An intelligent welding robot suitable for high-altitude operation

Abstract

The present application relates to the technical field of welding, in particular to a kind of intelligent welding robot suitable for high-altitude operation, including body, rotating arm, gun stock, swan neck pipe, axially telescopic nozzle pipe, circulating waterway and water pump, rotating arm is rotatably installed on body, gun stock is arranged on rotating arm, one end of swan neck pipe is arranged on gun stock, nozzle pipe is sleeved on the end of swan neck pipe away from gun stock, first chamber with volume synchronous change with telescopic action is arranged in nozzle pipe. Circulating waterway is communicated with first chamber, water pressure maintains nozzle pipe to extend fixed under normal pressure;Water pump controls water pressure of waterway, changes the volume of first chamber, and then drives nozzle pipe to extend and retract. Telescopic nozzle pipe can buffer impact force, avoid rigid collision damage welding torch under high-altitude complex working condition;Nozzle pipe is driven to extend and retract by water pressure of waterway, and slag is autonomously removed, without additional slag removal component and manual high-altitude cleaning, simplify the structure of whole machine, reduce the safety risk of high-altitude operation, effectively improve welding operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and in particular to an intelligent welding robot suitable for high-altitude operations. Background Technology

[0002] High-altitude welding is widely used in construction and steel structure erection projects. These operations are characterized by limited space and high risks; traditional manual welding is not only physically demanding but also poses significant safety hazards. Currently, the industry is gradually adopting intelligent welding robots to replace manual labor in high-altitude welding tasks, effectively improving the working environment and enhancing construction safety and operational efficiency. The welding torch nozzle, as a core component of the welding robot, directly determines arc stability, weld quality, and overall operational safety, making it crucial for ensuring the smooth operation of the welding process.

[0003] High-altitude welding conditions are complex, with welding torches and nozzles operating in high-temperature environments for extended periods. Existing intelligent welding robots still have significant shortcomings. During high-current welding operations, the nozzle is prone to deformation due to continuous heating, directly disrupting the normal flow of shielding gas and causing bubbles to form inside the weld pool, significantly reducing weld quality. Simultaneously, welding slag generated during the welding process easily accumulates on the nozzle surface, further hindering the flow of shielding gas and causing welding defects. Summary of the Invention

[0004] Therefore, it is necessary to provide an intelligent welding robot suitable for high-altitude operations, addressing the current problems of easily damaged welding torch nozzles and poor adaptability to working conditions.

[0005] The above objectives are achieved through the following technical solutions: A smart welding robot suitable for high-altitude operations includes a body, a rotating arm, and a welding torch. The rotating arm is rotatably mounted on the body. The welding torch includes a gunstock, a gooseneck tube, a nozzle tube, a conductive mechanism, and a cooling mechanism. The gunstock is mounted on the rotating arm. One end of the gooseneck tube is mounted on the gunstock. One end of the nozzle tube is fitted onto the end of the gooseneck tube away from the gunstock. The nozzle tube can extend and retract along its own axial direction. The nozzle tube has a first chamber with a variable volume. The extension and retraction of the nozzle tube is linked to the change in the volume of the first chamber. The change in the volume of the first chamber drives the extension and retraction of the nozzle tube, and the extension and retraction of the nozzle tube synchronously changes the volume of the first chamber. One end of the welding wire passes through the gunstock, the gooseneck tube, and the nozzle tube in sequence. The conductive mechanism is used to guide the welding wire out and transmit current to the welding wire.

[0006] The cooling mechanism includes a circulating water circuit and a water pump. The circulating water circuit is used to cool the nozzle tube and the gooseneck tube. The circulating water circuit is connected to the first chamber. Under normal pressure, the water pressure inside the first chamber keeps the volume of the first chamber constant, and the nozzle tube remains in the extended state. The water pump is used to introduce cooling water into the circulating water circuit. The water pressure in the circulating water circuit can change the volume of the first chamber, thereby driving the nozzle tube to extend and retract. The axial extension and retraction of the nozzle tube is used to clean the welding slag at the end of the nozzle tube.

[0007] Preferably, the nozzle tube includes a fixed tube and a movable tube. The fixed tube and the movable tube are coaxial, and one end of the fixed tube is threaded to a gooseneck tube. The other end of the fixed tube has an annular groove. The movable tube is slidably disposed in the annular groove along its own axis and can be completely placed in the annular groove. The movable tube is slidably connected to the fixed tube. A spring is provided in the annular groove for the movable tube to extend out of the fixed tube. The first chamber is disposed in the annular groove and located between the fixed tube and the movable tube. The movable tube can slide relative to the fixed tube to change the size of the first chamber.

