Traveling mechanism for crawl type welding robot

Abstract

The utility model discloses a walking mechanism for a crawl type welding robot, which comprises a rack, a crawler walking mechanism, an unfolded anchoring mechanism, a rotary mounting table and an arc-shaped track moving mechanism, the crawler walking mechanism is mounted on the rack, and the crawler walking mechanism is suitable for driving the rack to move; the unfolding type anchoring mechanism is installed on the rack, and the unfolding type anchoring mechanism is suitable for being unfolded and abutting against the ground to fix the rack when the crawler walking mechanism stops; the rotary mounting table is rotationally arranged on the rack; the arc-shaped track moving mechanism is mounted on the rotary mounting table, and the arc-shaped track moving mechanism is suitable for driving a welding robot to move on the rotary mounting table. The crawling type welding robot can flexibly move, and stable and reliable support is provided.

Description

Technical Field

[0001] The utility model relates to a walking mechanism for a crawling welding robot, belonging to the technical field of walking mechanisms. Background Art

[0002] Currently, welding, as one of the basic manufacturing processes in modern industrial production, is widely used in many fields such as construction, shipbuilding, automobiles, petrochemicals, and aerospace. Welding robots have become an important means to improve welding quality and production efficiency.

[0003] After searching the prior art, it was found that the Chinese patent with the announcement number CN116748763A disclosed an automatic welding device for welding channel steel and spiral steel plate silo walls. The patent uses a walking support mechanism for movement and support and fixation after moving into position. However, during use, it was found that the side telescopic support legs and rear telescopic support legs extended in situ had low stability for the overall support, which easily affected the safety of welding. Summary of the Invention

[0004] The technical problem to be solved by the utility model is to overcome the defects of the prior art and provide a walking mechanism for a crawling welding robot, which can realize the flexible movement of the crawling welding robot and provide stable and reliable support.

[0005] In order to solve the above technical problems, the technical solution of the utility model is: a walking mechanism for a crawling welding robot, comprising:

[0006] frame;

[0007] A crawler walking mechanism, the crawler walking mechanism being mounted on the frame and being adapted to drive the frame to move;

[0008] an expandable anchoring mechanism, the expandable anchoring mechanism being mounted on the frame and adapted to expand and abut against the ground when the crawler walking mechanism stops to fix the frame;

[0009] A rotary mounting platform, the rotary mounting platform being rotatably disposed on the frame;

[0010] An arc-shaped track moving mechanism is installed on the rotary mounting platform, and the arc-shaped track moving mechanism is suitable for driving the welding robot to move on the rotary mounting platform.

[0011] Furthermore, a specific structure of an arc track moving mechanism is provided, and the arc track moving mechanism includes:

[0012] At least one arc-shaped movable platform, the arc-shaped movable platform being mounted on the rotary mounting table;

[0013] An arc-shaped rack fixedly mounted on the arc-shaped movable platform;

[0014] At least one arc-shaped guide rail, the arc-shaped guide rail is fixedly mounted on the arc-shaped movable platform and is concentrically arranged with the arc-shaped rack;

[0015] A sliding bearing plate, wherein the sliding bearing plate is slidably connected to the arcuate movable platform via the arcuate slider and the arcuate guide rail;

[0016] a driving device, the driving device being fixedly mounted on the sliding bearing plate, the driving device being provided with an output gear, the output gear of the driving device being adapted to mesh with the arc-shaped rack;

[0017] Wherein, the driving device is suitable for driving the sliding bearing plate to move along the arc-shaped guide rail of the arc-shaped moving platform.

[0018] Furthermore, in order to protect the safety of the sliding bearing plate when it moves to the edge of the arc-shaped moving platform, the walking mechanism of the crawling welding robot further includes at least one anti-collision plate, which is installed on the arc-shaped moving platform and is located at the end of the arc-shaped moving platform;

[0019] The anti-collision plate is suitable for abutting against the sliding bearing plate when the sliding bearing plate moves to the edge of the arc-shaped moving platform.

