An intelligent welding robot

Abstract

This invention relates to the field of welding technology, specifically disclosing an intelligent welding robot applied to the welding of the joint between the first and second L-shaped floor slabs in a staircase. The robot includes: a body; a climbing unit; a welding unit; a lateral movement unit; a deflection unit; and a positioning unit. This invention, through the adaptive horizontal deflection of the deflection unit and the coordination of the positioning unit, ensures that the welding unit is always accurately positioned directly above the joint, eliminating weld misalignment and incomplete welds caused by angular deviations. The positioning unit directly cooperates with the joint to form precise positioning, forcing pre-weld centering. Combined with the adaptive adjustment of the deflection unit, the welding trajectory precisely follows the joint path, effectively suppressing weld misalignment and poor lap joints. This effectively improves the consistency and quality of welding irregular spiral staircases, achieving fully mechanical adaptive precise tracking.

Description

Technical Field

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

[0002] The existing metal staircase 700 generally first builds a stepped hollow frame, and then lays the first L-shaped floor slab 710 and the second L-shaped floor slab 720 alternately on the stepped hollow frame. The splicing joints 730 are formed at the joints of the adjacent first L-shaped floor slabs 710 and second L-shaped floor slabs 720. Finally, the splicing joints 730 are welded in a dot matrix manner by welding equipment, so as to weld and fix each set of first L-shaped floor slabs 710 and second L-shaped floor slabs 720 to the hollow frame.

[0003] Depending on the application scenario, the shape of the steps of the staircase 700 varies. There are regular straight staircases that extend upwards, in which the splicing seams 730 of each floor slab are basically at the same position and angle. The welding process of this type of staircase 700 is relatively simple. In addition, there are some irregular spiral staircases. Because the horizontal deflection angle of the splicing seams 730 at each position is different, it is difficult for existing welding equipment to accurately position the different splicing seams 730 of this type of staircase 700 and achieve automated welding. Summary of the Invention

[0004] To overcome the above-mentioned technical problems, this invention proposes an intelligent welding robot.

[0005] The objective of this invention can be achieved through the following technical solutions: A smart welding robot is used for welding the joint between the first L-shaped floor slab and the second L-shaped floor slab in a staircase, comprising: Organism; The climbing unit, symmetrically arranged on both sides of the body, is used to drive the entire body to climb the stairs upwards at an incline. The welding unit, located at the forward end of the machine body, is used to perform dot matrix welding on the seams along the route. The lateral movement unit, which is mounted on the machine body, is used to drive the welding unit to move laterally relative to the machine body along the splice seam extension path; A deflection unit, located at the output end of the transverse unit, is used to adaptively deflect horizontally relative to the transverse unit according to the horizontal deflection angle of the splice seam. The positioning unit, located at the output end of the deflection unit, is used to position the splice seam so that the welding unit is always directly above the current splice seam.

[0006] As a further embodiment of the present invention: the climbing unit includes climbing frames symmetrically arranged on both sides of the body, a drive wheel is rotatably mounted at the center of the top of the climbing frame, and a climbing motor for driving the drive wheel is provided inside the body; support rollers are symmetrically rotatably mounted at both ends of the bottom of the climbing frame, and a track is sleeved between the drive wheel and the two sets of support rollers.

[0007] As a further aspect of the present invention: a plurality of anti-slip protrusions are equidistantly arranged on the track, and a recessed portion adapted to each splice seam is provided between adjacent anti-slip protrusions.

[0008] As a further aspect of the present invention: the transverse unit includes a groove formed at the forward end of the machine body, a slide rail is transversely arranged in the groove, a transverse frame is slidably installed in the slide rail, and a slider adapted to slide on the transverse frame is provided; a transverse motor is also installed on one side of the machine body, and a lead screw is connected to the output end of the transverse motor, and the lead screw is threadedly connected to the transverse frame.

[0009] As a further aspect of the present invention: the deflection unit includes a deflection platform rotatably mounted on the transverse frame, and the deflection platform is provided with a pivot pin adapted to the rotation of the transverse frame.

