Movable chassis and welding robot

Abstract

The utility model provides a movable chassis and a welding robot, and relates to the technical field of welding equipment. The mobile chassis comprises at least one chassis module and a walking module, the walking module comprises a pair of movable parts, and the pair of movable parts are separably arranged on a target object and are distributed at intervals in the first direction; at least one movable piece is connected with a chassis module; the driving piece is arranged on one movable piece and provided with a power output end, and the power output end of the driving piece is connected with the other movable piece; under the condition that one movable part is separated from the target object, the driving part can drive the movable part separated from the target object to move in the first direction so as to adjust the distance between the pair of movable parts. The welding stability of the welding mechanism can be improved, the shaking condition of the welding mechanism is relieved, and the welding quality is improved.

Description

Technical Field

[0001] This application relates to the field of welding equipment technology, and more particularly to a mobile chassis and a welding robot. Background Technology

[0002] Typically, when welding steel structures, such as steel-framed factory buildings, a lifting mechanism is needed to elevate the welding equipment to the corresponding elevation for component welding. This is especially true for welding robots, which consist of a mobile chassis, a lifting mechanism, and a welding mechanism. The mobile chassis is equipped with a lifting mechanism to transport the welding mechanism to the target position for welding operations. However, the lifting mechanism operates like a cantilever beam, and its end-effector deflection increases exponentially with height. This means that when welding targets at high elevations, the welding mechanism may sway, affecting the welding quality. Utility Model Content

[0003] In view of this, the purpose of this application is to overcome the shortcomings of the prior art and provide a mobile chassis and welding robot that can improve the welding stability of the welding mechanism, alleviate the shaking of the welding mechanism, and improve the welding quality.

[0004] This application provides the following technical solution:

[0005] In a first aspect, embodiments of this application provide a mobile chassis, the mobile chassis having a first direction, the mobile chassis including at least one chassis module and a walking module, the walking module including:

[0006] A pair of movable parts, the pair of movable parts being detachably disposed on the target object, and the pair of movable parts being spaced apart along the first direction; wherein at least one of the movable parts is connected to the chassis module;

[0007] A driving component, which is disposed on one of the movable components, has a power output end, and the power output end of the driving component is connected to the other movable component;

[0008] When one of the movable parts is separated from the target object, the drive member can drive the movable part separated from the target object to move along the first direction to adjust the spacing between the pair of movable parts.

[0009] In some embodiments of the first aspect, one of the movable members is a first movable member and the other movable member is a second movable member;

[0010] The first movable member has a guide portion, which is slidably connected to another second movable member and defines a sliding direction, which is parallel to the first direction.

[0011] In some embodiments of the first aspect, the guide portion includes at least two optical axes and at least two sliding sleeves, the at least two optical axes being arranged in parallel and disposed on the first movable member; wherein at least one sliding sleeve is sleeved on each optical axis, and the sliding sleeve is connected to the second movable member.

[0012] In some embodiments of the first aspect, the mobile chassis further includes at least two clamping members, each of the movable members being connected to at least one of the clamping members, the clamping members being capable of clamping the target object such that the movable member is detachably disposed on the target object.

[0013] In some embodiments of the first aspect, one of the movable members is a first movable member and the other movable member is a second movable member;

[0014] The first movable member has a guide portion, which is slidably connected to another second movable member and defines a sliding direction, which is parallel to the first direction; the guide portion has clamping members separately provided at both ends in the first direction, and the second movable member is located between the two ends of the guide portion.

[0015] In some embodiments of the first aspect, the clamping member includes:

[0016] A gripper having a base and a gripping assembly, the base being connected to the movable member, the gripping assembly being configured to open and close to grip or release the target object.

[0017] In some embodiments of the first aspect, the clamping assembly includes:

[0018] A pair of first clamping parts are hinged to the base. The end of the first clamping part away from the base is a clamping end. A clamping opening is formed between the clamping ends of the pair of first clamping parts. The clamping opening is used to accommodate the target object.

[0019] A first driving unit is connected to the pair of first clamping units. The first driving unit is used to drive the pair of first clamping units to rotate towards or away from each other to open and close the clamping jaws. In the clamping state, the clamping end at least partially abuts against the side of the target object away from the base.

[0020] A second clamping part and a second driving part are disposed on the base. The second driving part and the second clamping part are connected. The second driving part is used to drive the second clamping part to move so as to abut or disengage from the target object on the side near the base.

[0021] In some embodiments of the first aspect, one side of the first clamping portion located within the clamping jaw is a guide surface, which is capable of abutting against a corresponding side on the target object.

[0022] In some embodiments of the first aspect, the clamping assembly further includes:

[0023] A pressure detection unit is provided, which is connected to the second clamping unit, and the pressure detection unit is used to detect the pressure exerted by the second clamping unit on the target object.

[0024] In some embodiments of the first aspect, the clamping assembly further includes:

[0025] The pressure control unit is electrically connected to the second drive unit and the pressure detection unit respectively. The pressure control unit is used to acquire the pressure value detected by the pressure detection unit and send a stop operation command to the second drive unit when the pressure value meets the preset pressure value.

[0026] In some embodiments of the first aspect, when the target object has side grooves on both sides, the clamping end can pass through the side groove on the corresponding side of the target object, and the clamping end can abut against a groove wall on the corresponding side groove that is away from the base.

[0027] In some embodiments of the first aspect, the walking module further includes:

[0028] A ranging element, the ranging element being disposed on one of the movable elements, the ranging element being used to detect the distance between a pair of movable elements.

[0029] In some embodiments of the first aspect, at least one of the chassis modules is individually connected to each of the movable parts.

[0030] Secondly, this application also provides a welding robot, which includes a welding module and a mobile chassis as described in any of the above embodiments, wherein the welding module is disposed on the chassis module.

[0031] In some embodiments of the second aspect, the welding module includes:

[0032] Welding assembly, the welding assembly having a welding torch;

[0033] A robotic arm assembly has a base end and an end effector. The base end is disposed on the chassis module, and the welding assembly is disposed on the end effector. The robotic arm assembly can drive the end effector to move so as to adjust the position and posture of the welding torch.

[0034] The embodiments of this application have the following advantages:

[0035] This application provides a mobile chassis, comprising at least one chassis module and a walking module. The walking module consists of a pair of movable members spaced apart along a first direction, detachably fixed to a target object (such as a steel beam or track). At least one movable member is connected to the chassis module (for carrying a welding robot), and the other movable member is linked to the former via a drive component (such as a motor or hydraulic cylinder). Initial state: Both movable members are fixed to the target object, forming a stable support and preventing end-effector deflection of the lifting mechanism (such as a cantilever) due to cantilever stress.

