A magnetic wheel adsorption windproof robot

Abstract

The application belongs to the technical field of high-altitude steel structure welding, and discloses a magnetic wheel adsorption windproof robot, which solves the technical problems of poor windproof effect and high cost of the windproof equipment of the high-altitude steel structure welding device in the prior art. The windproof robot comprises a mounting frame, a magnetic adsorption walking assembly with magnetic adsorption capacity, a windproof assembly, a deviation rectifying assembly, a monitoring module and a control module. The mounting frame is provided with a placing cavity, the magnetic adsorption walking assembly is rotatably installed at the bottom end of the mounting frame, the windproof assembly is arranged at the top end and the bottom end of the mounting frame, one end of the deviation rectifying assembly is connected to the side wall of the mounting frame, the monitoring module is arranged in the mounting frame, and the control module is arranged in the mounting frame and electrically connected with the magnetic adsorption walking assembly, the windproof assembly, the deviation rectifying assembly and the monitoring module. In this way, through the cooperative matching of magnetic adsorption walking, windproof, active deviation rectifying and environment monitoring, synchronous following of the welding device is realized, so that stable and reliable windproof protection is provided for outdoor steel structure welding.

Description

Technical Field

[0001] This invention belongs to the field of high-altitude steel structure welding technology, specifically relating to a magnetic wheel adsorption windproof robot. Background Technology

[0002] In today's industrial production and engineering construction scenarios, various core infrastructures and factory areas contain a large number of critical facilities and equipment in operation. For example, in infrastructure projects such as nuclear power pressure vessels, cross-sea bridges, offshore wind turbine towers, oil and gas storage tanks, and high-rise steel structures, the construction quality of the steel structure welds directly determines the overall structural safety and stability throughout its entire lifecycle. These projects are typically constructed outdoors, often facing complex environments with strong winds and frequent gusts. Wind disturbances can cause the loss of welding shielding gas and unstable arc combustion, leading to various serious welding defects such as porosity, lack of fusion, and oxide inclusions in the welds. These defects are unacceptable in the industry, usually requiring the entire defective weld to be removed and re-welded. This not only results in significant waste of materials and time but may also cause serious delays in key project milestones. Under high pressure, corrosive, or dynamic load conditions, these weld defects are even more likely to become potential causes of catastrophic safety accidents such as structural cracking and media leakage.

[0003] Currently, wind protection operations in the industry still mainly rely on manually erected fixed windbreaks and localized wind deflectors. This method has three systemic shortcomings. First, it is severely out of sync with the rhythm of automated welding operations. When welding robots are in continuous movement, manually erected wind protection facilities cannot keep up, resulting in intermittent gaps in wind protection and making it difficult to effectively guarantee the consistency of weld quality. Second, the overall operating costs remain high. For welding operations on large and complex structures such as curved tanks and tall towers, the time spent on the construction, dismantling, and transportation of wind protection facilities accounts for more than 40% of the total auxiliary welding time. In some projects, the costs related to materials, labor, and schedule even exceed the investment in the welding operation itself. Third, the operation process lacks controllability. Traditional wind protection methods cannot monitor changes in on-site wind conditions and the effectiveness of gas protection in the welding area in real time. Welding quality risks can only be identified through post-weld inspection, which results in a significant lag in problem detection, and the time and economic costs of subsequent repairs increase substantially. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned shortcomings in the prior art by providing a magnetic wheel adsorption windproof robot, thereby solving the technical problems of poor windproof effect and high cost of existing windproof equipment for high-altitude steel structure welding devices.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A magnetic wheel adsorption windproof robot includes a mounting frame, a magnetically attracted walking component, a windproof component, a correction component, a monitoring module, and a control module. The mounting frame has a placement cavity for placing a welding device. The magnetically attracted walking component is rotatably mounted on the bottom end of the mounting frame and is configured to drive the mounting frame to move along the outer wall of a steel structure. The windproof component is disposed at the top and bottom ends of the mounting frame. One end of the correction component is connected to the side wall of the mounting frame and is used to detect the movement trajectory of the magnetically attracted walking component. The monitoring module is disposed within the mounting frame and is used to monitor and adjust the welding environment within the mounting frame. The control module is disposed within the mounting frame, and the magnetically attracted walking component, the windproof component, the correction component, and the monitoring module are all electrically connected to the monitoring module.

[0006] With the above structure, when using the magnetic wheel adsorption windproof robot provided by this invention, the magnetic walking component with magnetic attraction capability installed at the bottom directly adheres to the outer wall of the steel structure. The welding end of the welding device extends into the placement cavity. Under the command of the control module, the magnetic walking component moves, driving the entire mounting frame to move synchronously circumferentially along the surface of the steel structure with the welding device. At the same time, the correction component connected to the side wall of the mounting frame always abuts against the inner wall of the flexible track of the welding device, ensuring that it does not deviate from the track. The windproof component blocks the interference of external airflow on the welding shielding gas, ensuring that the welding operation is not affected by wind. Meanwhile, the monitoring module continuously collects welding environment data throughout the operation and feeds it back to the control module. The control module then adjusts the environmental parameters in the placement cavity through the monitoring module to achieve integrated operation of the windproof robot's walking, windproofing, automatic correction, and environmental monitoring and adjustment.

