Intelligent mobile welding robot

Abstract

The invention relates to the technical field of movable welding robots, and particularly discloses an intelligent movable welding robot which comprises a welding robot body and a fixing cover, and the fixing cover is fixedly connected to the outer side of a welding gun of the welding robot body. The rotating mechanism can be used for driving the cleaning mechanism to rotate around the outer side of the welding gun, a steel brush of the cleaning mechanism can clean the outer side of the welding gun in all directions, welding slag attached to the surface after welding can be removed in time, long-time accumulation and solidification of the welding slag are avoided, and the problem that normal use of the welding end is affected by accumulation of the welding slag is solved fundamentally; through the arranged adjusting mechanism, current and voltage during welding of the welding robot can be connected, the cleaning strength of the cleaning mechanism can be adjusted in a self-adaptive mode by monitoring changes of the current and voltage and through cooperative use of a second magnet, a second electromagnet, a third magnet, a third electromagnet, an air cylinder and other components, and the cleaning strength is improved when much welding slag is generated.

Description

Technical Field

[0001] This invention relates to the field of mobile welding robot technology, specifically to an intelligent mobile welding robot. Background Technology

[0002] In simple terms, a mobile welding robot is an intelligent piece of equipment that can move autonomously or under control at non-fixed workstations and automatically complete welding operations. Unlike traditional industrial robotic arms placed at fixed workstations (such as welding robotic arms), it has a mobile chassis and can push the welding torch across the workpiece like a worker, or move on the ground to find weld seams.

[0003] In existing intelligent mobile welding robots, after welding, some welding slag inevitably adheres to the surface of the welding end. If this slag is not cleaned in time, it will gradually solidify and clump over a long period of time. This not only affects the subsequent normal welding operation of the welding end, leading to welding deviations and substandard weld quality, but may also accelerate wear and corrosion of the welding end, shortening the service life of the equipment. Most of the time, manual cleaning of welding slag is required, which not only increases the labor intensity and has low cleaning efficiency, but also makes it difficult to ensure thorough cleaning and achieve synchronous or timely cleaning during the welding process, resulting in poor equipment practicality. To address this, we propose an intelligent mobile welding robot. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent mobile welding robot to solve the problem mentioned in the background art that after welding, some welding slag will inevitably adhere to the surface of the welding end. If this welding slag is not cleaned in time, it will gradually solidify and clump together over a long period of time. This will not only affect the subsequent normal welding operation of the welding end, leading to problems such as welding deviation and unqualified weld quality, but may also accelerate the wear and corrosion of the welding end, shortening the service life of the equipment. Most of the time, manual cleaning of welding slag is required, which not only increases the labor intensity and has low cleaning efficiency, but also makes it difficult to ensure thorough cleaning and achieve synchronous or timely cleaning during the welding process, resulting in poor equipment practicality.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent mobile welding robot, comprising: a welding robot and a fixed cover, wherein the fixed cover is fixedly connected to the outside of the welding torch of the welding robot; It also includes: a rotating mechanism, which is set inside the fixed cover and is used to rotate the outside of the welding torch of the cleaning welding robot; The cleaning mechanism is mounted on the rotating mechanism and is used to work with the rotating mechanism to clean the outside of the welding torch of the welding robot. An adjustment mechanism is installed on the welding robot. The adjustment mechanism monitors changes in current and voltage during welding and adaptively adjusts the cleaning intensity of the cleaning mechanism.

[0006] The rotating mechanism includes a fixed frame that is fixedly connected to the top of the inner side of the fixed cover. A first motor is fixedly connected to one side of the fixed frame, and a first gear is fixedly connected to the output end of the first motor.

[0007] The fixed cover has a limiting wheel plate inside, and a gear ring is fixedly connected to one side of the limiting wheel plate. The first gear meshes with the gear ring.

[0008] The cleaning mechanism includes two multi-stage electric telescopic rods fixedly connected to one side of the limiting wheel plate. The output ends of the two multi-stage electric telescopic rods are fixedly connected to a fixing block. Two fixing cylinders are fixedly connected to one side of the fixing block. T-shaped sliding rods are fixedly connected to the inner sides of the four fixing cylinders. Steel brushes are fixedly connected to one side of the two T-shaped sliding rods.

[0009] The T-shaped slide bar has a first spring on its outer side, which is located inside the fixed cylinder.

[0010] The first magnet is fixedly connected to one side of the T-shaped slide rod, and the first electromagnet is fixedly connected to one side inside the fixed cylinder. The magnetic poles of the first electromagnet and the first magnet are the same on opposite sides.

