A mobile chassis and welding robot

Abstract

The application provides a mobile chassis and a welding robot, and relates to the technical field of welding equipment. The mobile chassis comprises a chassis assembly and a supporting leg assembly. The chassis assembly comprises a limiting piece and a frame piece, and the limiting piece is arranged on the frame piece. The supporting leg assembly comprises a swing piece. The swing piece has a supporting end, the middle part of the swing piece is hingedly connected to the frame piece, and the swing piece has a limiting part. The rotation of the swing piece switches the supporting leg assembly between a working state and a storage state. In the working state, the supporting end abuts against the ground, and the gravity of the mobile chassis acts on the swing piece, so that the limiting part abuts against the limiting piece for limiting. The application can improve the supporting stability and is convenient to operate.

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] With the increasing application of steel structures in building construction, welding has become a crucial processing technique in steel structure manufacturing. Especially in many steel structure welding operations, if the workpiece is heavy, complex, or dispersed, welding needs to be performed at multiple locations. To facilitate welding, welding equipment is typically mounted on a mobile trolley, allowing for easy movement to complete welding operations at multiple locations. To maintain welding stability, mobile trolleys mostly employ manually adjustable outriggers to secure the chassis. However, manually adjustable outriggers generally rely on threaded or friction-locking feet, which are prone to loosening under vibration or load changes, leading to equipment tilting or displacement. 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 support stability and is easy to operate.

[0004] This application provides the following technical solution:

[0005] In a first aspect, embodiments of this application provide a mobile chassis, the mobile chassis comprising:

[0006] A chassis assembly, the chassis assembly including a limiting member and a frame member, the limiting member being disposed on the frame member;

[0007] A support leg assembly includes a swing member with a supporting end, the middle of which is hinged to the frame member, and the swing member has a limiting part; wherein, the rotation of the swing member causes the support leg assembly to switch between a working state and a retracted state, and in the working state, the supporting end abuts against the ground, and the gravity of the mobile chassis acts on the swing member, causing the limiting part and the limiting member to abut and limit each other.

[0008] In some embodiments of the first aspect, the leg assembly further includes:

[0009] A constraint member is disposed on the chassis assembly; wherein, in the stowed state, the support end is detached from the ground, and the constraint member can be detachably connected to the swing member.

[0010] In some embodiments of the first aspect, in the stored state, the constraint member and the swing member form a detachable constraint under the action of an external force.

[0011] In some embodiments of the first aspect, the constraint member and the swing member are magnetically engaged.

[0012] In some embodiments of the first aspect, the swing member has an operating end in a direction away from the support end, wherein, in the retracted state, the center of gravity of the swing member is located at the operating end, and the swing member and the constraint member abut under the gravity of the swing member.

[0013] In some embodiments of the first aspect, a lever fulcrum is formed at the hinge of the oscillating member and the chassis assembly, and the lever arm of the operating end is greater than the lever arm of the supporting end.

[0014] In some embodiments of the first aspect, the swing member includes a control lever portion and an adjustment portion, a support end is disposed at one end of the control lever portion, the adjustment portion is disposed at the control lever portion, the adjustment portion is connected to the limiting portion, and the adjustment portion is capable of adjusting the distance between the limiting portion and the control lever portion in the rotation direction.

[0015] In some embodiments of the first aspect, the swing member further includes a foot portion hinged to one end of the control lever portion, and the support end is disposed on the foot portion.

[0016] In some embodiments of the first aspect, the frame component has a mounting platform located at the front end of the frame component.

[0017] Secondly, embodiments of this application also provide a welding robot, the welding robot comprising:

[0018] The mobile chassis as described in any of the above embodiments;

[0019] A welding device, which is connected or detachably connected to the frame components of the mobile chassis.

[0020] In some embodiments of the second aspect, the welding apparatus includes:

[0021] Welding assembly, the welding assembly having a welding torch;

[0022] A robotic arm assembly having a base end and an execution end, the base end being disposed on the vehicle frame component, the welding assembly being disposed on the execution end, the robotic arm assembly being capable of driving the execution end to move, thereby being able to adjust the position and orientation of the welding torch.

[0023] In some embodiments of the second aspect, the welding robot further includes a remote controller electrically connected to both the robotic arm assembly and the welding assembly.