[0007] Furthermore, the magnetic walking assembly includes a first driving component, a reducer, a coupling, a rotating shaft, and a magnetic wheel. One end of the first driving component is detachably mounted on the inner side wall of the mounting bracket. One end of the reducer is connected to the other end of the first driving component. One end of the rotating shaft is connected to the other end of the reducer, and the magnetic wheel is connected to the other end of the rotating shaft. The number of magnetic walking components is multiple, and the multiple magnetic walking components are evenly arranged on the opposite side walls of the mounting frame.

[0008] In this way, when the magnetic walking assembly is working, the first driving component outputs rotational torque, which is amplified by the reducer and then transmitted to the coupling. The coupling then drives the rotating shaft to rotate, ultimately causing the magnetic wheel connected to the end of the shaft to rotate synchronously. At the same time, the magnetic wheel adheres tightly to the surface of the steel structure due to its strong magnetic attraction, enabling the magnetic wheel adsorption windproof robot provided by this invention to walk on the outer surface of the steel structure. Multiple sets of magnetic walking assemblies are evenly arranged on opposite side walls of the mounting frame. On the one hand, this provides sufficient driving torque and adsorption force to ensure that the windproof robot has enough power to overcome load and wind resistance. On the other hand, the symmetrical layout ensures stable walking. When the control module issues a differential speed command, the magnetic walking assemblies on both sides rotate at different speeds, using the wheel speed difference to achieve steering or posture adjustment, allowing the robot to flexibly adapt to curved tubes.

[0009] Furthermore, a protective cover is included, disposed on the inner side wall of the mounting bracket and covering the first drive component, the reducer, and the coupling. In this way, the protective cover acts as a heat barrier, blocking the direct impact of welding arc light and high-temperature heat radiation on the transmission components. Simultaneously, the protective cover also prevents welding spatter, metal dust, and other foreign objects from entering the mating gaps between the drive component and the transmission components, avoiding jamming or wear.

[0010] Furthermore, the windproof assembly includes a second driving component, a mounting block, a lead screw, a slider, a frame, a windproof cloth, and a windproof brush. One end of the second driving component and one end of the mounting block are both mounted on the outer side wall of the mounting frame, and the second driving component and the mounting block are spaced apart along a first direction. One end of the lead screw is connected to the other end of the second driving component, and the other end of the lead screw is rotatably mounted on the mounting block. The slider is screwed onto the lead screw, and the side of the slider near the mounting frame is in contact with the mounting frame. One end of the frame is connected to the top of the slider, and the other end of the frame is slidably inserted into the top of the mounting frame on the side opposite to the slider. The windproof cloth is disposed at the top of the mounting frame and covers the frame. The windproof brush is disposed on the bottom wall of the mounting frame.

[0011] With the above structure, the second driving component drives the lead screw to rotate, causing the slider attached to the mounting frame to move on the lead screw, thereby driving the frame to move synchronously and adjusting the position of the frame on the mounting frame to provide sufficient support for the windproof cloth. The windproof cloth prevents wind from entering the placement cavity from the top of the mounting frame. At the same time, the windproof brush set at the bottom of the mounting frame further blocks wind from entering the placement cavity from the bottom of the mounting frame.

[0012] Furthermore, the second driving component, the mounting block, the lead screw, the slider, and the frame constitute a set of windproof frames. There are two sets of windproof frames, which are symmetrically arranged on the outer side wall of the mounting frame. In this way, the two movable frames provide greater support for the windproof cloth to resist greater wind force.

[0013] Furthermore, the frame includes a first connecting rod, a second connecting rod, a semi-enclosed frame, a first L-shaped frame, and a second L-shaped frame. One end of the first connecting rod is connected to one end of the first L-shaped frame, and the axial direction of the first connecting rod is perpendicular to the plane where the first L-shaped frame is located. The other end of the first L-shaped frame is connected to one end of the semi-enclosed frame, and the semi-enclosed frame and the first L-shaped frame are located in the same plane. The other end of the semi-enclosed frame is connected to one end of the second L-shaped frame, and the other end of the second L-shaped frame is connected to one end of the second connecting rod. The second connecting rod and the first connecting rod are arranged parallel to each other. The openings of the two semi-enclosed frames in the two sets of windproof frames are arranged opposite each other.

[0014] In this way, the curved frame not only provides a wider support surface for the windproof cloth, but also, with the two semi-enclosed frame openings in the two sets of windproof frames facing each other, even when the two sets of frames move towards each other and close, there is still enough space for the placement and movement of the welding device.

[0015] Furthermore, the correction assembly includes a mounting base, a first connecting rod, a bottom contact wheel, a second connecting rod, a third connecting rod, a guide wheel, an angle wheel, an angle sensor, and an adjustment mechanism. The mounting base is detachably mounted on the outer side wall of the mounting frame. One end of the first connecting rod is rotatably mounted on the mounting base. The bottom contact wheel is rotatably mounted on the other end of the first connecting rod. One end of the second connecting rod is rotatably mounted on the first connecting rod. The middle part of the third connecting rod is rotatably mounted on the other end of the second connecting rod. The guide wheel is rotatably mounted on the middle part of the third connecting rod. There are two angle wheels, which are rotatably mounted on both ends of the third connecting rod. The angle sensor is installed at the connection between the second connecting rod and the third connecting rod. The number of adjustment mechanisms is two, namely a first adjustment mechanism and a second adjustment mechanism. The first adjustment mechanism is installed at the connection between the mounting base and the first connecting rod, and is used to adjust the angle between the mounting base and the first connecting rod. The second adjustment mechanism is installed at the connection between the first connecting rod and the second connecting rod, and is used to adjust the angle between the first connecting rod and the second connecting rod.

