Magnetic attraction steel structure high-altitude obstacle crossing intelligent welding robot

Abstract

The utility model relates to the technical field of building engineering construction equipment, and particularly discloses a magnetic attraction steel structure high-altitude obstacle crossing intelligent welding robot. The bottom of the vehicle body is provided with a magnetic attraction assembly, the welding mechanism is installed on the vehicle body, the moving mechanism is connected with the vehicle body and used for controlling the vehicle body to move and turn, and the obstacle crossing mechanism is installed on the vehicle body. The vehicle body comprises a first bottom plate used for installing the welding mechanism and a second bottom plate hinged to the first bottom plate and rotating around the X-axis direction. The obstacle crossing mechanism comprises a first obstacle crossing assembly which is installed on the first bottom plate and connected with the second bottom plate. The high-altitude welding robot has good adsorption capacity, can effectively realize high-altitude welding operation, and can move on the surface of a steel structure with an included angle or an obstacle; the device can be suitable for complex and changeable steel structure surfaces, the operation continuity and flexibility are improved, and the requirement for manual intervention is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of building engineering construction equipment, more particularly to a magnetic attraction steel structure high altitude barrier crossing intelligent welding robot. BACKGROUND

[0002] In recent years, with the continuous promotion of building industrialization, prefabricated buildings have been widely used in housing construction engineering, highway engineering, bridge engineering and municipal public engineering. Steel structure building, as an important direction of prefabricated building industry development, has good advantages in industrialized construction. It has the advantages of light weight, high strength, good seismic performance, short construction period, green environmental protection, convenient industrialized production, recyclability and other advantages. It belongs to a typical green environmental protection and energy saving industry, meets the requirements of China's circular economy and sustainable development, and meets the needs of China's building industry transformation and upgrading and high-quality development. In recent years, its application in engineering construction has become more and more widespread. As a main way of connecting prefabricated steel structure building components, the quality of the connection directly affects the overall quality and safety of the prefabricated steel structure building. At present, the industry still mainly relies on manual labor for component welding at steel structure construction sites. The welding method is relatively extensive, especially when welding at high altitudes. The welding quality cannot be guaranteed, and the personnel operation also has certain safety risks. At the same time, with the deepening of population aging, there is a certain gap in welding operators;

[0003] Therefore, how to improve the welding quality of steel structure components, improve the production efficiency of the construction site, reduce the labor intensity of the construction site, reduce the requirement for the operation technology of workers, improve the safety of construction, realize intelligent production at the construction site, and save costs is a technical problem to be solved at present. CONTENT OF THE UTILITY MODEL

[0004] The utility model solves the technical problem of providing a magnetic attraction steel structure high altitude barrier crossing intelligent welding robot, which has good adsorption capacity, can effectively realize welding operation at high altitudes, and can realize operation on the surface of a steel structure with an included angle or obstacles. It is suitable for complex and variable steel structure surfaces, improves the continuity and flexibility of operation, and reduces the need for manual intervention.

[0005] The utility model solves the technical problem by adopting the following solutions:

[0006] A magnetic attraction steel structure high altitude barrier crossing intelligent welding robot, comprising a vehicle body provided with a magnetic attraction assembly at the bottom, a welding mechanism installed on the vehicle body, a moving mechanism connected with the vehicle body and used for controlling the movement and turning of the vehicle body, and an obstacle crossing mechanism installed on the vehicle body;

[0007] The vehicle body comprises a first bottom plate for mounting a welding mechanism, a second bottom plate hinged to the first bottom plate and rotating around the X-axis direction; the obstacle- crossing mechanism comprises an obstacle-crossing component one mounted on the first bottom plate and connected to the second bottom plate.

[0008] In some possible embodiments, the vehicle body further comprises a third bottom plate hinged to the second bottom plate and rotating around the Y-axis direction, and a fourth bottom plate hinged to the third bottom plate and rotating around the X-axis direction; the fourth bottom plate is hinged to the first bottom plate and rotates around the Y-axis direction; the hinge points of the first bottom plate and the second bottom plate and the hinge points of the third bottom plate and the fourth bottom plate are located on the same straight line arranged along the X-axis direction; the hinge points of the second bottom plate and the third bottom plate and the hinge points of the fourth bottom plate and the first bottom plate are located on the same straight line arranged along the Y-axis direction; when moving on a surface of the steel structure which is a plane, the bottoms of the first bottom plate, the second bottom plate, the third bottom plate and the fourth bottom plate are located on the same plane.

[0009] In some possible embodiments, the obstacle-crossing mechanism further comprises an obstacle-crossing component two mounted on the fourth bottom plate and driven in cooperation with the third bottom plate.

[0010] In some possible embodiments, the moving mechanism comprises a moving component one and a moving component two arranged symmetrically along the Y-axis direction.

[0011] The moving component one is mounted on the outer side surface of the first bottom plate and the second bottom plate; the moving component two is mounted on the outer side surface of the third bottom plate and the fourth bottom plate.

[0012] In some possible embodiments, the obstacle-crossing component one and the obstacle-crossing component two are structurally identical and arranged symmetrically along the Y-axis direction.