[0020] Furthermore, a specific structure of a crawler walking mechanism is provided, and the crawler walking mechanism includes:

[0021] A pair of crawler chassis, the pair of crawler chassis are symmetrically arranged on both sides of the frame, and the crawler chassis include:

[0022] A driving wheel, the driving wheel being hinged to a front end of one side of the frame;

[0023] A driven wheel, the driven wheel being hinged to a rear end of one side of the frame;

[0024] The outer edges of the driving wheel and the driven wheel are provided with raised teeth evenly distributed along the circumference;

[0025] A plurality of load-bearing wheels, each of which is hinged to the frame and evenly distributed between the driving wheel and the driven wheel;

[0026] A crawler track, the crawler track being wound around the outer periphery of the driving wheel, the driven wheel and the load-bearing wheel, the inner side of the crawler track being adapted to engage with the raised teeth of the driving wheel and the driven wheel;

[0027] at least one driving mechanism, the driving mechanism being mounted in the frame and in driving connection with the driving wheel, the driving mechanism being adapted to drive the crawler belt to rotate via the driving wheel;

[0028] Furthermore, a specific structure of a driving mechanism is provided, wherein the driving mechanism comprises:

[0029] A drive motor, the drive motor is fixedly mounted in the frame and is provided with an output shaft;

[0030] A reducer connected to the output shaft of the drive motor;

[0031] A transmission shaft, one end of which is connected to the output shaft of the reducer, and the other end of which is connected to the driving wheel.

[0032] Furthermore, the deployable anchoring mechanism includes a plurality of anchoring mechanisms, and the anchoring mechanism includes:

[0033] a connecting arm, one end of which is hinged to the frame;

[0034] a supporting arm, the supporting arm being hinged to the other end of the connecting arm;

[0035] a first telescopic mechanism, wherein a fixed end of the first telescopic mechanism is hinged to the frame, and a telescopic end of the first telescopic mechanism is hinged to the connecting arm, and the first telescopic mechanism is adapted to control an angle of the connecting arm relative to the frame;

[0036] A second telescopic mechanism, wherein a fixed end of the second telescopic mechanism is hinged on the connecting arm, and a telescopic end thereof is hinged on the supporting arm, and the second telescopic mechanism is suitable for controlling the angle of the supporting arm relative to the connecting arm.

[0037] Furthermore, the walking mechanism for the crawling welding robot further includes a flat foot pad, which is hinged to the end of the support arm.

[0038] Furthermore, the walking mechanism for the crawling welding robot further includes a rotary mounting platform rotation drive mechanism, and the rotary mounting platform rotation drive mechanism includes:

[0039] Gear teeth are arranged around the outer edge of the rotary mounting platform;

[0040] a rotation driving source, the rotation driving source being fixedly mounted in the frame;

[0041] A driving gear, the driving gear being rotatably mounted in the frame and being in transmission connection with the rotation drive source;

[0042] The rotation driving source is adapted to engage with the gear teeth of the rotary mounting platform through the driving gear, thereby driving the rotary mounting platform to perform rotational motion relative to the frame.

[0043] By adopting the above technical solution, the utility model has the following beneficial effects:

[0044] In this utility model, the crawler mechanism drives the entire frame before moving to the predetermined welding position. During this time, the deployable anchor mechanism remains retracted to facilitate smooth movement of the frame. Upon reaching the welding position, the crawler mechanism stops, and the deployable anchor mechanism activates and deploys, firmly contacting the ground and securing the frame in place. Thereafter, the curved track mechanism activates, driving the crawler welding robot along a pre-set curved path to perform the welding operation.

[0045] In addition, the arc track moving mechanism adopts an arc moving platform design, which enables the crawling welding robot to move flexibly and continuously along the arc track around the objects that need to be welded; the crawler walking mechanism can adapt to a variety of different environmental conditions.

[0046] In summary, the technical solution of the present invention achieves high stability of the crawling welding robot when moving to the welding position and performing welding operations, significantly improving the efficiency and quality of welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a three-dimensional schematic diagram of the walking mechanism of the crawling welding robot of the present invention;

[0048] Figure 2 for Figure 1 A partial enlarged view of part A;

[0049] Figure 3 This is a front view of the walking mechanism of the crawling welding robot of the present invention;

[0050] Figure 4 This is a right side view of the walking mechanism of the crawling welding robot of the present invention. DETAILED DESCRIPTION

[0051] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments in conjunction with the accompanying drawings.