[0011] The adjustment mechanism includes a mounting box fixedly connected to one side of the welding robot. An insulating box is fixedly connected to the bottom of the inner side of the mounting box. A conductive copper sleeve is fixedly connected to one side of the insulating box. A conductive copper column is provided inside the conductive copper sleeve.

[0012] Among them, a limit block is fixedly connected to the bottom of the conductive copper column, and a limit groove that matches the limit block is opened inside the insulating box. A second spring is fixedly connected between one side of the limit block and one side of the second spring. A third electromagnet is fixedly connected to one side of the limit groove, and a third magnet is fixedly connected to one side of the limit block. The third electromagnet and the third magnet have the same magnetic poles facing each other.

[0013] An insulating rod is fixedly connected to one side of the conductive copper pillar, and a second magnet is fixedly connected to the side of the insulating rod away from the conductive copper pillar. A second electromagnet is fixedly connected to one side inside the mounting box, and the magnetic poles of the second magnet and the second electromagnet are the same on opposite sides.

[0014] The cylinder is fixedly connected to one side of the mounting box, and a fixing plate is fixedly connected to the output end of the cylinder. A tactile switch is fixedly connected to the bottom of the fixing plate.

[0015] The present invention has at least the following beneficial effects: The rotating and cleaning mechanisms allow the cleaning mechanism to rotate around the outside of the welding torch. The steel brushes in the cleaning mechanism thoroughly clean the outside of the torch, effectively removing welding slag adhering to the surface after welding and preventing it from accumulating and solidifying over time. This addresses the root cause of slag buildup affecting the normal operation of the welding end. The adjustable mechanism allows for the input of the welding robot's current and voltage. By monitoring changes in current and voltage and through the coordinated use of components such as the second magnet, second electromagnet, third magnet, third electromagnet, and cylinder, the cleaning intensity of the cleaning mechanism can be adaptively adjusted. Increased cleaning intensity indicates higher slag levels, while decreased intensity indicates lower slag levels, ensuring thorough cleaning while avoiding over-cleaning that could cause torch wear, thus improving the accuracy and efficiency of the cleaning process. 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 fixing cover of the present invention; Figure 3 This is a schematic diagram of the rotating mechanism of the present invention; Figure 4 This is a schematic diagram of the cleaning mechanism of the present invention; Figure 5 This is a schematic diagram of the adjustment mechanism of the present invention; Figure 6 This is a schematic diagram of the internal structure of the insulation box of the present invention; Figure 7 This is a schematic diagram of the structure of the cylinder, the fixing plate, and the tactile switch of the present invention.

[0017] In the diagram: 1. Welding robot; 2. Fixed cover; 3. Rotating mechanism; 31. Fixed frame; 32. First motor; 33. First gear; 34. Gear ring; 35. Limiting wheel plate; 4. Cleaning mechanism; 41. Multi-stage electric telescopic rod; 42. Fixed block; 43. Fixed cylinder; 44. T-shaped slide bar; 45. First spring; 46. Steel brush; 47. First magnet; 48. First electromagnet; 5. Adjustment mechanism; 51. Mounting box; 52. Insulation box; 53. Conductive copper sleeve; 54. Conductive copper column; 55. Insulation rod; 56. Second magnet; 57. Second electromagnet; 58. Limiting groove; 59. Limiting block; 510. Second spring; 511. Third magnet; 512. Third electromagnet; 513. Cylinder; 514. Fixed plate; 515. Tactile switch. 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 7 The present invention provides a technical solution: an intelligent mobile welding robot, comprising: a welding robot 1 and a fixed cover 2, wherein the fixed cover 2 is fixedly connected to the outside of the welding gun of the welding robot 1; It also includes: a rotating mechanism 3, which is installed inside the fixed cover 2 and is used to rotate the outside of the welding gun of the cleaning welding robot 1; Cleaning mechanism 4 is mounted on rotating mechanism 3 and is used to cooperate with rotating mechanism 3 to rotate and clean the outside of welding gun of welding robot 1. Adjustment mechanism 5 is installed on welding robot 1. Adjustment mechanism 5 monitors the changes in current and voltage during welding and adaptively adjusts the cleaning intensity of cleaning mechanism 4.

[0020] The rotating mechanism 3 and cleaning mechanism 4, as described above, enable the rotating mechanism 3 to drive the cleaning mechanism 4 to rotate around the outside of the welding torch. The steel brush 46 of the cleaning mechanism 4 can clean the outside of the welding torch from all directions, effectively removing the welding slag adhering to the surface after welding and preventing the welding slag from accumulating and solidifying for a long time. This fundamentally solves the problem of welding slag accumulation affecting the normal use of the welding end. The adjusting mechanism 5 can be connected to the welding robot 1 during welding. By monitoring the changes in current and voltage, and through the coordinated use of components such as the second magnet 56, the second electromagnet 57, the third magnet 511, the third electromagnet 512, and the cylinder 513, the cleaning intensity of the cleaning mechanism 4 can be adaptively adjusted. The cleaning intensity is increased when there is a lot of welding slag and decreased when there is little welding slag, ensuring thorough cleaning while avoiding over-cleaning that causes wear on the welding torch, thus improving the accuracy and rationality of cleaning.