[0010] As a further aspect of the present invention: a longitudinal groove is provided on the bottom surface of the deflection table, and a slide table is slidably embedded in the longitudinal groove. The welding unit and the positioning unit are both disposed on the slide table. A guide rod is also longitudinally arranged in the longitudinal groove, penetrating the slide table. A spring is movably sleeved on the guide rod, and the spring is located on the side of the slide table closer to the machine body.

[0011] As a further aspect of the present invention: the welding unit includes a mounting frame fixed on the slide table, and a welding gun is provided on the mounting frame; when the positioning unit is adapted and positioned to the corresponding splice seam, the welding gun is located directly above the splice seam.

[0012] As a further aspect of the present invention: the mounting bracket is also provided with an arc-shaped cover for covering the welding torch, and a notch is provided on one side of the arc-shaped cover.

[0013] As a further aspect of the present invention: the positioning unit includes connecting rods symmetrically fixed on both sides of the slide table, and L-shaped positioning blocks adapted to the splicing seam are fixedly installed on the connecting rods by brackets.

[0014] As a further aspect of the present invention: a first roller adapted to the rolling motion of the first L-shaped floor slab and a second roller adapted to the rolling motion of the second L-shaped floor slab are respectively rotatably mounted on the vertical end face of the L-shaped positioning block.

[0015] The beneficial effects of this invention are: This invention enables the deflection unit to adaptively deflect relative to the lateral movement unit according to the actual horizontal deflection angle of the splice at different positions through the coordination of the deflection unit and the positioning unit. This, in turn, drives the positioning unit and the welding unit to deflect synchronously. After the positioning unit is adapted and positioned to the splice, the welding unit is always accurately located directly above the splice, effectively avoiding off-center welding and incomplete welding caused by angular deviation, and greatly improving the consistency of welding irregular stairs. The positioning unit is located at the output end of the deflection unit and can directly cooperate with the splice seam to form a precise positioning. It forces the welding unit to always be in the position directly above the current splice seam, thereby ensuring the centering accuracy before welding. With the adaptive angle adjustment of the deflection unit, the welding trajectory always accurately follows the actual splice seam path, effectively suppressing the occurrence of defects such as misaligned welding, weld deviation, and poor overlap. Attached Figure Description

[0016] The invention will now be further described with reference to the accompanying drawings.

[0017] Figure 1 This is a schematic diagram of the working state of the present invention; Figure 2 This is a schematic diagram of the working state from another perspective of the present invention; Figure 3 This is a three-dimensional structural diagram of the present invention; Figure 4 This is a three-dimensional structural schematic diagram from another perspective of the present invention; Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 This is a schematic diagram of the deflection unit, welding unit, and positioning unit in this invention; Figure 7 This is a schematic diagram of the deflection unit, welding unit, and positioning unit from another perspective in this invention; Figure 8 This is a schematic diagram of the lateral working state of the present invention; Figure 9 for Figure 8 Enlarged view of section B in the middle.

[0018] In the picture: 100. Body; 200. Climbing unit; 210. Climbing frame; 220. Drive wheel; 230. Support roller; 240. Track; 250. Anti-slip bumps; 300, Transverse unit; 310, Groove; 320, Slide rail; 330, Transverse frame; 340, Slider; 350, Transverse motor; 360, Lead screw; 400, Deflection unit; 410, Deflection table; 420, Rotating pin; 430, Longitudinal slide; 440, Slide table; 450, Guide rod; 460, Spring; 500. Welding unit; 510. Mounting bracket; 520. Welding torch; 530. Arc-shaped cover; 600, Positioning unit; 610, Connecting rod; 620, Bracket; 630, L-shaped positioning block; 640, First roller; 650, Second roller; 700. Staircase; 710. First L-shaped floor slab; 720. Second L-shaped floor slab; 730. Joint. Detailed Implementation

