Wall-climbing welding robot based on vision measurement and welding method thereof
By combining temperature absorption, cleaning, and adjustment mechanisms, the problem of lens contamination in low-temperature and high-humidity environments for wall-climbing welding robots has been solved, enabling clear visual measurement and efficient welding during the welding process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- TAIZHOU MIAOJI INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2026-03-20
- Publication Date
- 2026-05-05
AI Technical Summary
In low-temperature and high-humidity environments, the lens cover of the wall-climbing welding robot is prone to condensation and frost. During the welding process, dense smoke and metal spatter contaminate the lens, resulting in inaccurate visual measurement and affecting welding positioning and quality.
The design incorporates a heat-absorbing mechanism to absorb welding fumes and preheat the visual measuring instrument with residual heat. Combined with a cleaning mechanism, contaminants are removed through mechanical cleaning and argon purging. An adjustment mechanism adaptively adjusts the cleaning intensity to ensure lens cleanliness.
It effectively solves the problems of image blurring and reduced contrast, ensures welding positioning accuracy and quality, reduces rework rate, and reduces environmental pollution.
Smart Images
Figure CN121972875A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of wall-climbing welding robot technology, specifically to a vision-based wall-climbing welding robot and its welding method. Background Technology
[0002] A wall-climbing welding robot is a special type of robot designed to move autonomously and perform automated welding operations on vertical, inclined, or even inverted metal surfaces. It combines adsorption-based movement technology, trajectory tracking technology, and automated welding processes, aiming to replace manual welding operations in dangerous, narrow, or high-altitude environments.
[0003] In shipbuilding and large steel structure welding, wall-climbing welding robots, with their advantages of automation and high efficiency, have become core equipment to replace manual high-altitude and high-risk welding operations. The visual measurement system, as a key component for precise positioning and welding quality monitoring of wall-climbing welding robots, directly determines welding accuracy and operational efficiency through its operational stability. However, during actual operation, especially in low-temperature and high-humidity environments such as inside ship cabins, condensation and frost easily form inside the lens protective cover, severely reducing its light transmittance and preventing the visual measurement instrument from clearly capturing images of the welding area. Simultaneously, the welding process inevitably generates a large amount of smoke and metal spatter, which easily adhere to the lens or protective glass surface, causing image blurring, reduced contrast, or even complete image loss, directly affecting the accuracy of visual measurement. This leads to welding positioning deviations, uncontrolled welding quality, increased rework rates, and safety hazards. Therefore, we propose a vision-based wall-climbing welding robot and its welding method. Summary of the Invention
[0004] The purpose of this invention is to provide a vision-based wall-climbing welding robot and its welding method, to solve the problems mentioned in the background art. In actual operation, especially in low-temperature and high-humidity environments such as inside a ship's cabin, condensation and frost easily form inside the lens protective cover of the wall-climbing welding robot, which seriously reduces the light transmittance of the protective cover and makes it impossible for the vision measurement instrument to clearly capture the image of the welding area. At the same time, a large amount of smoke and metal spatter are inevitably generated during the welding process. These contaminants easily adhere to the surface of the lens or protective glass, causing image blurring, reduced contrast, or even complete failure to form an image, directly affecting the accuracy of vision measurement, and thus leading to welding positioning deviation, welding quality out of control, increased rework rate and safety hazards.
[0005] To achieve the above objectives, the present invention provides the following technical solution: a wall-climbing welding robot based on vision measurement and its welding method, comprising: a wall-climbing welding robot and a mounting box, wherein the mounting box is fixedly connected to the outside of the welding gun of the wall-climbing welding robot; It also includes: a heat absorption mechanism, which is set inside the mounting box. The heat absorption mechanism is used to absorb the fumes generated during the welding work of the wall-climbing welding robot and absorb and store the heat of the fumes, and use the residual heat to preheat the vision measurement instrument inside the mounting box. The cleaning mechanism is located inside the mounting box and is used to clean the lens of the vision measuring instrument inside the mounting box. An adjustment mechanism is installed on the wall-climbing welding robot. The adjustment mechanism adaptively adjusts the cleaning time and intensity based on the information fed back by the heat absorption mechanism.