[0021] The rotating mechanism 3 includes a fixed frame 31 fixedly connected to the top of the inner side of the fixed cover 2, a first motor 32 fixedly connected to one side of the fixed frame 31, and a first gear 33 fixedly connected to the output end of the first motor 32. In use, the first motor 32 is controlled to rotate the first gear 33, thereby rotating the cleaning mechanism 4 to achieve the purpose of cleaning the welding torch of the welding robot 1.

[0022] The interior of the fixed cover 2 is provided with a limiting wheel plate 35, and a gear ring 34 is fixedly connected to one side of the limiting wheel plate 35. The first gear 33 meshes with the gear ring 34. In use, the rotating first gear 33 can synchronously drive the gear ring 34 to rotate, so that the gear ring 34 drives the limiting wheel plate 35 to rotate within the fixed cover 2.

[0023] The cleaning mechanism 4 includes two multi-stage electric telescopic rods 41 fixedly connected to one side of the limiting wheel plate 35. The output ends of the two multi-stage electric telescopic rods 41 are fixedly connected to a fixing block 42. Two fixing cylinders 43 are fixedly connected to one side of the fixing block 42. T-shaped slide rods 44 are fixedly connected to the inner side of the four fixing cylinders 43. Steel brushes 46 are fixedly connected to one side of the two T-shaped slide rods 44. When in use, the multi-stage electric telescopic rod 41 is controlled to push the fixed block 42 to the designated position according to the position of the welding slag of the welding gun. The moving T-shaped slide rod 44 slides in the fixed cylinder 43 and pushes the steel brush 46 to the position of the welding gun slag near the welding robot 1. When it is rotated by the rotating mechanism 3, it can drive the two steel brushes 46 to clean the outside of the welding gun.

[0024] The outer side of the T-shaped slide bar 44 has a first spring 45, which is located inside the fixed cylinder 43; In use, the movable T-shaped slide bar 44 can compress the first spring 45, and the first spring 45 can ensure the reset operation of the steel brush 46.

[0025] A first magnet 47 is fixedly connected to one side of the T-shaped slide bar 44, and a first electromagnet 48 is fixedly connected to one side inside the fixed cylinder 43. The magnetic poles of the first electromagnet 48 and the first magnet 47 are the same on opposite sides. In use, the first electromagnet 48 can be energized by adjusting the electromagnetic strength according to the feedback from the adjustment mechanism 5, so that the first electromagnet 48 generates a repulsive force on the first magnet 47.

[0026] Example 2 like Figures 1 to 7 In this second embodiment, the other structures remain unchanged, but the difference from the first embodiment is: The adjustment mechanism 5 includes a mounting box 51 fixedly connected to one side of the welding robot 1. An insulating box 52 is fixedly connected to the bottom of the inner side of the mounting box 51. A conductive copper sleeve 53 is fixedly connected to one side of the insulating box 52. A conductive copper column 54 is provided inside the conductive copper sleeve 53. In use, the electromagnetic strength of the first electromagnet 48 is adjusted by moving and adjusting the contact area between the conductive copper sleeve 53 and the conductive copper column 54, thereby achieving the function of adjusting the cleaning intensity.

[0027] A limiting block 59 is fixedly connected to the bottom of the conductive copper column 54. A limiting groove 58 that cooperates with the limiting block 59 is opened inside the insulating box 52. A second spring 510 is fixedly connected between one side of the limiting block 59 and one side of the second spring 510. A third electromagnet 512 is fixedly connected to one side of the limiting groove 58. A third magnet 511 is fixedly connected to one side of the limiting block 59. The magnetic poles of the third electromagnet 512 and the third magnet 511 are the same on opposite sides. In use, the third electromagnet 512 is connected to the welding robot 1 via a wire to monitor the changes in current and voltage during welding. Based on the feedback information, the third electromagnet 512 is switched to the corresponding electromagnetic intensity, so that the energized third electromagnet 512 generates a repulsive force on the third magnet 511. This allows the limiting block 59 to slide and compress the second spring 510 within the limiting groove 58, thereby allowing the movable conductive copper column 54 to adjust the contact area with the conductive copper sleeve 53.