[0019] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0020] Please see Figure 1 and Figure 2 This invention discloses an intelligent welding robot used for welding the joint 730 of the first L-shaped floor slab 710 and the second L-shaped floor slab 720 in a staircase 700. The robot includes a body 100, a climbing unit 200, a lateral movement unit 300, a deflection unit 400, a welding unit 500, and a positioning unit 600. The climbing units 200 are symmetrically arranged on both sides of the body 100 and are used to drive the body 100 to climb the staircase 700 upwards at an angle. The welding unit 500 is located at the forward end of the body 100 and is used to weld the joint 730 along the way. 30 performs dot matrix welding; the transverse unit 300 is disposed on the body 100 and is used to drive the welding unit 500 to move laterally relative to the body 100 along the extension path of the splice seam 730; the deflection unit 400 is disposed at the output end of the transverse unit 300 and is used to adaptively deflect horizontally relative to the transverse unit 300 according to the horizontal deflection angle of the splice seam 730; the positioning unit 600 is disposed at the output end of the deflection unit 400 and is used to position the splice seam 730 so that the welding unit 500 is always located directly above the current splice seam 730.

[0021] Specifically, the intelligent welding robot is placed at an angle on the staircase 700 to be welded and fixed. The climbing unit 200 drives the robot body 100 to climb upwards along the staircase 700 until the positioning unit 600 reaches the joint between the first L-shaped floor slab 710 and the second L-shaped floor slab 720. At this point, the positioning unit 600 is adapted to the joint seam 730 at the joint, so that the welding unit 500 is positioned directly above the joint seam 730. Subsequently, the lateral movement unit 300 drives the welding unit 500 to move horizontally laterally, thereby performing a dot-matrix pattern on the joint seam 730 along the way. Welding; When the staircase 700 to be welded is spirally distributed, the horizontal end faces of the first L-shaped floor slab 710 and the second L-shaped floor slab 720 at each position are fan-shaped. In this way, when the lateral movement unit 300 drives the welding unit 500 to move laterally, the deflection unit 400 will also adaptively deflect according to the deflection angle of the splice seam 730 at different positions. This allows the positioning unit 600 to always effectively position the splice seam 730 along the way, thereby ensuring that the welding unit 500 is always directly above the splice seam 730, avoiding defects such as off-center welding and incomplete welding, and improving the consistency of welding effect.

[0022] It should be noted that, through the coordination of the deflection unit 400 and the positioning unit 600, the present invention enables the deflection unit 400 to adaptively deflect horizontally relative to the lateral movement unit 300 according to the actual horizontal deflection angle of the splice seam 730 at different positions, thereby driving the positioning unit 600 and the welding unit 500 to deflect synchronously; after the positioning unit 600 is adapted and positioned with the splice seam 730, the welding unit 500 is always accurately located directly above the splice seam 730, effectively avoiding off-center welding and incomplete welding caused by angular deviation, and greatly improving the consistency of irregular staircase welding operations; The transverse unit 300 drives the welding unit 500 to move horizontally relative to the body 100 along the extension path of the splice seam 730, realizing a continuous dot matrix welding of the entire splice seam 730 in one go. This effectively avoids stress concentration and deformation caused by the superposition of repeated heat-affected zones at the joint, making the connection strength between the first L-shaped floor slab 710 and the second L-shaped floor slab 720 and the hollow frame more reliable, and improving the overall load-bearing stability of the staircase 700. The positioning unit 600 is located at the output end of the deflection unit 400 and can directly cooperate with the splice seam 730 to form a precise positioning. It forces the welding unit 500 to always be located directly above the current splice seam 730, thereby ensuring the centering accuracy before welding. With the adaptive angle adjustment of the deflection unit 400, the welding trajectory always accurately follows the actual splice seam 730 path, effectively suppressing the occurrence of defects such as misaligned welding, weld deviation, and poor lap joint. The climbing units 200 are symmetrically arranged on both sides of the body 100, which can directly drive the whole machine to climb the stairs 700 at an incline. Without the need to build external tracks, hoisting equipment or repeatedly carry the equipment manually, it can continuously move from the bottom of the stairs to the top and complete the welding of each step's splice joint 730. This eliminates the auxiliary time of frequent site transfers and positioning in traditional operations, improves on-site construction efficiency, and reduces the intensity of manual labor and the risks of working at heights. This solution is suitable for splice joints 730 with consistent angles in regular straight stairs, and can also automatically adapt to the deflection angle changes caused by the fan-shaped end face of spiral stairs. This allows one welding robot to cover a variety of stair configurations, changing the current situation where spiral stairs rely on manual welding.