[0052] like Figure 1-4 As shown, a walking mechanism for a crawling welding robot includes:

[0053] Rack 1;

[0054] The crawler traveling mechanism 2 is installed on the frame 1 and is suitable for driving the frame 1 to move;

[0055] An expandable anchoring mechanism 3 is mounted on the frame 1 and is adapted to expand and abut against the ground when the crawler traveling mechanism 2 stops to fix the frame 1;

[0056] A rotary mounting platform 4 is rotatably mounted on the frame 1;

[0057] The arc-shaped track moving mechanism 5 is installed on the rotary mounting platform 4 , and the arc-shaped track moving mechanism 5 is suitable for driving the welding robot to move on the rotary mounting platform 4 .

[0058] In this embodiment, if Figure 1 As shown, before moving to the predetermined welding position, the entire frame 1 is driven by the crawler mechanism 2. During this time, the deployable anchor mechanism 3 remains retracted to facilitate smooth movement of the frame 1. Upon reaching the welding position, the crawler mechanism 2 stops, and the deployable anchor mechanism 3 is activated and deployed, firmly contacting the ground and securing the position of the frame 1. Thereafter, the arc track movement mechanism 5 activates, driving the crawler welding robot along a pre-set arc path to perform the welding operation.

[0059] Specifically, such as Figure 1-2 As shown, the arc track moving mechanism 5 can be the following structure, including:

[0060] Two arc-shaped movable platforms 51, the arc-shaped movable platforms 51 are installed on the rotary mounting platform 4;

[0061] The arc-shaped rack 52 is fixedly mounted on the arc-shaped movable platform 51;

[0062] Two arc-shaped guide rails 53, which are fixedly mounted on the arc-shaped movable platform 51 and are concentric with the arc-shaped rack 52;

[0063] The sliding bearing plate 54 is slidably connected to the arc-shaped movable platform 51 through an arc-shaped slider and an arc-shaped guide rail 53;

[0064] The driving device 55 is fixedly mounted on the sliding carrier plate 54 and is provided with an output gear. The output gear of the driving device 55 is adapted to mesh with the arc-shaped rack 52.

[0065] The driving device 55 is adapted to drive the sliding supporting plate 54 to move along the arc-shaped guide rail 53 of the arc-shaped moving platform 51 .

[0066] In this embodiment, if Figure 1-2As shown, the arc-shaped track movement mechanism 5 primarily enables the movement of the welding robot on the rotary mounting table 4. This design enables the welding robot to perform welding operations along a predetermined arc-shaped trajectory, making it particularly suitable for welding circular or curved workpieces, such as steel silos. The arc-shaped moving platform 51 provides basic support for the entire mechanism, while the arc-shaped rack 52 and arc-shaped guide rails 53 ensure accurate and stable movement.

[0067] During use, the driving device 55 can be a motor, which engages with the arc rack 52 through its output gear, thereby driving the sliding carrier plate 54 to move along the arc guide rail 53. In addition, a position sensor is also provided on the arc moving platform 51 to achieve position control.

[0068] The two arc-shaped moving platforms 51 are detachably connected and can be an outward arc-shaped device for use on the outside of an arc surface similar to a steel silo, or an inward arc-shaped device for use on the inside of an arc surface similar to a steel silo.

[0069] In some embodiments, the number of the arc-shaped movable platforms 51 and the arc-shaped guide rails 53 is not limited to two and can be set according to specific needs.

[0070] Specifically, such as Figure 1-2 As shown, the walking mechanism of the crawling welding robot further includes two pairs of anti-collision plates 56, which are mounted on the arc-shaped moving platform 51 and located at both ends of the arc-shaped moving platform 51;

[0071] The anti-collision plate 56 is adapted to abut against the sliding supporting plate 54 when the sliding supporting plate 54 moves to the edge of the arc-shaped moving platform 51 .