[0008] Preferably, the fixed tube has a first sliding groove that communicates with the annular groove, and the inner wall of the movable tube has a first protrusion that slides along the axial direction of the fixed tube in the first sliding groove; the fixed tube has a sealing ring that is threadedly connected to it, the sealing ring is located on the side of the first protrusion on the movable tube away from the spring, the sealing ring is located on the inner side of the movable tube and is slidably connected to the movable tube, and the first chamber is located in the first sliding groove, the first chamber being formed by the first protrusion on the movable tube, the sealing ring, the movable tube and the fixed tube.

[0009] Preferably, the end of the fixed tube near the movable tube and the end of the sealing ring away from the fixed tube both have a serrated structure.

[0010] Preferably, the circulating water circuit includes a first inlet channel, a second inlet channel, a first outlet channel, a second outlet channel, and an annular cavity. The first inlet channel and the first outlet channel are located inside the gooseneck tube and arranged circumferentially along the gooseneck tube. The second inlet channel and the second outlet channel are located inside the fixed tube and arranged circumferentially along the fixed tube. The second inlet channel is connected to the first chamber and the first inlet channel, respectively. The annular cavity is located inside the movable tube and is connected to the first chamber. The second outlet channel is connected to the first outlet channel. A second chamber with variable volume is provided between the second outlet channel and the annular cavity. The second chamber is connected to the second outlet channel and the annular cavity.

[0011] Preferably, a first arc-shaped cavity communicating with the first inlet channel is provided inside the gooseneck tube, and the first arc-shaped cavity is located at one end of the gooseneck tube near the fixed tube; a second arc-shaped cavity is provided inside the fixed tube, and the second arc-shaped cavity is communicating with the second inlet channel.

[0012] Preferably, the conductive mechanism includes a ceramic nozzle, a diffuser ring, a conductive base, and a conductive head. The ceramic nozzle is located inside the fixed tube and is threadedly connected to the gooseneck tube. The diffuser ring is fitted onto the ceramic nozzle and is threadedly connected to the gooseneck tube. The conductive base is located at the end of the diffuser ring away from the gooseneck tube. The conductive head is threadedly connected to the end of the ceramic nozzle away from the gooseneck tube and abuts against the conductive base. The welding wire passes through the ceramic nozzle and the conductive head sequentially from the gooseneck tube. A protective gas is introduced into the gooseneck tube, and the protective gas can be discharged from the diffuser ring.

[0013] Preferably, a first pressure sensor is provided in the first chamber to detect changes in water pressure in the first chamber in real time.

[0014] Preferably, the rotating arm has multiple degrees of rotational freedom.

[0015] Preferably, a second pressure sensor is provided on the rotating arm, which is used to detect pressure changes on the outside of the rotating arm.

[0016] The beneficial effects of this invention are as follows: The axially extendable nozzle tube structure allows for buffering and offsetting of impact forces during high-altitude welding alignment and equipment fine-tuning, preventing deformation and damage caused by rigid collisions. This effectively enhances the welding torch's impact resistance and adapts to confined and complex working conditions at high altitudes. The circulating water system continuously circulates and cools the nozzle tube and gooseneck tube, promptly removing the high-temperature heat generated during welding. This effectively alleviates the high-temperature problem of key welding torch components, preventing erosion and aging failures caused by prolonged high-temperature operation, and improving the stability and service life of the equipment during continuous operation.

[0017] By utilizing the linkage structure between the circulating water pressure and the first chamber, the nozzle tube can be actively driven to extend and retract through water pressure adjustment. The axial extension and retraction of the nozzle tube itself can clean the welding slag attached to the end, eliminating the need for additional slag removal structures or manual cleaning at height. This simplifies the equipment structure, reduces the difficulty and safety risks of working at height, and improves the continuity and efficiency of welding operations. Attached Figure Description