[0023] In one embodiment, please refer to Figure 3 The climbing unit 200 includes climbing frames 210 symmetrically arranged on both sides of the body 100. A drive wheel 220 is rotatably mounted at the center of the top of the climbing frame 210. A climbing motor (not shown in the figure) for driving the drive wheel 220 is provided inside the body 100. Support rollers 230 are symmetrically rotatably mounted at both ends of the bottom of the climbing frame 210. A track 240 is sleeved between the drive wheel 220 and the two sets of support rollers 230. A plurality of anti-slip protrusions 250 are equidistantly arranged on the track 240. A recessed portion adapted to each splicing seam 730 is provided between adjacent anti-slip protrusions 250. Specifically, the machine body 100 is placed on the stairs 700, and the bottom of the track 240 between the two sets of support rollers 230 contacts the stairs 700. At this time, the splicing points (i.e., splicing seams 730) of each set of first L-shaped floor plates 710 and second L-shaped floor plates 720 are all inserted into the corresponding recesses of the track 240. With the anti-slip effect of the anti-slip protrusions 250 (which can be made of soft materials such as rubber), the entire climbing unit 200 will not slip with the stairs 700 and fall during the climbing and welding pause process. The two sets of built-in climbing motors drive the drive wheels 220 on both sides to rotate, thereby driving the track 240 to move along the inclined upward stairs 700, so that the machine body 100 can climb step by step. When the staircase 700 is a regular straight structure, the drive wheels 220 on both sides can be controlled to rotate in the same direction at the same speed. When the staircase 700 is an irregular spiral structure, the speed difference between the drive wheels 220 on both sides can be adjusted to achieve the turning of the entire machine body 100, so that when it reaches the welding position, both tracks 240 can make smooth contact with the staircase 700, avoiding one track 240 from being suspended in the air and affecting the stability of the welding operation.

[0024] It should be noted that the anti-slip protrusions 250 and the recesses on the track 240 form a unique tooth-shaped profile. When the machine body 100 is placed on the stairs 700, the splicing seams 730 between the first L-shaped floor slabs 710 and the second L-shaped floor slabs 720 are precisely inserted into the corresponding recesses. With the flexible fit of the soft anti-slip protrusions 250, an embedded mechanical lock is formed between the climbing unit 200 and the stair step surface. This structure not only makes the climbing process stable, but also resists the downward trend of the whole machine along the inclined surface when welding is paused. The drive wheels 220 on both sides of the robot body 100 are driven by independent climbing motors. For irregular spiral stairs, the robot body 100 can smoothly turn by adjusting the speed difference between the two sides in real time. This allows the robot to autonomously adjust its direction of travel on spiral steps with constantly changing curvature. It ensures that the recessed parts at the bottom of the tracks 240 on both sides are always aligned and engaged with the splice seam 730 of the corresponding steps, and that both tracks 240 on both sides can make stable contact with the support surface of the stairs 700, avoiding instability and walking vibration caused by one track 240 being suspended in the air. The support rollers 230 symmetrically arranged at both ends of the bottom of the climbing frame 210, together with the top drive wheel 220, tension the track 240, forming a walking load-bearing system with a large ground contact area and uniform pressure distribution. Multiple sets of support rollers 230 continuously contact the tread surface of the stair 700 during movement. Even when facing steep slopes or deviations in step size, the whole machine can maintain stable step-by-step climbing, avoiding pitching and swaying. This ensures that the reference constant is maintained during the operation of the subsequent lateral movement unit 300, deflection unit 400 and welding unit 500, and makes the dot matrix welding free from the interference of the machine body 100 micro-movements, effectively improving the accuracy and consistency of the weld.

[0025] In yet another embodiment, please refer to Figure 4 and Figure 5 The transverse unit 300 includes a groove 310 formed at the forward end of the body 100, a slide rail 320 is transversely arranged in the groove 310, a transverse frame 330 is slidably installed in the slide rail 320, and a slider 340 is provided on the transverse frame 330 to slide and adapt to the slide rail 320; a transverse motor 350 is also installed on one side of the body 100, and a lead screw 360 is connected to the output end of the transverse motor 350, and the lead screw 360 is threadedly connected to the transverse frame 330; Specifically, by driving the lead screw 360 to rotate via the transverse motor 350, the slider 340 on the transverse frame 330 can be driven to slide laterally along the slide rail 320, thereby realizing the transverse feed of the transverse frame 330; when the welding unit 500 reaches directly above the corresponding splice seam 730, the transverse feed of the transverse frame 330 drives the welding unit 500 as a whole to move along the extension path of the splice seam 730, thereby realizing the dot matrix welding operation of the splice seam 730.