[0024] The embodiments of this application have the following advantages:

[0025] This application provides a mobile chassis in which the swing member of the outrigger assembly is hinged to the frame component at the center to achieve rotation, thereby raising and lowering the support end. When the swing member rotates downward, the support end is in contact with the ground (working state); when it rotates upward, the support end is off the ground (storage state), facilitating the transportation or repositioning of the mobile chassis. In the working state, the weight of the mobile chassis is transmitted to the swing member through the frame component, forcing the limiting part of the swing member to tightly abut against the limiting part of the chassis assembly, forming a rigid lock and preventing the outrigger assembly from springing back or loosening. The torque under gravity causes the swing member to press tightly against the limiting part, producing a self-reinforcing locking effect. When vibration or load changes occur, the effect of gravity further intensifies the friction or mechanical engagement between the limiting part and the limiting part, and the stability increases with the increase of load, overcoming the defect of traditional threaded outriggers being prone to loosening.

[0026] Therefore, by replacing manual threaded locking with gravity-driven mechanical limiting, the loosening of the support legs caused by welding vibration is avoided, ensuring that the equipment remains tilted and stable during long-term operation. The support leg status can be switched with a single button via the rotation of a swinging component, eliminating the tedious steps of traditional manual thread adjustment and improving work efficiency. Stable support is achieved using a simple hinge and limiting structure, eliminating the need for complex hydraulic or electric systems, thus reducing manufacturing costs and maintenance difficulty. Clearly, this application is applicable to scenarios such as distributed welding and heavy-duty workpieces, and is especially suitable for welding robots or mobile equipment that require frequent switching between movement and stationary positions.

[0027] 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

[0028] 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.

[0029] Figure 1 A schematic diagram of the structure of a welding robot provided in an embodiment of this application is shown from one perspective;

[0030] Figure 2 This illustration shows a structural schematic diagram of a welding robot provided by an embodiment of this application from another perspective;

[0031] Figure 3 This illustration shows a structural schematic diagram from another perspective of a welding robot provided by an embodiment of this application;

[0032] Figure 4 This illustration shows a structural schematic diagram of a welding robot provided by an embodiment of the present application from yet another perspective.

[0033] Explanation of key component symbols:

[0034] 100-Mobile chassis; 110-Frame components; 111-Mounting platform; 112-Limiting components; 120-Outriggers; 121-Supporting end; 130-Limiting part; 140-Fulcrum; 150-Control lever part; 160-Control end; 170-Constraint components;

[0035] 200 - Welding device; 210 - Welding assembly; 220 - Robotic arm assembly. Detailed Implementation

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] In related technologies, with the increasingly widespread application of steel structures in building engineering, welding is a crucial processing technology in steel structure manufacturing. Especially in many steel structure welding operations, if the workpiece is heavy, complex, or dispersed, welding operations need to be performed at multiple locations. To facilitate welding, welding equipment is typically mounted on a mobile trolley, allowing for easy movement to complete welding operations at multiple locations. To maintain welding stability, mobile trolleys mostly employ manually adjustable outriggers to secure the chassis. However, manually adjustable outriggers generally rely on threaded or friction-locking feet, which are prone to gradually loosening under vibration or load changes, leading to equipment tilting or displacement.

[0042] like Figures 1 to 4 As shown, to solve the above-mentioned technical problems, this application provides a mobile chassis 100. The mobile chassis 100 includes a chassis assembly and a support assembly. The chassis assembly includes a limiting member 112 and a frame member 110, with the limiting member 112 disposed on the frame member 110. The support assembly includes a swing member with a supporting end 121. The middle part of the swing member is hinged to the frame member 110, and the swing member has a limiting part 130. The rotation of the swing member allows the support assembly to switch between a working state and a retracted state. In the working state, the supporting end 121 abuts against the ground, and the gravity of the mobile chassis 100 acts on the swing member, causing the limiting part 130 and the limiting member 112 to abut and limit each other.

[0043] In these embodiments, this embodiment provides a mobile chassis 100 for supporting welding robots or other heavy welding equipment, which can move flexibly between different workstations and provide stable and reliable support during operation.