[0006] The heat absorption mechanism includes an optical sensor installed inside the mounting box. The mounting box has an insulation groove inside, and multiple smoke guide holes are equally spaced inside the mounting box below the insulation groove.
[0007] The inner side of the heat insulation tank is equipped with a heat insulation board, the inner side of the heat insulation board is equipped with a heat-conducting plate, and the inner side of the heat-conducting plate is equipped with a spiral heat-conducting wire.
[0008] A temperature sensor is fixedly connected to the top of the inner wall of the insulation tank, and a negative pressure pump is installed inside the mounting box.
[0009] The cleaning mechanism includes a motor installed inside the mounting box. The output end of the motor is fixedly connected to a first bevel gear. A second bevel gear is meshed with the outer side of the first bevel gear. A third bevel gear is meshed with the outer side of the second bevel gear. A hollow rotating shaft is fixedly connected to the bottom of the third bevel gear. The hollow rotating shaft is rotatably connected to the mounting box. An inner hollow cleaning plate is fixedly connected to the bottom of the hollow rotating shaft. A rotary joint is provided at the top of the hollow rotating shaft.
[0010] The installation box contains an air pump, with an argon gas tank at the pump's input and the pump's output connected to the top of the rotary joint via a gas delivery pipe.
[0011] The adjustment mechanism includes a protective box fixedly connected to one side of the wall-climbing welding robot. An insulating box is fixedly connected to the bottom of the inner side of the protective box. A first conductive copper block is fixedly connected to the inner side of the insulating box. A second conductive copper block is slidably connected to the inner side of the insulating box. An insulating rod is fixedly connected to one side of the second conductive copper block.
[0012] The protective box has a cylinder fixedly connected to one side, a fixed cylinder fixedly connected to the output end of the cylinder, a slider slidably connected to the inside of the fixed cylinder, a spring fixedly connected between one side of the slider and one side of the fixed cylinder, a connecting plate fixedly connected to one side of the slider, the connecting plate being located inside the spring, and an insulating rod fixedly connected to the connecting plate.
[0013] An electromagnet is fixedly connected to one side of the fixed cylinder, and a magnet is fixedly connected to one side of the slider. The magnetic poles of the electromagnet and the magnet are opposite on opposite sides.
[0014] The welding method of a vision-based wall-climbing welding robot includes the following steps: Step 1: Start the wall-climbing welding robot to begin welding work. Simultaneously, activate the relevant components of the heat absorption mechanism inside the installation box. The negative pressure pump starts working, drawing the fumes generated during welding into the installation box through multiple equidistant smoke guide holes inside. The drawn-in fumes enter the insulation tank, where the insulation board on the inside of the tank provides insulation. The heat guide plate conducts the heat from the fumes to the spiral heat guide wire, achieving heat absorption and storage. At the same time, the temperature sensor at the top of the inner wall of the insulation tank is activated to monitor the temperature inside the tank in real time. The optical sensor works simultaneously to monitor the fumes absorption and temperature changes, feeding the temperature signal back to the adjustment mechanism to provide data support for subsequent cleaning and adjustment. During this process, the residual heat of the stored fumes simultaneously preheats the visual measurement instrument inside the installation box to prevent the instrument from affecting measurement accuracy due to low temperature. Step Two: After receiving signals from the temperature sensor and optical sensor in the heat absorption mechanism, the adjustment mechanism starts the cylinder. The cylinder extends and retracts according to the feedback temperature data, driving the fixed cylinder to move. The slider inside the fixed cylinder moves in coordination with the elasticity of the spring, driving the insulating rod to move through the connecting plate, thereby pushing the second conductive copper block in the insulation box to slide and form different degrees of contact with the first conductive copper block. At the same time, the electromagnet in the fixed cylinder is energized, generating an attraction with the magnet on one side of the slider. Combined with the elasticity of the spring, the displacement of the second conductive copper block is precisely adjusted. By changing the contact state of the first and second conductive copper blocks, the cleaning time and cleaning intensity of the cleaning mechanism are adaptively adjusted to ensure that the cleaning effect matches the equipment operating status. Step 3: Start the motor and turn it on. Its output end drives the first bevel gear to rotate. The first bevel gear meshes with the second bevel gear, which in turn drives the third bevel gear, which meshes with the second bevel gear, to rotate. The hollow shaft fixed at the bottom of the third bevel gear rotates synchronously with it, causing the inner hollow cleaning plate at the bottom to rotate, mechanically cleaning the lens of the vision measurement instrument in the mounting box. At the same time, the air pump in the mounting box starts, drawing argon gas from the argon tank and delivering it through the gas guide pipe to the rotary joint at the top of the hollow shaft. The argon gas enters the hollow shaft through the rotary joint and is then blown out through the internal channel of the inner hollow cleaning plate. Combined with the mechanical cleaning, this achieves all-round cleaning of the lens, preventing welding fumes from adhering to the lens and affecting the accuracy of vision measurement, and ensuring the normal operation of the wall-climbing welding robot's welding positioning and welding quality monitoring.