[0026] It is worth noting that the transverse motor 350 drives the lead screw 360 to rotate. Through the threaded connection between the lead screw 360 and the transverse frame 330, the rotational motion is precisely converted into the linear feed of the transverse frame 330 along the slide rail 320. This enables the welding unit 500 to achieve uniform and stable transverse scanning along the extension path of the splice seam 730, thereby ensuring that the spacing between each weld point is uniform and the penetration depth is consistent. This effectively avoids defects such as inconsistent weld point size, incomplete welding, or weld penetration caused by fluctuations in the feed speed. The main structure of the transverse unit 300 is transversely opened in the groove 310 at the forward end of the machine body 100. The slide rail 320 and the slider 340 are embedded, so that the center of gravity of the welding moving parts is close to the body of the machine body 100, which reduces the additional overturning moment generated when the transverse frame 330 extends laterally. Especially when performing large-angle deflection welding of spiral stairs, it can effectively suppress the tilt and vibration of the whole machine and ensure that the two side tracks 240 are always stably attached to the stairs 700. The transverse frame 330 moves laterally along the slide rail 320 via the slider 340, which not only directly drives the welding unit 500 to move, but also serves as the installation and bearing reference for the deflection unit 400. During the transverse movement, the deflection unit 400 can adaptively deflect according to the real-time angle change of the splice seam 730. The two movements do not interfere with each other and the reference is unified, which fundamentally ensures that the positioning unit 600 is always effectively positioned and the welding unit 500 is aligned in real time, adapting to the continuous automatic welding requirements of complex variable angle welds of spiral staircases.

[0027] Further, please refer to Figure 4 and Figure 6 The deflection unit 400 includes a deflection platform 410 rotatably mounted on the transverse frame 330, and the deflection platform 410 is provided with a pivot pin 420 that is adapted to the rotation of the transverse frame 330. Please see Figure 7 The deflection table 410 has a longitudinal groove 430 on its bottom surface. A slide table 440 is slidably embedded in the longitudinal groove 430. The welding unit 500 and the positioning unit 600 are both disposed on the slide table 440. A guide rod 450 is also longitudinally disposed in the longitudinal groove 430, penetrating the slide table 440. A spring 460 is movably sleeved on the guide rod 450. The spring 460 is located on the side of the slide table 440 closer to the machine body 100. Specifically, under the elastic force of the spring 460, the slide table 440 always moves along the longitudinal slide groove 430 toward the side away from the machine body 100 (i.e. toward the forward end of the machine body 100). In this way, no matter how the horizontal deflection angle of the splice seam 730 of the spiral staircase 700 changes, the positioning unit 600 can always be pressed against the splice seam 730. Thus, the precise positioning of the welding unit 500 is achieved through the adaptation of the positioning unit 600 and the splice seam 730. When the positioning unit 600 and the welding unit 500 move along the extension path of the splice seam 730 under the drive of the transverse unit 300, the deflection table 410 can also adaptively deflect around the pivot pin 420 to avoid interference with the displacement of the positioning unit 600.

