Welding manipulator for high-altitude operation

Abstract

One end of a mechanical arm is fixedly installed at the output end of a stabilizing disc, a welding head is arranged at the free end of the mechanical arm, the stabilizing disc is a multi-stage linkage stabilizing device, and through failure of a high-priority stabilizing mode, the welding head is arranged at the free end of the mechanical arm; and when the next-stage stabilization mode is triggered to take effect, temporary strength supplement is carried out on the invalid stabilization mode. The device adopts a multi-stage vacuum structure to slowly lose efficacy, so that the pressure of a fastener is reduced, and meanwhile, the mounting failure monitoring property of the device is improved. In the slow failure of the vacuum internal structure, the elastic sleeve is kneaded based on the stretching action to linearly enhance the sealing effect, so that the vacuum stretching is guaranteed, and the closer the distance between the device and the installation failure is, the higher the sealing performance of the device is. And the high-altitude operation controllability and safety of the whole device are improved.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and in particular to a welding robotic arm for high-altitude operations. Background Technology

[0002] High-altitude welding operations, as a complex working environment, possess both the inherent dangers of working at height and the harmful characteristics of welding itself. Manual high-altitude work requires specialized skills training for personnel, is highly specialized, has high installation costs, and is difficult to manage. It also suffers from low efficiency, high labor intensity, and significant safety hazards. Welding operations can employ gas flames, electric arcs, lasers, and brazing. Brazing, in particular, involves heating both the filler metal (below the melting point of the workpiece) and the workpiece to the filler metal's melting temperature, using the liquid filler metal to fill the gaps in the solid workpiece to join the metals. However, regardless of the method used, welding can potentially cause injury to the human body. Therefore, welding operations are increasingly being performed using robots.

[0003] Existing robotic platforms often employ ground-based lifting robotic arms to address high-altitude welding challenges. For example, CN216584026U discloses a ground-controlled aerial work platform, comprising an aerial work platform assembly. The assembly includes a chassis, a lifting mechanism, and a work platform, which is mounted on the chassis via the lifting mechanism. The work platform is equipped with a multi-degree-of-freedom robotic arm assembly, the work end of which is equipped with replaceable tools. The platform also includes a ground control terminal, which controls the aerial work platform assembly, the robotic arm assembly, and the work tools.

[0004] However, in actual construction, high-altitude welding often faces a lot of interference, making it difficult to use ground-based robotic arms. On the other hand, close-range robotic arms, due to their semi-exposed working environment at high altitudes, can have a significant impact on the safety of the construction site.

[0005] There is a need for a welding robot for high-altitude operations to solve the above problems. Summary of the Invention

[0006] This invention addresses the problem that in existing technologies, high-altitude welding often faces numerous interferences in actual construction, making ground-based robotic arms difficult to use. Meanwhile, close-range robotic arms, due to their semi-exposed working environment at height, pose a significant safety hazard at the construction site. This invention provides a welding robotic arm for high-altitude operations that utilizes a fastening failure protection system to provide more space for maintenance or evacuation through gradual failure, thus solving the aforementioned problems.

[0007] This invention provides a welding robot for high-altitude operations, comprising a robotic arm, a welding head, and a stabilizing plate. One end of the robotic arm is fixedly mounted on the output end of the stabilizing plate. The robotic arm has multiple segments of motion along the vertical axis of the stabilizing plate, but the range of motion does not extend beyond the axis of the robotic arm. The welding head is located at the free end of the robotic arm. The stabilizing plate is a multi-level linkage stabilizing device. When a high-priority stabilizing method fails partially or completely, it triggers the activation of the next level of stabilizing method and temporarily supplements the strength of the failed stabilizing method.

[0008] The welding robot for high-altitude operations described in this invention, in a preferred embodiment, includes a stabilizing plate comprising a base and a mounting plate. The base is a disc-shaped base with at least one annular cylindrical protrusion on its upper surface. The lower surface of the mounting plate is shaped to fit the upper surface of the base and is mounted and tightly attached to the upper surface of the base. Sealing sleeves are provided on the vertical surfaces inside and outside the annular protrusion of both the mounting plate and the base. The sealing sleeves are elastic sleeves that are interference-fitted with both the mounting plate and the base. An adhesive layer is provided on the mating surface of the base and the mounting plate on the outer side of the annular protrusion.

[0009] In a preferred embodiment of the welding robot for high-altitude operations described in this invention, the bottom end of the elastic sleeve on the outer surface of the annular cylindrical protrusion is higher than the bottom end of the elastic sleeve on the inner surface of the annular cylindrical protrusion. A solution cavity is provided on the vertical joint surface between the chassis and the mounting plate below the elastic sleeve on the outer surface of the annular cylindrical protrusion. An air-curing liquid is provided inside the solution cavity, and the lower end of the solution cavity is connected to the outermost circumferential joint surface of the chassis and the mounting plate.