[0013] The obstacle-crossing component one comprises a rotating shaft one mounted on the first bottom plate and rotating in cooperation with the first bottom plate, a driving motor one drivingly connected to one end of the rotating shaft one and mounted on the first bottom plate, and a driving arm one connected to the other end of the rotating shaft one and slidingly hinged to the second bottom plate; the axis of the rotating shaft one is arranged along the X-axis direction.

[0014] The obstacle-crossing component two comprises a rotating shaft two mounted on the fourth bottom plate and rotating in cooperation with the fourth bottom plate, a driving motor two drivingly connected to one end of the rotating shaft two and mounted on the fourth bottom plate, and a driving arm two connected to the other end of the rotating shaft two and slidingly hinged to the third bottom plate.

[0015] The axis of the rotating shaft two is arranged along the X-axis direction and on the same straight line as the axis of the rotating shaft one.

[0016] In some possible embodiments, a connecting shaft one slidingly hinged to the driving arm one and arranged along the X-axis direction is arranged on the second bottom plate; a connecting shaft two slidingly hinged to the driving arm two and arranged along the X-axis direction is arranged on the third bottom plate.

[0017] In some possible implementation manners, the magnetic attraction assembly comprises a plurality of groups of permanent magnets arranged at the bottom of the vehicle body.

[0018] In some possible implementation manners, the permanent magnets are in telescopic cooperation with the vehicle body, a vertical telescopic assembly connected with the permanent magnets is arranged in the vehicle body, and a sliding groove matched with the permanent magnets is arranged on the vehicle body.

[0019] In some possible implementation manners, the moving mechanism is provided with the magnetic attraction assembly.

[0020] In some possible implementation manners, the moving assembly one and the moving assembly two are of the same structure, and the moving assembly one and the moving assembly two are track-type driving mechanisms.

[0021] In some possible implementation manners, the track-type driving mechanism comprises a driving wheel group two connected with the bottom plate two or the bottom plate three, a driving wheel group one connected with the bottom plate one or the bottom plate four, a driven wheel group connected with the bottom plate one or the bottom plate four, and a track respectively in driving connection with the driving wheel group one, the driving wheel group two and the driven wheel group.

[0022] The driven wheel group is located between the driving wheel group one and the driving wheel group two.

[0023] In some possible implementation manners, the moving assembly one and the moving assembly two are of the same structure, and the moving assembly one comprises a driving group one connected with the bottom plate one and a driving group two connected with the bottom plate two.

[0024] In some possible implementation manners, the driving group one and the driving group two are of the same structure and are triangular magnetic attraction track wheels or rubber wheels.

[0025] In some possible implementation manners, the welding mechanism comprises a support shaft mounted on the bottom plate one, a welding mechanical arm mounted on the support shaft and in rotational cooperation with the support shaft, a welding torch mounted on the welding mechanical arm, a path recognition module mounted on the support shaft and used for path recognition, and a weld seam recognition module mounted on the welding mechanical arm and used for weld seam recognition.

[0026] In some possible implementation manners, a hinge seat is arranged between the bottom plate one and the bottom plate two, between the bottom plate two and the bottom plate three, between the bottom plate three and the bottom plate four, and between the bottom plate four and the bottom plate one.

[0027] The hinge seat comprises a support seat with a slot, an ear seat inserted into the slot, and a pin shaft matched with the support seat and the ear seat.

[0028] A use method of the intelligent welding robot based on the magnetic attraction steel structure and capable of overcoming obstacles in the air, specifically comprising the following steps:

[0029] The path recognition module recognizes the path, and the vehicle body is self-adaptively adjusted according to the shape of the steel structure surface to form the included angle between the first bottom plate and the fourth bottom plate and between the second bottom plate and the third bottom plate during the movement;

[0030] When moving to the steel structure surface with an included angle or an obstacle, the permanent magnets on the second bottom plate and the third bottom plate are controlled to be recycled, the second bottom plate and the third bottom plate are controlled to rotate around the X-axis direction by the obstacle surmounting mechanism to change the included angle between the second bottom plate and the first bottom plate and between the third bottom plate and the fourth bottom plate, and movement is adapted to the steel structure surface with the included angle or the obstacle;

[0031] When running to the weld position, the weld recognition module recognizes the weld, and welding is performed by the welding gun.

[0032] Compared with the prior art, the beneficial effects of the utility model are:

[0033] The utility model discloses the hinged cooperation of the first bottom plate and the fourth bottom plate, the second bottom plate and the third bottom plate, effectively realize the steel structure surface of different camber degree and move, the utility model discloses the hinged cooperation of the first bottom plate and the second bottom plate, the third bottom plate and the fourth bottom plate and the obstacle surmounting mechanism, so that the utility model can be used for the steel structure surface of different angles or with obstacles and move, the utility model will adapt to the steel member section of all types of construction sites, greatly improve the welding efficiency of construction site,

[0034] The utility model discloses the magnetic attraction subassembly is set up and will effectively guarantee the good adsorption capacity of the utility model and the steel structure surface in the use process, avoids the situation of falling.

