Vacuum suction cup type wall-climbing welding robot

Abstract

The utility model relates to a vacuum suction cup type wall-climbing welding robot which comprises a vehicle body structure, a positioning module, a pose monitoring module, a driving module, a welding module and a control system. The positioning module adopts a laser displacement sensor and a depth camera which are respectively fixed on a welding head and a vehicle body; the pose monitoring module is a vehicle body built-in gyroscope; the driving module comprises a group of driving wheels and a driving motor in a driving box body; the adsorption module is composed of two sets of adsorption wheels, each adsorption wheel is of a capsule structure, in other words, the middle portion is composed of an adsorption shaft and suction cups, the suction cups are distributed on the shaft face in a spiral line mode, and an air inlet valve and an air release valve are arranged on the two sides of the adsorption shaft respectively. The welding robot is suitable for a multi-diameter smooth weak magnetic thin-wall surface, and complete self-walking welding can be achieved; meanwhile, the robot can achieve accurate recognition and positioning of the welding gun on the welding seam, and welding work of the multi-diameter weak magnetic tank can be efficiently completed.

Description

TECHNICAL FIELD

[0001] The utility model belongs to welding robot field, especially a vacuum chuck formula wall climbing welding robot. BACKGROUND

[0002] Welding robots have wide application background and application value in device processing in engineering, medical treatment, aerospace and other fields. At present, the working mode of welding robots mainly includes track welding type, permanent magnetic adsorption wall climbing welding type and chuck wall climbing welding type.

[0003] Track welding robots need manual configuration of tracks, and are very time-consuming and laborious to operate in large-diameter tank welding processes. For example, a magnetic suction movable track type pipeline welding robot with publication number CN116900585B adjusts the track chain to make the supporting wheel match the welding pipeline, adjusts the magnetic suction wheel to adsorb the wall surface to provide adsorption force for the robot, and needs to disassemble and adjust the chain before and after welding. The magnetic suction wheel and the supporting wheel cannot guarantee the firmness of the self-weight of the robot supported by the thin pipe wall.

[0004] Permanent magnetic adsorption wall climbing welding robots adsorb the welding wall through permanent magnetic wheels or permanent magnetic tracks, control the welding head to match the welding seam to complete welding. For example, a permanent magnetic adsorption wheel track type wall climbing machine for welding robots with publication number CN110386198A adopts a wheel track type driving system, and embeds the permanent magnetic adsorption unit in the inside of the two side tracks, which can provide larger adsorption force. However, it has a minimum radius requirement for the welding pipe wall, cannot adapt to most pipe wall radii, and the adsorption force of the permanent magnetic adsorption wall climbing welding robot for weak magnetic materials is difficult to support itself. Moreover, the wheel track type structure will stop during turning, which affects the continuity of welding.

[0005] Chuck wall climbing welding robots provide adsorption force of the robot by vacuum chuck adsorption of the wall. However, due to the limited adsorption force of the chuck, the self-weight and the size of the robot need to adapt to the adsorption capacity provided by the chuck, and the welding mechanical arm needs to match the welding seam to complete the welding operation independently. The chuck needs to frequently switch between suction and exhaust modes when the adsorption wheel rotates, which requires the air pump to start and stop continuously, reducing its service life, and the overall control difficulty of the robot is obviously increased.

[0006] At present, traditional welding robots such as track welding type and permanent magnetic adsorption wall climbing welding type are difficult to adapt to continuous welding of weak magnetic large radius pipe wall due to their own structure and welding materials. In view of the existing problems, the utility model proposes a new application mode. UTILITY MODEL CONTENTS

[0007] In view of the problems existing in the welding robot, the utility model discloses a vacuum chuck type wall climbing welding robot, the whole quality of the robot is lighter than the permanent magnet wall climbing robot, can complete the welding work on most thin wall pipe plate, the robot realizes wall surface adsorption and walking function through the adsorption wheel and the drive wheel connected with the chassis, the adsorption capacity is enough to support itself and walks without stop, can adapt to different kinds, different diameter smooth wall welding through the damping hinge, and the application range is very wide, the welding robot completes the body pose adjustment and the welding head positioning through the laser displacement sensor, the depth vision camera and the built-in gyroscope, and the welding head cooperates the wire feeder to complete the welding of the weld, provides an implementation scheme of high efficiency and precision to complete the welding work of whole circle tank.