[0036] Movement Adjustment: When position adjustment is required, one of the movable components (such as the rear clamping wheel) separates from the target object. A driving component (such as a telescopic rod) pushes the separated movable component along a first direction, widening or narrowing the distance between them. After adjustment, the movable component is re-fixed, restoring the dual-point support state. Clearly, by alternately separating, moving, and fixing the two movable components, the step-like displacement of the mobile chassis is achieved, while at least one movable component remains fixed to the target object, ensuring stability. The welding robot's lifting mechanism rises after the chassis moves to the target position, reducing the lifting height. Because the chassis is fixed at two points to counteract the cantilever torque, the swaying of the welding mechanism at heights is significantly reduced, ensuring welding accuracy.

[0037] Therefore, by alternately fixing and moving a pair of movable parts, at least one support point is always in contact with the target object, effectively suppressing the cantilever deflection of the lifting mechanism at heights, reducing the swaying of the welding mechanism, and improving welding quality. The dual-point support configuration distributes the force, avoiding the risk of single-point fixation failure; at least one fixed point provides anti-tipping protection during movement, making it suitable for high-altitude operations.

[0038] Furthermore, the stepping motion combined with precise control of the drive components (such as servo motors) facilitates fine-tuning of the welding robot's position, meeting the requirements for high-precision welding.

[0039] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0040] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1This illustration shows a structural schematic diagram from one perspective of a mobile chassis provided in an embodiment of this application;

[0042] Figure 2 This illustration shows a structural schematic diagram from one perspective of a clamping member provided in an embodiment of this application;

[0043] Figure 3 This illustration shows a structural schematic diagram from another perspective of a clamping member provided in an embodiment of this application;

[0044] Figure 4 A schematic diagram of the structure of a welding robot provided by an embodiment of this application is shown from one perspective.

[0045] Explanation of key component symbols:

[0046] 100 - First movable component; 110 - Optical axis;

[0047] 200 - Second movable part;

[0048] 300-Chassis Module;

[0049] 400-Clamping component; 410-First clamping part; 411-Clamping end; 412-Guide surface; 420-Base; 430-First driving part; 440-Second clamping part; 450-Pressure detection part; 460-Second driving part;

[0050] 500-Driver;

[0051] 600 - Welding module; 610 - Robotic arm assembly; 620 - Welding assembly;

[0052] 700 - Rangefinder; 800 - Target object. Detailed Implementation

[0053] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0054] It should be noted that when an element is said to be "fixed" to another element, it can be directly on the other element or there may be an intervening element. When an element is said to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. Conversely, when an element is said to be "directly" on another element, there is no intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0055] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0056] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the template description is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0058] In related technologies, welding is a key process for ensuring structural stability and overall strength during the construction of steel structure buildings. Taking steel structure factory buildings as an example, their main frame is usually composed of large steel beams, steel columns, and other components connected by high-strength welding. Because these buildings are generally characterized by their large height and wide span, welding operations often need to be carried out at different elevations, and the welding quality of high-altitude joints, in particular, directly affects the safety performance of the building.

[0059] Currently, the industry commonly uses mobile welding equipment equipped with lifting mechanisms to complete high-altitude welding tasks. This type of equipment typically consists of a mobile chassis, an adjustable lifting platform, and a welding system. Among these, welding robots, due to their high degree of automation and good process consistency, have become important equipment in modern steel structure construction. Their workflow is as follows: after being positioned at the target workstation by the mobile chassis, the welding execution unit (including the welding torch, wire feeder, vision system, etc.) is lifted to the predetermined height by a hydraulic or electric lifting mechanism to perform the operation. However, existing technologies have revealed significant limitations in practical applications: when the lifting height exceeds a certain range (usually >8 meters), the welding mechanism exhibits significant swaying due to the following factors: cantilever structural mechanical defects – the lifting mechanism operates like a cantilever beam, with the end deflection increasing exponentially with increasing height; existing telescopic lifting mechanisms have multi-stage sleeve gaps, causing the overall system stiffness to decrease with increasing height. This shaking can cause a series of welding quality problems: First, the welding torch position deviation will cause the molten pool to be unstable, resulting in defects such as undercut and lack of fusion in the weld; second, the inaccurate robot trajectory planning will cause the interlayer overlap rate of multi-layer and multi-pass welding to go out of control; more seriously, in the gas shielded welding process, the shaking of the welding torch will destroy the integrity of the protective gas curtain, causing the weld metal to oxidize.

[0060] like Figure 1 As shown, in order to solve the above-mentioned technical problems, this application provides a mobile chassis. The mobile chassis has a first direction and includes at least one chassis module 300 and a walking module. The walking module includes a pair of movable parts and a driving part 500. The pair of movable parts are detachably disposed on the target object 800, and the pair of movable parts are spaced apart along the first direction. At least one movable part is connected to the chassis module 300. The driving part 500 is disposed on one of the movable parts and has a power output end. The power output end of the driving part 500 is connected to the other movable part.

[0061] When one of the movable parts is separated from the target object 800, the drive member 500 can drive the movable part separated from the target object 800 to move along a first direction to adjust the spacing between the pair of movable parts.

[0062] In these embodiments, the first direction defines the operating direction of the mobile chassis, typically referring to the forward or backward direction. The chassis module 300 is the fundamental component that carries the welding robot. The specific structure of the walking module is as follows:

[0063] A pair of movable parts can be independently fixed to the target object 800 and are spaced apart along a first direction. At least one of the movable parts is directly connected to the chassis module 300. For example, in this embodiment, the target object 800 is an I-beam column of a steel structure. Of course, in other embodiments, the target object 800 can also be a column of other structures, and the cross-section of the column can be circular, square, polygonal, etc.

[0064] Alternatively, the target object 800 could also be a crossbeam, enabling horizontal movement at a height. No specific limitations are set here; the choice depends on the specific application scenario.

[0065] For example, the detachable connection between the movable part and the target object 800 can be selected as a clamping mechanism, such as a rail clamp, which fixes the movable part to the target object 800, such as a steel beam or rail, through the clamping device. Clamping / releasing can be achieved by pneumatic, hydraulic or electric drive, and it is suitable for standard cross-section structures such as I-beams, H-beams, and rails. It has strong clamping force and good anti-overturning performance.