[0016] With the above structure, when the correction component is working, the bottom-contact wheel at the end of the first link presses against the surface of the steel structure and rolls up and down with the undulations of the steel structure, providing a vertical positioning reference for the component. The first adjustment mechanism allows adjustment of the angle between the second and first links, thereby changing the contact height of the bottom-contact wheel, and thus the contact force between the bottom-contact wheel and the steel structure surface. Simultaneously, the guide wheel, rotatably mounted in the middle of the third link, always abuts against the inner wall of the welding device's track, providing horizontal guidance constraint. Two angle wheels are rotatably mounted at both ends of the third link and abut against the flexible track, sensing the angular attitude of the mounting frame relative to the track in real time. When an angular deviation occurs between the mounting frame and the track, the angle wheels transmit the deflection amount to the angle sensor through the third link. The angle sensor converts the angle difference into an electrical signal and sends it back to the control module. The control module then sends a correction command to the magnetic walking component to correct its trajectory.

[0017] Furthermore, the adjustment mechanism includes a first U-shaped component, a second U-shaped component, a protrusion, a round shaft, a screw block, a bolt, and an elastic element. The protrusion is disposed on the inner bottom wall of the second U-shaped component, and a round hole is formed on the side wall of the protrusion. The round shaft is rotatably inserted into the round hole, and both ends of the round shaft are respectively fixedly installed on the two opposite inner side walls of the first U-shaped component. The screw block is fixedly installed on the two opposite inner side walls of the first U-shaped component, and a screw hole is formed at one end of the screw block. The axis of the screw hole forms an angle α with the straight line containing the length direction of the first U-shaped component. The bolt is screwed into the screw hole, and one end of the bolt abuts against one of the inner side walls of the second U-shaped component. One end of the elastic element is fixedly installed on the outer side wall of the screw block, and the other end is fixedly installed on the other inner side wall of the second U-shaped component.

[0018] In this way, the arrangement of the circular shaft and the protrusion allows the two U-shaped parts to swing relative to each other around the circular shaft. When the bolt is rotated, the length of the bolt end extending beyond the bolted block changes synchronously, thereby pushing the second U-shaped part to swing around the circular shaft. The elastic element simultaneously undergoes elastic deformation and provides damping force. The amount of bolt screwing in corresponds to the opening angle of the two U-shaped parts. With this structure, the operator only needs to rotate the bolt to adjust the included angle between each connecting rod, and the elastic element ensures that the adjustment process is smooth and controllable. After adjustment, the angle is stable and will not loosen due to vibration.

[0019] Furthermore, the included angle α has a range of 30°≤α≤60°, so that within this angle range, the operator can easily and accurately complete the stepless adjustment of the linkage angle.

[0020] Furthermore, the monitoring module includes a visual monitoring module, a humidity monitoring module, a temperature monitoring module, and a lighting module. These sub-modules work collaboratively to form a complete environmental perception system. The visual monitoring module acquires image information of the welding area; the lighting module provides active supplementary lighting for visual monitoring; the humidity monitoring module monitors the air humidity inside the mounting frame in real time; and the temperature monitoring module continuously tracks the ambient temperature inside the mounting frame. All monitoring modules transmit the collected data to the control module for comprehensive analysis and processing, providing data support for the robot's autonomous operation and real-time adjustment of welding process parameters.

[0021] The magnetic wheel adsorption windproof robot provided by this invention has the following beneficial effects: 1. This invention uses a magnetic wheel adsorption walking mechanism to directly adsorb onto the outer wall of a steel structure to make circumferential movement, thereby realizing the autonomous walking of the windproof robot. It also uses a correction component to achieve synchronous operation with the welding device. At the same time, the windproof component reduces the probability of welding defects caused by wind, replacing the inefficient manual windproofing, significantly shortening the construction period and reducing costs. 2. This invention achieves synchronous movement with the track-guided welding device through a magnetic adsorption windproof robot trajectory correction mechanism. The bottom-contact wheel in the correction assembly always contacts the steel structure surface to provide a vertical positioning reference, the guide wheel always abuts against the inner wall of the flexible track to provide horizontal guiding constraints, and the two angle wheels contact the side of the track to sense the attitude changes of the mounting frame relative to the track in real time, ensuring that the windproof robot and the flexible track of the welding device are always in contact and within a certain degree of parallelism. 3. By setting up the monitoring module, real-time acquisition, feedback, and adjustment of environmental data during the welding process are achieved, reducing the impact of environmental factors on welding quality. Attached Figure Description

[0022] Figure 1 A schematic diagram of the structure of the magnetic wheel adsorption windproof robot provided in an embodiment of the present invention. Figure One ; Figure 2 A schematic diagram of the structure of the magnetic wheel adsorption windproof robot provided in an embodiment of the present invention. Figure Two ; Figure 3 A schematic diagram of the structure of the magnetic wheel adsorption windproof robot provided in an embodiment of the present invention. Figure Three ; Figure 4 A schematic diagram of the structure of the magnetic wheel adsorption windproof robot provided in an embodiment of the present invention. Figure Four ; Figure 5 This is a schematic diagram of the structure of the magnetic walking assembly provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the windproof component provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of the correction component provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the adjustment mechanism provided in an embodiment of the present invention; Figure 9 A cross-sectional view of the adjustment mechanism provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the structure of the protective cover provided in an embodiment of the present invention.