[0028] An insulating rod 55 is fixedly connected to one side of the conductive copper pillar 54. A second magnet 56 is fixedly connected to the side of the insulating rod 55 away from the conductive copper pillar 54. A second electromagnet 57 is fixedly connected to one side inside the mounting box 51. The magnetic poles of the second magnet 56 and the second electromagnet 57 are the same on opposite sides. In use, if the position of the conductive copper column 54 is initially adjusted and the insulating rod 55 is moved but the tactile switch 515 is not triggered, the second electromagnet 57 can be energized and its magnetic force can be gradually increased to achieve compensation. This will cause the energized second electromagnet 57 to generate a magnetic repulsive force on the second magnet 56, thereby moving the insulating rod 55 again until the tactile switch 515 is triggered.

[0029] A cylinder 513 is fixedly connected to one side inside the mounting box 51. A fixing plate 514 is fixedly connected to the output end of the cylinder 513. A tactile switch 515 is fixedly connected to the bottom of the fixing plate 514. During use, based on the monitoring of changes in current and voltage during welding, the tactile switch 515 at the output end of cylinder 513 is moved to a position corresponding to the changes in voltage and current. When adjusting the electromagnetic strength of the first electromagnet 48, the adjustment work stops only when the tactile switch 515 is triggered.

[0030] 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.

[0031] 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. An intelligent mobile welding robot, characterized in that: include: A welding robot and a fixed cover, wherein the fixed cover is fixedly connected to the outside of the welding robot's welding torch; It also includes: a rotating mechanism, which is disposed inside the fixed cover and is used to rotate the outside of the welding torch of the cleaning welding robot; A cleaning mechanism is mounted on a rotating mechanism and is used to cooperate with the rotating mechanism to rotate and clean the outer side of the welding torch of the welding robot. An adjustment mechanism is installed on the welding robot. The adjustment mechanism monitors the changes in current and voltage during welding to adaptively adjust the cleaning intensity of the cleaning mechanism.

2. The intelligent mobile welding robot according to claim 1, characterized in that: The rotating mechanism includes a fixed frame that is fixedly connected to the top of the inner side of the fixed cover. A first motor is fixedly connected to one side of the fixed frame, and a first gear is fixedly connected to the output end of the first motor.

3. The intelligent mobile welding robot according to claim 2, characterized in that: The fixed cover is provided with a limiting wheel plate inside, and a gear ring is fixedly connected to one side of the limiting wheel plate. The first gear meshes with the gear ring.

4. The intelligent mobile welding robot according to claim 3, characterized in that: The cleaning mechanism includes two multi-stage electric telescopic rods fixedly connected to one side of the limiting wheel plate. The output ends of the two multi-stage electric telescopic rods are fixedly connected to a fixing block. Two fixing cylinders are fixedly connected to one side of the fixing block. T-shaped sliding rods are fixedly connected to the inner sides of the four fixing cylinders. Steel brushes are fixedly connected to one side of the two T-shaped sliding rods.

5. The intelligent mobile welding robot according to claim 4, characterized in that: The T-shaped slide bar has a first spring on its outer side, and the first spring is located inside the fixed cylinder.

6. The intelligent mobile welding robot according to claim 5, characterized in that: A first magnet is fixedly connected to one side of the T-shaped slide rod, and a first electromagnet is fixedly connected to one side inside the fixed cylinder. The magnetic poles of the first electromagnet and the first magnet are the same on opposite sides.

7. The intelligent mobile welding robot according to claim 1, characterized in that: The adjustment mechanism includes a mounting box fixedly connected to one side of the welding robot. An insulating box is fixedly connected to the bottom of the inner side of the mounting box. A conductive copper sleeve is fixedly connected to one side of the insulating box. A conductive copper column is provided inside the conductive copper sleeve.

8. The intelligent mobile welding robot according to claim 7, characterized in that: A limiting block is fixedly connected to the bottom of the conductive copper column. A limiting groove that cooperates with the limiting block is opened inside the insulating box. A second spring is fixedly connected between one side of the limiting block and one side of the second spring. A third electromagnet is fixedly connected to one side of the limiting groove. A third magnet is fixedly connected to one side of the limiting block. The third electromagnet and the third magnet have the same magnetic poles facing each other.

9. The intelligent mobile welding robot according to claim 8, characterized in that: An insulating rod is fixedly connected to one side of the conductive copper pillar, and a second magnet is fixedly connected to the side of the insulating rod away from the conductive copper pillar. A second electromagnet is fixedly connected to one side inside the mounting box, and the magnetic poles of the second magnet and the second electromagnet are the same on opposite sides.

10. The intelligent mobile welding robot according to claim 9, characterized in that: A cylinder is fixedly connected to one side of the mounting box, and a fixing plate is fixedly connected to the output end of the cylinder. A tactile switch is fixedly connected to the bottom of the fixing plate.

Images