[0008] The utility model discloses a vacuum chuck type wall climbing welding robot, including robot car body structure, positioning module, pose monitoring module, drive module, welding module and control system, the car body structure includes shell and chassis, the shell shape is cuboid box type, and the lower shell cooperates with the bottom plate, and the top of robot shell installs touch display screen.

[0009] The utility model discloses a vacuum chuck type wall climbing welding robot, including robot car body structure, positioning module, pose monitoring module, drive module, welding module and control system, the car body structure includes shell and chassis, the shell shape is cuboid box type, and the lower shell cooperates with the bottom plate, and the top of robot shell installs touch display screen. The bottom plate includes front bottom plate, rear bottom plate, drive wheel, adsorption wheel and drive box body, and the front bottom plate and the rear bottom plate are hinged to each other by a damping hinge, which can rotate at any angle. The drive box body is connected to the front bottom plate at the top, and the two sides are symmetrically provided with shaft holes and extend out of the drive shaft sleeve, and a drive motor is installed inside. The drive wheel is concentric with the shaft hole and is limited by the drive shaft sleeve. The adsorption wheel includes two adsorption wheels, which are connected to the front bottom plate and the rear bottom plate respectively. The welding module includes a mechanical arm, a small arm, a linear module and a welding gun sleeve, wherein the mechanical arm is fixed to the left side of the shell, the small arm and the linear module are connected by a double-shaft rudder, and the welding gun sleeve is connected to the linear module by a foot. The positioning module includes a depth vision camera and a laser displacement sensor, which are fixed to the left side of the shell by bolts. The pose monitoring module includes a gyroscope, which is built-in in the shell.

[0010] Further optimization, the front bottom plate is provided with two drive motors and two drive wheels on the left and right sides respectively, and one adsorption wheel is installed on the front bottom plate and the rear bottom plate.

[0011] Further optimization, the positioning module includes a depth vision camera and a laser displacement sensor, which are fixed to the side of the shell by bolts, and the laser displacement sensor, the depth vision camera and the center of the mechanical arm are on the same horizontal line to ensure the consistency of information collection and reception.

[0012] Further optimization, the pose detection module includes a gyroscope built-in in the shell.

[0013] For further optimization, the welding module comprises a mechanical arm large arm, a mechanical arm small arm, a linear module and a welding gun sleeve, wherein the mechanical arm large arm is fixed to the side of the shell, the mechanical arm small arm and the linear module are connected through a double-shaft rudder, and the welding gun sleeve is connected with the linear module through a foot, so that the welding head and the mechanical arm are perpendicular to each other.

[0014] For further optimization, the adsorption shaft is a capsule-shaped vacuum suction cup adsorption device, that is, the adsorption shaft is composed of a ventilation channel and an adsorption wheel suction cup, the adsorption wheel suction cup is distributed in a spiral line on the shaft surface, and the air suction valve and the air exhaust valve are respectively installed on the two sides of the adsorption shaft in a hemispherical shape; the air suction valve is connected to the side of the suction cup main shaft, and the air exhaust valve is connected to the right side; the air suction valve is connected with a suction pipeline, and the air exhaust valve does not need to be connected with a pipeline, and is directly connected with the outside through a stable flow of the air exhaust side air cover.