[0066] Alternatively, adsorption mechanisms, such as electromagnetic chucks or vacuum adsorption, can be used. Electromagnetic chucks utilize the magnetic force generated by an electric current to adhere to the surface of ferromagnetic materials; vacuum adsorption uses a vacuum to create negative pressure, adsorbing onto smooth surfaces. These methods offer non-contact fixation, preventing damage to the target object's surface; the adsorption force is controllable, facilitating automated control; and they are suitable for flat metal surfaces (such as steel plates, steel beam webs, etc.).

[0067] Alternatively, a pin / locking mechanism. Positioning and locking are achieved through insertion into holes or a snap-fit ​​structure. Suitable for targets 800 with pre-drilled mounting holes or positioning points; there is no relative sliding after locking, providing strong anti-displacement capability. Pin type: The movable part is equipped with a telescopic pin that inserts into a pre-drilled hole on the target 800; Locking type: Fixing / releasing is achieved by controlling the opening and closing of the lock using a robotic arm or cylinder.

[0068] Alternatively, a friction wheel can be used in conjunction with a braking mechanism. Fixation is achieved through the friction between the driving wheel and the surface of the target object (80°); a brake prevents slippage. No additional clamping or adsorption devices are required; the wheels lock during braking to prevent movement; suitable for structures with regular surfaces such as rails and steel beams.

[0069] It should be noted that the connection and separation between the movable part and the target object 800 can be achieved by manual operation or by electrical control, and no specific limitation is made here.

[0070] A drive component 500 is mounted on a movable component and has a power output end that can connect to another movable component. When one movable component detaches from the target object 800, the drive component 500 can drive the detached movable component to move along a first direction via its power output end, thereby adjusting the distance between the two movable components. Initial state: Both movable components are fixed to the target object 800, providing stable support for the entire system and reducing end deflection problems caused by cantilever effects. If movement or position adjustment is required, one of the movable components will temporarily detach from the target object 800. Through the action of the drive component 500, this movable component can move along the first direction to widen or narrow the distance between them. After the distance adjustment is completed, the previously detached movable component is fixed back to the target object 800, restoring the dual-point support state and ensuring the stability of the system.

[0071] For example, in this embodiment, the drive component 500 is an automatic telescopic rod, such as an electric push rod, a hydraulic cylinder, or a pneumatic cylinder. Of course, in other embodiments, the drive component 500 may also be an electric guide rail, etc.

[0072] In other words, the mobile chassis includes at least one chassis module 300 and a walking module. The walking module consists of a pair of movable parts spaced apart along a first direction, which are detachably fixed to the target object 800 (such as a steel beam or track). At least one movable part is connected to the chassis module 300 (for carrying the welding robot), and the other movable part is linked to the former via a drive component 500 (such as a motor or hydraulic cylinder). Initial state: Both movable parts are fixed to the target object 800, forming a stable support and preventing end-effector deflection of the lifting mechanism (such as a cantilever) due to cantilever stress.

[0073] Movement Adjustment: When position adjustment is required, one of the movable components (such as the rear clamping wheel) separates from the target object 800. The driving component 500 (such as a telescopic rod) pushes the separated movable component to move along the first direction, widening or narrowing the distance between them. After adjustment, the movable component is re-fixed, restoring the dual-point support state. Clearly, by alternately separating, moving, and fixing the two movable components, the step-like displacement of the moving chassis is achieved, while at least one movable component is always fixed to the target object 800, ensuring stability. The lifting mechanism of the welding robot rises after the chassis moves to the target position, reducing the lifting height. Because the chassis is counteracted by the dual-point fixation to offset the cantilever torque, the swaying of the welding mechanism at heights is significantly reduced, ensuring welding accuracy.

[0074] Therefore, by alternately fixing and moving a pair of movable parts, at least one support point is always in contact with the target object at 80°, effectively suppressing the cantilever deflection of the lifting mechanism at heights, reducing the swaying of the welding mechanism, and improving welding quality. The dual-point support configuration distributes the force, avoiding the risk of single-point fixation failure; during movement, at least one fixed point provides anti-tipping protection, making it suitable for high-altitude operations.

[0075] Furthermore, the stepping motion combined with the precise control of the drive components 500 (such as servo motors) facilitates fine-tuning of the welding robot's position, meeting the requirements for high-precision welding.

[0076] like Figure 1 As shown, in some embodiments, one of the movable members is a first movable member 100, and the other movable member is a second movable member 200;

[0077] The first movable member 100 has a guide portion, which is slidably connected to another second movable member 200 and is defined to have a sliding direction, which is parallel to the first direction.

[0078] In these embodiments, the first movable member 100 is one of the movable members and has a guide portion.

[0079] The second movable member 200 is another movable member that is slidably connected to the first movable member 100 through the guide portion.

[0080] The guide part and the second movable part 200 form a sliding pair; the sliding direction is along the first direction, that is, the main movement direction of the movable chassis.

[0081] As mentioned above, "first direction" usually refers to the direction in which the chassis moves forward or backward, which is also the direction in which the welding robot needs to adjust the support spacing.

[0082] Initial state: Both the first movable part 100 and the second movable part 200 are fixed to the target object 800 (such as steel beams, tracks, etc.); the two maintain synchronous positions through a sliding connection structure, providing stable dual-point support.

[0083] Adjustment process: One movable component (e.g., the second movable component 200) separates from the target object 800; the drive component 500 is activated, pushing the separated movable component to move along the first direction; due to the existence of the sliding connection, the second movable component 200 slides relative to the first movable component 100 along the guide portion; after adjustment, the movable component is re-fixed, completing one step displacement. Repeating the operation, alternately releasing and moving the first / second movable component 200, achieves step-like forward or backward movement of the entire chassis.

[0084] For example, the following is a specific implementation method:

[0085] The first movable member 100 includes a pair of parallel guide rods as a guide portion; the second movable member 200 is provided with a sliding sleeve or sliding groove that matches the guide rods; the guide rods are inserted into the sliding sleeve / sliding groove to form a sliding pair; the sliding direction is consistent with the first direction of the chassis; the drive member 500 (such as an electric push rod, hydraulic cylinder, or servo motor with lead screw mechanism) is mounted on the first movable member 100, and its output end is connected to the second movable member 200; the control system controls the drive member 500 to move according to the displacement requirement, thereby driving the second movable member 200 to slide along the guide portion.