[0015] This invention has at least the following beneficial effects: The heat absorption mechanism absorbs the fumes generated during welding, avoiding environmental pollution caused by direct emissions and recovering the heat carried by the fumes for preheating the visual measuring instrument without requiring additional energy. The cleaning mechanism, with its rotating hollow cleaning plate, removes dust and metal spatter from the lens surface, while argon purging removes fine contaminants remaining from mechanical cleaning, achieving comprehensive, thorough lens cleaning. This effectively solves problems such as image blurring, reduced contrast, and inability to form images caused by dense smoke and metal spatter during welding. The adjustment mechanism, based on temperature and contamination signals from the heat absorption mechanism, adaptively adjusts the cleaning time and intensity through the coordinated action of cylinders, electromagnets, and conductive copper blocks. This prevents component damage from over-cleaning and ensures incomplete cleaning doesn't affect measurement accuracy. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the mounting box of the present invention; Figure 3 This is a schematic diagram of the cleaning mechanism of the present invention; Figure 4 This is a schematic diagram of the internal structure of the hollow cleaning plate of the present invention; Figure 5 This is a schematic diagram of the heat absorption mechanism of the present invention; Figure 6 This is a schematic diagram of the adjustment mechanism of the present invention.
[0017] In the diagram: 1. Wall-climbing welding robot; 2. Mounting box; 3. Adjustment mechanism; 31. Protective box; 32. Insulation box; 33. First conductive copper block; 34. Second conductive copper block; 35. Cylinder; 36. Fixed cylinder; 37. Slider; 38. Spring; 39. Connecting plate; 310. Insulating rod; 311. Magnet; 312. Electromagnet; 4. Temperature absorption mechanism; 41. Optical sensor; 42. Smoke guide hole; 43. Insulation tank; 44. Insulation board; 45. Temperature guiding plate; 46. Spiral temperature guiding wire; 47. Negative pressure pump; 48. Temperature sensor; 5. Cleaning mechanism; 51. Motor; 52. First bevel gear; 53. Second bevel gear; 54. Third bevel gear; 55. Hollow rotating shaft; 56. Inner hollow cleaning plate; 57. Rotary joint; 58. Air pump; 59. Argon cylinder. Detailed Implementation
[0018] 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.
[0019] Example 1 Please see Figures 1 to 6 The present invention provides a technical solution: a wall-climbing welding robot based on vision measurement and its welding method, comprising: a wall-climbing welding robot 1 and a mounting box 2, wherein the mounting box 2 is fixedly connected to the outside of the welding gun of the wall-climbing welding robot 1; It also includes: a heat absorption mechanism 4, which is installed in the mounting box 2. The heat absorption mechanism 4 is used to absorb the fumes generated during the welding work of the wall-climbing welding robot 1 and to absorb and store the heat of the fumes, and to use the residual heat to preheat the visual measuring instrument in the mounting box 2. Cleaning mechanism 5 is installed inside mounting box 2 and is used to clean the lens of the vision measuring instrument inside mounting box 2. Adjustment mechanism 3 is installed on the wall-climbing welding robot 1. Adjustment mechanism 3 adaptively adjusts the cleaning time and intensity based on the information fed back by the heat absorption mechanism 4.