[0015] For further optimization, the adsorption wheel comprises an air exhaust valve, an adsorption shaft and an air suction valve, wherein the air suction valve comprises an air cover and a suction piece, the suction piece is a circular thin piece with internal threads, a circular groove through which at most two air channels pass is formed in the suction piece, and the suction piece is connected with the adsorption wheel clasp through the internal threads; the air cover and the suction piece are connected through welding, so that air flow can only enter and exit through the air cover opening and the groove opening.

[0016] For further optimization, the air exhaust valve comprises an air cover and an air exhaust piece, the air exhaust piece is a circular thin piece with internal threads, and the air exhaust piece is connected with the adsorption wheel clasp through the internal threads; a baffle capable of closing two holes is left on the air exhaust piece, and the air exhaust piece and the air cover are connected together through welding, so that air flow of at most two holes can be blocked at the same time.

[0017] For further optimization, the diameter of the adsorption shaft at the center of the adsorption wheel is smaller than the diameters of the suction piece and the air exhaust piece, so that the interference of the shaking of the protruding part of the suction cup on the running process of the robot is prevented.

[0018] Compared with the prior structure, the vacuum suction cup type wall climbing welding robot has the following beneficial effects:

[0019] The vacuum suction cup type wall climbing welding robot comprises five parts of a foldable chassis, a welding mechanical arm, a welding head, a visual positioning system and a welding control system, can overcome the limitation of the minimum radius of the traditional welding robot, can complete welding of a tank body with multiple diameters and multiple angles, can overcome the problem that the robot is blocked by friction and resistance during the running process, can solve the problem of most friction and resistance during the advance of the adsorption wheel while ensuring the stability of the robot in the adsorption of the vacuum suction cup, can flexibly adjust the welding pose and timely correct the welding angle deviation problem, and can continuously adjust the on-off of the air pump during the running of the robot, the control difficulty is high and complicated, the structure of the traditional suction cup trolley is adjusted, the air pump control difficulty is simplified, the adsorption capacity of the adsorption shaft is increased, and the trolley body has the ability to completely walk and complete the welding work under the condition of hoisting a rope. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 A three-dimensional structure schematic view of a vacuum chuck type wall-climbing welding robot is provided in the utility model;

[0021] Fig. 2 is a shell assembly structure schematic view provided in the utility model; Fig. 2(a) is a shell front view; Fig. 2(b) is a shell rear view;

[0022] Fig. 3 is a bottom plate assembly structure schematic view provided in the utility model; Fig. 3(a) is a front and rear bottom plate combined structure schematic view, Fig. 3(b) is a front bottom plate three-dimensional structure schematic view; Fig. 3(c) is a rear bottom plate three-dimensional structure schematic view;

[0023] Fig. 4 is a wall surface adsorption device structure schematic view provided in the utility model; Fig. 4(a) is an adsorption device combined structure schematic view; Fig. 4(b) is an adsorption device disassembly structure schematic view;

[0024] Figure 5 A schematic view when working is provided in the utility model;

[0025] Figure 6 A vacuum adsorption principle diagram;

[0026] The figure mark instructions are as follows:

[0027] 1-shell, 2-rear bottom plate, 3-adsorption wheel, 4-front bottom plate,

[0028] 11-touch display screen, 121-mechanical arm large arm, 122-mechanical arm small arm, 123-linear module, 124-welding gun sleeve, 13-laser displacement sensor, 141-camera support, 142-depth vision camera, 151-knob, 152-OLED display screen,

[0029] 16-driving circuit input port, 17-lifting lug,

[0030] 21-damping hinge, 41-driving wheel, 42-driving wheel chuck, 43-driving box body,

[0031] 44-driving shaft sleeve, 45-driving box body bottom plate, 46-adsorption wheel snap ring,

[0032] 31-snap ring matching groove, 32-adsorption wheel chuck,

[0033] 33-air cover, 34-gas release sheet, 35-gas suction sheet, 36-adsorption shaft cover, 37-adsorption shaft. DETAILED DESCRIPTION

[0034] The utility model is further explained below in combination with working examples and drawings, but is not limited to the scope of protection of the present application.