[0044] The chassis assembly includes a frame component 110 and a limiting component 112. The frame component 110 is an integral metal frame structure with sufficient strength and rigidity to support welding equipment and serve as a mobile platform. In this embodiment, the frame component 110 is equipped with multiple casters at its bottom for easy movement on the construction site. The limiting component 112 is fixedly disposed at a predetermined position on the side or bottom of the frame component 110. It is a boss, stop, or groove structure used to cooperate with the limiting part 130 in the support leg assembly to achieve mechanical limiting.

[0045] The support frame assembly includes a swing element. The swing element is generally L-shaped or Z-shaped with a linkage structure. One end is a support end 121, and the other end has a hinge hole. The middle part is hinged to the frame component 110 via a pivot, allowing the swing element to swing about the pivot in a vertical plane. The support end 121 is equipped with an anti-slip pad or an adjustable support foot 120 for stable contact with the ground.

[0046] The swing member also has a limiting part 130. In this embodiment, the limiting part 130 is a protrusion or step structure provided on the swing member, and its position and shape match the limiting part 112. The support leg assembly can switch between two states:

[0047] Storage state: When the mobile chassis 100 needs to be moved, the swing component retracts upward, so that its support end 121 is lifted off the ground. The entire mobile chassis 100 is supported by casters, making it easy to push.

[0048] Working status: After moving to the welding station, the operator pushes the swinging component downward, causing it to swing downward around the axis until the support end 121 contacts the ground and applies pressure.

[0049] Crucially, in operation, as the weight of the mobile chassis 100 and its equipment acts on the ground through the support end 121, this weight generates a torque about the axis of rotation on the swing member, causing the swing member to continue pressing towards the ground. This torque simultaneously causes the limiting part 130 on the swing member to abut tightly against the limiting part 112 on the frame member 110, forming a mechanical self-locking structure.

[0050] For example, when the swinging member swings downward to an angle (such as close to vertical), the line of gravity is located inside the pivot, creating a tendency for the swinging member to fit more closely to the limiting member 112. At this time, the contact surface between the limiting part 130 and the limiting member 112 bears pressure, forming stable support and position locking, preventing the support leg 120 from springing back or loosening during welding vibration or load changes.

[0051] Compared with the manual support legs 120 in the prior art that rely on threaded tightening or friction locking, the support leg assembly of this embodiment does not require additional locking operation. It can achieve automatic limiting and self-locking by gravity alone. It has a simple structure, is easy to operate, and has high support stability. It effectively avoids loosening, tilting or equipment displacement caused by vibration, and significantly improves the safety and accuracy of welding operations.

[0052] In one optional embodiment, there are two swing members, each disposed on one of the two frames 110. Each swing member has an independent limiting part 130 and a corresponding limiting part 112, which, in conjunction with the wheels on the mobile chassis 100, achieve four-point synchronous support and limiting, further enhancing overall stability. In this application, the mobile chassis 100 has a pair of moving wheels and a pair of omnidirectional wheels. The pair of moving wheels is located on the front side of the mobile chassis 100, and the pair of omnidirectional wheels is located on the rear side of the mobile chassis 100.

[0053] Alternatively, in other embodiments, there are four swing members, which are respectively set at the four corners of the frame member 110. Each swing member is provided with an independent limiting part 130 and a corresponding limiting part 112, thereby achieving four-point synchronous support and limiting, and further enhancing the overall stability.

[0054] In another embodiment, the limiting member 112 is an adjustable structure, for example, its extension length can be finely adjusted by a threaded connection to adapt to uneven ground, ensuring that the four legs 120 are in reliable contact and self-locking at the same time.

[0055] In other words, the swing member of the outrigger assembly rotates via a central hinge to the frame component 110, causing the support end 121 to rise and fall. When the swing member rotates downwards, the support end 121 contacts the ground (working state); when it rotates upwards, the support end 121 is off the ground (storage state), facilitating the transport or repositioning of the mobile chassis 100. In the working state, the gravity of the mobile chassis 100 is transmitted to the swing member through the frame component 110, forcing the limiting part 130 of the swing member to tightly abut against the limiting part 112 of the chassis assembly, forming a rigid lock and preventing the outrigger assembly from springing back or loosening. The torque under gravity causes the swing member to press tightly against the limiting part 112, producing a self-reinforcing locking effect. When there is vibration or load change, the gravity further intensifies the friction or mechanical engagement between the limiting part 130 and the limiting part 112, increasing stability with increasing load and overcoming the defect of traditional threaded outriggers 120 being prone to loosening.