[0020] The heat absorption mechanism 4, as described above, absorbs the fumes generated during welding, avoiding environmental pollution caused by direct emission of fumes and recovering the heat carried in the fumes for preheating of the visual measuring instrument without the need for additional energy consumption. The cleaning mechanism 5 allows the rotation of the hollow cleaning plate 56 to remove smoke and metal spatter adhering to the lens surface, while argon gas purging removes fine contaminants remaining from mechanical cleaning, achieving all-round, no-dead-angle cleaning of the lens and effectively solving problems such as image blurring, reduced contrast, and inability to form images caused by dense smoke and metal spatter during welding. The adjustment mechanism 3, based on the temperature and contamination signals fed back by the heat absorption mechanism 4, adaptively adjusts the cleaning time and intensity of the cleaning mechanism 5 through the coordinated action of components such as the cylinder 35, electromagnet 311, and conductive copper block, avoiding component damage caused by over-cleaning and preventing incomplete cleaning from affecting measurement accuracy.
[0021] The heat absorption mechanism 4 includes an optical sensor 41 disposed inside the mounting box 2. The mounting box 2 has an insulation groove 43 inside, and multiple smoke guide holes 42 are equally spaced inside the mounting box 2 below the insulation groove 43. During use, the optical sensor 41 can monitor the lens stains of the vision measuring instrument, and then the information is fed back to the adjustment mechanism 3. The smoke generated by the wall-climbing welding robot 1 can be drawn into the heat preservation tank 43 through the smoke guide hole 42.
[0022] An insulation plate 44 is provided on the inner side of the insulation tank 43, a heat-conducting plate 45 is provided on the inner side of the insulation plate 44, and a spiral heat-conducting wire 46 is provided on the inner side of the heat-conducting plate 45. During use, the inhaled flue gas absorbs heat through the spiral heat-conducting wire 46 and stores the heat in the insulation plate 44, which can prevent condensation / frost from forming on the visual measuring instrument in the mounting box 2 when welding is temporarily stopped, and heat can be used to achieve heat preservation.
[0023] A temperature sensor 48 is fixedly connected to the top of the inner wall of the heat preservation tank 43, and a negative pressure pump 47 is installed inside the mounting box 2; During use, the negative pressure pump 47 can absorb the fumes to prevent the welding fumes from spreading, and the temperature sensor 48 can detect the heat of the absorbed fumes and feed it back to the regulating mechanism 3.
[0024] The cleaning mechanism 5 includes a motor 51 installed in the mounting box 2. The output end of the motor 51 is fixedly connected to a first bevel gear 52. The outer side of the first bevel gear 52 is meshed with a second bevel gear 53. The outer side of the second bevel gear 53 is meshed with a third bevel gear 54. The bottom of the third bevel gear 54 is fixedly connected to a hollow rotating shaft 55. The hollow rotating shaft 55 is rotatably connected to the mounting box 2. The bottom of the hollow rotating shaft 55 is fixedly connected to an inner hollow cleaning plate 56. The top of the hollow rotating shaft 55 is provided with a rotary joint 57. In use, the first bevel gear 52 can be rotated by controlling the motor 51. The first bevel gear 52 drives the third bevel gear 54 through the second bevel gear 53. Rotating the third bevel gear 54 can drive the hollow cleaning plate 56 to clean the lens of the visual measuring instrument.
[0025] The installation box 2 is equipped with an air pump 58. The input end of the air pump 58 is equipped with an argon gas tank 59. The output end of the air pump 58 is connected to the top of the rotary joint 57 through a gas guide tube. In use, it works in conjunction with the inner hollow cleaning plate 56, while the air pump 58 is controlled to extract argon gas from the argon tank 59, and then delivers it into the inner hollow cleaning plate 56 through the rotary joint 57 for discharge. In this way, the lens of the vision measuring instrument can be cleaned with argon gas.