[0086] For example, it can be applied to any of the following scenarios, such as:

[0087] Welding of steel structure workshops: Walking on H-beams and adjusting the support spacing to improve the stability of high-altitude welding;

[0088] Bridge construction: Moves along the bridge deck track or flange plate, suitable for long-distance, continuous welding tasks;

[0089] Automated welding platform: Works in conjunction with welding robots and lifting mechanisms to build an intelligent welding system;

[0090] Maintenance and inspection robots: These robots move on structures such as pipes and towers to perform inspection or repair work.

[0091] like Figure 1 As shown, in some embodiments, the guide portion includes at least two optical axes 110 and at least two sliding sleeves, the at least two optical axes 110 are arranged in parallel, and the at least two optical axes 110 are disposed on the first movable member 100; wherein, at least one sliding sleeve is sleeved on each optical axis 110, and the sliding sleeve is connected to the second movable member 200.

[0092] In these embodiments, the specific implementation of the guide portion is further clarified. This is a specific mechanical design to ensure that the first movable member 100 and the second movable member 200 can slide smoothly and accurately relative to each other.

[0093] There are at least two optical axes 110, which are arranged in parallel and fixed on the first movable member 100. For example, in this embodiment, there are two optical axes 110. Of course, in other embodiments, there may be three, four, five or six optical axes 110, etc.

[0094] At least one sliding sleeve is provided on each optical axis 110, and the sliding sleeve can slide freely on the corresponding optical axis 110; the sliding sleeve is connected to the second movable member 200, so that the second movable member 200 can slide relative to the first movable member 100 along the direction of the optical axis 110 (i.e. the first direction).

[0095] Initial state: The first movable part 100 and the second movable part 200 are both firmly installed on the target object 800 by their respective fixing devices (such as clamping mechanism, adsorption mechanism, etc.).

[0096] Adjusting the distance: When it is necessary to adjust the distance between the two, release the fixation between the second movable part 200 and the target object 800; the driving part 500 pushes the second movable part 200 to move along the optical axis 110. At this time, the sliding sleeve slides on the optical axis 110, providing a smooth and directional movement trajectory; after moving to the predetermined position, fix the second movable part 200 back to the target object 800, completing one distance adjustment process. Repeat the operation, alternately releasing and moving the first or second movable part 200, to achieve step-by-step displacement of the entire chassis.

[0097] Clearly, the sliding pair consisting of the optical axis 110 and the sliding sleeve ensures that the second movable part 200 slides precisely along the predetermined path (first direction), avoiding any unnecessary offset or swaying. The design of at least two optical axes 110 increases the rigidity and stability of the system, reducing vibration or instability that may be caused by single-point support.

[0098] For example, in an application scenario of a high-altitude welding robot, using this guide with an optical axis 110 and a sliding sleeve allows the welding robot to move more stably on steel beams or tracks, thereby ensuring welding quality. Especially when fine-tuning the welding position is required, it can provide the necessary precision and support to adapt to complex welding tasks.

[0099] like Figure 1 As shown, in some embodiments, the mobile chassis further includes at least two clamping members 400, each movable member being connected to at least one clamping member 400, the clamping members 400 being able to clamp the target object 800, so that the movable member can be detachably disposed on the target object 800.

[0100] In these embodiments, the movable components are detachably connected to the target object 800 via a clamping mechanism. Each movable component (i.e., the first movable component 100 and the second movable component 200) is equipped with at least one clamping member 400. For example, in this embodiment, each movable component is equipped with two clamping members 400. Of course, in other embodiments, the number of clamping members 400 on each movable component can also be three, four, five, six, seven, etc.

[0101] The clamping member 400 can firmly clamp the target object 800, such as a steel beam or rail, so that the movable part can be stably mounted on the target object 800 and can be easily separated when needed. Obviously, the clamping member 400 can achieve rapid separation and connection between the two.

[0102] In other words, each movable component tightly clamps the target object 800 with its clamping component 400, forming a stable support point; thus enabling the entire mobile chassis to remain stable on the target object 800, ready for the next operation or welding task.

[0103] When a position adjustment is required, the control system first releases the clamping member 400 on one of the movable components (e.g., the second movable component 200) from the target object 800; the drive unit 500 is activated, pushing the released movable component to slide along the guide to a new position; after reaching the predetermined position, the clamping member 400 is reactivated, firmly fixing the movable component back onto the target object 800. Alternating release and movement of the first or second movable component 200 achieves step-by-step displacement of the entire chassis; throughout the process, at least one movable component remains tightly connected to the target object 800, ensuring system stability.

[0104] Clearly, the robust clamping force provided by the clamping component 400 ensures high stability even in high-altitude working environments. The clamping component 400 can quickly clamp or release the target object 800 according to actual needs, facilitating position adjustments by moving the chassis.

[0105] Furthermore, it is applicable to target objects 800 of different shapes and sizes, improving the versatility and applicability of the equipment. For example, if the target object 800 is a column, it can be adapted to columns with different outer diameters.

[0106] For example, in a welding scenario in a steel structure factory, using this mobile chassis with clamping components 400 allows the welding robot to move freely on H-beams or other types of steel components and flexibly adjust its position according to welding requirements. The presence of clamping components 400 not only ensures the stability of the welding robot during operation but also allows for rapid position adjustment when necessary to handle complex welding paths.

[0107] For example, in this embodiment, the clamping member 400 is a two-finger gripper, such as a swing gripper, a parallel gripper, etc. Of course, in other embodiments, the clamping member 400 may also be an electromagnetic chuck, a multi-jaw gripper, etc.

[0108] like Figure 1 As shown, in some embodiments, one of the movable members is a first movable member 100, and the other movable member is a second movable member 200;

[0109] The first movable member 100 has a guide portion, which is slidably connected to another second movable member 200 and is defined to have a sliding direction, which is parallel to the first direction; the guide portion is provided with clamping members 400 at both ends in the first direction, and the second movable member 200 is located between the two ends of the guide portion.

[0110] In these embodiments, the guiding and clamping layout relationship between the two movable parts (i.e., the first movable part 100 and the second movable part 200) in the mobile chassis is further clarified.

[0111] The first movable member 100 serves as a fixed end or main support end and is provided with a guide portion. The second movable member 200 slides in the direction defined by the guide portion to achieve relative displacement. The guide portion is disposed on the first movable member 100 and forms a sliding connection with the second movable member 200. The sliding direction is parallel to the first direction, i.e., the main movement direction of the chassis.

[0112] Clamping members 400 are provided at both ends of the guide section along the first direction. These clamping members 400 are used to clamp the target object 800 (such as steel beams, rails, etc.) so that the entire system is stably attached to the working surface.

