions, and allocates the corresponding welding electrode storage and transportation robots accordingly. The welding electrode storage and transportation robot generates a navigation trajectory according to a pre-built digital map and arrives at the workstation; the corresponding number of welding electrodes are counted and discharged in the drying chamber by a dispensing mechanism. The dispensing mechanism includes a base, a welding rod support plate, a welding rod slot baffle, and a baffle lifting mechanism; The welding rod support plate is fixed at a certain angle above the base via a support plate bracket; The welding rod support plate is provided with multiple slot baffle holes, and a baffle guide plate is provided below the welding rod support plate at the position corresponding to the slot baffle holes; The welding electrode groove baffle is disposed in the baffle guide plate; The electrode slot baffle passes through the electrode support plate through the slot baffle holes and reaches the upper surface of the electrode support plate; Multiple electrode slot baffles are arranged in parallel along the vertical direction to divide the space above the electrode support plate into multiple electrode receiving spaces, which are used to store the electrode stacked in the vertical direction. The bottom of the welding rod groove baffle is connected to the baffle lifting mechanism located below the welding rod support plate, and moves downward sequentially under the drive of the baffle lifting mechanism to release the welding rod; The electrode support plate has a discharge port located below the inclined direction; The baffle lifting mechanism includes: A baffle rod, the top end of which is connected to the bottom of the welding rod groove baffle; Multiple levers are formed on the first side of the baffle rod according to a preset moving height; The preset moving height is determined according to the diameter of the welding electrode; The pallet bracket is equipped with a drive motor for each group of baffle rods in the direction corresponding to the first side. Multiple paddles are distributed along the fan-out direction on the shaft of the drive motor. The paddles are coupled to the lever so that the lever moves downward under the drive of the drive motor. A baffle spring is disposed between the bottom of the welding rod groove baffle and the base; The baffle spring is in a pre-compressed state in the initial state.

2. The electrode insulation dispensing system according to claim 1, characterized in that, A plunger baffle is provided on the second side of the baffle rod. The plunger baffle is disposed on the base along the height direction; The plunger baffle is provided with multiple plunger holes according to the preset moving height; The tray bracket is provided with a plunger head on the second side relative to the baffle rod. The plunger head moves back and forth under the drive of the plunger spring to engage with the plunger hole for limiting and fixing.

3. The electrode insulation dispensing system according to claim 2, characterized in that, Each of the plunger heads is connected to a plunger connecting rod, which extends to the other end of the dispensing mechanism and, under the action of external pulling force, causes all the plunger heads to retract uniformly.

4. The electrode insulation dispensing system according to claim 1, characterized in that, The bottom of the drying chamber is equipped with a sliding rail; The dispensing mechanism is removably mounted in the drying chamber via the slide rail.

5. The electrode insulation dispensing system according to claim 1, characterized in that, The bottom of the drying chamber is equipped with a U-shaped heating device.

6. The electrode insulation dispensing system according to claim 1, characterized in that, It also includes a processing system, which includes a workshop modeling module; The workshop modeling module includes: An environmental modeling module obtains laser modeling data and image data by performing laser scanning and visual image acquisition inside the workshop. The environment modeling module fuses the laser modeling data and the image data to obtain a pre-modeled map; A marker addition module, which is connected to the environment modeling module; The marker addition module adds marker points and workstations to the pre-modeled map to form the digital map.

7. The electrode insulation dispensing system according to claim 6, characterized in that, The welding electrode storage and transportation robot includes: A map update module updates the digital map based on real-time scan results.

8. The electrode insulation dispensing system according to claim 6, characterized in that, The welding electrode storage and transportation robot includes a wireless charging device; The marker addition module also adds wireless charging points to the digital map.

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