[0026] The adjustment mechanism 3 includes a protective box 31 fixedly connected to one side of the wall-climbing welding robot 1. An insulating box 32 is fixedly connected to the bottom of the inner side of the protective box 31. A first conductive copper block 33 is fixedly connected to the inner side of the insulating box 32. A second conductive copper block 34 is slidably connected to the inner side of the insulating box 32. An insulating rod 310 is fixedly connected to one side of the second conductive copper block 34. In use, the first conductive copper block 33 is connected to an external power supply, and the second conductive copper block 34 is connected to the motor 51 and the air pump 58 through a wire to cooperate in adaptively adjusting the cleaning intensity.
[0027] A cylinder 35 is fixedly connected to one side inside the protective box 31. A fixed cylinder 36 is fixedly connected to the output end of the cylinder 35. A slider 37 is slidably connected to the inside of the fixed cylinder 36. A spring 38 is fixedly connected between one side of the slider 37 and one side inside the fixed cylinder 36. A connecting plate 39 is fixedly connected to one side of the slider 37. The connecting plate 39 is located inside the spring 38. An insulating rod 310 is fixedly connected to the connecting plate 39. An electromagnet 312 is fixedly connected to one side inside the fixed cylinder 36. A magnet 311 is fixedly connected to one side of the slider 37. The magnetic poles of the electromagnet 312 and the magnet 311 are opposite on opposite sides. In use, based on the information fed back by the optical sensor 41 and the temperature sensor 48, the output end of the cylinder 35 is controlled to move, which drives the second conductive copper block 34 to move. This completes the initial position movement of the second conductive copper block 34. Then, the electromagnet 312 is supplied with the electromagnetic intensity corresponding to the feedback information. This allows the energized electromagnet 312 to attract the slider 37 on one side of the magnet 311 to move, and can stretch the spring 38. The moving slider 37 can drive the second conductive copper block 34 to move again through the insulating rod 310 on the connecting plate 39. This allows the contact area between the second conductive copper block 34 and the first conductive copper block 33 to be adjusted again.
[0028] Example 2 like Figures 1 to 6 In this second embodiment, the other structures remain unchanged, but the difference from the first embodiment is: The welding method of a vision-based wall-climbing welding robot includes the following steps: Step 1: Start the wall-climbing welding robot 1 to perform welding work. Simultaneously, activate the relevant components of the heat absorption mechanism 4 inside the installation box 2. The negative pressure pump 47 starts working and draws the fumes generated by the wall-climbing welding robot 1 into the installation box 2 through multiple equidistant smoke guide holes 42 inside the installation box 2. The drawn-in fumes enter the heat insulation tank 43. The heat insulation plate 44 on the inner side of the heat insulation tank 43 plays a heat preservation role. The heat conduction plate 45 conducts the heat in the fumes to the spiral heat conduction wire 46, realizing the absorption and storage of heat in the fumes. At the same time, the temperature sensor 48 on the top of the inner wall of the heat insulation tank 43 is activated to detect the temperature inside the heat insulation tank 43 in real time. The optical sensor 41 works simultaneously to monitor the fumes absorption and temperature changes and feeds the temperature signal back to the adjustment mechanism 3 to provide data support for subsequent cleaning and adjustment. During this process, the residual heat of the stored fumes simultaneously preheats the visual measurement instrument inside the installation box 2 to prevent the instrument from affecting the measurement accuracy due to low temperature. Step 2: After receiving the signals from the temperature sensor 48 and optical sensor 41 in the temperature absorption mechanism 4, the adjustment mechanism 3 starts. The cylinder 35 extends and retracts according to the feedback temperature data, driving the fixed cylinder 36 to move. The slider 37 inside the fixed cylinder 36 moves in coordination under the elastic action of the spring 38, driving the insulating rod 310 to move through the connecting plate 39, thereby pushing the second conductive copper block 34 in the insulation box 32 to slide and form different degrees of contact with the first conductive copper block 33. At the same time, the electromagnet 312 in the fixed cylinder 36 is energized, generating