[0035] The utility model can effectively replace manual high-altitude welding effect, greatly improves the operation safety and controllability, can adapt to extreme weather conditions (such as high temperature, low temperature, strong wind etc.) and complex electromagnetic environment, ensures that still can stable work under the bad working condition, expands the operation window, improves the construction efficiency, reduces the welding defects caused by human factors. ACCURACY OF DRAWINGS

[0036] Figure 1 It is the structure schematic view of the utility model;

[0037] Figure 2 It is the bottom view of the utility model;

[0038] Figure 3 It is the side view of the utility model;

[0039] Figure 4 It is the structure relationship schematic view of the vehicle body, the magnetic attraction subassembly and the obstacle surmounting mechanism in the utility model;

[0040] Figure 5 It is the structure relationship schematic view of the vehicle body, the magnetic attraction subassembly and the obstacle surmounting mechanism in the utility model; Figure 1Enlarged view of A in the middle;

[0041] Figure 6 The state diagram when the steel structure surface in the utility model is flat moves to the steel structure surface in right angle;

[0042] Figure 7 The overhead view of the car body, the moving mechanism and the barrier surmounting mechanism in the utility model;

[0043] Figure 8 The Figure 7 The sectional view of A-A in the middle;

[0044] Figure 9 The Figure 7 The sectional view of B-B in the middle;

[0045] Figure 10 The Figure 7 The sectional view of C-C in the middle;

[0046] Figure 11 The Figure 7 The sectional view of E-E in the middle;

[0047] Figure 12 The connection relation schematic diagram of the driving arm one and the pivot one in the utility model;

[0048] Wherein: 1, the car body; 11, the bottom plate one; 111, the link shaft one; 112, the connecting shaft one; 113, the pivot one; 12, the bottom plate two; 121, the connecting shaft one; 13, the bottom plate three; 131, the connecting shaft two; 14, the bottom plate four; 15, the hinged seat; 151, the support; 152, the lug seat; 153, the pin shaft; 2, the magnetic attraction assembly; 3, the welding mechanism; 31, the support shaft; 32, the path identification module; 33, the welding mechanical arm; 34, the welding torch; 35, the weld seam identification module; 4, the moving mechanism; 41, the driving wheel group one; 42, the driving wheel group two; 43, the driven wheel group; 44, the supporting roller; 45, the connecting rod; 5, the barrier surmounting mechanism; 51, the driving arm one; 511, the sliding groove one; 52, the driving arm two. DETAILED DESCRIPTION

[0049] In the utility model, unless another definite provision and limitation, the terms "mount", "link", "connect", "fix" and so on should do the broad sense understanding, for example, can be fixed connection, also can be detachable connection, or be integrated;Can be direct connection, also can be indirectly connected through the intermediate medium, can be the communication inside two elements or the interaction relationship of two elements.The "first", "second" and similar words mentioned in the application do not represent any order, quantity or importance, but only distinguish different components.Similarly, "one" or "a" and similar words do not represent quantity limit, but represent that there is at least one.In the implementation of the application, the association relationship of the associated object is described, which represents that there can be three kinds of relationships, for example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone.In the description of the embodiments of the application, unless otherwise specified, the meaning of "a plurality of" is two or more than two.For example, a plurality of positioning columns refers to two or more than two positioning columns.The specific meaning of the above terms in the utility model can be understood according to the specific circumstances by those skilled in the art.

[0050] The utility model will be described in detail below.

[0051] As Figures 1-12 Indicated:

[0052] A magnetic attraction steel structure high-altitude obstacle-crossing intelligent welding robot, including the car body 1 that is provided with the magnetic attraction component 2 in the bottom, the welding mechanism 3 installed on the car body 1, the mobile mechanism 4 for controlling the car body 1 to move and turn around and being connected with the car body 1, and the obstacle-crossing mechanism 5 installed on the car body 1;The turning described here includes the change of direction and the whole turning around;

[0053] The car body 1 includes the bottom plate one 11 for installing the welding mechanism 3, and the bottom plate two 12 is hinged with the bottom plate one 11 and rotates around the X-axis direction;The obstacle-crossing mechanism 5 includes the obstacle-crossing component one installed on the bottom plate one 11 and connected with the bottom plate two 12.

[0054] Through the hinged cooperation of the bottom plate one 11 and the bottom plate two 12, and through the obstacle-crossing component one control the change of the included angle formed by the bottom plate two 12 and the bottom plate one 11;Further make the utility model have the ability of crossing the obstacle and crossing the sharp angle, obtuse angle or right angle formed on the surface of steel structure, meet the movement under different road conditions;When moving to the welding position, welding can be carried out through the welding mechanism 3;

[0055] Specifically, when running on the plane of the steel structure surface, the bottom surface of the bottom plate one 11 and the bottom plate two 12 is on the same plane;

[0056] When the running track is changed from a plane to an angle, the obstacle mechanism 5 controls the bottom plate two 12 to rotate around the X-axis direction, changes the included angle formed by the bottom plate two 12 and the bottom plate one 11, so that the moving mechanism 4 can act on the steel structure surface with the included angle or the obstacle (protrusion, column), and move on the steel structure surface. In the moving process, the utility model is adsorbed with the steel structure through the magnetic attraction force of the magnetic attraction assembly 2, so as to avoid the utility model from falling off.