[0028] It should be noted that the slide table 440 is guided by the guide rod 450 within the longitudinal slide groove 430 and continuously pushed towards the forward direction of the body 100 under the elastic force of the spring 460, so that the positioning unit 600 always presses against the splice joint 730 with a stable elastic force. No matter if there is slight unevenness on the stair step surface or changes in the depth of the splice joint 730, the positioning unit 600 can fit tightly and compensate for displacement deviation in real time, ensuring that the relative positional relationship between the welding unit 500 and the splice joint 730 is always accurate and consistent, and eliminating the misalignment and incomplete welding caused by slight gaps. The deflection table 410 is rotatably mounted on the transverse frame 330 via the pivot pin 420, forming a free-rotating pair. When the transverse unit 300 drives the slide table 440 to move laterally along the splice seam 730, if the horizontal deflection angle of the splice seam 730 changes, the deflection table 410 will be passively rotated around the pivot pin 420 under the constraint of the positioning unit 600 and the splice seam 730 to adapt to the angle change, so that the welding robot can seamlessly adapt to the gradual or abrupt angle welds on any fan-shaped end face of the spiral staircase. When the positioning unit 600 is forcibly guided by the splice seam 730, the slide table 440 can freely extend and retract along the longitudinal slide groove 430, and the deflection table 410 can freely swing around the pivot pin 420. The entire welding unit 500 and the positioning unit 600 follow the weld seam trajectory without causing motion interference or jamming, ensuring the smoothness of the welding process and the real-time accuracy of the positioning. No matter how the deflection table 410 self-adapts to deflection or how the slide table 440 floats, the weld point always maintains a fixed and precise relative relationship with the positioning point, thereby ensuring the tight fit between the dot matrix weld seam trajectory and the splice seam 730.

[0029] In further embodiments, please refer to Figure 6 and Figure 7 The welding unit 500 includes a mounting bracket 510 fixed on the slide table 440, and a welding torch 520 is provided on the mounting bracket 510; when the positioning unit 600 is adapted to the corresponding splice seam 730, the welding torch 520 is located directly above the splice seam 730. The mounting bracket 510 is also provided with an arc-shaped cover 530 for covering the welding torch 520, and the arc-shaped cover 530 has a notch on one side.

[0030] Specifically, when the positioning unit 600 positions the splice seam 730, the welding torch 520 and the mounting bracket 510 also move synchronously with the positioning unit 600, so that the welding torch 520 is always directly above the splice seam 730; when the welding torch 520 performs dot matrix welding on the splice seam 730, the arc-shaped cover 530 can cover the welding torch 520 to prevent the external environment from affecting the normal welding of the welding torch 520, and at the same time block the arc light and fumes generated during the welding process of the welding torch 520.

[0031] It is worth noting that the welding torch 520 is directly fixed to the slide table 440 through the mounting bracket 510, forming a rigid connection with the positioning unit 600 without relative movement. When the positioning unit 600 is matched and positioned with the splice seam 730, the welding torch 520 is just above the splice seam 730. The arc-shaped cover 530 installed on the mounting frame 510 semi-encloses the welding torch 520. During the welding process, the arc-shaped cover 530 can block the direct impact of random airflow, dust and spatter from adjacent processes on the electric arc and molten pool, improving the stability of the electric arc and the quality of the weld formation. At the same time, the arc-shaped cover 530 confines the welding arc light inside the cover, greatly reducing the glare hazards to the operator and surrounding equipment. It also captures and guides the welding fumes nearby, creating favorable conditions for subsequent centralized dust removal and improving the on-site working environment. The notch on one side of the arc-shaped cover 530 provides space for the wire feeding of the welding torch 520 nozzle and the smooth escape of the shielding gas, avoiding gas turbulence and overheating caused by the formation of a closed cavity. At the same time, the notch retains the necessary visual and sensor field of view windows, allowing the operator to observe the molten pool status and weld formation in real time during the welding process without having to stop the machine and close the protective cover, ensuring online controllability of welding quality and traceable adjustment of process parameters. The welding unit 500 is installed on the slide table 440, which has the longitudinal elastic floating capability of the slide table 440 along the guide rod 450 and the horizontal adaptive deflection capability of the deflection table 410. Therefore, the welding torch 520 can closely fit the stair step surface in the longitudinal direction together with the positioning unit 600, and automatically adjust its direction according to the horizontal deflection of the splice seam 730, so that the movement trajectory of the welding torch 520 always fits the direction of the splice seam 730, and the weld point is accurately placed on the splice seam 730, without the weld being misaligned due to the geometric deformation or sudden angle change of the stair.