[0056] Therefore, by replacing manual threaded locking with gravity-driven mechanical limiting, the loosening of the support leg 120 caused by welding vibration is avoided, ensuring that the equipment does not tilt or shift during long-term operation. The position of the support leg 120 can be switched with a single button via the rotation of the swing component, eliminating the tedious steps of traditional manual thread adjustment and improving work efficiency. Stable support is achieved using a simple hinge and limiting structure, eliminating the need for complex hydraulic or electric systems, thus reducing manufacturing costs and maintenance difficulty. Obviously, this application is applicable to scenarios such as distributed welding and heavy-duty workpieces, and is especially suitable for welding robots or mobile equipment that require frequent switching between movement and stationary positions.

[0057] like Figure 4As shown, in some embodiments, the support leg assembly further includes a constraint member 170, which is disposed on the chassis assembly; wherein, in the stowed state, the support end 121 is detached from the ground, and the constraint member 170 can be detachably connected to the swing member.

[0058] In these embodiments, the constraint member 170 is disposed on the chassis assembly (specifically the frame component 110), and its position corresponds to the position of the swing member in the retracted state. In this embodiment, the constraint member 170 is a U-shaped buckle or pin structure, fixed to the side beam of the frame component 110.

[0059] In the retracted state, when the swinging component is retracted upwards so that its support end 121 is completely off the ground, the operator can push the upper or middle part of the swinging component (e.g., a section of the rod above the hinge point) into the constraint member 170 to achieve a detachable connection. For example, the open end of the U-shaped buckle can be elastically deformed or has a locking tongue to lock and fix the swinging component; or the constraint member 170 is a threaded pin hole, which locks the swinging component by inserting a pin.

[0060] The function of the restraint 170 is to effectively limit the degree of freedom of the swinging component when the mobile chassis 100 is in a moving or transporting state, and prevent it from swinging downward due to bumps, collisions or accidental contact, thereby avoiding the outriggers 120 from accidentally extending and causing safety hazards or affecting the mobility.

[0061] When it is necessary to enter the working state, the operator only needs to release the connection between the constraint 170 and the swinging part (such as pulling out the pin or opening the buckle), and then push the swinging part downward to make it rotate downward around the axis until the support end 121 contacts the ground and achieves self-locking limit under the action of gravity, as described above.

[0062] Therefore, by setting the constraint member 170, the support leg assembly can be safely stored and reliably fixed in the non-working state, further improving the operational convenience and safety of the mobile chassis 100.

[0063] In one alternative implementation, the number of constraint members 170 corresponds to the number of swing members. For example, each of the four legs 120 is provided with an independent constraint buckle to ensure that each leg 120 is independently locked after being stored.

[0064] In some embodiments, in the stowed state, the constraint 170 and the swing member form a detachable constraint under external force.

[0065] In these embodiments, in the stowed state, the constraint member 170 and the swing member form a constraint structure that can be detached under the action of external force. That is, after the swing member is locked by the constraint member 170, it will not automatically detach due to slight vibration or gravity. The connection can only be released by the operator actively applying a certain external force (such as turning, pressing, pulling or rotating).

[0066] For example, in one specific embodiment, the constraint member 170 is a snap-fit ​​structure with an elastic locking tongue. When the swing member is retracted upwards and pushed into the snap-fit, the locking tongue automatically engages with the groove or hole on the swing member under the action of an elastic element (such as a spring), forming a lock. At this time, without external force intervention, the locking tongue will not retract on its own, ensuring that the support leg 120 remains in the retracted state during transportation.

[0067] When the device needs to enter the working state, the operator must apply external force by hand (such as pressing the latch button or pulling the unlock lever) to overcome the elastic force and disengage the latch, thereby releasing the constraint on the swinging component. Afterward, the swinging component can swing freely downward, entering the working state and achieving gravity self-locking.