[0035] The vacuum chuck type wall-climbing welding robot comprises a bottom plate, a shell, a positioning device, a pose monitoring device, a driving device, a suction device, a welding execution device and a control system, the positioning device comprises a camera support 141 and a depth vision camera 142, and is respectively installed on the side surface of the shell 1;

[0036] The pose monitoring device comprises a laser displacement sensor 13 and a gyroscope, the laser displacement sensor 13 is installed on the side surface of the shell 1, and the gyroscope is installed in the shell, the robot pose can be monitored at any time and uploaded to the control system for real-time adjustment of the driving motor;

[0037] The welding execution device is a three-degree-of-freedom mechanical arm, comprising a mechanical arm large arm 121, a mechanical arm small arm 122, a linear module 123 and a welding gun sleeve 124, wherein the mechanical arm large arm 121 is fixed on the side surface of the shell 1, the mechanical arm small arm 122 and the linear module 123 are connected through a rudder, and the welding gun sleeve 124 is connected with the linear module 123 through a foot, and the mechanical arm can complete the welding work in a fan-shaped area with a radius of 15-25 cm and the vehicle body as the center;

[0038] The driving device is a front driving wheel type mechanism, wherein the driving wheel 41 is limited by the sleeve 44, bearings and a driving motor are arranged in the driving box body 43, and the robot walking speed and pose can be adjusted according to the control system;

[0039] In the suction device, the suction shaft is limited by the centers of the left and right clamping rings, connected with the cover through external threads, and connected with the air release piece and the air suction piece through external threads, so that the suction shaft rotates concentrically relative to the air release piece and the air suction piece. The air pump is connected with the robot side air cover, the air in the suction shaft is sucked away from the reserved notch of the air suction piece, and the baffle on the air release piece prevents the airflow from escaping, so that the suction shaft corresponds to the vacuum in the channel, and the suction cup generates suction force. In the vacuum suction process, the power of the air pump mainly affects the suction force generated by the suction shaft, and the greater the power, the better the suction effect, but the running resistance and the energy loss are increased, in the embodiment, the air pump with a displacement of 140L / min is selected for the robot, which can meet the smooth advance of the robot without generating high noise;

[0040] The control system comprises an electric control device and a gyroscope in the shell, the electric control device is composed of a driver, a control chip, a sensor serial port and related circuits. The control system can complete the matching of the end effector to the welding seam according to the matching of the depth camera and the laser displacement sensor, and simultaneously accept the robot running signal sent by the pose monitoring device to differentially adjust the vehicle body pose;

[0041] Figure 1The utility model discloses a kind of vacuum chuck type wall-climbing welding robot solid structures, including shell 1, front bottom plate 4, rear bottom plate 2, suction wheel 3, driving device and control system.Outside shell 1 bottom is connected together by countersunk head bolt with front bottom plate 4;Driving device includes driving wheel 41, driving wheel suction disc 42, driving shaft sleeve 44 and built-in driving motor of driving box 43, and the electric control equipment and driver in shell.

[0042] Fig. 2 is a schematic diagram of the shell assembly structure provided by the utility model, wherein the touch display screen 11, knob 151 and OLED display screen are fixed to the top end and front side of the shell 1 by bolts, constituting a robot manual adjustment module. By adjusting the knob 151, the air pump power, motor speed and welding gun power can be manually adjusted, and the robot parameters are displayed on the OLED display screen 152.

[0043] The camera support 141 is a plastic or metal shell, and the inner cavity of the shell holds the camera data line. The camera support 141 is fixed to the side of the shell by bolts, and the depth vision camera 142 is fixed in the camera support 141 by a clamping groove and bolts.