[0057] In some possible embodiments, in actual use, the steel structure often has a curved surface, such as a cylindrical steel pipe column or a cylindrical steel pipe; in order to enable the utility model to move on the steel structure with a curved surface;

[0058] As shown in Figure 1 、 Figure 2 、 Figure 4 、 Figure 7 The vehicle body 1 further comprises a bottom plate three 13 hinged with the bottom plate two 12 and rotating around the Y-axis direction, and a bottom plate four 14 hinged with the bottom plate three 13 and rotating around the X-axis direction; the bottom plate four 14 is hinged with the bottom plate one 11 and rotates around the Y-axis direction; the hinge points of the bottom plate one 11 and the bottom plate two 12, and the hinge points of the bottom plate three 13 and the bottom plate four 14 are located on the same straight line arranged along the X-axis direction; the hinge points of the bottom plate two 12 and the bottom plate three 13, and the hinge points of the bottom plate four 14 and the bottom plate one 11 are located on the same straight line arranged along the Y-axis direction;

[0059] When moving on the steel structure surface with a plane surface, the bottoms of the bottom plate one 11, the bottom plate two 12, the bottom plate three 13 and the bottom plate four 14 are located on the same plane;

[0060] The bottom plate one 11 is hinged with the bottom plate two 12 and the bottom plate two 12 rotates around the X-axis direction relative to the bottom plate one 11, the bottom plate two 12 is hinged with the bottom plate three 13 and the bottom plate three 13 rotates around the Y-axis direction relative to the bottom plate two 12, the bottom plate three 13 is hinged with the bottom plate four 14 and the bottom plate three 13 can rotate around the X-axis direction relative to the bottom plate four 14, and the bottom plate four 14 is hinged with the bottom plate one 11 and the bottom plate four 14 can rotate around the Y-axis direction relative to the bottom plate one 11; as Figure 1 、 Figure 2As shown in the drawings, the bottom plate one 11 and the bottom plate two 12 are coplanar on one side close to the bottom plate three 13 and the bottom plate four 14, and the bottom plate two 12 and the bottom plate three 13 are coplanar on one side close to the bottom plate one 11 and the bottom plate four 14; the bottom plate three 13 and the bottom plate four 14 are coplanar on one side close to the bottom plate one 11 and the bottom plate two 12, so that when the steel structure surface with an included angle is moved, the bottom plate two 12 and the bottom plate three 13 rotate by the same angle around the X-axis direction under the driving of the obstacle mechanism 5; when moving on the curved steel structure surface, the plane where the bottom plate one 11 and the bottom plate two 12 are located and the plane where the bottom plate three 13 and the bottom plate four 14 are located can change the angle around the Y-axis, so that the moving mechanism can always act on the curved steel structure surface, thereby enabling the utility model to be applicable to the movement of the steel structure surface with different radian curves.

[0061] In some possible embodiments, the obstacle mechanism 5 further comprises an obstacle component two installed on the bottom plate four 14 and drivingly matched with the bottom plate three 13; when moving on the steel structure surface with an included angle or an obstacle, the bottom plate two 12 is driven to rotate around the X-axis direction by the obstacle component one, and at the same time, the bottom plate three 13 is driven to rotate around the X-axis direction by the obstacle component two, so as to realize the synchronous movement of the bottom plate two 12 and the bottom plate three 13 around the X-axis direction.

[0062] In some possible embodiments, in order to effectively control the movement of the vehicle body 1,

[0063] The moving mechanism 4 comprises a moving component one and a moving component two symmetrically arranged along the Y-axis direction; when only the bottom plate one 11 and the bottom plate two 12 are present, the moving component one and the moving component two are respectively connected with the outer side surfaces of the bottom plate one 11 and the bottom plate two 12;

[0064] When the bottom plate one 11, the bottom plate two 12, the bottom plate three 13 and the bottom plate four 14 are present, the moving component one is installed on the outer side surfaces of the bottom plate one 11 and the bottom plate two 12; the moving component two is installed on the outer side surfaces of the bottom plate three 13 and the bottom plate four 14, and at this time, the moving mechanism 4 further comprises a supporting roller 44 arranged at the bottom of the vehicle body 1;

[0065] As shown in the drawings, Figure 4 The supporting roller 44 is a plurality of groups and is arranged at the bottom of the bottom plate one 11 and the bottom plate two 12 for effectively supporting the vehicle body 1; the plurality of groups of supporting rollers 44 are arranged on the same axis along the Y-axis direction and are located on one side close to the moving component two of the bottom plate one 11 and the bottom plate two 12; of course, the supporting rollers 44 can also be arranged at the bottom of the bottom plate three 13 and the bottom plate four 14, which is not described here, so as to support the bottom plate one 11, the bottom plate two 12, the bottom plate three 14 and the bottom plate four 14.