[0068] In another embodiment, the restraint 170 includes a rotatable hook or latch that engages or disengages the swinging member by manually rotating it at an angle (e.g., 90°). This structure also requires manual application of torsional force to complete the unlocking action, preventing accidental operation.

[0069] like Figure 4 As shown, in some embodiments, the constraint member 170 and the swing member are magnetically engaged.

[0070] In these embodiments, the constraint member 170 and the swing member are detachably connected by magnetic attraction. Specifically, a permanent magnet or electromagnet is provided on one of the constraint member 170 and the swing member, and a magnetically conductive material (such as iron or steel) that can be magnetically attracted is provided on the other, or magnetic poles that attract each other are respectively provided at their relative positions.

[0071] For example, in one specific embodiment, the constraint member 170 is a metal bracket fixed to the frame member 110, which has a strong magnet (such as a neodymium iron boron permanent magnet) embedded in it; while the part of the swing member corresponding to the storage position is made of magnetically conductive metal or has an iron insert. When the swing member is retracted to the predetermined position, the magnet and the magnetically conductive part automatically attract each other to form a stable connection, thereby locking the storage state.

[0072] In another embodiment, the constraint member 170 itself is a magnetic member, and the swing member is provided with a corresponding magnetic adsorption area, and the two are tightly attached by magnetic force.

[0073] The magnetic attraction structure has the following characteristics:

[0074] The magnetic attraction is generated during the approach process, which helps guide the swinging part to accurately enter the storage position and achieve "self-alignment". There is no need for precise alignment of the buckle or rotation locking. Simply fold the support leg 120 to the vicinity and it will automatically engage. When it is necessary to unfold the support leg 120, the operator only needs to apply an outward pulling force or swinging force to overcome the magnetic attraction and disengage the two, switching to the working state. Compared with mechanical connections such as buckles and pins, the magnetic structure has no moving and wearing parts, has a long service life, and is easy to maintain.

[0075] It should be noted that the selected magnets should have moderate magnetic force: on the one hand, sufficient to resist normal vibrations during transportation to prevent the support legs from accidentally falling off; on the other hand, easy to manually separate to ensure operational feasibility. In actual design, the magnetic force can be adjusted by selecting the magnet size, material, and arrangement.

[0076] In addition, to enhance reliability, a limiting guide groove or guide surface can be added to the magnetic attraction structure to prevent the swinging part from sliding laterally in the adsorption state.

[0077] Therefore, by adopting a magnetic attachment method, not only is the support component reliably fixed in the stored state, but the ease of operation and user experience are also significantly improved, making it particularly suitable for welding operation scenarios that require high-frequency movement and rapid deployment.

[0078] like Figure 1 As shown, in some embodiments, the swing member has an operating end 160 in the direction away from the support end 121, wherein, in the retracted state, the center of gravity of the swing member is located at the operating end, and the swing member and the constraint member 170 abut under the gravity of the swing member.

[0079] In these embodiments, the swing member is provided with an operating end 160 in the direction away from the support end 121. The operating end 160 may be a handle, lug, or extension rod structure that is easy for a person to hold, for the operator to apply force to control the swing of the swing member, so as to realize the extension or retraction of the support leg 120.

[0080] Furthermore, in the structural design of the swing component, by means of material distribution or additional counterweight, the center of gravity of the swing component is located on one side of the operating end 160 (i.e., between the hinge point pivot and the operating end 160, biased towards the operating end 160) in the stored state.

[0081] When the operator retracts the swing member upwards to a position close to horizontal or tilted upwards, since its center of gravity is located on the side of the control end 160, the swing member will generate a clockwise torque about the axis of rotation (exemplary, the axis of rotation is the fulcrum 140, and the control end 160 is on the right) under the action of gravity. This torque causes the control end 160 to naturally deflect downwards, thereby causing the control end 160 area of ​​the swing member to actively and tightly abut against the constraint member 170.

[0082] For example, if the constraint 170 is a magnetic structure, the gravity clamping effect can enhance the stability of the magnetic contact, reduce the slight shaking caused by vibration, and improve the reliability of the connection.

[0083] If the constraint 170 is a mechanical snap-fit ​​structure, the gravity pre-tightening effect helps guide the snap-fit ​​to engage accurately, preventing false locking or disengagement caused by slight misalignment.