an attraction with the magnet 311 on one side of the slider 37. Combined with the elastic force of the spring 38, the displacement of the second conductive copper block 34 is precisely adjusted. By changing the contact state of the first conductive copper block 33 and the second conductive copper block 34, the cleaning time and cleaning intensity of the cleaning mechanism 5 are adaptively adjusted to ensure that the cleaning effect matches the equipment operating status. Step 3: Start the motor 51 and turn it on. Its output end drives the first bevel gear 52 to rotate. The first bevel gear 52 meshes with the second bevel gear 53, which in turn drives the third bevel gear 54, which meshes with the second bevel gear 53, to rotate. The hollow rotating shaft 55 fixed at the bottom of the third bevel gear 54 rotates synchronously with it, driving the inner hollow cleaning plate 56 at the bottom to rotate, mechanically cleaning the lens of the vision measuring instrument in the mounting box 2. At the same time, the air pump 58 in the mounting box 2 starts, drawing argon gas from the argon tank 59 and delivering it through the air guide pipe to the rotary joint 57 at the top of the hollow rotating shaft 55. The argon gas enters the hollow rotating shaft 55 through the rotary joint 57 and is then blown out through the internal channel of the inner hollow cleaning plate 56. Combined with the mechanical cleaning, the lens is cleaned in all directions, preventing welding fumes from adhering to the lens and affecting the accuracy of vision measurement, and ensuring that the welding positioning and welding quality monitoring of the wall-climbing welding robot 1 are carried out normally.
[0029] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.
[0030] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A wall-climbing welding robot based on vision measurement, characterized in that: include: A wall-climbing welding robot and a mounting box, wherein the mounting box is fixedly connected to the outside of the welding torch of the wall-climbing welding robot; It also includes: a heat absorption mechanism, which is installed inside the mounting box. The heat absorption mechanism is used to absorb the fumes generated during the welding work of the wall-climbing welding robot and absorb and store the heat of the fumes, and use the residual heat to preheat the visual measurement instrument inside the mounting box. A cleaning mechanism is provided inside the mounting box and is used to clean the lens of the visual measurement instrument inside the mounting box. An adjustment mechanism is installed on the wall-climbing welding robot. The adjustment mechanism adaptively adjusts the cleaning time and intensity based on the information fed back by the heat absorption mechanism.
2. The vision-based wall-climbing welding robot according to claim 1, characterized in that: The heat absorption mechanism includes an optical sensor installed inside the mounting box. The mounting box has an insulation groove inside, and multiple smoke guide holes are equally spaced inside the mounting box below the insulation groove.
3. The vision-based wall-climbing welding robot according to claim 2, characterized in that: The inner side of the heat insulation tank is provided with a heat insulation board, the inner side of the heat insulation board is provided with a heat-conducting plate, and the inner side of the heat-conducting plate is provided with a spiral heat-conducting wire.
4. The vision-based wall-climbing welding robot according to claim 3, characterized in that: A temperature sensor is fixedly connected to the top of the inner wall of the insulation tank, and a negative pressure pump is installed inside the mounting box.
5. The vision-based wall-climbing welding robot according to claim 4, characterized in that: The cleaning mechanism includes a motor housed in a mounting box. A first bevel gear is fixedly connected to the output end of the motor. A second bevel gear is meshed with the outer side of the first bevel gear. A third bevel gear is meshed with the outer side of the second bevel gear. A hollow rotating shaft is fixedly connected to the bottom of the third bevel gear. The hollow rotating shaft is rotatably connected to the mounting box. An inner hollow cleaning plate is fixedly connected to the bottom of the hollow rotating shaft. A rotary joint is provided at the top of the hollow rotating shaft.
6. The vision-based wall-climbing welding robot according to claim 5, characterized in that: The installation box is equipped with an air pump, the input end of which is equipped with an argon gas tank, and the output end of which is connected to the top of the rotary joint through a gas guide pipe.