[0072] In this embodiment, if Figure 1-2 As shown, the design of the anti-collision plate 56 is to improve the safety and reliability of the walking mechanism of the crawling welding robot. The two pairs of anti-collision plates 56 are installed at the two ends of the arc-shaped moving platform 51.

[0073] In some embodiments, the number of anti-collision plates 56 is not limited to two pairs and can be set according to specific needs.

[0074] Specifically, such as Figure 1 and Figure 3 As shown, the crawler walking mechanism 2 can be the following structure, including:

[0075] A pair of crawler chassis, a pair of crawler chassis symmetrically arranged on both sides of the frame 1, the crawler chassis includes:

[0076] A driving wheel 21 is hinged to the front end of one side of the frame 1;

[0077] A driven wheel 22, which is hinged to the rear end of one side of the frame 1;

[0078] The outer edges of the driving wheel 21 and the driven wheel 22 are provided with raised teeth evenly spaced along the circumference;

[0079] Three load-bearing wheels 23, all of which are hinged to the frame 1 and evenly distributed between the driving wheel 21 and the driven wheel 22;

[0080] The crawler track 24 surrounds the outer periphery of the driving wheel 21, the driven wheel 22 and the load-bearing wheel 23, and the inner side of the crawler track 24 is suitable for engaging with the raised teeth of the driving wheel 21 and the driven wheel 22;

[0081] A pair of drive mechanisms, the drive mechanisms are installed in the frame 1 and are in transmission connection with the drive wheel 21, and the drive mechanisms are suitable for driving the crawler belt 24 to rotate through the drive wheel 21;

[0082] In this embodiment, if Figure 1 and Figure 3 As shown, the crawler walking mechanism 2 provides stable and flexible mobility, and is particularly suitable for operation in complex terrain or narrow spaces, thereby improving its obstacle-crossing ability and walking stability.

[0083] In some embodiments, the number of load-bearing wheels 23 is not limited to three and can be set according to specific needs.

[0084] Specifically, such as Figure 1 As shown, the driving mechanism may have the following structure, including:

[0085] A drive motor is fixedly mounted in the frame 1 and is provided with an output shaft;

[0086] A reducer connected to the output shaft of the drive motor;

[0087] A transmission shaft, one end of which is connected to the output shaft of the reducer, and the other end of which is connected to the driving wheel 21.

[0088] In this embodiment, if Figure 1 As shown, the driving motor serves as the main power source, and transmits power to the driving wheel 21 through the reducer and the transmission shaft, thereby driving the entire crawler walking mechanism 2.

[0089] Specifically, such as Figure 1 and Figure 4 As shown, the deployable anchoring mechanism 3 includes four anchoring mechanisms, which may be of the following structures:

[0090] A connecting arm 31, one end of the connecting arm 31 is hinged to the frame 1;

[0091] A supporting arm 32 is hinged to the other end of the connecting arm 31;

[0092] A first telescopic mechanism 33, wherein a fixed end of the first telescopic mechanism 33 is hinged to the frame 1, and a telescopic end thereof is hinged to the connecting arm 31. The first telescopic mechanism 33 is adapted to control the angle of the connecting arm 31 relative to the frame 1;

[0093] The second telescopic mechanism 34 has its fixed end hinged on the connecting arm 31 and its telescopic end hinged on the support arm 32 . The second telescopic mechanism 34 is suitable for controlling the angle of the support arm 32 relative to the connecting arm 31 .

[0094] In this embodiment, if Figure 1-2 As shown, the deployable anchoring mechanism 3 is a key component of the crawling welding robot's walking system. Its design purpose is to provide stable support and fixation for the robot during welding operations. This multi-joint design makes the anchoring mechanism highly flexible and adaptable, enabling reliable anchoring in various complex terrains and working environments.

[0095] The connecting arm 31 and the frame 1 are hinged in a hinge structure and can rotate around a circle at the hinge point.