[0084] Therefore, in the stored state, the swing is not only locked by the constraint 170, but its own weight also continuously exerts a force that makes it fit tightly against the constraint 170, forming a "gravity-assisted clamping" mechanism.

[0085] To prevent the constraint connection from loosening due to vibration during equipment movement; gravity helps the swinging parts automatically adjust to the optimal fitting position, which is especially important for magnetic or gap fit structures; operators can achieve reliable locking without precise alignment, improving the human-machine interaction experience.

[0086] In one alternative implementation, the overall center of gravity can be adjusted to ensure that it falls in the desired area by placing a metal counterweight near the control end 160 or by using a higher density material to manufacture the control end 160 portion.

[0087] In summary, by rationally designing the center of gravity distribution of the swing component, so that its center of gravity is biased towards the control end 160 in the stored state, and actively abuts against the constraint component 170 by using gravity, the stability and connection reliability of the support leg assembly in the non-working state are further enhanced, and the overall performance of the mobile chassis 100 is improved.

[0088] In some embodiments, a lever fulcrum 140 is formed at the hinge of the swing member and the chassis assembly, and the lever arm of the operating end 160 is greater than the lever arm of the supporting end 121.

[0089] In these embodiments, the hinge point (i.e., the location of the pivot) between the swing member and the chassis assembly (specifically the frame member 110) forms a lever fulcrum 140. The swing member as a whole can be regarded as a lever structure with the hinge point as the fulcrum 140.

[0090] Furthermore, the structure of the swing member satisfies the following condition: when an external force is applied at the operating end 160, its lever arm length is greater than the lever arm length when the support end 121 bears a load.

[0091] Specifically:

[0092] Lever arm definition: With the hinge point (rotating shaft) as the fulcrum 140, the vertical distance from the fulcrum 140 to the line of action of the operating end 160 is the operating lever arm L1; the vertical distance from the fulcrum 140 to the line of action of the line of action of the support end 121 and the ground contact point is the support lever arm L2; the design satisfies: L□>L2.

[0093] When the operator applies a small force F1 downward at the control end 160, due to the long lever arm L□, a large output force F2 can be generated at the support end 121 according to the lever principle. This force is used to overcome the ground reaction force or structural friction force, making it easier to press the outrigger 120 down to the ground and achieve self-locking.

[0094] Conversely, when it is necessary to retract the outrigger 120, the operator applies upward force at the control end 160. Since L□>L2, the required force is smaller, which makes it easier to overcome the adhesion or residual friction between the outrigger 120 and the ground and retract the swing component.

[0095] For example, in one specific implementation, the ratio of L1 to L2 is designed to be between 2:1 and 5:1. This means that the operator only needs to apply a force equivalent to 1 / 2 to 1 / 5 of the load on the support end 121 to complete the unfolding or retracting of the outrigger 120, significantly reducing labor intensity.

[0096] In one embodiment, the swing element adopts a Z-shaped or bent linkage structure. By adjusting the length and angle of each segment, the ratio of L1 to L2 is precisely controlled to meet the operating force requirements under different load levels.

[0097] In some embodiments, the swing member includes a control lever portion 150 and an adjustment portion. A support end 121 is disposed at one end of the control lever portion 150, and the adjustment portion is disposed at the control lever portion 150. The adjustment portion is connected to the limiting portion 130, and the adjustment portion can adjust the distance between the limiting portion 130 and the control lever portion 150 in the rotation direction.

[0098] In these embodiments, the control lever 150 is the main structure of the swing member, in the form of a rod or connecting rod. One end is provided with a support end 121 for contacting the ground; the middle part is hinged to the frame member 110 through a pivot to form a lever fulcrum 140; the other end can extend to form the aforementioned control end 160 for easy manual operation.

[0099] An adjustment part is provided on the control lever part 150, and may specifically be a threaded sleeve, a sliding guide rail or a telescopic mechanism, integrated into the side or inside of the control lever part 150. The adjustment part is connected to the limiting part 130, so that the limiting part 130 becomes a component that can move relative to the control lever part 150 in the rotational direction (i.e., in the swing plane of the swing member).