[0032] Further, please refer to Figure 6 and Figure 7The positioning unit 600 includes connecting rods 610 symmetrically fixed on both sides of the slide table 440. An L-shaped positioning block 630 adapted to the splice seam 730 is fixedly installed on the connecting rod 610 through a bracket 620. A first roller 640 adapted to the first L-shaped floor slab 710 and a second roller 650 adapted to the second L-shaped floor slab 720 are respectively rotatably installed on the vertical end face of the L-shaped positioning block 630. Specifically, please refer to Figure 8 and Figure 9 When the slide table 440 slides forward under the elastic force of the spring 460, it can drive the L-shaped positioning blocks 630 on both sides to abut against the joint of the adjacent first L-shaped floor slab 710 and second L-shaped floor slab 720. The first roller 640 rolls in contact with the side of the first L-shaped floor slab 710, and the second roller 650 rolls in contact with the upper surface of the second L-shaped floor slab 720. Since the L-shaped positioning blocks 630 on both sides are stuck at the joint 730, it ensures that the welding torch 520 in the center is exactly above the joint 730. When the transverse unit 300 drives the welding torch 520 to move laterally, the L-shaped positioning blocks 630 on both sides also move along the joint. The extension path of the splice seam 730 rolls, thereby ensuring that the welding torch 520 is always directly above the current splice seam 730 and the distance between it and the splice seam 730 is constant, thus ensuring the consistency and stability of the dot matrix welding effect. When a splice seam 730 is welded, the climbing unit 200 drives the body 100 to climb up the stairs 700. The elastic telescopic sliding range of the slide table 440 can disengage the L-shaped positioning block 630 from the current splice seam 730. When the next splice seam 730 is reached, the L-shaped positioning blocks 630 on both sides can be positioned and matched with the splice seam 730 again under the elastic force of the spring 460.

[0033] It should be noted that the two L-shaped positioning blocks 630 straddle the splice joint 730 respectively, and the first roller 640 on them rolls in contact with the side of the first L-shaped floor slab 710 to provide a lateral positioning reference; the second roller 650 rolls in contact with the upper surface of the second L-shaped floor slab 720 to provide a height positioning reference; the two sets of rollers continuously roll along the extension path of the splice joint 730 during the lateral movement, which not only ensures the accurate positioning of the welding gun 520 in the lateral and height dimensions of the splice joint 730, but also avoids sliding wear and movement jamming; The two L-shaped positioning blocks 630 are symmetrically fixed on the slide table 440 by the connecting rod 610 and the bracket 620. Since the welding torch 520 is located on the symmetrical center line of the two positioning blocks, the L-shaped positioning blocks 630 are engaged and positioned, so the welding torch 520 is just above the splice seam 730. The first roller 640 rolls along the side of the first L-shaped floor slab 710 to constrain the lateral position of the welding torch 520. The second roller 650 rolls along the upper surface of the second L-shaped floor slab 720 to constrain the vertical height of the welding torch 520. When the transverse unit 300 drives the welding torch 520 to move laterally, regardless of whether there are local bumps or depressions on the stair step surface or the path of the splice seam 730 is deflected, the second roller 650 always rolls close to the step surface, forcing the welding torch 520 to maintain a constant distance from the step surface. This ensures that the arc length, heat input and molten pool shape are highly consistent during the dot matrix welding process, effectively avoiding defects such as uneven weld size and different penetration depth caused by height fluctuations, and ensuring the uniformity of the appearance and internal quality of the entire weld. The slide table 440 can elastically extend and retract within the longitudinal slide groove 430. When the climbing unit 200 drives the body 100 to climb upward, the rise of the stair step causes the L-shaped positioning block 630 to overcome the elastic force of the spring 460 and retract smoothly from the current splice seam 730. When the next step is reached, the spring 460 pushes the slide table 440 out again, and the L-shaped positioning blocks 630 on both sides automatically engage in the new splice seam 730, realizing a continuous "climbing-positioning-welding" cycle, which improves the continuity of operation and the degree of automation. As the first roller 640 and the second roller 650 roll along the splice seam 730, they sense the change in the horizontal deflection angle of the splice seam 730 in real time, and transmit this constraint force to the slide table 440 and the deflection table 410 through the connecting rod 610. Under the action of this constraint force, the deflection table 410 passively deflects around the pivot pin 420, so that the guide of the positioning unit 600 and the angle of the deflection unit 400 follow each other to form a closed loop, so that the welding torch 520 can automatically track the spatial direction of the splice seam 730 in the spiral staircase variable angle welding.