7. The vision-based wall-climbing welding robot according to claim 1, characterized in that: The adjustment mechanism includes a protective box fixedly connected to one side of the wall-climbing welding robot. An insulating box is fixedly connected to the bottom of the inner side of the protective box. A first conductive copper block is fixedly connected to the inner side of the insulating box. A second conductive copper block is slidably connected to the inner side of the insulating box. An insulating rod is fixedly connected to one side of the second conductive copper block.
8. The vision-based wall-climbing welding robot according to claim 7, characterized in that: A cylinder is fixedly connected to one side of the protective box. A fixed cylinder is fixedly connected to the output end of the cylinder. A slider is slidably connected to the inside of the fixed cylinder. A spring is fixedly connected between one side of the slider and one side of the fixed cylinder. A connecting plate is fixedly connected to one side of the slider. The connecting plate is located inside the spring. The insulating rod is fixedly connected to the connecting plate.
9. The vision-based wall-climbing welding robot according to claim 8, characterized in that: An electromagnet is fixedly connected to one side of the fixed cylinder, and a magnet is fixedly connected to one side of the slider. The magnetic poles of the electromagnet and the magnet are opposite to each other.
10. A welding method for a wall-climbing welding robot based on vision measurement, characterized in that: The vision-based wall-climbing welding robot according to any one of claims 1-9 includes the following steps: Step 1: Start the wall-climbing welding robot to begin welding work. Simultaneously, activate the relevant components of the heat absorption mechanism inside the installation box. The negative pressure pump starts working, drawing the fumes generated during welding into the installation box through multiple equidistant smoke guide holes inside. The drawn-in fumes enter the insulation tank, where the insulation board on the inside of the tank provides insulation. The heat guide plate conducts the heat from the fumes to the spiral heat guide wire, achieving heat absorption and storage. At the same time, the temperature sensor at the top of the inner wall of the insulation tank is activated to monitor the temperature inside the tank in real time. The optical sensor works simultaneously to monitor the fumes absorption and temperature changes, feeding the temperature signal back to the adjustment mechanism to provide data support for subsequent cleaning and adjustment. During this process, the residual heat of the stored fumes simultaneously preheats the visual measurement instrument inside the installation box to prevent the instrument from affecting measurement accuracy due to low temperature. Step Two: After receiving signals from the temperature sensor and optical sensor in the heat absorption mechanism, the adjustment mechanism starts. The cylinder extends and retracts according to the feedback temperature data, driving the fixed cylinder to move. The slider inside the fixed cylinder moves in coordination with the elasticity of the spring, driving the insulating rod to move through the connecting plate, thereby pushing the second conductive copper block in the insulation box to slide and form different degrees of contact with the first conductive copper block. At the same time, the electromagnet in the fixed cylinder is energized, generating an attraction with the magnet on one side of the slider. Combined with the elasticity of the spring, the displacement of the second conductive copper block is precisely adjusted. By changing the contact state of the first and second conductive copper blocks, the cleaning time and cleaning intensity of the cleaning mechanism are adaptively adjusted to ensure that the cleaning effect matches the equipment operating status. Step 3: Start the motor and turn it on. Its output end drives the first bevel gear to rotate. The first bevel gear meshes with the second bevel gear, which in turn drives the third bevel gear, which meshes with the second bevel gear, to rotate. The hollow shaft fixed at the bottom of the third bevel gear rotates synchronously with it, causing the inner hollow cleaning plate at the bottom to rotate, mechanically cleaning the lens of the vision measurement instrument in the mounting box. At the same time, the air pump in the mounting box starts, drawing argon gas from the argon tank and delivering it through the gas guide pipe to the rotary joint at the top of the hollow shaft. The argon gas enters the hollow shaft through the rotary joint and is then blown out through the internal channel of the inner hollow cleaning plate. Combined with the mechanical cleaning, this achieves all-round cleaning of the lens, preventing welding fumes from adhering to the lens and affecting the accuracy of vision measurement, and ensuring the normal operation of the wall-climbing welding robot's welding positioning and welding quality monitoring.