[0113] For example, the guide part can be a guide rail or slide rail, etc.

[0114] The second movable member 200 is always positioned between the two clamping members 400 of the guide section, and can slide along the guide section, but will not exceed its range to ensure safe operation.

[0115] For example, a pressure sensor or position sensor can be added to enable real-time monitoring and automatic adjustment of the clamping state.

[0116] like Figure 2 and Figure 3 As shown, in some embodiments, the clamping member 400 includes a gripper having a base 420 and a clamping assembly, the base 420 being connected to a movable member, and the clamping assembly being configured to open and close to clamp or release the target object 800.

[0117] In these embodiments, the specific structure of the clamping member 400 is further refined. The gripper, as the core component of the clamping member 400, specifically includes:

[0118] The base 420 is a base portion used to secure the gripper assembly to the movable member. The part of the gripping assembly that performs gripping or releasing operations is configured to open and close. The base 420 provides a secure connection point to ensure that the gripper can be firmly mounted on the first or second movable member 200.

[0119] The clamping assembly is driven by mechanical, pneumatic, hydraulic or electric means to realize the opening and closing action, thereby completing the clamping or release of the target object 800 (such as steel beam, track, etc.).

[0120] In other words, the clamping assembly is in a closed state, tightly clamping the target object 800. The base 420 is closely connected to the corresponding movable part, forming a stable support point.

[0121] When a position adjustment is needed, the control system first issues a command to release the target object 800 from the clamping assembly. The drive unit 500 then activates, pushing the corresponding movable part to slide along the guide to the new position. Once the predetermined position is reached, the clamping assembly closes again, re-clamping the target object 800 to ensure stability.

[0122] Throughout the process, at least one gripper remains clamped to ensure the system does not lose balance. The clamping force can be adjusted as needed to accommodate different load requirements and surface conditions.

[0123] In other words, the mechanical clamping method provides strong clamping force, ensuring stable operation under various working conditions. The clamping components can be opened and closed as needed, facilitating quick position adjustment to adapt to different operational requirements. It is suitable for targets of various shapes and sizes, enhancing the equipment's versatility and applicability.

[0124] like Figure 2 and Figure 3 As shown, in some embodiments, the clamping assembly includes a pair of first clamping portions 410, a first driving portion 430, a second clamping portion 440, and a second driving portion 460. The pair of first clamping portions 410 are hinged to the base 420. The end of the first clamping portion 410 facing away from the base is a clamping end 411. A clamping opening is formed between the clamping ends 411 of the pair of first clamping portions 410, and the clamping opening is used to accommodate the target object 800.

[0125] The first driving part 430 is connected to a pair of first clamping parts 410. The first driving part 430 is used to drive the pair of first clamping parts 410 to rotate towards or away from each other to open and close the clamping jaws. In the clamping state, the clamping end 411 at least partially abuts against the side of the target object 800 away from the base 420.

[0126] The second drive unit 460 is disposed on the base 420. The second drive unit 460 is connected to the second clamping unit 440. The second drive unit 460 is used to drive the second clamping unit 440 to move so as to abut or disengage from the side of the target object 800 near the base 420.

[0127] In these embodiments, the clamping assembly has been further structurally refined and its functionality expanded, introducing a dual-drive clamping mechanism, namely:

[0128] A pair of "first gripping units 410" (similar to conventional grippers) controlled by a first drive unit 430. For example, the first drive unit 430 may be an electric actuator, a hydraulic cylinder, or a pneumatic cylinder, etc.

[0129] A "second clamping unit 440" controlled by a second drive unit 460 is used to apply clamping force from the other side. For example, the second drive unit 460 may be an electric actuator, a hydraulic cylinder, or a pneumatic cylinder, etc.

[0130] This structure significantly enhances the stability, adaptability, and anti-slip capability of the clamping system, making it particularly suitable for fixing the chassis of welding robots onto targets such as steel beams and tracks during high-altitude operations.

[0131] Clamping process:

[0132] The jaws open, and the second clamping part 440 is positioned away from the target object 800. It should be noted that the first clamping part 410 and the second clamping part 440 form a receiving area. The jaws are aligned with the target object 800, allowing the target object 800 to enter the receiving area from the jaws, such as the flange of an H-beam. The first clamping part 410 closes, clamping the upper surface of the target object 800; at this time, the clamping end 411 is at least partially in contact with the side of the target object 800 away from the base 420 (i.e., the top).

[0133] The second drive unit 460 is activated, pushing the second clamping unit 440 to move towards the clamping jaws. The second clamping unit 440 abuts against the side of the target object 800 near the base 420, cooperating with the first clamping unit 410 to form a bidirectional clamping mechanism. The target object 800 is firmly clamped, preventing it from slipping or falling off.

[0134] Furthermore, the second drive unit 460, in conjunction with the second clamping unit 440, ensures the parallelism between the optical axis 110 and the target object 800, and guarantees that the gap between the optical axis 110 and the target object 800 is sufficient for the movable part to move, thus avoiding motion interference. Also, ensuring the parallelism between the optical axis 110 and the target object 800 facilitates using the axis of the optical axis 110 as a reference, improving the accuracy of subsequent welding positioning.

[0135] like Figure 2 and Figure 3 As shown, in some embodiments, the side of the first clamping part 410 located inside the clamping opening is a guide surface 412, which can abut against the corresponding side on the target object 800.

[0136] In these embodiments, the structure of the clamping assembly is further optimized. By providing a guide surface 412 on the inner side of the first clamping part 410, the clamping jaws of the target object 800 can be guided more effectively, and the positional accuracy of the target object 800 during clamping can be ensured.

[0137] The clamping end 411 has a guide surface 412 located on one side inside the clamping opening. For example, this guide surface may have a specific shape, such as an inclined surface or an arc surface, to guide the target object 800 smoothly into the clamping opening and abut it. In this embodiment, the distance between the guide surfaces 412 of the clamping end 411 first increases and then decreases in the direction away from the base 420. Of course, in other embodiments, the first clamping part 410 may also be L-shaped.

[0138] When the moving chassis approaches the target object 800, the guide surface 412 helps the target object 800 to slide smoothly into the clamp, reducing alignment errors.

[0139] After the guide surface 412 contacts both sides of the target object 800, it provides initial positioning, which facilitates subsequent clamping actions. That is, the two clamping ends 411 close synchronously. Under the clamping force of the two clamping ends 411, the relative position of the moving chassis and the target object 800 can be adjusted, which has a centering effect, reduces the probability of the moving chassis being misaligned, and helps to improve the positioning and welding accuracy.