[0010] In the welding robot for high-altitude operations described in this invention, as a preferred embodiment, the adhesive layer material is the same as the air-curing liquid material.

[0011] In a preferred embodiment of the welding robot for high-altitude operations described in this invention, aggregate is incorporated into the air-curing liquid.

[0012] In a preferred embodiment of the welding robot for high-altitude operations described in this invention, a counterweight is provided on the mounting plate. When the robot arm is in its homing state, the counterweight balances the center of gravity of the robot arm to the vertical axis of the stabilizing plate.

[0013] During operation, when the chassis and mounting plate detach due to unavoidable on-site factors such as the robotic arm's own weight, the air-curing liquid inside the solution chamber replenishes the outer bonding area based on gravity and fluid properties, achieving supplementary sealing. Simultaneously, negative pressure is created within the device due to the liquid falling from the solution chamber. Since the displacement between the chassis and mounting plate is vertical, the air-curing liquid inside the solution chamber rolls upwards during this displacement, increasing the diameter and adding folds. This forms a new labyrinth seal structure, achieving overall structural sealing. Simultaneously, a sealing ring is formed between the chassis and mounting plate at the top contact point, ensuring a vacuum state within the central sealed cavity as part of the multi-chamber structure. This effectively holds the chassis and mounting plate in place, thus buffering against fastening failure.

[0014] The beneficial effects of this invention are as follows: This device employs a multi-stage vacuum structure to mitigate failure, reducing fastener stress and improving the monitorability of installation failures. During slow failure, the internal vacuum structure utilizes a stretching action to linearly enhance the sealing effect of the elastic sleeve, ensuring vacuum tension is maintained. The closer the device is to installation failure, the higher its sealing performance. This improves the overall controllability and safety of high-altitude operations. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a welding robot used for high-altitude operations. Figure 2 This is a schematic diagram of a stabilizing plate for a welding robot used in high-altitude operations.

[0016] Figure label: 1. Robotic arm; 2. Welding head; 3. Stabilizing plate; 31. Chassis; 32. Mounting plate; 33. Vacuum chamber. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0018] Example 1 like Figure 1 As shown, a welding robot for high-altitude operations includes a robotic arm 1, a welding head 2, and a stabilizing plate 3. One end of the robotic arm 1 is fixedly mounted on the output end of the stabilizing plate 3. The robotic arm 1 has multiple segments of mobility along the vertical axis of the stabilizing plate 3, and the range of motion does not extend beyond the axis of the robotic arm 1. In actual use, the robotic arm 1 can be selected as a five-axis or six-axis robotic arm according to actual needs. The welding head 2 is located at the free end of the robotic arm 1. The stabilizing plate 3 is a multi-level linkage stabilization device. When a high-priority stabilization method partially or completely fails, it triggers the activation of the next level of stabilization method while temporarily supplementing the strength of the failed stabilization method.

[0019] To meet usage requirements, the rotating component at the bottom of the robotic arm 1 needs to be mounted on the stabilizing disk 3 to avoid using the stabilizing disk for rotation.

[0020] The stabilizing plate 3 includes a base plate 31 and a mounting plate 32. The base plate 31 is a disc-shaped base plate 31 with at least one annular cylindrical protrusion on its upper surface. The lower surface of the mounting plate 32 is shaped to match the upper surface of the base plate 31. The lower surface of the mounting plate 32 is mounted and closely attached to the upper surface of the base plate 31. Sealing sleeves are provided on the vertical surfaces inside and outside the annular protrusion of the mounting plate 32 and the base plate 31. The sealing sleeves are elastic sleeves that are interference-fitted with the mounting plate 32 and the base plate 31 respectively. An adhesive layer is provided on the mating surface of the base plate 31 and the mounting plate 32 on the outer side of the annular protrusion.

[0021] The bottom end of the elastic sleeve on the outer surface of the annular cylindrical protrusion is higher than the bottom end of the elastic sleeve on the inner surface of the annular cylindrical protrusion. A solution cavity is provided on the vertical joint surface of the chassis 31 and the mounting plate 32 below the elastic sleeve on the outer surface of the annular cylindrical protrusion. The solution cavity is filled with air curing liquid. The lower end of the solution cavity is connected to the outermost joint surface of the chassis 31 and the mounting plate 32.

[0022] In actual use, the adhesive layer material is the same as the air-curing liquid material. In this embodiment, modified polyamide is used as the air-curing liquid material.

[0023] Aggregates are added to the air-curing liquid as needed. In this embodiment, carbon fiber is selected as the aggregate.