[0044] The laser displacement sensor 13 and the mechanical arm large arm 121 are fixed to the side of the shell by bolts, and the center heights of the two are flush. The mechanical arm large arm 121, mechanical arm small arm 122 and linear module 123 are connected to each other by double-axis rudders, which can ensure that the mechanical arm rotates 0-360° within the working radius. The working radius can be adjusted arbitrarily by replacing mechanical arms of different lengths. The linear module 123 and the welding gun sleeve 124 are connected by anchor bolts and bolts, which are used to match the height distance of the welding gun and the weld.

[0045] The lifting lug 17 is fixed to the right side of the shell by welding to prevent the robot from falling off during work. The drive circuit input port 16 is a boss hole formed by welding the sleeve to the shell, which is used for the power supply of the electric control system inside the shell 1 and the communication line interaction of the upper computer.

[0046] Fig. 3 is a schematic diagram of the structure of a bottom plate provided by the utility model, wherein the bottom plate includes a front bottom plate 4 and a rear bottom plate 2. The front bottom plate 4 is connected to the rear bottom plate 2 through a damping hinge, which can realize 90°-180° folding. The wall-climbing robot can be arbitrarily replaced and adjusted according to the length of the bottom plate.

[0047] The driving box body 43 is fixed to the bottom of the front bottom plate 4 by bolts, and the installation position can ensure that the center of the driving shaft sleeve 44 and the adjacent adsorption wheel snap ring 46 is parallel to the front bottom plate 4, and the distance between the centers is equal to the distance between the two bottom plates, so that the robot gravity center is near the damping hinge 21; the driving shaft sleeve 44 is a circular table hole on the left and right sides of the driving box body 43, which is used for limiting the driving wheel 41 in the horizontal direction, and a bearing seat and a driving motor are installed in the driving box body 43, the shaft center of which is concentric with the driving shaft sleeve 44, and is fixed to the inner wall surface of the driving box body 43; the adsorption shaft snap ring 46 is connected with the bottom of the front bottom plate 4 and the rear bottom plate 2 by threads and is suspended below the bottom plate, and the inner side of the snap ring has a protrusion for embedding the snap ring matching groove 31 on the adsorption wheel 3 to limit the adsorption wheel 3 in the horizontal direction, and can be used for fixing the air suction piece 34 or the air release piece 35.

[0048] Figure 4 is a structural schematic view of an adsorption wheel provided by the utility model; the adsorption wheel 3 is a capsule structure as a whole, wherein the adsorption shaft 37 is arranged at the center of the left and right adsorption shaft snap rings 46, and is connected with the adsorption shaft cover 36 on the left and right sides through threads; the rubber pad with a corresponding hole position is installed in the inner side of the adsorption shaft cover 36 to ensure air tightness; the adsorption shaft 37 is composed of an air passage and an adsorption wheel suction cup 32; the adsorption wheel suction cup 32 is in a spiral line shape and is staggered on the side wall of the adsorption shaft and connected with the internal air passage; the spiral line structure can make the adsorption wheel suction cup 32 more compact, and ensure that the air pressure in the passage is stable; in the embodiment, only a 6-air-passage adsorption shaft is displayed, and in practice, any number of air passages can be selected according to the shaft diameter; the air suction valve includes a gas cover 33 and an air suction piece 35; the air suction piece 35 is a circular sheet with internal threads; the air suction piece 35 is provided with a circular groove through which at most two air passages pass; the air suction piece 35 is connected with the adsorption wheel snap ring 46 through internal threads; the gas cover 33 and the air suction piece 35 are connected by welding, so that air flow can only enter and exit through the gas cover opening and the groove opening; the air release valve includes the gas cover 33 and the air release piece 34; the air release piece 34 is a circular sheet with internal threads and is connected with the adsorption wheel snap ring 46 through internal threads; the air release piece is provided with a baffle that can close two holes and is connected with the gas cover 33 by welding, so as to ensure that the air flow of at most two holes is blocked at the same time; the air release piece 34 is connected with the side adsorption shaft snap ring 46 through threads, and the air suction piece 35 is connected with the right adsorption shaft snap ring 46 through threads; the groove opening of the air suction piece 35 and the baffle of the air release piece 34 are synchronous in position and are at the lowest point of the circumference when the threads are tightened, so as to open the air suction passage when the adsorption shaft adsorption passage turning wall is opened, and close the air release passage to maintain the vacuum environment in the adsorption passage; the gas cover 33 is connected with the air suction piece 35 and the air release piece 34 by welding to form an air suction valve and an air release valve; the gas cover 33, the air suction piece 35 and the air release piece 34 have the same diameter, which can ensure the air tightness in the air chamber and stabilize the internal air pressure of the adsorption shaft 3.