[0140] like Figure 2 As shown, in some embodiments, the clamping assembly further includes a pressure detection unit 450, which is connected to the second clamping unit 440. The pressure detection unit 450 is used to detect the pressure exerted by the second clamping unit 440 on the target object 800.

[0141] In these embodiments, a pressure detection unit 450 is incorporated into the clamping assembly to monitor in real time the pressure applied by the second clamping unit 440 to the target object 800. This design helps ensure that the clamping force is both sufficiently firm and does not excessively compress the target object 800, thereby avoiding damage or slippage.

[0142] The first clamping part 410 is hinged to the base 420 and is used to clamp the target object 800 from both sides. The second clamping part 440 is located inside the clamping jaws and is used to abut against the target object 800 from another direction (usually the bottom) to enhance clamping stability. The first drive part 430 controls the opening and closing action of the first clamping part 410. The second drive part 460 controls the movement of the second clamping part 440, moving it closer to or away from the target object 800.

[0143] The pressure detection unit 450 is connected to the second clamping unit 440 and is used to detect the pressure exerted by the second clamping unit 440 on the target object 800.

[0144] The pressure detection unit 450 can measure the pressure applied by the second clamping unit 440 to the target object 800 in real time. By transmitting the pressure data to the control system via a feedback system, precise control of the clamping force can be achieved, ensuring the safety and reliability of the clamping process. Based on the detected pressure value, the control system can automatically adjust the movement of the second drive unit 460 to achieve the ideal clamping effect.

[0145] It provides optimal clamping force on targets of different materials and shapes, preventing slippage due to insufficient clamping force or surface damage caused by excessive clamping force.

[0146] When abnormal high voltage is detected, the system can immediately trigger an alarm or take measures to stop operation. This effectively prevents equipment failure or accidents, and is especially important in high-risk environments such as working at heights.

[0147] The moving chassis approaches the target object 800, and the guide surface 412 guides the target object 800 into the clamping jaws. The first drive unit 430 is activated, causing the first clamping unit 410 to initially clamp the target object 800. The second drive unit 460 is activated, pushing the second clamping unit 440 closer to the target object 800. The pressure detection unit 450 starts working, monitoring and providing feedback in real time on the force exerted by the second clamping unit 440 on the target object 800. When the preset ideal clamping pressure is reached, the second drive unit 460 stops operating, completing the entire clamping process. This process can be manually controlled by reading data.

[0148] For example, the pressure detection unit 450 may be a strain gauge pressure sensor, a piezoresistive pressure sensor, or a capacitive pressure sensor, etc.

[0149] In some embodiments, the clamping assembly further includes a pressure control unit, which is electrically connected to the second drive unit 460 and the pressure detection unit 450 respectively. The pressure control unit is configured to acquire the pressure value detected by the pressure detection unit 450 and output a stop operation signal to the second drive unit 460 when the pressure value meets a preset pressure value.

[0150] In these embodiments, the control logic of the clamping component is further improved by introducing a pressure control unit to achieve closed-loop control of the clamping process, ensuring that the clamping force is always within a safe and effective range.

[0151] The second clamping part 440 is positioned far from the target object 800, and the pressure detection unit 450 does not detect any pressure value. The pressure control unit issues a command to activate the second drive unit 460. The second drive unit 460 pushes the second clamping part 440 closer to the target object 800. As the second clamping part 440 gradually contacts the target object 800, the pressure detection unit 450 begins to collect clamping pressure data; the data is continuously fed back to the pressure control unit.

[0152] The pressure control unit compares the current pressure value with the preset pressure value; if the preset value is not reached, the second clamping unit 440 continues to move forward; if the preset value is reached, the second drive unit 460 is immediately output to stop the operation signal; at this time, the clamping action is completed and the system enters a stable state.

[0153] If the pressure exceeds the safety threshold (e.g., due to deformation or jamming of the target object), the control system can trigger an alarm or reverse drive to release the pressure.

[0154] For example, the pressure control unit includes a conventional comparator circuit and a signal output circuit, used to achieve drive stop control when the pressure value reaches a preset pressure value. It should be noted that this control method is a conventional technique in the field, such as using a conventional electronic comparator circuit or programmable controller to achieve threshold judgment. The innovation of this application lies in the specific mechanical structure of the clamping component and its connection relationship, rather than the control method itself.

[0155] For example, when clamping the H-shaped steel flange (i.e., the target object 800), the pressure control unit ensures that the second clamping unit 440 applies only sufficient clamping force to prevent slippage; avoids indentation on the steel beam surface or micro-deformation of the structure due to excessive clamping force, and improves the repeatability of the welding position.

[0156] For example, the pressure control unit can be a microcontroller unit (MCU), such as the STM32 series (e.g., STM32F103, STM32H7), Arduino (e.g., UNO, Nano), or ESP32 (integrated Wi-Fi / Bluetooth). Alternatively, a programmable logic controller (PLC), such as Siemens S7-1200, Omron CP1 E / CJ2M, Mitsubishi FX5U / FX3U, etc.

[0157] like Figure 3 As shown, in some embodiments, when there are side grooves on both sides of the target object 800, the clamping end 411 can be inserted into the side groove on the corresponding side of the target object 800, and the clamping end 411 can abut against a groove wall on the corresponding side groove that is away from the base 420.

[0158] In these embodiments, when the target object 800 (such as a steel beam, track, etc.) has side grooves on both sides, the clamping assembly can be further optimized to utilize these side grooves to enhance the stability and safety of the clamping. Specifically, the clamping end 411 can pass through the side groove on the target object 800 and abut against the side wall of the side groove opposite to the base 420.

[0159] The first clamping part 410 includes a clamping end 411, which can be inserted into the side grooves on both sides of the target object 800.

[0160] The end portion of the clamping end 411 can contact and apply pressure to a specific location in the side groove (usually the side groove wall opposite to the base 420) to ensure a secure clamping.

[0161] The base 420 serves as the supporting foundation for the entire clamping assembly and is fixed to the movable part.

[0162] The inner side of the guide surface 412 clamping end 411 is used to guide the target object 800 into the clamp and to fit against the surface of the target object 800 to provide initial positioning.

[0163] The moving chassis approaches the target object 800; the guide surface 412 guides the target object 800 into the clamping jaws and aligns the clamping end 411 with the side grooves on both sides of the target object 800. The first drive unit 430 is activated, pushing a pair of first clamping parts 410 to close; the clamping end 411 passes through the side grooves on both sides of the target object 800 and gradually approaches the interior of the side grooves.