[0066] In some possible implementation manners, in order to effectively rotate the bottom plate two 12 and the bottom plate three 13 around the X-axis direction through the obstacle crossing mechanism 5, so that the utility model can have the ability of crossing obstacles and crossing the acute angle, obtuse angle or right angle formed by the steel members; the obstacle crossing assembly one and the obstacle crossing assembly two are symmetrically arranged along the Y-axis direction and have the same structure;

[0067] As shown in Figure 2 The obstacle crossing assembly one comprises a rotating shaft one 113 installed on the bottom plate one 11 and rotationally matched with the bottom plate one 11, a driving motor one transmissionally connected with one end of the rotating shaft one 113 and installed on the bottom plate one 11, and a driving arm one 51 connected with the other end of the rotating shaft one 113 and slidably hinged with the bottom plate two 12; the axis of the rotating shaft one 113 is arranged along the X-axis direction;

[0068] The obstacle crossing assembly two comprises a rotating shaft two installed on the bottom plate four 14 and rotationally matched with the bottom plate four 14, a driving motor two transmissionally connected with one end of the rotating shaft two and installed on the bottom plate four 14, and a driving arm two 52 connected with the other end of the rotating shaft two and slidably hinged with the bottom plate three 13; the axis of the rotating shaft two is arranged along the X-axis direction and on the same straight line as the axis of the rotating shaft one 113;

[0069] Specifically, the driving motor one is located in the bottom plate one 11, one end of the rotating shaft one 113 is transmissionally connected with the driving motor one, and the other end penetrates through the outside of the bottom plate one 11 and is connected with the driving arm one 51; similarly, the driving motor two is located in the bottom plate four 14, one end of the rotating shaft two is transmissionally connected with the driving motor two, and the other end penetrates through the outside of the bottom plate two 12 and is connected with the driving arm two 52.

[0070] Specifically, when moving to the surface of the steel structure with an included angle or an obstacle, the permanent magnets of the second bottom plate 12 and the third bottom plate 13 are first retracted to reduce the adsorption force, while the permanent magnets on the first bottom plate 11 and the fourth bottom plate 14 are extended to increase the adsorption force, so as to avoid falling off; the two groups of driving motors (driving motor one and driving motor two) drive the two groups of rotating shafts to rotate, so that the plane where the second bottom plate 12 and the third bottom plate 13 are located is above the other face of the steel structure, the moving mechanism controls the whole vehicle body 1 to move forward on the face, and drives the first bottom plate 11 and the fourth bottom plate 14 to move to the face, when the first bottom plate 11 and the fourth bottom plate 14 move to the face, the whole vehicle body 1 acts on the face through the obstacle crossing assembly one and the obstacle crossing assembly two, and then the permanent magnets of the second bottom plate 12 and the third bottom plate 13 are extended to increase the adsorption force, while the permanent magnets on the first bottom plate 11 and the fourth bottom plate 14 are retracted to reduce the adsorption force; after the first bottom plate 11 and the fourth bottom plate 14 move on the face, the reverse rotation of the driving motor (driving motor one and driving motor two) changes the included angle of the driving arm one 51 and the driving arm two 52 on the face, and makes the included angle of the driving arm one 51 and the driving arm two 52 on the face be 0°.

[0071] It should be noted that when the surface of the steel structure is a plane, the driving arm one 51 and the driving arm two 52 are arranged along the Y-axis direction.

[0072] In some possible embodiments, a connecting shaft one 121 is arranged on the second bottom plate 12 and is slidingly connected with the driving arm one 51 and arranged along the X-axis direction; a connecting shaft two is arranged on the third bottom plate 13 and is slidingly connected with the driving arm two 52 and arranged along the X-axis direction; the axes of the connecting shaft one 121 and the connecting shaft two are on the same line.

[0073] Specifically, as shown in Figure 11 、 Figure 12 the driving arm one 51 is provided with a sliding groove one 511 on the side close to the second bottom plate 12 and along the length direction thereof, one end of the connecting shaft one 121 is fixedly connected with the second bottom plate 12 and the other end is slidingly arranged in the sliding groove one 511 and is connected with the driving arm one 51;

[0074] Similarly, the driving arm two 52 is provided with a sliding groove two on the side close to the third bottom plate 13 and along the length direction thereof, one end of the connecting shaft two is fixedly connected with the third bottom plate 13 and the other end is slidingly arranged in the sliding groove two and is connected with the driving arm two 52;

[0075] Specifically, when the angle of the first bottom plate 11 and the second bottom plate 12 is adjusted, the driving motor 1 drives the rotating shaft 1 113 to rotate, and then the driving arm 1 51 connected with the rotating shaft 1 113 and located outside the first bottom plate 11 rotates around the axis of the rotating shaft 1 113, and since the other end of the driving arm 1 51 is slidingly connected with the second bottom plate 12, the second bottom plate 12 is driven to rotate around the axis of the rotating shaft 1 113 until the angle of the first bottom plate 11 and the second bottom plate 12 meets the requirement; the rotating control of the third bottom plate 13 is the same as that of the first bottom plate 11, which will not be repeated here.