[0049] The diameter of the adsorption shaft 37 is smaller than the suction piece 35 and the air release piece 34, so that the adsorption wheel suction cup 32 is stable during adsorption, and the adsorption wheel suction cup 32 does not slide left and right due to the thickness of the adsorption wheel suction cup 32 itself during adsorption; and the adsorption wheel suction cup 32 is more easily separated from the wall surface.

[0050] Figure 5 The welding robot working principle in the utility model is as follows: the bottom plate 4 and the bottom plate 2 are bent to the corresponding angle according to the required welding pipe radius and are placed in the initial position, the lifting lug 17 is connected with the safety rope, then the air pump pumps air to the adsorption shaft 3, the inside of the adsorption wheel suction cup 32 abutting against the welding pipe is vacuumized, the robot is adsorbed on the welding pipe wall, and any adjustment is not required from the start of the air pump to the completion of the welding work of the robot. The left and right two drive motors in the drive box 45 drive the drive wheel 41 to rotate through the drive instruction, and then drive the adsorption wheel 3 to rotate. The depth vision camera 142 and the laser displacement sensor 13 send parameters to the control system, and then the drive wheel 41 is differentially adjusted to the robot pose, which is used for the robot to match the welding position. The mechanical arm large arm 121, the mechanical arm small arm 122, the linear module 123 and the welding sleeve 124 receive the welding seam coordinate calculation welding head space position of the control system, and after the welding head matches the welding seam, the welding gun is started to complete the welding operation.

[0051] The adsorption principle of the adsorption wheel is as follows:

[0052] Figure 6 The side is the suction piece 35, and the right side is the air release piece 34. The solid line is the initial position of the air channel, the dotted line is the position where the air channel is about to leave the circular slot, and the dotted line is the position where the air channel has left the slot.

[0053] The air pump pumps air to the connected air suction valve, at this time, the channel to be pumped is only the solid line corresponding air channel in the circular groove of the suction piece, and the corresponding air channel is just blocked at the air release piece position, preventing external gas from flowing into the air channel, maintaining the vacuum environment inside the air channel. When the adsorption shaft advances and rotates counterclockwise to the dotted line position, the air channel is about to push out of the circular groove at this time, and the adjacent air channel rotates into the circular groove. This stage is the adsorption transition stage, which ensures the vacuum of the next air channel while preventing the adsorption capacity of the current air channel from suddenly decreasing, causing the trolley to fall off due to the decrease in adsorption force. When the adsorption shaft rotates to the dotted line position, it indicates that the air channel is connected with the outside, and even if the air pump pumps air, it cannot affect the air channel in the adsorption wall stage, ensuring the stability of the adsorption shaft advancing speed and reducing the walking resistance.

[0054] The adsorption wheel can automatically switch the vacuum and release stages of the air channel according to the robot walking after the air pump is turned on, without the need to control the air pump.

[0055] In addition, the robot adopts a damping hinged mode of front and rear bottom plates on the bottom plate, so as to ensure that the robot is self-adapted to different curved surface welding work.

[0056] The robot is capable of stable walking on a smooth wall surface through automatic switching of the suction wheel air passage and cooperation of the diameter difference between the suction shaft and the suction and exhaust pieces.