[0018] Figure 1 This is a structural schematic diagram of an intelligent welding robot suitable for high-altitude operations, provided as an embodiment of the present invention. Figure 2 A schematic diagram of a welding torch structure for an intelligent welding robot suitable for high-altitude operations, provided as an embodiment of the present invention; Figure 3 An exploded view of a welding torch for an intelligent welding robot suitable for high-altitude operations, provided as an embodiment of the present invention; Figure 4 A front view of a welding torch for an intelligent welding robot suitable for high-altitude operations, provided as an embodiment of the present invention; Figure 5 for Figure 4 Sectional view along the middle AA direction; Figure 6 for Figure 5 Enlarged view of point B in the middle; Figure 7 for Figure 6 Enlarged view of point C in the middle; Figure 8 for Figure 6 Enlarged view of point D in the middle; Figure 9 Right view of a welding torch for an intelligent welding robot suitable for high-altitude operations, provided as an embodiment of the present invention; Figure 10 for Figure 9 A sectional view along the EE direction; Figure 11 for Figure 10 Enlarged view at point F; Figure 12 for Figure 11 Enlarged view of point G in the middle; Figure 13 This is a schematic diagram of the structure of the movable tube of an intelligent welding robot suitable for high-altitude operations, provided as an embodiment of the present invention.

[0019] in: 100. Main body; 101. Rotating arm; 102. Stock; 103. Gooseneck tube; 104. First chamber; 105. Fixed tube; 106. Movable tube; 107. Annular groove; 108. Spring; 110. First groove; 111. First protrusion; 112. Sealing ring; 113. Limiting block; 114. First inlet channel; 115. Second inlet channel; 116. First outlet channel; 117. Second outlet channel; 118. Annular cavity; 120. Second groove; 121. Second protrusion; 122. Second chamber; 123. First arc-shaped cavity; 124. Second arc-shaped cavity; 130. Ceramic nozzle; 131. Air diffuser ring; 132. Conductive base; 133. Conductive head; 134. Groove. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0021] The component designations used in this document, such as "first" and "second," are merely for distinguishing the described objects and do not have any sequential or technical meaning. The terms "connection" and "linkage" used in this invention, unless otherwise specified, include both direct and indirect connections (linkages). It should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0022] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0023] like Figures 1 to 13 As shown, this embodiment of the invention provides an intelligent welding robot suitable for high-altitude operations, including a body 100, a rotating arm 101, and a welding torch. The body 100 is equipped with rollers, and the rollers are equipped with magnetic poles, enabling the robot to climb on the workpiece to be welded by magnetic attraction. The rotating arm 101 is rotatably mounted on the body 100. The welding torch includes a gunstock 102, a gooseneck tube 103, a nozzle tube, a conductive mechanism, and a cooling mechanism. The gunstock 102 is mounted on the rotating arm 101. One end of the gooseneck tube 103 is mounted on the gunstock 102 and is threadedly connected to the gunstock 102. One end of the nozzle tube is fitted onto the end of the gooseneck tube 103 away from the gunstock 102. The nozzle tube can extend and retract along its own axial direction. The nozzle tube has a first chamber 104 with a variable volume. The extension and retraction of the nozzle tube is linked to the volume change of the first chamber 104. The volume change of the first chamber 104 drives the extension and retraction of the nozzle tube, and the extension and retraction of the nozzle tube synchronously changes the volume of the first chamber 104. One end of the welding wire passes through the gunstock 102, the gooseneck tube 103, and the nozzle tube in sequence, and the welding wire extends along the axial direction of the nozzle tube. The conductive mechanism is used to guide the welding wire out and transmit current to the welding wire.

[0024] The cooling mechanism includes a circulating water circuit and a water pump. The circulating water circuit is used to cool the nozzle tube and the gooseneck tube 103. The circulating water circuit is connected to the first chamber 104. Under normal pressure, the water pressure inside the first chamber 104 keeps the volume of the first chamber 104 constant, and the nozzle tube remains in the extended state. The water pump is used to introduce cooling water into the circulating water circuit. The water pressure of the circulating water circuit can change the volume of the first chamber 104, thereby driving the nozzle tube to extend and retract. The axial extension and retraction of the nozzle tube is used to clean the welding slag at the end of the nozzle tube.

[0025] The nozzle tube structure is designed for axial extension and retraction. During high-altitude welding alignment and equipment fine-tuning, the nozzle tube can buffer and offset impact forces through extension and retraction, preventing deformation and damage caused by rigid collisions. This effectively improves the welding torch's impact resistance and adapts to confined and complex working conditions at high altitudes. The circulating water system continuously circulates water to cool the nozzle tube and gooseneck tube 103, effectively removing the high-temperature heat generated during welding. This alleviates the high-temperature problem of key components of the welding torch, preventing erosion and aging failures caused by long-term high-temperature operation, and improving the stability and service life of the equipment during continuous operation.