[0076] In some possible embodiments, in order to effectively realize the adsorption of the vehicle body 1 and the steel structure surface, so that the utility model will not fall off during movement; the magnetic adsorption assembly 2 comprises a plurality of groups of permanent magnets arranged at the bottom of the vehicle body 1, and of course, electromagnets can also be used.

[0077] In some possible embodiments, in order to avoid the situation that the adsorption force becomes small and the vehicle body 1 cannot be effectively adsorbed and falls off when the vehicle body 1 moves over obstacles or steel structure surfaces with an included angle, the permanent magnets are telescopically connected with the vehicle body 1, and a vertical telescopic assembly connected with the permanent magnets is arranged in the vehicle body 1; a sliding groove matched with the permanent magnets is arranged on the vehicle body 1.

[0078] When the distance between the permanent magnets and the steel structure surface becomes large, the adsorption capacity will become weak, and the permanent magnets are controlled to move towards the side close to the steel structure surface to increase the adsorption force between them;

[0079] Further, the vertical telescopic assembly is used for telescopically moving each group of permanent magnets along the Z-axis direction, so as to change the distance between the permanent magnets and the steel structure surface and adjust the adsorption force between the vehicle body 1 and the steel structure surface; when the second bottom plate 12 and the third bottom plate 13 are adjusted, first, the permanent magnets in the second bottom plate 12 and the third bottom plate 13 are controlled to retract into the vehicle body 1 to reduce the adsorption force, and then the second bottom plate 12 and the third bottom plate 13 are adjusted; when the adjustment is completed and the vehicle body can move normally, the permanent magnets in the second bottom plate 12 and the third bottom plate 13 are controlled to extend to increase the adsorption force;

[0080] In some possible embodiments, in order to further strengthen the adsorption of the utility model and the steel structure surface, the moving mechanism 4 is provided with the magnetic adsorption assembly 2, and the magnetic adsorption assembly 2 is a strip-shaped permanent magnet.

[0081] In some possible embodiments, the moving assembly 1 and the moving assembly 2 are the same in structure, and the moving assembly 1 and the moving assembly 2 are track-type driving mechanisms.

[0082] In some possible embodiments, as Figure 4As shown, the tracked drive mechanism includes a first drive wheel set 41 connected to a base plate 11 or a base plate 44, a second drive wheel set 42 connected to a base plate 2 or a base plate 3, a driven wheel set 43 connected to a base plate 11 or a base plate 44, and a track that is respectively connected to the first drive wheel set 41, the second drive wheel set 42, and the driven wheel set 43; each of the two sets of first drive wheel sets 41 and the two sets of second drive wheel sets 42 is provided with an independent drive structure, forming a four-wheel drive tracked drive mechanism;

[0083] The driven wheel set 43 is located between the first drive wheel set 41 and the second drive wheel set 42 on the same side;

[0084] Specifically, such as Figures 8-11 As shown, one set of drive wheel assembly 41 is connected to the base plate 11 via connecting shaft 111, and another set of drive wheel assembly 41 is connected to the base plate 14 via connecting shaft 2. One set of driven wheel assembly 43 is connected to the base plate 11 via connecting shaft 112, and another set of driven wheel assembly 43 is connected to the base plate 14 via connecting shaft 2. One set of drive wheel assembly 42 is connected to the base plate 12 via connecting shaft 121, and another set of drive wheel assembly 42 is connected to the base plate 3 13 via connecting shaft 2. When the above-mentioned tracked drive mechanism is used, connecting rods 45 are respectively provided between connecting shaft 111 and connecting shaft 112, and between connecting shaft 2 and connecting shaft 2 to maintain the stability of the entire vehicle body.

[0085] Specifically, such as Figure 9 As shown, connecting shaft 112 is coaxially arranged with rotating shaft 113 and is fitted inside rotating shaft 113, and the rotational engagement is achieved through bearings; similarly, connecting shaft 2 is coaxially arranged with rotating shaft 2 and is fitted inside rotating shaft 2, and the rotational engagement is achieved through bearings; when rotating shaft 113 and rotating shaft 2 rotate, connecting shaft 112 and connecting shaft 2 do not move accordingly; with this arrangement, the track will not jam.

[0086] In some possible implementations, the first moving component and the second moving component have the same structure. The first moving component includes a first drive group connected to the first base plate 11 and a second drive group connected to the second base plate 12. The second moving component includes a third drive group connected to the third base plate 13 and a fourth drive group connected to the fourth base plate 14.

[0087] In some possible implementations, drive group one, drive group two, drive group three, and drive group four have the same structure and are all individually driven triangular magnetic track wheels or rubber wheels.

[0088] The moving mechanism adopts a four-wheel drive structure, which enables the moving mechanism to effectively drive the entire device to move.

[0089] In some possible implementations, such as Figure 1 , Figure 2As shown, the welding mechanism 3 comprises a support shaft 31 mounted on the bottom plate one 11, a welding mechanical arm 33 mounted on the support shaft 31 and rotationally matched with the support shaft 31, a welding gun 34 mounted on the welding mechanical arm 33, a path recognition module 32 mounted on the support shaft 31 and used for path recognition, and a weld joint recognition module 35 mounted on the welding mechanical arm 33 and used for weld joint recognition.