[0023] The attached diagram shows the markings and corresponding component names: 100. Mounting bracket; 110. Placement cavity; 200. Magnetic walking assembly; 210. First drive component; 220. Reducer; 230. Coupling; 240. Rotating shaft; 250. Magnetic wheel; 300. Protective cover; 400. Windproof assembly; 410. Second drive component; 420. Mounting block; 430. Lead screw; 440. Slider; 450. Frame; 451. First connecting rod; 452. Second connecting rod; 453. Semi-enclosed frame; 454. First L-shaped frame; 455. Second L-shaped frame; 4 60. Windproof cloth; 470. Windproof brush; 500. Correction assembly; 510. Mounting base; 520. First connecting rod; 530. Bottom contact wheel; 540. Second connecting rod; 550. Third connecting rod; 560. Guide wheel; 570. Angle wheel; 580. Angle sensor; 590. Adjustment mechanism; 591. First U-shaped component; 592. Second U-shaped component; 593. Protrusion; 594. Round shaft; 595. Screw block; 596. Bolt; 597. Elastic component; 600. Welding device; 700. Steel structure. Detailed Implementation

[0024] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0025] Example The magnetic wheel adsorption windproof robot provided in this embodiment is used to solve the technical problems of poor windproof effect and high cost of existing windproof equipment for high-altitude steel structure welding devices. The magnetic wheel adsorption windproof robot includes a mounting frame 100, a magnetic suction walking component 200 with magnetic attraction capability, a windproof component 400, a correction component 500, a monitoring module, and a control module. The mounting frame 100 is formed by four square plates connected end to end in sequence, and the mounting frame 100 has a placement cavity 110 for accommodating the welding end of the welding device 600. The magnetic suction walking component 200 is rotatably mounted at the bottom end of the mounting frame 100 and is configured to drive the mounting frame 100 to move along the outer wall of the steel structure 700. The windproof component 400 is located at the top and bottom ends of the mounting frame 100. One end of the correction component 500 is connected to the side wall of the mounting frame 100. The monitoring module is located inside the mounting frame 100 and is used to monitor and adjust the welding environment inside the mounting frame 100. The control module is located inside the mounting frame 100, and the magnetic suction walking component 200, the windproof component 400, the correction component 500, and the monitoring module are all electrically connected to the monitoring module.

[0026] When using the magnetic wheel adsorption windproof robot provided in this embodiment, the magnetic adsorption walking component 200 at the bottom of the mounting frame 100 directly adsorbs onto the outer surface of the steel structure 700. The strong magnetic force of the magnetic wheel 250 ensures that the robot can be firmly attached to curved or inclined surfaces without falling. After the welding device 600 is installed on the outer surface of the steel structure 700 via a flexible track, the welding end of the welding device 600 extends into the placement cavity 110 of the mounting frame 100 through the top of the mounting frame 100. In this way, the windproof robot and the welding device 600 form a parallel and collaborative layout. The magnetic adsorption walking component 200 moves under the command of the control module, driving the entire mounting frame 100 to move circumferentially along the surface of the steel structure 700, achieving synchronous movement with the welding device 600. Meanwhile, the correction component 500, connected to the side wall of the mounting frame 100, always rests against the inner wall of the flexible track of the welding device 600, providing constraint for the robot and ensuring it does not deviate from the track. During movement, the correction component 500 continuously monitors the parallelism between the windproof robot and the flexible track, feeding the data back to the control module. The control module then sends commands to the magnetic walking components 200 on both sides based on the data, using the speed difference of the different magnetic wheels 250 to generate a steering torque, pulling the mounting frame 100 back to the correct parallel posture with the track. This ensures that the windproof robot will not affect the windproof effect or hinder the movement of the welding device 600 due to deviation. The windproof components 400, located at the upper and lower ends of the mounting frame 100, create a windproof space above the welding area, ensuring the welding area is not affected by wind. The monitoring module continuously collects welding environment data throughout the operation and feeds it back to the control module. The control module then adjusts the environmental parameters within the placement cavity 110 through the monitoring module, achieving integrated operation of the windproof robot's movement, windproofing, automatic correction, and environmental monitoring and adjustment. In this way, the magnetic wheel adsorption windproof robot provided in this embodiment achieves synchronous following with the welding device 600 through the coordinated cooperation of magnetic walking, windproofing, active correction and environmental monitoring, thereby providing stable and reliable windproof protection for the welding of outdoor steel structure 700, replacing the fixed windproofing built manually, greatly shortening the construction period and reducing costs.