[0026] By utilizing the linkage structure between the circulating water pressure and the first chamber 104, the nozzle tube can be actively driven to extend and retract through water pressure adjustment. The welding slag attached to the end can be cleaned by relying on the axial extension and retraction of the nozzle tube itself. There is no need to add an additional slag cleaning structure or manually climb to clean it. While simplifying the equipment structure, it reduces the difficulty and safety risks of working at height and improves the continuity and efficiency of welding operations.

[0027] In this embodiment, the nozzle tube includes a fixed tube 105 and a movable tube 106. The fixed tube 105 and the movable tube 106 are coaxial, and one end of the fixed tube 105 is threadedly connected to the gooseneck tube 103. The other end of the fixed tube 105 is provided with an annular groove 107. The movable tube 106 is slidably disposed in the annular groove 107 along its own axial direction and can be completely placed in the annular groove 107. The movable tube 106 is slidably connected to the fixed tube 105. A spring 108 is provided in the annular groove 107 for the movable tube 106 to extend out of the fixed tube 105. The first chamber 104 is disposed in the annular groove 107 and located between the fixed tube 105 and the movable tube 106. The movable tube 106 can slide relative to the fixed tube 105 to change the size of the first chamber 104.

[0028] Specifically, after being subjected to an axial impact force, the movable tube 106 can retract into the fixed tube 105, relying on the sliding contraction structure to buffer the impact load. Compared with the integral nozzle, this further reduces the probability of rigid impact damage to the movable tube 106. The spring 108 in the annular groove 107 continuously applies a pushing force to the movable tube 106, which, under the normal pressure of the circulating water circuit, works in conjunction with the water pressure to maintain the stable extension of the movable tube 106. During the welding process, the nozzle length is fixed, ensuring a stable welding wire output distance and uniform weld formation.

[0029] Meanwhile, the movable tube 106 is driven to slide back and forth in the fixed tube 105 by water pressure regulation. The fixed tube 105 can scrape off the welding slag attached to the inner and outer walls of the movable tube 106. The welding slag at its end can also be removed by adhering to the nearby welding slag. Self-cleaning is achieved by relying on the existing double-layer sleeve structure, without the need for additional slag cleaning accessories, which simplifies the overall structure of the welding torch.

[0030] In this embodiment, a first groove 110 is provided on the fixed tube 105, which communicates with the annular groove 107. A first protrusion 111 is provided on the inner wall of the movable tube 106, and the first protrusion 111 is slidably disposed in the first groove 110 along the axial direction of the fixed tube 105. A sealing ring 112 is provided on the fixed tube 105 and is threadedly connected to it. The sealing ring 112 is located on the side of the first protrusion 111 on the movable tube 106 away from the spring 108. The sealing ring 112 is located on the inner side of the movable tube 106 and is slidably connected to the movable tube 106. A first chamber 104 is located in the first groove 110 and is formed by the first protrusion 111, the sealing ring 112, the movable tube 106, and the fixed tube 105 on the movable tube 106.

[0031] Specifically, a limiting block 113 is provided on the first protrusion 111. The limiting block 113 is slidably disposed in the annular groove 107 and located in the first chamber 104. Under the action of the spring 108, the limiting block 113 abuts against the sealing ring 112 to ensure the minimum volume of the first chamber 104.

[0032] The first protrusion 111 on the inner wall of the movable tube 106 slides into the first groove 110 of the fixed tube 105, constraining the movement trajectory of the movable tube 106. During the extension and retraction of the movable tube 106, no circumferential deflection will occur, ensuring that the movable tube 106 and the fixed tube 105 always slide coaxially, thus improving the stability of the nozzle extension and retraction action.

[0033] The sealing ring 112 and the fixed tube 105 are connected by threads, which makes disassembly convenient and facilitates the maintenance and replacement of the internal spring 108 and the movable tube 106. The sealing ring 112, the first protrusion 111, the movable tube 106 and the fixed tube 105 surround each other to form a sealed first chamber 104 in the first groove 110. The first chamber 104 is provided with sealing strips around its perimeter to ensure the sealing of the first chamber 104.