[0090] Specifically, the path recognition module 32 and the weld joint recognition module 35 are 3D cameras or 360 panoramic cameras.

[0091] It should be noted that the welding mechanical arm 33 in the utility model is prior art, which can adopt a single-shaft or multi-shaft structure form; and can be assembled according to use requirements;

[0092] As shown in the accompanying drawings, Figure 1 As shown, the axis of the support shaft 31 is arranged along the Z-axis direction, the welding mechanical arm 33 is a six-shaft structure, and comprises mechanical arm joints one, two, three, four, five and six which are rotationally connected in sequence; the mechanical arm joint one is rotationally matched with the support shaft 31, adjacent two mechanical arm joints are rotationally matched, and the welding gun 34 is mounted on the mechanical arm joint six through a support; the weld joint recognition module 35 is mounted on the end face of the mechanical arm joint six, and the mechanical arm joint one is perpendicular to the support shaft 31.

[0093] Since the welding mechanical arm 33 is a special-shaped structure, the support column is eccentrically arranged on the bottom plate one, and when the bottom face of the bottom plate one and the bottom plate four is a plane, the support column is eccentrically arranged on the plane, so that the instability is avoided.

[0094] In some possible embodiments, as shown in the accompanying drawings, Figure 2 , Figure 5 In order to effectively realize the hinging of the bottom plate one 11 and the bottom plate two 12, the bottom plate two 12 and the bottom plate three 13, the bottom plate three 13 and the bottom plate four 14, and the bottom plate four 14 and the bottom plate one 11, a hinge seat 15 is arranged between the bottom plate one 11 and the bottom plate two 12, between the bottom plate two 12 and the bottom plate three 13, between the bottom plate three 13 and the bottom plate four 14, and between the bottom plate four 14 and the bottom plate one 11.

[0095] The hinge seat 15 comprises a support seat 151 with a slot, an ear seat 152 inserted into the slot, and a pin shaft 153 used in cooperation with the support seat 151 and the ear seat 152.

[0096] As shown in the accompanying drawings, Figure 6 A use method of the intelligent welding robot based on the above-mentioned magnetic steel structure high-altitude obstacle-crossing intelligent welding robot, specifically comprising the following steps:

[0097] The path recognition module 32 recognizes the path, and the vehicle body 1 is self-adapted to adjust the included angle between the first bottom plate 11 and the fourth bottom plate 14 and between the second bottom plate 12 and the third bottom plate 13 during movement, and the corresponding permanent magnets are adjusted to meet the adsorption requirement;

[0098] When moving to the steel structure surface with an included angle or an obstacle, the permanent magnets on the second bottom plate 12 and the third bottom plate 13 are retracted first when moving from one surface to another surface, the adsorption force is reduced, and the permanent magnets on the first bottom plate 11 and the fourth bottom plate 14 are extended, the adsorption force is increased, and the falling is avoided; the included angle between the second bottom plate 12 and the first bottom plate 11 and between the third bottom plate 13 and the fourth bottom plate 14 is changed by rotating the second bottom plate 12 and the third bottom plate 13 around the X-axis direction through the obstacle crossing mechanism 5, the movement on the steel structure surface with an included angle or an obstacle is adapted, and the first bottom plate 11 and the fourth bottom plate 14 are driven to move to another surface through the two groups of driving wheel groups 41, and the adsorption force is changed by controlling the extension and retraction of the permanent magnets during movement, and the falling is avoided;

[0099] When the whole vehicle body 1 is located on another surface, the second bottom plate 12 and the third bottom plate 13 are controlled to move to the side close to the surface through the obstacle crossing mechanism 5; then the permanent magnets of the second bottom plate 12 and the third bottom plate 13 are extended, the adsorption force is increased, and the permanent magnets on the first bottom plate 11 and the fourth bottom plate 14 are retracted, the adsorption force is reduced; after the first bottom plate 11 and the fourth bottom plate 14 are moved on the surface, the included angle of the driving arm 51 and the driving arm 52 on the surface is changed by the reverse rotation of the driving motor (the driving motor 1 and the driving motor 2), and the included angle between the driving arm 51 and the driving arm 52 and the surface is 0°;

[0100] When running to the weld position, the weld recognition module 35 recognizes the weld, and the welding is performed through the welding gun 34; the movement mechanism 4 is controlled to move synchronously along the length direction of the weld during welding, precise and stable welding operation is realized, the welding quality and efficiency are improved, and the welding defects caused by human factors are reduced.

[0101] The utility model is not limited to the foregoing specific embodiments. The utility model extends to any new feature or any new combination disclosed in the specification, and any new method or process step or any new combination disclosed.

Claims

1. A magnetic steel structure high-altitude obstacle-crossing intelligent welding robot, characterized in that, It includes a vehicle body with a magnetic suction component at the bottom, a welding mechanism mounted on the vehicle body, a moving mechanism connected to the vehicle body and used to control the movement and steering of the vehicle body, and an obstacle-crossing mechanism mounted on the vehicle body. The vehicle body includes a base plate one for mounting a welding mechanism and a base plate two hinged to the base plate one and rotating about the X-axis; the obstacle-crossing mechanism includes an obstacle-crossing component one mounted on the base plate one and connected to the base plate two.