[0100] Specifically, the adjustment unit can adjust the relative position between the limiting part 130 and the control lever part 150, thereby changing the radial distance of the limiting part 130 on the swing path (i.e., the distance from the rotating shaft to the contact surface of the limiting part 130). When the swinging member swings downward to the working state, this distance determines the trigger angle and the final support height at which the limiting part 130 abuts against the limiting member 112 on the chassis assembly.

[0101] For example, in one specific embodiment, the adjusting part is a threaded adjusting mechanism: the limiting part 130 is fixed on a threaded sleeve, which is threadedly connected to a stud or threaded hole on the operating lever part 150. By rotating the threaded sleeve (manually or with a tool), the limiting part 130 can be extended or retracted axially, thereby adjusting its effective radius of action in the rotation direction.

[0102] In another embodiment, the adjustment part is a stud: the limiting part 130 is installed on one end of the stud, and the other end of the stud is threadedly connected to the operating lever part 150. Rotating the stud adjusts the limiting part 130.

[0103] In one alternative embodiment, the adjustment section is provided with scale markings or positioning slots to facilitate quantitative adjustment or rapid positioning by the operator.

[0104] Therefore, by making the swing member include a control lever portion 150 and an adjustable adjustment portion, and by having the adjustment portion control the position of the limit portion 130, the support leg assembly is made flexible and adjustable in terms of support height and limit timing, further improving the adaptability, accuracy and reliability of the mobile chassis 100.

[0105] In some embodiments, the swing member further includes a support leg 120, which is hinged to one end of the control lever portion 150, and a support end 121 is disposed on the support leg 120.

[0106] In these embodiments, the support leg 120 is hinged to one end of the control lever 150 (i.e., the original location of the support end 121) via a secondary hinge shaft, forming a rotatable connection. The support end 121 is no longer directly fixed to the control lever 150, but is instead located at the bottom of the support leg 120.

[0107] Specifically, the support leg 120 can be an independent support leg 120 block, a roller bracket, or a contact plate with anti-slip texture. It is connected to the end of the control lever 150 through a secondary hinge shaft, so that the support leg 120 can swing freely at a certain angle relative to the control lever 150 in the vertical plane.

[0108] When the mobile chassis 100 enters the working state, the control lever 150 swings downward, causing the outrigger 120 to approach the ground. At the moment when the support end 121 of the outrigger 120 contacts the ground, if there is a local tilt or unevenness in the ground, the outrigger 120 can automatically adjust its posture around the secondary hinge axis, so that its bottom automatically conforms to the contour of the ground to achieve maximum contact area.

[0109] For example, when the ground is partially convex, the support leg 120 can swing slightly upward to prevent the control lever 150 from being subjected to excessive force or warping; when the ground is partially concave or tilted, the support leg 120 can tilt downward or sideways to ensure that the support end 121 is always in stable contact and to prevent point contact or edge stress.

[0110] In one embodiment, the bottom of the support leg 120 is provided with a replaceable anti-slip rubber pad or metal support plate to adapt to different ground materials (such as concrete, steel plate, mud, etc.).

[0111] Therefore, by adding a hinged support leg 120 to the end of the control lever 150 and setting the support end 121 on the support leg 120, the attitude adaptive adjustment of the contact surface of the support leg 120 is realized, which significantly improves the support reliability and operational safety of the mobile chassis 100 under complex working conditions.

[0112] In some embodiments, the frame component 110 has a mounting platform 111 located at the front end of the frame component 110.

[0113] In these embodiments, the frame component 110 has a mounting platform 111 located at the front end of the frame component 110. The mounting platform 111 is a flat, robust load-bearing surface, typically constructed of a metal plate (such as steel or aluminum), and is fixed to the front frame of the frame component 110. Its surface may have multiple mounting holes, T-slots, or locating pins for detachable connection to welding robots, painting robots, welding torch holders, wire feeders, or other auxiliary equipment.

[0114] Positioning the mounting platform 111 at the front end of the frame component 110 has the following advantages:

[0115] Welding robots and their actuators (such as welding torches) typically extend forward during operation. Mounting the equipment at the front helps shift the overall center of gravity forward, aligning it with the support area of ​​the outriggers and improving anti-tipping stability during operation. The front-end layout brings the welding equipment closer to the workpiece, reducing cantilever length and improving welding accuracy and rigidity. It also facilitates operator observation of the equipment's operating status and the welding process, enhancing safety and debugging efficiency.