[0164] After the clamping end 411 is inserted into the side groove, it continues to advance inward until it contacts the side wall of the side groove that is away from the base 420. At this time, the clamping end 411 not only clamps the target object 800 from the outside, but also provides an additional support point inside through the side groove, which enhances the overall stability.

[0165] The second drive unit 460 is activated, pushing the second clamping unit 440 to abut against the side of the target object 800 near the base 420, forming a bidirectional clamping action from above or below or inside and outside; the pressure detection unit 450 monitors the pressure applied by the second clamping unit 440 in real time to ensure that the clamping force is appropriate.

[0166] Once the preset ideal clamping pressure is reached, the second drive unit 460 stops operating, completing the entire clamping process; the system enters a stable state and is ready to perform subsequent tasks (such as welding, handling, etc.).

[0167] The presence of side grooves helps improve clamping accuracy, reduce alignment errors, and ensures accurate clamping every time. It is suitable for targets 800 with standard side grooves (such as certain types of steel beams, rails, etc.), enhancing the versatility and applicability of the equipment.

[0168] like Figure 4 As shown, in some embodiments, the walking module further includes a distance measuring element 700 disposed on one of the movable elements, the distance measuring element 700 being used to detect the distance between the pair of movable elements.

[0169] Introducing a rangefinder 700 into the walking module enables real-time monitoring of the distance between a pair of movable parts, ensuring precise distance control during position adjustments. This design is crucial for improving system stability and operational accuracy, especially in applications requiring high-precision positioning.

[0170] The first movable member 100 and the second movable member 200, as core components of the walking module, slide relative to each other via a guide. The drive member 500 pushes one of the movable members along the guide to adjust the distance between them. The clamping member 400 secures the movable member to the target object 800, ensuring stability. The ranging member 700 is mounted on one of the movable members to detect the distance between the pair of movable members.

[0171] The rangefinder 700 can measure and report the distance change between a pair of movable parts in real time. It provides accurate distance data to help the control system accurately determine the current state and make corresponding adjustments.

[0172] The data from the rangefinder 700 is fed back to the control system, forming a closed-loop control circuit. This ensures that each adjustment achieves the preset distance value, avoiding cumulative errors.

[0173] In addition, when abnormal distance changes are detected (such as jamming or unexpected slippage), the system can immediately trigger an alarm or take appropriate measures. This improves the system's safety and reliability and reduces operational errors caused by mechanical failures.

[0174] Choose the appropriate ranging technology (such as laser ranging, ultrasonic ranging, etc.) according to the needs of different application scenarios.

[0175] A pair of movable parts are fixed to the target object 800; the ranging device 700 is initialized and records the initial distance value. One of the movable parts (e.g., the second movable part 200) is released from the target object 800. The driving device 500 is activated, pushing the released movable part to slide along the guide section; the ranging device 700 monitors and provides feedback on the distance change between the two parts in real time; when the preset distance value is reached, the control system issues a command to stop the driving device 500; the movable part is then re-fixed, completing one distance adjustment process.

[0176] For example, in an application scenario of a high-altitude welding robot, using this walking module design with a rangefinder 700 allows the welding robot to more accurately position itself on H-beams or other types of steel structures. For instance:

[0177] During the welding process, the position of the welding head needs frequent adjustments. The 700 rangefinder helps ensure that the ideal distance is achieved with each movement, thus guaranteeing welding quality. Combined with sensor data, automatic path planning is achieved, enabling the robot to navigate autonomously in complex steel structure environments.

[0178] For example, in this embodiment, the rangefinder 700 is a pull-cord rangefinder sensor. Of course, in other embodiments, the rangefinder 700 may also be a laser rangefinder sensor, etc.

[0179] like Figure 1 As shown, in some embodiments, each of the movable components is individually connected to at least one of the chassis modules 300.

[0180] In these embodiments, at least one chassis module 300 is individually connected to each movable component. This significantly improves the flexibility and stability of the system, allowing each movable component to independently support and drive its corresponding functional module, thus avoiding excessive load on a single movable component.

[0181] The first movable member 100 is one of the movable members, and is equipped with a guide, a clamping assembly (including a gripper, a base 420, etc.), a drive member 500, and a rangefinder 700.

[0182] The second movable part 200 is another movable part, also equipped with similar components.

[0183] Each movable component is individually connected to one or more chassis modules 300, which are responsible for carrying the main functional components of the welding robot or other equipment.

[0184] Clearly, each movable component can independently support one or more chassis modules 300, allowing each movable component to operate flexibly as needed when the system is repositioned without affecting other parts.

[0185] By individually setting the chassis module 300 on each movable component, the number of support points of the entire system is increased; the stability and anti-overturning ability of the overall structure are improved, which is especially important in high-altitude operations or complex terrain conditions.

[0186] When the system carries a heavy load, the distributed chassis modules 300 help to achieve a more even weight distribution; reduce the burden on individual moving parts, extend service life, and improve operational safety.

[0187] In some embodiments, this application also provides a step for moving a mobile chassis:

[0188] Step S100: Define one of the pair of movable parts as the first movable part 100 and the other as the second movable part 200. Control the first movable part 100 to separate from the target object 800. After the first movable part 100 is driven to move a first preset distance along the target moving direction using the driving member 500, control the first movable part 100 and the target object 800 to reconnect.

[0189] Step S200: Control the second movable component 200 to separate from the target object 800, and after driving the second movable component 200 to move a second preset distance along the target moving direction using the driving component 500, control the second movable component 200 and the target object 800 to reconnect. For example, the second preset distance is equal to or less than the first preset distance.

[0190] Repeat steps S100 and S200 to achieve continuous step-by-step movement of the mobile chassis.

[0191] like Figure 4As shown, in some embodiments, this application also provides a welding robot, which includes a welding module 600 and a mobile chassis as described in any of the above embodiments, wherein the welding module 600 is disposed on the chassis module 300.

[0192] Since the aforementioned mobile chassis has the aforementioned technical effects, the welding robot including the mobile chassis should have the same technical effects, which will not be elaborated here.

[0193] For example, the welding module 600 may be selected from at least one of the following:

[0194] Arc welding module: Uses an electric arc as a heat source to melt and fuse filler material onto the workpiece to form a weld. Examples include MIG (Metal Inert Gas) welding, TIG (Tungsten Inert Gas) welding, and SMAW (Manual Arc Welding).