[0027] The magnetic walking assembly 200 includes a first drive component 210, a reducer 220, a coupling 230, a rotating shaft 240, and a magnetic wheel 250. One end of the first drive component 210 is fixedly installed on the inner side wall of the mounting frame 100. The first drive component 210 is used to provide a rotational power source. Optionally, the first drive component 210 can be detachably installed on the inner side wall of the mounting frame 100 by means of a right-angle plate and multiple bolts 596, which facilitates the disassembly and replacement of the first drive component. One end of the reducer 220 is connected to the other end of the first drive component 210, one end of the rotating shaft 240 is connected to the other end of the reducer 220, and the magnetic wheel 250 is connected to the other end of the rotating shaft 240. With the above structure, when the magnetic walking assembly 200 is working, the first drive component 210 outputs rotational torque, which is amplified by the reducer 220 and transmitted to the coupling 230. The coupling 230 then drives the rotating shaft 240 to rotate, which in turn drives the magnetic wheel 250 connected to the end of the rotating shaft 240 to rotate. The magnetic wheel 250 is tightly attracted to the surface of the steel structure 700 by strong magnetic attraction, thereby converting the rotational motion into the linear or circumferential movement of the mounting frame 100 along the outer wall of the steel structure 700.

[0028] Optionally, the number of magnetic walking components 200 is multiple, and these multiple magnetic walking components 200 are evenly arranged on opposite side walls of the mounting frame 100. Optionally, the number of magnetic walking components 200 is four sets, and the four sets of magnetic walking components 200 are evenly arranged on opposite side walls of the mounting frame 100, with the four sets of magnetic walking components 200 located at the four vertices of the same rectangle. This not only provides sufficient driving torque to ensure that the robot has enough power and attraction force to overcome load and wind resistance, but also ensures stable walking through the symmetrical layout. When the control module issues a differential speed command, the magnetic walking components 200 on both sides rotate at different speeds, using the wheel speed difference to achieve steering or posture adjustment, enabling the robot to flexibly adapt to the outer surface of the curved tube.

[0029] Optionally, a protective cover 300 is also included, which is disposed on the inner side wall of the mounting bracket 100 and covers the first drive component 210, the reducer 220 and the coupling 230. Optionally, the protective cover 300 includes a side plate and a top plate, with the top plate fixedly installed on the top of the side plate. The two ends of the protective cover 300 are respectively installed on the two opposite inner side walls of the mounting bracket 100, covering the first drive component 210, the reducer 220 and the coupling 230 inside the protective cover 300. In this way, the protective cover 300 can not only act as a heat insulation barrier to block the direct impact of welding arc light and high temperature heat radiation on the transmission components, but also prevent welding spatter, metal dust and other foreign objects from entering the mating gap between the drive component and the transmission component, avoiding jamming or wear.

[0030] The windproof assembly 400 includes a second drive member 410, a mounting block 420, a lead screw 430, a slider 440, a frame 450, a windproof cloth 460, and a windproof brush 470. One end of the second drive member 410 and the mounting block 420 are both mounted on the outer side wall of the mounting frame 100, and the second drive member 410 and the mounting block 420 are spaced apart along a first direction. One end of the lead screw 430 is connected to the other end of the second drive member 410, and the other end of the lead screw 430 is rotatably mounted on the mounting block 420. The slider 440 is screwed onto the lead screw 430, and the side of the slider 440 closest to the mounting frame 100 is in contact with the mounting frame 100. One end of the frame 450 is connected to the top of the slider 440, and the other end of the frame 450 is slidably inserted into the top of the mounting frame 100 on the side opposite to the slider 440. Optionally, the mounting frame 100 and the slider 440... The side wall that is in contact with the frame 450 is the first side wall, and the side of the mounting frame 100 opposite to the first side wall is the second side wall. The top of the second side wall has a groove adapted to the frame 450. The other end of the frame 450 is slidably inserted into the groove. In this way, the other end of the frame 450 is limited by the groove, so as to prevent the other end of the frame 450 from shifting or detaching from the top of the second side wall during movement. The windproof cloth 460 is set on the top of the mounting frame 100 and covers the frame 450. Optionally, the windproof cloth 460 is a structural component made of transparent material, and the top of the windproof cloth 460 has an opening through which the welding end of the welding device 600 passes. The opening is provided with a seal for opening and closing the opening. The seal can be a zipper or an elastic cord. The windproof brush 470 is set on the bottom wall of the mounting frame 100.

[0031] In this way, the windproof cloth 460 prevents wind from entering the placement cavity 110 from the top of the mounting frame 100. At the same time, the windproof brush 470 at the bottom of the mounting frame 100 further blocks wind from entering the placement cavity 110 from the bottom of the mounting frame 100. The frame 450 provides support for the windproof cloth 460, preventing it from collapsing into the mounting frame 100 under strong winds, thus hindering the welding operation of the welding device 600. The second drive member 410 provides stable rotational power to drive the lead screw 430 to rotate. Since one side of the slider 440 is in contact with the side wall of the mounting frame 100, when the lead screw 430 rotates, the slider 440 screwed onto the lead screw 430 can make linear reciprocating motion on the lead screw 430, thereby driving the frame 450 mounted on the slider 440 to make linear reciprocating motion synchronously, thereby achieving the purpose of adjusting the position of the frame 450.