[0034] When the circulating water circuit is under normal pressure and the movable pipe 106 is not subjected to any external force other than the spring 108, the volume of the first chamber 104 is at its minimum, the extension of the movable pipe 106 is at its maximum, and the movable pipe 106 will retract into the annular groove 107 of the fixed pipe 105 after being subjected to an external force in its axial direction.

[0035] The water pressure in the circulating water circuit is increased by the water pump, and the pressure in the first chamber 104 rises synchronously. The pressure acting on the first protrusion 111 can overcome the thrust of the spring 108 and drive the movable pipe 106 to retract and slide. The self-cleaning of sludge is achieved by relying on the pressure of the circulating water circuit itself, without the need for additional drive components.

[0036] In this embodiment, the end of the fixed tube 105 near the movable tube 106 and the end of the sealing ring 112 away from the fixed tube 105 are both serrated structures.

[0037] Specifically, after the movable tube 106 slides relative to the fixed tube 105, the saw teeth at the end of the fixed tube 105 and the saw teeth at the end of the sealing ring 112 can scrape the outer and inner circumferential surfaces of the movable tube 106, respectively. The tips of the saw teeth can increase the local scraping force, peel off the weld slag with strong adhesion, significantly improve the cleaning ability of the welding torch itself, and avoid the accumulation of weld slag affecting wire feeding and welding quality.

[0038] In this embodiment, the circulating water circuit includes a first inlet channel 114, a second inlet channel 115, a first outlet channel 116, a second outlet channel 117, and an annular cavity 118. The first inlet channel 114 and the first outlet channel 116 are disposed inside the gooseneck tube 103 and arranged circumferentially along the gooseneck tube 103. The second inlet channel 115 and the second outlet channel 117 are disposed inside the fixed tube 105 and arranged circumferentially along the fixed tube 105. The second inlet channel 115 is connected to the first chamber 104 and the first inlet channel 114, respectively. The annular cavity 118 is located inside the movable tube 106 and is connected to the first chamber 104. The second outlet channel 117 is connected to the first outlet channel 116. A second chamber 122 with variable volume is provided between the second outlet channel 117 and the annular cavity 118. The second chamber 122 is connected to the second outlet channel 117 and the annular cavity 118.

[0039] Specifically, a second sliding groove 120 is provided on the fixed tube 105. The second sliding groove 120 is connected to the annular groove 107 and is arranged along the circumference of the fixed tube 105 with the first sliding groove 110. A second protrusion 121 is provided on the inner wall of the movable tube 106. The second protrusion 121 is slidably disposed in the second sliding groove 120 along the axial direction of the fixed tube 105. The second chamber 122 is located in the second sliding groove 120. The second chamber 122 is formed by the second protrusion 121 on the movable tube 106, the sealing ring 112, the movable tube 106 and the fixed tube 105.

[0040] The stock 102 is equipped with an inlet pipe and a return pipe. The two ends of the inlet pipe are connected to the water pump and the first inlet channel 114, respectively. One end of the return pipe is connected to the first outlet channel 116 and is used to collect the returned cooling water. The cooling water entering the annular cavity 118 can cool down the movable tube 106 and prevent problems such as burning caused by the heated movable tube 106 during the welding process.

[0041] The maximum flow volume per unit time of the first inlet channel 114 and the second inlet channel 115 is greater than the maximum flow volume per unit time of the first outlet channel 116 and the second outlet channel 117. When the water pump operates at high power, the volume of the first chamber 104 and the second chamber 122 will increase due to the increase in cooling water, which in turn causes the movable pipe 106 to slide actively relative to the fixed pipe 105, thereby cleaning the welding slag on the movable pipe 106. At the same time, the sliding of the movable pipe 106 increases the volume of the second chamber 122, and the cooling water in the annular cavity 118 or the second outlet channel 117 will flow into the second chamber 122.

[0042] In this embodiment, a first arc-shaped cavity 123 communicating with the first inlet channel 114 is provided in the gooseneck tube 103, and the first arc-shaped cavity 123 is located at one end of the gooseneck tube 103 near the fixed tube 105; a second arc-shaped cavity 124 is provided in the fixed tube 105, and the second arc-shaped cavity 124 is communicating with the second inlet channel 115.

[0043] Specifically, there are two first inlet channels 114 and two first outlet channels 116, which are arranged alternately and evenly in the axial direction of the gooseneck tube 103. The second inlet channel 115 and the second outlet channel 117 are respectively arranged corresponding to the first inlet channel 114 and the first outlet channel 116. There are two first arc-shaped cavities 123, which are located on both sides of any one of the first outlet channels 116 in the circumferential direction of the gooseneck tube 103. The first arc-shaped cavities 123 increase the contact area between the gooseneck tube 103 and the cooling water, thereby improving the heat dissipation effect of the gooseneck tube 103.