[0024] The mounting plate 32 is equipped with a counterweight. When the robotic arm 1 is in its returned position, the counterweight balances the center of gravity of the robotic arm 1 to the vertical axis of the stabilizing plate.

[0025] In actual installation, to meet the requirements for sealed installation, holes can be drilled in the mounting plate before installation, and then sealed after actual connection with the chassis to achieve a vacuum environment.

[0026] Optionally, the warning device is installed on the central joint surface of the chassis and the mounting plate. It can be a wire breakage sensor. When the chassis and the mounting plate begin to separate and the central joint surface stretches to form a vacuum cavity, it indicates that the device has begun to have the risk of overturning.

[0027] The open circuit sensor specifically uses a circuit system that can determine the open circuit of any connected circuit. For example, the open circuit detection circuit is a circuit system used to detect whether the sensor connection wire is broken. It is widely used in industrial automation, instrumentation and other fields.

[0028] Its core function is to monitor the on / off status of sensor signals in real time through circuit design, ensuring the reliability of data acquisition. Specifically, the following could be considered: Voltage comparison method: By monitoring the voltage at the output terminal of the sensor, when the wire is disconnected, the voltage will exceed the normal range (such as 0-5V), triggering the alarm circuit.

[0029] Current loop detection: Applicable to 4-20mA current signal sensors. When the wire is disconnected, the current drops to 0mA, and the detection circuit identifies the fault and outputs a fault signal.

[0030] Pulse feedback method: Actively send pulse signals to the sensor; if no feedback is received, it is determined that the circuit is broken.

[0031] In addition to circuit breakers, arbitrary displacement monitoring sensors can also be used based on the positional difference between the chassis and the mounting plate.

[0032] This device is designed for high-altitude operations. Due to the nature of high-altitude work, ground-based robotic arms are often unsuitable for welding operations in practice. Therefore, installing a short-range, highly flexible robotic arm near the welding structure, such as on stairs or platforms, is the only option. However, the structural risk of fastening failure is much higher in these locations than in other scenarios. Therefore, this embodiment abandons reinforced fastening and instead links fastening failure to overall failure, employing methods to mitigate overall failure and increase mechanical lifespan to meet practical safety and cost considerations.

[0033] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A welding robot for high-altitude operations, characterized in that: It includes a robotic arm (1), a welding head (2), and a stabilizing plate (3). One end of the robotic arm (1) is fixedly mounted on the output end of the stabilizing disk (3). The robotic arm (1) has multiple segments of mobility along the vertical axis of the stabilizing disk (3), and the range of mobility does not cross the axis of the robotic arm (1). The welding head (2) is located at the free end of the robotic arm (1). The stabilizing plate (3) is a multi-level linkage stabilizing device. When a high-priority stabilizing method fails partially or completely, it triggers the activation of the next level of stabilizing method and temporarily supplements the strength of the failed stabilizing method.

2. The welding robot for high-altitude operations according to claim 1, characterized in that: The stabilizing plate (3) includes a base plate (31) and a mounting plate (32). The base plate (31) is a disc-shaped base plate (31) with at least one annular cylindrical protrusion on its upper surface. The lower surface of the mounting plate (32) is shaped to match the upper surface of the base plate (31). The lower surface of the mounting plate (32) is mounted and closely attached to the upper surface of the base plate (31). The mounting plate (32) and the base plate (31) are provided with sealing sleeves on the vertical surfaces inside and outside the annular protrusion. The sealing sleeves are elastic sleeves that are interference-fitted with the mounting plate (32) and the base plate (31) respectively. The base plate (31) and the mounting plate (32) are provided with an adhesive layer on the mating surface outside the annular protrusion.

3. A welding robot for high-altitude operations according to claim 2, characterized in that: The bottom end of the elastic sleeve on the outer surface of the annular cylindrical protrusion is higher than the bottom end of the elastic sleeve on the inner surface of the annular cylindrical protrusion. A solution cavity is provided on the vertical joint surface between the chassis (31) and the mounting plate (32) located below the elastic sleeve on the outer surface of the annular cylindrical protrusion. An air curing liquid is provided inside the solution cavity. The lower end of the solution cavity is connected to the outermost circumferential joint surface of the chassis (31) and the mounting plate (32).

4. A welding robot for high-altitude operations according to claim 3, characterized in that: The adhesive layer is made of the same material as the air-curing liquid.

5. A welding robot for high-altitude operations according to claim 4, characterized in that: The air-curing liquid contains aggregate.

6. A welding robot for high-altitude operations according to claim 2, characterized in that: The mounting plate (32) is provided with a counterweight, which balances the center of gravity of the robotic arm (1) to the vertical axis of the stabilizing plate when the robotic arm (1) is in its returned position.

Images