[0032] The second drive component 410, mounting block 420, lead screw 430, slider 440, and frame 450 form a set of windproof frames. There are two sets of windproof frames, which are symmetrically arranged on the outer side wall of the mounting frame 100. In this way, the two movable frames 450 provide greater support for the windproof cloth 460 to resist greater wind force.

[0033] Optionally, the first drive unit 210 and the second drive unit 410 are motors, and both the first drive unit 210 and the second drive unit 410 are electrically connected to the control module. The motors can provide stable rotational power and are easy to control.

[0034] The frame 450 includes a first connecting rod 451, a second connecting rod 452, a semi-enclosed frame 453, a first L-shaped frame 454, and a second L-shaped frame 455. One end of the first connecting rod 451 is connected to one end of the first L-shaped frame 454, and the axial direction of the first connecting rod 451 is perpendicular to the plane where the first L-shaped frame 454 is located. The other end of the first L-shaped frame 454 is connected to one end of the semi-enclosed frame 453, and the semi-enclosed frame 453 and the first L-shaped frame 454 are located in the same plane. The other end of the semi-enclosed frame 453 is connected to one end of the second L-shaped frame 455, and the other end of the second L-shaped frame 455 is connected to one end of the second connecting rod 452. The second connecting rod 452 and the first connecting rod are arranged parallel to each other. Optionally, the first connecting rod 451, the second connecting rod 452, the semi-enclosed frame 453, the first L-shaped frame 454, and the second L-shaped frame 455 can be connected together by welding, bonding, or hot melting. Of course, they can also be integrally formed. The openings of the two semi-enclosed frames 453 in the two skeletons 450 of the two sets of windproof frames are arranged opposite each other. In this way, the curved skeleton 450 can not only provide a wider support surface for the windproof cloth 460, but also, because the openings of the two semi-enclosed frames 453 in the two sets of windproof frames are arranged opposite each other, even when the two sets of skeletons 450 move towards each other and close, there is still enough space for the placement and movement of the welding device 600.

[0035] Optionally, the semi-enclosed frame 453 can be a C-shaped frame or a semi-circular frame, wherein the C-shaped frame is composed of three rods, namely a first rod, a second rod and a third rod, the first rod and the second rod are respectively fixedly connected to the two ends of the third rod, and the first rod, the second rod and the third rod are all located in the same plane.

[0036] The L-shaped frame consists of two rods, namely the fourth rod and the fifth rod. One end of the fourth rod is fixedly connected to one end of the fifth rod. Through the arrangement of the first L-shaped frame 454 and the second L-shaped frame 455, the linear movement of the slider 440 along the axis of the lead screw 430 is converted into the lateral expansion or contraction of the semi-enclosed frame 453 in the top plane of the mounting frame 100, thereby converting the unidirectional thrust of the drive end into the bidirectional opening and closing motion of the support surface of the frame 450.

[0037] The alignment correction assembly 500 includes a mounting base 510, a first connecting rod 520, a bottom contact wheel 530, a second connecting rod 540, a third connecting rod 550, a guide wheel 560, an angle wheel 570, an angle sensor 580, and an adjustment mechanism 590. The mounting base 510 is detachably mounted on the outer wall of the mounting frame 100. Optionally, the mounting base 510 is detachably mounted on the mounting frame 100 by bolts 596. One end of the first connecting rod 520 is rotatably mounted on the mounting base 510, and the bottom contact wheel 530 is rotatably mounted on the other end of the first connecting rod 520. During operation... During the process, the bottom-contact wheel 530 abuts against the surface of the steel structure 700 and rolls up and down with the undulation of the steel structure 700, providing a vertical positioning reference for the component. It should be noted that the vertical direction is the direction perpendicular to the surface of the steel structure 700. One end of the second link 540 is rotatably mounted on the first link 520, and the middle part of the third link 550 is rotatably mounted on the other end of the second link 540. The guide wheel 560 is rotatably mounted on the middle part of the third link 550. During the operation, the guide wheel 560 abuts against the inner wall of the flexible track, providing horizontal guiding constraints. There are two angle wheels 570, which are rotatably mounted at both ends of the third link 550. Angle sensor 580 is installed at the connection between the second link 540 and the third link 550. During operation, both angle wheels 570 abut against the same side of the flexible track, and each angle wheel 570 abuts against two different points on the flexible track. Thus, when an angular deviation occurs between the mounting frame 100 and the flexible track, the angle wheels 570 transmit the deflection to the angle sensor 580 through the third link 550. The angle sensor 580 converts the angle difference into an electrical signal and sends it back to the control module. The control module calculates the correction amount based on this signal and sends a differential speed correction command to the magnetic walking assembly 200 to achieve synchronous movement.

[0038] There are two adjustment mechanisms 590, namely a first adjustment mechanism 590 and a second adjustment mechanism 590. The first adjustment mechanism 590 is installed at the connection between the mounting base 510 and the first connecting rod 520 and is used to adjust the angle between the mounting base 510 and the first connecting rod 520. The second adjustment mechanism 590 is installed at the connection between the first connecting rod 520 and the second connecting rod 540 and is used to adjust the angle between the first connecting rod 520 and the second connecting rod 540.