[0044] Four second arc-shaped cavities 124 are provided, and two cavities form a group. The two second arc-shaped cavities 124 in each group are arranged along the radial direction of the fixed pipe 105 and located on both sides of the annular groove 107. The two second arc-shaped cavities 124 in each group correspond to and communicate with a second inlet channel 115. The two groups of second arc-shaped cavities 124 are located on both sides of any second outlet channel 117 in the circumferential direction of the fixed pipe 105. The second arc-shaped cavities 124 can increase the contact area between the fixed pipe 105 and the cooling water, and improve the heat dissipation effect of the fixed pipe 105.

[0045] The number of first chambers 104 is the same as the number of second inlet channels 115, with each first chamber 104 corresponding to one second inlet channel 115. The number of second chambers 122 is the same as the number of second outlet channels 117, with each second chamber 122 corresponding to one second outlet channel 117.

[0046] In this embodiment, the conductive mechanism includes a ceramic nozzle 130, a diffuser ring 131, a conductive base 132, and a conductive head 133. The ceramic nozzle 130 is located inside the fixed tube 105 and is threadedly connected to the gooseneck tube 103. The diffuser ring 131 is sleeved on the ceramic nozzle 130 and is threadedly connected to the gooseneck tube 103. The conductive base 132 is located at the end of the diffuser ring 131 away from the gooseneck tube 103. The conductive head 133 is threadedly connected to the end of the ceramic nozzle 130 away from the gooseneck tube 103 and abuts against the conductive base 132. The welding wire passes through the ceramic nozzle 130 and the conductive head 133 sequentially from the gooseneck tube 103. A protective gas is introduced into the gooseneck tube 103, and the protective gas can be discharged from the diffuser ring 131.

[0047] Specifically, the ceramic nozzle 130 and the diffuser ring 131 have vent holes on their circumferential surfaces, and there is a gap between the ceramic nozzle 130 and the diffuser ring 131. The protective gas in the gooseneck tube 103 enters the fixed tube 105 and the movable tube 106 through the vent holes, and then exits, thus protecting the welding process. The surface of the conductive head 133 has grooves 134 evenly arranged around the circumference of the movable tube 106. The gas in the gap between the ceramic nozzle 130 and the diffuser ring 131 can exit from the grooves 134, and the protective gas will form a laminar flow, which will better protect the molten pool.

[0048] The body 100 is provided with a wire feeding mechanism, which is used to continuously feed welding wire into the conductive head 133.

[0049] In this embodiment, a first pressure sensor is provided in the first chamber 104 to detect changes in water pressure in the first chamber 104 in real time.

[0050] Specifically, the intelligent welding robot suitable for high-altitude operations has a control system, and a first pressure sensor can transmit data back to the control system. Relying on the first pressure sensor to monitor the water pressure changes inside the first chamber 104 in real time, it can indirectly provide feedback on the sliding state of the movable tube 106. During welding positioning and normal welding operations, if the movable tube 106 is squeezed and retracted by external force, the volume of the first chamber 104 increases and the water pressure decreases. The first pressure sensor can quickly identify this pressure change and transmit the abnormal pressure signal back to the control system in real time, quickly triggering the entire machine to stop. This prevents the movable tube 106 from continuing to operate under force in a collision-damaged state, preventing irreversible damage such as bending, deformation, and breakage of the movable tube 106, effectively protecting the overall structure of the nozzle tube, reducing the probability of equipment failure and subsequent maintenance costs. It overcomes the shortcomings of limited field of vision in high-altitude welding operations and the difficulty for manual close-range observation of the nozzle's working condition, making it suitable for high-altitude welding scenarios.

[0051] In this embodiment, the rotating arm 101 has multiple rotational degrees of freedom.

[0052] Specifically, the rotating arm 101 includes multiple rotating drums that are connected in sequence and rotate in turn. The rotation axes of two adjacent rotating drums are perpendicular to each other. The rotation of the rotating drums can flexibly adjust the welding position of the welding gun from multiple directions, which can adapt to the welding needs of welds with different directions and shapes, and broaden the application scenarios of robot welding.