[0096] The anchoring mechanism works by controlling the first and second telescopic mechanisms 33 and 34 to adjust the angles of the connecting arm 31 and support arm 32. When anchoring is required, the two telescopic mechanisms operate simultaneously, deploying the connecting arm 31 and support arm 32 to the appropriate position, where they form a stable support point in contact with the ground. This design allows the robot to be securely fixed on surfaces of varying heights and inclinations, ensuring precision and stability during welding operations.

[0097] Specifically, such as Figure 1 and Figure 4 As shown, the walking mechanism of the crawling welding robot further includes a flat foot pad 35 , which is hinged to the end of the support arm 32 .

[0098] In this embodiment, if Figure 1-2 As shown, the design of the flat foot pad 35 is an important supplement to the deployable anchoring mechanism 3, which significantly improves the stability and adaptability of the entire anchoring system. The flat foot pad 35 is hinged to the end of the support arm 32. This design allows the flat foot pad 35 to automatically adjust its angle when it contacts the ground to adapt to different ground conditions.

[0099] In practical applications, the flat foot pads 35 play a key role in the contact surface. When the anchoring mechanism is deployed, the flat foot pads 35 form a stable contact with the ground, increasing the contact area and thus improving the stability of the entire robot.

[0100] The flat foot pad 35 may be made of a material with a high coefficient of friction, such as a rubber material, to enhance its grip on various surfaces.

[0101] Specifically, such as Figure 1 As shown, the walking mechanism of the crawling welding robot further includes a rotary mounting table rotation drive mechanism, and the rotary mounting table rotation drive mechanism can be the following structure, including:

[0102] Gear teeth are provided around the outer edge of the rotary mounting platform 4;

[0103] A rotation driving source, the rotation driving source is fixedly installed in the frame 1;

[0104] A driving gear is rotatably mounted in the frame 1 and is in transmission connection with the rotating drive source;

[0105] The rotation driving source is adapted to engage with the gear teeth of the rotary mounting platform 4 via a driving gear, thereby driving the rotary mounting platform 4 to perform rotational motion relative to the frame 1 .

[0106] In this embodiment, if Figure 1 As shown, the rotational drive source can also be a motor, capable of 360-degree rotation within the horizontal plane. This design significantly enhances the welding robot's flexibility and operational range, enabling it to adapt to a variety of complex welding tasks and working environments. The rotational drive source drives the active gear, which then meshes with the gear teeth on the outer edge of the rotary mounting platform 4, achieving precise rotational control.

[0107] The specific embodiments described above further illustrate the technical problems, technical solutions and beneficial effects solved by the present invention. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A walking mechanism for a crawling welding robot, characterized in that: include: Rack (1); A crawler walking mechanism (2), the crawler walking mechanism (2) being mounted on the frame (1), and the crawler walking mechanism (2) being suitable for driving the frame (1) to move; An unfoldable anchoring mechanism (3), the unfoldable anchoring mechanism (3) being mounted on the frame (1), the unfoldable anchoring mechanism (3) being adapted to unfold and abut against the ground when the crawler walking mechanism (2) stops to fix the frame (1); A rotary mounting platform (4), the rotary mounting platform (4) being rotatably mounted on the frame (1); An arc-shaped track moving mechanism (5) is installed on the rotary mounting platform (4), and the arc-shaped track moving mechanism (5) is suitable for driving a welding robot to move on the rotary mounting platform (4).

2. The walking mechanism for a crawling welding robot according to claim 1, characterized in that: The arc track moving mechanism (5) comprises: At least one arc-shaped movable platform (51), the arc-shaped movable platform (51) being mounted on the rotary mounting platform (4); An arc-shaped rack (52), wherein the arc-shaped rack (52) is fixedly mounted on the arc-shaped movable platform (51); At least one arc-shaped guide rail (53), the arc-shaped guide rail (53) being fixedly mounted on the arc-shaped movable platform (51) and being concentrically arranged with the arc-shaped rack (52); A sliding bearing plate (54), wherein the sliding bearing plate (54) is slidably connected to the arc-shaped movable platform (51) via an arc-shaped slider and the arc-shaped guide rail (53); A driving device (55), wherein the driving device (55) is fixedly mounted on the sliding bearing plate (54), and an output gear is provided on the driving device (55), and the output gear of the driving device (55) is suitable for meshing with the arc-shaped rack (52); The driving device (55) is suitable for driving the sliding bearing plate (54) to move along the arc-shaped guide rail (53) of the arc-shaped moving platform (51).