[0039] The adjusting mechanism 590 includes a first U-shaped member 591, a second U-shaped member 592, a protrusion 593, a round shaft 594, a screw block 595, a bolt 596, and an elastic member 597. The protrusion 593 is disposed on the inner bottom wall of the second U-shaped member 592, and a round hole is opened on the side wall of the protrusion 593. The round shaft 594 is rotatably inserted into the round hole, and the two ends of the round shaft 594 are respectively fixedly installed on the two opposite inner side walls of the first U-shaped member 591. The screw block 595 is fixedly installed on the two opposite inner side walls of the first U-shaped member 591, and a screw hole is opened at one end of the screw block 595. The axis of the screw hole has an angle α with the straight line containing the length direction of the first U-shaped member. The bolt 596 is screwed into the screw hole, and one end of the bolt 596 abuts against one of the inner side walls of the second U-shaped member 592. One end of the elastic member 597 is fixedly installed on the outer side wall of the screw block 595, and the other end is fixedly installed on the other inner side wall of the second U-shaped member 592.

[0040] Optionally, the elastic element 597 is a compression spring.

[0041] With the above structure, before the windproof robot starts, the arrangement of the circular shaft 594 and the protrusion 593 allows the two U-shaped parts to swing relative to each other around the circular shaft 594. This causes the components connected to the first U-shaped part 591 and the second U-shaped part 592 to swing relative to each other synchronously. When the bolt 596 is rotated, the length of the end of the bolt 596 extending out of the screw block 595 changes synchronously, thereby pushing the second U-shaped part 592 to swing around the circular shaft 594. The elastic element 597 simultaneously undergoes elastic deformation and provides damping force. The amount of screwing in the bolt 596 corresponds to the opening angle of the two U-shaped parts. With this structure, the operator only needs to rotate the bolt 596 to adjust the included angle between each link, and the elastic element 597 makes the adjustment process smooth and controllable. After adjustment, the angle is stable and will not loosen due to vibration.

[0042] Optionally, the included angle α can be in the range of 30° ≤ α ≤ 60°. When the included angle is less than 30°, the effective component of the thrust of bolt 596 used to drive the U-shaped part to swing is too small, requiring a larger rotational torque to achieve angle adjustment, making operation laborious and difficult to guarantee accuracy. When the included angle is greater than 60°, although the effective component increases, the micro-motion resolution of angle adjustment decreases, and even a slight rotation leads to excessive angle changes, which is not conducive to fine adjustment. Therefore, when the included angle α is within the range of 30° to 60°, the operator can easily and accurately complete the stepless adjustment of the connecting rod angle.

[0043] The monitoring module includes a visual monitoring module, a humidity monitoring module, a temperature monitoring module, and a lighting module. The visual monitoring module is fixed inside the mounting bracket 100. The humidity monitoring module is a humidity sensor. The temperature monitoring module is fixed inside the mounting bracket 100 and includes a temperature sensor and a heat dissipation module. In this embodiment, the heat dissipation module used is the existing SIYOUFAN 24V-5-2 model. The lighting module is fixed inside the mounting bracket 100. The monitoring module also includes a wind speed monitoring module, which is fixed inside the mounting bracket 100. The wind speed monitoring module uses the existing Jianda Renke RS485 model.

[0044] Although specific embodiments of the invention have been described in detail with reference to the accompanying drawings, this should not be construed as limiting the scope of protection of this patent. Various modifications and variations that can be made by a person skilled in the art without inventive effort within the scope described in the claims still fall within the scope of protection of this patent.

Claims

1. A magnetic wheel adsorption windproof robot, characterized in that, The system includes a mounting frame (100), a magnetic walking assembly (200), a windproof assembly (400), a deviation correction assembly (500), a monitoring module, and a control module. The mounting frame (100) has a placement cavity (110) for placing a welding device (600). The magnetic walking assembly (200) is rotatably mounted on the bottom end of the mounting frame (100) and is configured to drive the mounting frame (100) to move along the outer wall of the steel structure (700). The windproof assembly (400) is disposed at the top and bottom ends of the mounting frame (100). One end of the correction component (500) is connected to the side wall of the mounting frame (100). The correction component (500) is used to detect the movement trajectory of the magnetic walking component (200). The monitoring module is set inside the mounting frame (100). The monitoring module is used to monitor and adjust the welding environment inside the mounting frame (100). The control module is set inside the mounting frame (100), and the magnetic walking component (200), the windproof component (400), the correction component (500), and the monitoring module are all electrically connected to the control module.

2. The magnetic wheel adsorption windproof robot according to claim 1, characterized in that, The magnetic walking assembly (200) includes a first driving member (210), a reducer (220), a coupling (230), a rotating shaft (240), and a magnetic wheel (250). One end of the first driving member (210) is detachably mounted on the inner side wall of the mounting bracket (100). One end of the reducer (220) is connected to the other end of the first driving member (210). One end of the rotating shaft (240) is connected to the other end of the reducer (220), and the magnetic wheel (250) is connected to the other end of the rotating shaft (240). The number of magnetic walking components (200) is multiple, and the multiple magnetic walking components (200) are evenly arranged on the opposite side walls of the mounting frame (100).

3. The magnetic wheel adsorption windproof robot according to claim 2, characterized in that, It also includes a protective cover (300), which is disposed on the inner side wall of the mounting bracket (100) and covers the first drive member (210), the reducer (220) and the coupling (230).