[0053] In this embodiment, a second pressure sensor is provided between two adjacent rotating drums in the rotating arm 101. The second pressure sensor is used to detect pressure changes on the outside of the rotating arm 101.

[0054] Specifically, the high-altitude working environment is complex and has many obstacles. After the rotating arm 101 is accidentally hit, the rotating drum will be subject to resistance. The second pressure sensor can immediately detect the pressure abnormality and feed it back to the control system. The control system can quickly stop the whole machine to avoid the rotating arm 101 from being deformed or broken due to continuous force, thus protecting the robot arm structure in all aspects and improving the safety protection level of the whole machine in high-altitude operations.

[0055] The working principle of the intelligent welding robot suitable for high-altitude operations provided in the above embodiments is as follows: First, the water pump is started, and the water pump delivers cooling water into the inlet pipe. The cooling water enters the first inlet channel 114 in the gooseneck pipe 103 through the inlet pipe, and then enters the first arc-shaped cavity 123. The cooling water in the first inlet channel 114 then enters the second inlet channel 115 in the fixed pipe 105, and then flows into the second arc-shaped cavity 124. The cooling water then enters the first chamber 104. The water pressure of the flowing cooling water is insufficient to overcome the elastic force of the spring 108 and compress the spring 108, so the volume of the first chamber 104 will not change. Then the cooling water flows into the annular cavity 118 in the movable pipe 106. The cooling water in the annular cavity 118 flows into the second chamber 122 and then enters the second outlet channel 117. The cooling water that enters the second outlet channel 117 then flows out from the first outlet channel 116 into the return pipe. The orientation of the nozzle pipe is adjusted by rotating the rotating arm 101, so that the annular cavity 118, the first arc-shaped cavity 123 and the second arc-shaped cavity 124 are filled with water. A water pump drives the cooling water to circulate and cool the gooseneck tube 103, fixed tube 105 and movable tube 106.

[0056] The control body 100 moves to the welding operation position, then controls the rotating arm 101 to rotate and adjust the nozzle tube position. During the adjustment process, if the movable tube 106 in the nozzle tube collides with the workpiece and generates an axial force, the movable tube 106 will slide along its axis relative to the fixed tube 105 in the annular groove 107, the spring 108 will be compressed, and at the same time, the first protrusion 111 on the movable tube 106 will move away from the sealing ring 112. The volumes of the first chamber 104 and the second chamber 122 will increase simultaneously, and the water pressure inside both will decrease and draw nearby cooling water to replenish it. At this time, the first pressure sensor in the first chamber 104 will detect the abnormality and feed the data back to the control system. The control system will then control the intelligent welding robot to stop the rotating arm 101 from moving. Then, the intelligent welding robot suitable for high-altitude operations will be restarted, and the nozzle tube will be moved away and repositioned to readjust the nozzle tube position.

[0057] Similarly, if the rotating arm 101 bumps into an external object during its movement and is detected by the second pressure sensor, the second pressure sensor will transmit the data back to the control system, and the control system will brake the rotating arm 101 to prevent further damage to the rotating arm 101.

[0058] After welding is completed, some welding slag will be attached to the inner and outer circumferential surfaces of the movable tube 106. At this time, the power of the water pump can be increased briefly to allow cooling water to quickly enter the first chamber 104. The cooling water in the first chamber 104 increases rapidly, and the water pressure increases, thereby overcoming the elastic force of the spring 108 and pushing the movable tube 106 to slide. The serrated structure on the sealing ring 112 and the fixed tube 105 scrapes off the welding slag on the inner and outer circumferential surfaces of the movable tube 106.