3. The walking mechanism for a crawling welding robot according to claim 2, characterized in that: It also includes at least one anti-collision plate (56), which is installed on the arc-shaped moving platform (51) and is located at the end of the arc-shaped moving platform (51); The anti-collision plate (56) is suitable for abutting against the sliding bearing plate (54) when the sliding bearing plate (54) moves to the edge of the arc-shaped moving platform (51).

4. The walking mechanism for a crawling welding robot according to claim 1, characterized in that: The crawler walking mechanism (2) comprises: A pair of crawler chassis, the pair of crawler chassis are symmetrically arranged on both sides of the frame (1), and the crawler chassis include: A driving wheel (21), the driving wheel (21) being hinged to a front end of one side of the frame (1); A driven wheel (22), the driven wheel (22) being hinged to a rear end of one side of the frame (1); The outer edges of the driving wheel (21) and the driven wheel (22) are provided with raised teeth evenly distributed along the circumference; A plurality of load-bearing wheels (23), wherein the plurality of load-bearing wheels (23) are hinged to the frame (1) and are evenly distributed between the driving wheel (21) and the driven wheel (22); A crawler belt (24), the crawler belt (24) being wrapped around the outer periphery of the driving wheel (21), the driven wheel (22) and the load-bearing wheel (23), the inner side of the crawler belt (24) being adapted to engage with the raised teeth of the driving wheel (21) and the driven wheel (22); At least one driving mechanism is installed in the frame (1) and is in transmission connection with the driving wheel (21), and the driving mechanism is suitable for driving the crawler (24) to rotate through the driving wheel (21).

5. The walking mechanism for a crawling welding robot according to claim 4, characterized in that: The driving mechanism comprises: A drive motor, the drive motor is fixedly mounted in the frame (1), and the drive motor is provided with an output shaft; A reducer connected to the output shaft of the drive motor; A transmission shaft, one end of which is connected to the output shaft of the reducer, and the other end of which is connected to the driving wheel (21).

6. The walking mechanism for a crawling welding robot according to claim 1, characterized in that: The deployable anchoring mechanism (3) comprises a plurality of anchoring mechanisms, wherein the anchoring mechanisms include: A connecting arm (31), one end of the connecting arm (31) being hinged to the frame (1); a supporting arm (32), the supporting arm (32) being hinged to the other end of the connecting arm (31); a first telescopic mechanism (33), wherein a fixed end of the first telescopic mechanism (33) is hinged to the frame (1), and a telescopic end thereof is hinged to the connecting arm (31), and the first telescopic mechanism (33) is suitable for controlling the angle of the connecting arm (31) relative to the frame (1); A second telescopic mechanism (34), wherein a fixed end of the second telescopic mechanism (34) is hinged to the connecting arm (31), and a telescopic end thereof is hinged to the supporting arm (32), and the second telescopic mechanism (34) is suitable for controlling the angle of the supporting arm (32) relative to the connecting arm (31).

7. The walking mechanism for a crawling welding robot according to claim 6, characterized in that: It also includes a flat foot pad (35) which is hinged to the end of the support arm (32).

8. The walking mechanism for a crawling welding robot according to claim 1, characterized in that: The rotary mounting platform rotation drive mechanism is further included, and the rotary mounting platform rotation drive mechanism includes: The outer edge of the rotary mounting platform (4) is surrounded by gear teeth; A rotation drive source, the rotation drive source being fixedly mounted in the frame (1); A driving gear, the driving gear being rotatably mounted in the frame (1) and being in transmission connection with the rotation drive source; The rotation drive source is suitable for engaging with the gear teeth of the rotary mounting platform (4) through the driving gear, thereby driving the rotary mounting platform (4) to perform rotational motion relative to the frame (1).

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