[0034] The specific embodiments of the present invention have been described above. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention, all of which are within the protection scope of the present invention.

Claims

1. An intelligent welding robot, used for welding the joint (730) of the first L-shaped floor slab (710) and the second L-shaped floor slab (720) in a staircase (700), characterized in that, include: Body (100); Climbing unit (200), which is symmetrically arranged on both sides of the body (100), is used to drive the body (100) to climb upward along the stairs (700) at an incline; Welding unit (500), which is located at the forward end of the body (100), is used to perform dot matrix welding on the splice seams (730) along the way; A lateral movement unit (300), which is disposed on the body (100), is used to drive the welding unit (500) to move laterally relative to the body (100) along the extension path of the splice seam (730); A deflection unit (400) is disposed at the output end of the transverse unit (300) and is used to adaptively deflect horizontally relative to the transverse unit (300) according to the horizontal deflection angle of the splice seam (730); A positioning unit (600), located at the output of the deflection unit (400), is used to position the splice seam (730) so that the welding unit (500) is always directly above the current splice seam (730).

2. The intelligent welding robot according to claim 1, characterized in that, The climbing unit (200) includes climbing frames (210) symmetrically arranged on both sides of the body (100). A drive wheel (220) is rotatably installed at the center of the top of the climbing frame (210). A climbing motor for driving the drive wheel (220) is provided inside the body (100). Support rollers (230) are symmetrically rotatably installed at both ends of the bottom of the climbing frame (210). Tracks (240) are sleeved between the drive wheel (220) and the two sets of support rollers (230).

3. The intelligent welding robot according to claim 2, characterized in that, The track (240) is provided with a number of anti-slip protrusions (250) at equal intervals, and a recessed part adapted to each splice seam (730) is provided between adjacent anti-slip protrusions (250).

4. The intelligent welding robot according to claim 1, characterized in that, The transverse unit (300) includes a groove (310) formed at the forward end of the body (100), a slide rail (320) is arranged transversely in the groove (310), a transverse frame (330) is slidably installed in the slide rail (320), and a slider (340) is provided on the transverse frame (330) to be slidably adapted to the slide rail (320); a transverse motor (350) is also installed on one side of the body (100), and a lead screw (360) is connected to the output end of the transverse motor (350), and the lead screw (360) is threadedly connected to the transverse frame (330).

5. The intelligent welding robot according to claim 4, characterized in that, The deflection unit (400) includes a deflection table (410) rotatably mounted on the transverse frame (330), and the deflection table (410) is provided with a pivot pin (420) adapted to the rotation of the transverse frame (330).

6. The intelligent welding robot according to claim 5, characterized in that, The deflection table (410) has a longitudinal groove (430) on its bottom surface. A slide table (440) is slidably embedded in the longitudinal groove (430). The welding unit (500) and the positioning unit (600) are both set on the slide table (440). A guide rod (450) is also longitudinally arranged in the longitudinal groove (430) and passes through the slide table (440). A spring (460) is movably sleeved on the guide rod (450). The spring (460) is located on the side of the slide table (440) close to the body (100).

7. The intelligent welding robot according to claim 6, characterized in that, The welding unit (500) includes a mounting bracket (510) fixed on a slide table (440), and a welding torch (520) is provided on the mounting bracket (510); when the positioning unit (600) is adapted to the corresponding splice seam (730) for positioning, the welding torch (520) is located directly above the splice seam (730).

8. The intelligent welding robot according to claim 7, characterized in that, The mounting bracket (510) is also provided with an arc-shaped cover (530) for covering the welding torch (520), and a notch is provided on one side of the arc-shaped cover (530).

9. The intelligent welding robot according to claim 6, characterized in that, The positioning unit (600) includes connecting rods (610) symmetrically fixed on both sides of the slide (440), and L-shaped positioning blocks (630) adapted to the splice seam (730) are fixedly installed on the connecting rods (610) by brackets (620).

10. The intelligent welding robot according to claim 9, characterized in that, The vertical end face of the L-shaped positioning block (630) is respectively equipped with a first roller (640) that is adapted to the first L-shaped floor slab (710) and a second roller (650) that is adapted to the second L-shaped floor slab (720).

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