2. The intelligent welding robot for high-altitude obstacle crossing with magnetic steel structure according to claim 1, characterized in that, The vehicle body also includes a third base plate hinged to the second base plate and rotating about the Y-axis, and a fourth base plate hinged to the third base plate and rotating about the X-axis; the fourth base plate is hinged to the first base plate and rotates about the Y-axis; the hinge points of the first base plate and the second base plate, and the hinge points of the third base plate and the fourth base plate are on the same straight line along the X-axis; the hinge points of the second base plate and the third base plate, and the hinge points of the fourth base plate and the first base plate are on the same straight line along the Y-axis; when moving on a plane surface of the steel structure, the bottoms of the first base plate, the second base plate, the third base plate, and the fourth base plate are on the same plane.

3. The intelligent welding robot for high-altitude obstacle crossing with magnetic steel structure according to claim 2, characterized in that, The obstacle-crossing mechanism also includes an obstacle-crossing component two mounted on the base plate four and driven by the base plate three; the moving mechanism includes a moving component one and a moving component two symmetrically arranged along the Y-axis. The first movable component is installed on the outer side of the first and second base plates; the second movable component is installed on the outer side of the third and fourth base plates.

4. The intelligent welding robot for high-altitude obstacle crossing with magnetic steel structure according to claim 3, characterized in that, The obstacle crossing component one and obstacle crossing component two have the same structure and are symmetrically arranged along the Y-axis. The obstacle-crossing assembly includes a rotating shaft mounted on a base plate and rotatably engaged with the base plate, a drive motor connected to one end of the rotating shaft and mounted on the base plate, and a drive arm connected to the other end of the rotating shaft and slidably hinged to the base plate; the axial direction of the rotating shaft is set along the X-axis. The obstacle-crossing component two includes a rotating shaft two mounted on and rotatably engaged with the base plate four, a drive motor two connected to one end of the rotating shaft two and mounted on the base plate four, and a drive arm two connected to the other end of the rotating shaft two and slidably hinged to the base plate three; the axis of the rotating shaft two is set along the X-axis direction and is on the same straight line as the axis of the rotating shaft one.

5. The intelligent welding robot for high-altitude obstacle crossing with magnetic steel structure according to claim 4, characterized in that, A connecting shaft 1 is provided on the second base plate and is slidably hinged to the first drive arm and is arranged along the X-axis direction; a connecting shaft 2 is provided on the third base plate and is slidably hinged to the second drive arm and is arranged along the X-axis direction.

6. A magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to any one of claims 1-5, characterized in that, The magnetic attraction assembly includes several sets of permanent magnets disposed at the bottom of the vehicle body.

7. The intelligent welding robot for high-altitude obstacle crossing with magnetic steel structure according to claim 6, characterized in that, The permanent magnet is telescopically coupled with the vehicle body, and a vertical telescopic component connected to the permanent magnet is provided inside the vehicle body; a sliding groove for cooperating with the permanent magnet is provided on the vehicle body.

8. The intelligent welding robot for high-altitude obstacle crossing with magnetic steel structure according to claim 7, characterized in that, A magnetic suction component is provided on the moving mechanism.

9. A magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to any one of claims 3-5, characterized in that, The first and second mobile components have the same structure, and both the first and second mobile components are tracked drive mechanisms.

10. A magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to claim 9, characterized in that, The tracked drive mechanism includes a second drive wheel assembly connected to a second or third base plate, a first drive wheel assembly connected to a first or fourth base plate, a driven wheel assembly connected to a first or fourth base plate, and a track that is respectively connected to the first drive wheel assembly, the second drive wheel assembly, and the driven wheel assembly for transmission. The driven wheel set is located between the first drive wheel set and the second drive wheel set.

11. A magnetic steel structure high-altitude obstacle-crossing intelligent welding robot according to any one of claims 3-5, characterized in that, The first moving component and the second moving component have the same structure. The first moving component includes a first driving group connected to the first base plate and a second driving group connected to the second base plate.

12. The intelligent welding robot for high-altitude obstacle crossing with magnetic steel structure according to claim 11, characterized in that, The drive group one and drive group two have the same structure, which are triangular magnetic track wheels or rubber wheels.

13. The intelligent welding robot for high-altitude obstacle crossing with magnetic steel structure according to claim 1, characterized in that, The welding mechanism includes a support shaft mounted on a base plate, a welding robotic arm mounted on the support shaft and rotatably cooperating with the support shaft, a welding torch mounted on the welding robotic arm, a path recognition module mounted on the support shaft for path recognition, and a weld recognition module mounted on the welding robotic arm for weld recognition.

14. The intelligent welding robot for high-altitude obstacle crossing with magnetic steel structure according to claim 2, characterized in that, Hinges are respectively provided between base plate one and base plate two, between base plate two and base plate three, between base plate three and base plate four, and between base plate four and base plate one; The hinge includes a support with a slot, an ear inserted into the slot, and a pin that mates with the support and ear.

Images