[0059] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0060] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. An intelligent welding robot suitable for high-altitude operations, characterized in that, include: The system comprises a main body, a rotating arm, and a welding torch. The rotating arm is rotatably mounted on the main body. The welding torch includes a gunstock, a gooseneck tube, a nozzle tube, a conductive mechanism, and a cooling mechanism. The gunstock is mounted on the rotating arm. One end of the gooseneck tube is mounted on the gunstock. One end of the nozzle tube is fitted onto the end of the gooseneck tube furthest from the gunstock. The nozzle tube can extend and retract along its own axial direction. The nozzle tube contains a first chamber with a variable volume. The extension and retraction of the nozzle tube is linked to the change in the volume of the first chamber. The change in the volume of the first chamber drives the extension and retraction of the nozzle tube, and the extension and retraction of the nozzle tube synchronously changes the volume of the first chamber. One end of the welding wire passes through the gunstock, the gooseneck tube, and the nozzle tube in sequence. The conductive mechanism is used to guide the welding wire out and transmit current to the welding wire. The cooling mechanism includes a circulating water circuit and a water pump. The circulating water circuit is used to cool the nozzle tube and the gooseneck tube. The circulating water circuit is connected to the first chamber. Under normal pressure, the water pressure inside the first chamber keeps the volume of the first chamber constant, and the nozzle tube remains in the extended state. The water pump is used to introduce cooling water into the circulating water circuit. The water pressure in the circulating water circuit can change the volume of the first chamber, thereby driving the nozzle tube to extend and retract. The axial extension and retraction of the nozzle tube is used to clean the welding slag at the end of the nozzle tube. The nozzle tube includes a fixed tube and a movable tube. The fixed tube and the movable tube are coaxial, and one end of the fixed tube is threaded to a gooseneck tube. The other end of the fixed tube has an annular groove. The movable tube is slidably disposed in the annular groove along its own axis and can be completely placed in the annular groove. The movable tube is slidably connected to the fixed tube. A spring is provided in the annular groove to allow the movable tube to extend out of the fixed tube. The first chamber is disposed in the annular groove and is located between the fixed tube and the movable tube. The movable tube can slide relative to the fixed tube to change the size of the first chamber. The fixed tube has a first sliding groove that communicates with the annular groove. The inner wall of the movable tube has a first protrusion that slides along the axial direction of the fixed tube in the first sliding groove. The fixed tube has a sealing ring that is threadedly connected to it. The sealing ring is located on the side of the first protrusion on the movable tube away from the spring. The sealing ring is located on the inner side of the movable tube and is slidably connected to the movable tube. The first chamber is located in the first sliding groove and is formed by the first protrusion on the movable tube, the sealing ring, the movable tube, and the fixed tube.

2. The intelligent welding robot suitable for high-altitude operations according to claim 1, characterized in that, Both the end of the fixed tube near the movable tube and the end of the sealing ring away from the fixed tube have a serrated structure.

3. The intelligent welding robot suitable for high-altitude operations according to claim 1, characterized in that, The circulating water circuit includes a first inlet channel, a second inlet channel, a first outlet channel, a second outlet channel, and an annular cavity. The first inlet channel and the first outlet channel are located inside the gooseneck tube and arranged circumferentially along the gooseneck tube. The second inlet channel and the second outlet channel are located inside the fixed tube and arranged circumferentially along the fixed tube. The second inlet channel is connected to the first chamber and the first inlet channel respectively. The annular cavity is located inside the movable tube and is connected to the first chamber. The second outlet channel is connected to the first outlet channel. A second chamber with variable volume is provided between the second outlet channel and the annular cavity. The second chamber is connected to the second outlet channel and the annular cavity.

4. The intelligent welding robot suitable for high-altitude operations according to claim 3, characterized in that, The gooseneck tube has a first arc-shaped cavity that communicates with the first inlet channel. The first arc-shaped cavity is located at the end of the gooseneck tube near the fixed tube. The fixed tube has a second arc-shaped cavity that communicates with the second inlet channel.

5. The intelligent welding robot suitable for high-altitude operations according to claim 1, characterized in that, The conductive mechanism includes a ceramic nozzle, a diffuser ring, a conductive base, and a conductive head. The ceramic nozzle is located inside the fixed tube and is threaded to the gooseneck tube. The diffuser ring is fitted onto the ceramic nozzle and is threaded to the gooseneck tube. The conductive base is located at the end of the diffuser ring away from the gooseneck tube. The conductive head is threaded to the end of the ceramic nozzle away from the gooseneck tube and abuts against the conductive base. The welding wire passes through the ceramic nozzle and the conductive head sequentially from the gooseneck tube. A protective gas is introduced into the gooseneck tube, and the protective gas can be discharged from the diffuser ring.

6. The intelligent welding robot suitable for high-altitude operations according to claim 1, characterized in that, The first chamber is equipped with a first pressure sensor, which is used to detect changes in water pressure in the first chamber in real time.

7. The intelligent welding robot suitable for high-altitude operations according to claim 1, characterized in that, The rotating arm has multiple degrees of rotational freedom.

8. The intelligent welding robot suitable for high-altitude operations according to claim 1, characterized in that, A second pressure sensor is installed on the rotating arm, which is used to detect pressure changes on the outside of the rotating arm.

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