[0195] Spot welding module: Pressure is applied through two electrodes and current is passed through the workpiece, generating heat at the contact point to complete the welding. Example: resistance spot welding.

[0196] Laser welding module 600: Uses a high-energy-density laser beam as a heat source for localized heating welding.

[0197] Plasma Welding Module 600: Uses a plasma arc as a heat source, providing higher temperature and concentration than ordinary TIG welding, etc.

[0198] like Figure 4 As shown, in some embodiments, the welding module 600 includes a welding assembly 620 and a robotic arm assembly 610. The welding assembly 620 has a welding torch. The robotic arm assembly 610 has a base end and an end effector. The base end is disposed on the chassis module 300, and the welding assembly 620 is disposed at the end effector. The robotic arm assembly 610 can drive the end effector to move, thereby adjusting the position and orientation of the welding torch.

[0199] In these embodiments, by mounting the welding torch at the end of the robotic arm assembly 610 and using the robotic arm assembly 610 to adjust the position and orientation of the welding torch, precise welding of workpieces with complex shapes can be achieved.

[0200] The welding torch is the core tool used for welding operations. It should be noted that it also includes the wire feeding mechanism, etc. The gas supply mechanism and the welding torch are mounted on separate chassis modules 300.

[0201] The base end of the robotic arm assembly 610 is fixed on the chassis module 300, serving as the basic support point for the robotic arm;

[0202] The position of the end-effector 620 (such as a welding torch) is determined. The drive unit of the robotic arm assembly 610 typically consists of multiple joints and servo motors, enabling multi-degree-of-freedom movement and thus flexibly adjusting the position and orientation of the welding torch.

[0203] The robotic arm assembly 610 can move the welding torch to any position within the working area through multi-axis linkage; it can not only change the spatial position of the welding torch, but also adjust its angle and direction to meet the needs of different welding surfaces.

[0204] For example, the robotic arm assembly 610 is a three-axis robotic arm, a four-axis robotic arm, or a six-axis robotic arm, etc.

[0205] In all examples shown and described herein, any specific values ​​should be interpreted as merely exemplary and not as limitations; therefore, other examples of exemplary embodiments may have different values.

[0206] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0207] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application.

Claims

1. A mobile chassis characterized by, The mobile chassis has a first orientation, the mobile chassis includes at least one chassis module and a walking module, the walking module including: A pair of movable parts, the pair of movable parts being detachably disposed on the target object, and the pair of movable parts being spaced apart along the first direction; wherein at least one of the movable parts is connected to the chassis module; A driving component, which is disposed on one of the movable components, has a power output end, and the power output end of the driving component is connected to the other movable component; When one of the movable parts is separated from the target object, the drive member can drive the movable part separated from the target object to move along the first direction to adjust the spacing between the pair of movable parts.

2. The mobile chassis of claim 1, wherein, One of the movable components is a first movable component, and the other movable component is a second movable component; The first movable member has a guide portion, which is slidably connected to another second movable member and defines a sliding direction, which is parallel to the first direction.

3. The mobile chassis of claim 2, wherein, The guide portion includes at least two optical axes and at least two sliding sleeves. The at least two optical axes are arranged in parallel and are disposed on the first movable member. Each optical axis is fitted with at least one sliding sleeve, and the sliding sleeve is connected to the second movable member.

4. The mobile chassis of claim 1, wherein, The mobile chassis also includes at least two clamping members, each of the movable members being connected to at least one of the clamping members, the clamping members being able to clamp the target object, so that the movable member can be detachably mounted on the target object.

5. The mobile chassis of claim 4, wherein, One of the movable components is a first movable component, and the other movable component is a second movable component; The first movable member has a guide portion, which is slidably connected to another second movable member and defines a sliding direction, which is parallel to the first direction; the guide portion has clamping members separately provided at both ends in the first direction, and the second movable member is located between the two ends of the guide portion.

6. The mobile chassis of claim 4, wherein, The clamping element includes: A gripper having a base and a gripping assembly, the base being connected to the movable member, the gripping assembly being configured to open and close to grip or release the target object.

7. The mobile chassis of claim 6, wherein, The clamping assembly includes: A pair of first clamping parts are hinged to the base. The end of the first clamping part away from the base is a clamping end. A clamping opening is formed between the clamping ends of the pair of first clamping parts. The clamping opening is used to accommodate the target object. A first driving unit is connected to the pair of first clamping units. The first driving unit is used to drive the pair of first clamping units to rotate towards or away from each other to open and close the clamping jaws. In the clamping state, the clamping end at least partially abuts against the side of the target object away from the base. A second clamping part and a second driving part are disposed on the base. The second driving part and the second clamping part are connected. The second driving part is used to drive the second clamping part to move so as to abut or disengage from the target object on the side near the base.

8. The mobile chassis of claim 7, wherein, The first clamping part has a guide surface on one side inside the clamping jaw, and the guide surface can abut against the corresponding side on the target object.

9. The mobile chassis according to claim 7, characterized in that, The clamping assembly further includes: A pressure detection unit is provided, which is connected to the second clamping unit, and the pressure detection unit is used to detect the pressure exerted by the second clamping unit on the target object.

10. The mobile chassis of claim 9, wherein, The clamping assembly further includes: The pressure control unit is electrically connected to the second drive unit and the pressure detection unit respectively. The pressure control unit is configured to acquire the pressure value detected by the pressure detection unit and output a stop operation signal to the second drive unit when the pressure value meets a preset pressure value.

11. The mobile chassis of claim 7, wherein, When the target object has side grooves on both sides, the clamping end can pass through the corresponding side groove on the target object, and the clamping end can abut against a groove wall on the corresponding side groove that is away from the base.

12. The mobile chassis of claim 1, wherein, The walking module also includes: A ranging element, the ranging element being disposed on one of the movable elements, the ranging element being used to detect the distance between a pair of movable elements.

13. The mobile chassis of claim 1, wherein, Each of the movable components is individually connected to at least one of the chassis modules.

14. A welding robot, characterized in that, The welding robot includes a welding module and a mobile chassis as described in any one of claims 1 to 13, wherein the welding module is mounted on the chassis module.

15. The welding robot of claim 14, wherein, The welding module includes: Welding assembly, the welding assembly having a welding torch; A robotic arm assembly has a base end and an end effector. The base end is disposed on the chassis module, and the welding assembly is disposed on the end effector. The robotic arm assembly can drive the end effector to move so as to adjust the position and posture of the welding torch.

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