[0057] The above merely describes preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can modify the technical solutions described in the foregoing embodiments or make equivalent replacements to some technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of protection of the present application.

Claims

1. A vacuum cup type wall climbing welding robot, comprising a robot vehicle structure, a positioning module, a pose monitoring module, a driving module, a welding module and a control system, the vehicle structure comprising an outer shell (1) and a chassis, characterized in that, the outer shell is in the shape of a cuboid box, the lower part of the shell is matched with the bottom plate, and the top of the robot outer shell is provided with a touch display screen; the chassis comprises a front bottom plate (4), a rear bottom plate (2), a driving wheel (41), a suction wheel (3) and a driving box (43); the front bottom plate (4) and the rear bottom plate (2) are hingedly connected to each other by a damping hinge (21), which can rotate at any angle; the driving box (43) is connected to the front bottom plate (4) at the top, has shaft holes symmetrically formed on both sides and extends out driving shaft sleeves (44), and is internally provided with a driving motor; the driving wheel (41) is concentric with the shaft hole and is limited by the driving shaft sleeve (44); the suction wheel (3) is provided in two, and is connected to the suction wheel clamps (46) of the front bottom plate (4) and the rear bottom plate (2) respectively; the welding module comprises a mechanical arm large arm (121), a mechanical arm small arm (122), a linear module (123) and a welding gun sleeve (124), wherein the mechanical arm large arm (121) is fixed to the left side of the outer shell (1), the mechanical arm small arm (122) and the linear module (123) are connected through a double-shaft rudder, and the welding gun sleeve (124) is connected to the linear module (123) through a foot screw; the positioning module comprises a depth vision camera (142) and a laser displacement sensor (13), which are fixed to the left side of the outer shell by bolts; the pose monitoring module comprises a gyroscope, which is built into the outer shell (1).

2. The vacuum cup wall-climbing welding robot according to claim 1, characterized in that, The front bottom plate (4) is provided with two driving motors and two driving wheels (41) on the left and right sides respectively, the front bottom plate (4) and the rear bottom plate (2) are each provided with one suction wheel (3), and the suction shaft (37) in the center of the suction wheel (3) has a smaller diameter than that of the air suction sheet (35) and the air release sheet (34).

3. The vacuum cup wall-climbing welding robot according to claim 1, characterized in that, The laser displacement sensor (13), the depth vision camera (142) and the mechanical arm large arm (121) are on the same horizontal line.

4. The vacuum cup wall-climbing welding robot according to claim 1, characterized in that, The suction wheel (3) is a capsule structure, i.e. the suction shaft (37) is composed of an air passage and a suction wheel suction disc (32), the suction wheel suction disc (32) is in a spiral line and is distributed on the shaft surface, and the air suction valve and the air release valve are in a hemispherical shape and are respectively installed on the two sides of the suction shaft.

5. The vacuum cup wall-climbing welding robot according to claim 1, characterized in that, The suction wheel (3) comprises an air release valve, a suction shaft (37) and an air suction valve, wherein the air suction valve comprises an air cover (33) and an air suction sheet (35), the air suction sheet (35) is a circular sheet with internal threads, the air suction sheet (35) is provided with a circular groove through which a maximum of two air passages pass, and the air suction sheet (35) is connected to the suction wheel clamp (46) through the internal threads; the air cover (33) and the air suction sheet (35) are connected by welding, so that the airflow can only enter and exit through the air cover opening and the groove opening.

6. The vacuum cup wall-climbing welding robot according to claim 5, characterized in that: The deflation valve comprises a gas cover (33) and a deflation sheet (34), the deflation sheet (34) is a circular sheet with internal thread, and is connected with the adsorption wheel clasp (46) through the internal thread; the deflation sheet is provided with a blocking sheet capable of closing double holes, and is connected with the gas cover (33) through welding, so as to ensure that the airflow of the two holes is blocked at the same time.

Images