4. The magnetic wheel adsorption windproof robot according to claim 1, characterized in that, The windproof assembly (400) includes a second drive member (410), a mounting block (420), a lead screw (430), a slider (440), a frame (450), a windproof cloth (460), and a windproof brush (470). One end of the second drive member (410) and the mounting block (420) are both mounted on the outer side wall of the mounting frame (100), and the second drive member (410) and the mounting block (420) are spaced apart along a first direction. One end of the lead screw (430) is connected to the other end of the second drive member (410), and the other end of the lead screw (430) is rotatably mounted on the mounting block. On (420), the slider (440) is screwed onto the lead screw (430), and the side of the slider (440) near the mounting frame (100) is in contact with the mounting frame (100). One end of the skeleton (450) is connected to the top of the slider (440), and the other end of the skeleton (450) is slidably inserted into the top of the mounting frame (100) on the side opposite to the slider (440). The windproof cloth (460) is set on the top of the mounting frame (100) and covers the skeleton (450). The windproof brush (470) is set on the bottom wall of the mounting frame (100).

5. The magnetic wheel adsorption windproof robot according to claim 4, characterized in that, The second driving component (410), the mounting block (420), the lead screw (430), the slider (440), and the frame (450) form a set of windproof frames. There are two sets of windproof frames, and the two sets of windproof frames are symmetrically arranged on the outer side wall of the mounting frame (100).

6. The magnetic wheel adsorption windproof robot according to claim 5, characterized in that, The frame (450) includes a first connecting rod (451), a second connecting rod (452), a semi-enclosed frame (453), a first L-shaped frame (454), and a second L-shaped frame (455). One end of the first connecting rod (451) is connected to one end of the first L-shaped frame (454), and the axial direction of the first connecting rod (451) is perpendicular to the plane where the first L-shaped frame (454) is located. The other end of the first L-shaped frame (454) is connected to one end of the semi-enclosed frame (453), and the semi-enclosed frame (453) and the first L-shaped frame (454) are located in the same plane. The other end of the semi-enclosed frame (453) is connected to one end of the second L-shaped frame (455), and the other end of the second L-shaped frame (455) is connected to one end of the second connecting rod (452). The second connecting rod (452) and the first connecting rod (451) are arranged parallel to each other. The openings of the two semi-enclosed frames (453) in the two frames (450) of the two sets of windproof frames are arranged opposite each other.

7. The magnetic wheel adsorption windproof robot according to claim 1, characterized in that, The correction assembly (500) includes a mounting base (510), a first connecting rod (520), a bottom-contact wheel (530), a second connecting rod (540), a third connecting rod (550), a guide wheel (560), an angle wheel (570), an angle sensor (580), and an adjustment mechanism (590). The mounting base (510) is detachably mounted on the outer wall of the mounting bracket (100). One end of the first connecting rod (520) is rotatably mounted on the mounting base (510), and the bottom-contact wheel (530) is rotatably mounted on the other end of the first connecting rod (520). One end of the second link (540) is rotatably mounted on the first link (520), the middle part of the third link (550) is rotatably mounted on the other end of the second link (540), the guide wheel (560) is rotatably mounted on the middle part of the third link (550), there are two angle wheels (570), the two angle wheels (570) are respectively rotatably mounted on both ends of the third link (550), and the angle sensor (580) is installed at the connection between the second link (540) and the third link (550); There are two adjustment mechanisms (590), namely a first adjustment mechanism (590) and a second adjustment mechanism (590). The first adjustment mechanism (590) is installed at the connection between the mounting base (510) and the first connecting rod (520) and is used to adjust the angle between the mounting base (510) and the first connecting rod (520). The second adjustment mechanism (590) is installed at the connection between the first connecting rod (520) and the second connecting rod (540) and is used to adjust the angle between the first connecting rod (520) and the second connecting rod (540).

8. The magnetic wheel adsorption windproof robot according to claim 7, characterized in that, The adjusting mechanism (590) includes a first U-shaped member (591), a second U-shaped member (592), a protrusion (593), a round shaft (594), a screw block (595), a bolt (596), and an elastic member (597). The protrusion (593) is disposed on the inner bottom wall of the second U-shaped member (592), and a round hole is formed on the side wall of the protrusion (593). The round shaft (594) is rotatably inserted into the round hole, and the two ends of the round shaft (594) are respectively fixedly installed on the two opposite inner side walls of the first U-shaped member (591). The screw block (595) The bolt (596) is fixedly installed on the two opposite inner sidewalls of the first U-shaped member (591), and one end of the bolt block (595) is provided with a screw hole. The axis of the screw hole and the straight line containing the length direction of the first U-shaped member have an angle α. The bolt (596) is screwed into the screw hole, and one end of the bolt (596) abuts against one of the inner sidewalls of the second U-shaped member (592). One end of the elastic member (597) is fixedly installed on the outer sidewall of the bolt block (595), and the other end is fixedly installed on the other inner sidewall of the second U-shaped member (592).

9. The magnetic wheel adsorption windproof robot according to claim 8, characterized in that, The included angle α has a range of 30°≤α≤60°.

10. The magnetic wheel adsorption windproof robot according to claim 1, characterized in that, The monitoring module includes a visual monitoring module, a humidity monitoring module, a temperature monitoring module, and a lighting module.

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