[0116] In one alternative embodiment, the surface of the mounting platform 111 is provided with anti-slip textures or rubber pads to prevent the equipment from sliding during transportation; at the same time, the mounting holes are arranged in a standard modular combination to adapt to various models of welding robot bases, thereby improving versatility.

[0117] In some embodiments, this application also provides a welding robot, which includes a mobile chassis 100 and a welding device 200, wherein the welding device 200 is connected to or detachably connected to the frame component 110 of the mobile chassis 100.

[0118] Based on the aforementioned mobile chassis 100 embodiments, this utility model also provides a welding robot for realizing automated or semi-automated welding operations with high efficiency in multiple positions under complex working conditions.

[0119] Welding robots include:

[0120] As mentioned above, the mobile chassis 100 has advantages such as mobility, self-locking outriggers 120, easy operation, and adaptability to different postures.

[0121] Welding device 200 is used to perform actual welding tasks.

[0122] The welding device 200 is detachably or fixedly connected to the frame component 110 of the mobile chassis 100, specifically to the aforementioned mounting platform 111.

[0123] The welding apparatus 200 includes, but is not limited to, the following components:

[0124] Welding torch assemblies: such as MIG / MAG, TIG or plasma welding torches, used to generate an electric arc and complete metal welding;

[0125] Wire feeding mechanism (suitable for consumable electrode welding): used to stably feed welding wire to the welding torch;

[0126] Power module: Provides the electrical energy required for welding;

[0127] Cooling system: Water or air cooling for welding torch and key components;

[0128] Control unit: integrates PLC or industrial computer to realize welding parameter setting, path control and communication functions;

[0129] Robotic arm or positioning mechanism (optional): used to drive the welding torch to perform multi-degree-of-freedom motion and achieve complex weld seam trajectory tracking.

[0130] In this embodiment, the welding device 200 is mounted on the mounting platform 111 of the mobile chassis 100 via a detachable connection method (such as bolts, quick-connect couplings, or locating pins). This design has the following advantages:

[0131] Different types of welding devices can be replaced according to different welding tasks (such as switching from MIG to TIG), improving the equipment's versatility;

[0132] When the welding device 200 malfunctions, it can be disassembled and repaired or replaced as a whole without affecting the use of the mobile chassis 100.

[0133] In confined spaces or when transporting parts separately, the welding device 200 can be separated from the mobile chassis 100 to reduce the difficulty of handling.

[0134] In multi-station, multi-process scenarios, it achieves efficient configuration of "one chassis with multiple welding machines".

[0135] Of course, in other embodiments, the welding device 200 can also be fixedly connected to the mobile chassis 100 to form an integrated structure, which is suitable for specialized, high-frequency welding scenarios and improves overall rigidity and integration.

[0136] Furthermore, the mounting platform 111 is aligned with the mounting base at the same height to facilitate the transfer of the welding assembly 210 between the mounting base and the mobile chassis 100. For example, the mounting base and mounting platform 111 are flush.

[0137] In some embodiments, the welding apparatus 200 includes a welding assembly 210 and a robotic arm assembly 220. The welding assembly 210 has a welding torch. The robotic arm assembly 220 has a base end and an end effector. The base end is disposed on the frame member 110, and the welding assembly 210 is disposed at the end effector. The robotic arm assembly 220 can drive the end effector to move so as to adjust the position and orientation of the welding torch.

[0138] In these embodiments, the welding assembly 210 includes a welding torch, and a matching wire feeder (suitable for MIG / MAG welding), cooling water pipes, shielding gas lines, cables, etc. The welding torch is used to generate an electric arc during the welding process, melting the welding wire and the base material to form a weld.

[0139] The robotic arm assembly 220 is a multi-degree-of-freedom motion mechanism, having a base end and an end effector. The base end is fixedly mounted on the frame component 110 of the mobile chassis 100, and can be installed on the aforementioned mounting platform 111 via bolts or quick-connect interfaces to ensure a stable connection and transmit motion and load.

[0140] The end effector is the end flange or connection interface of the robotic arm, and the welding assembly 210 (specifically a welding torch or its bracket) is fixedly installed on the end effector.

[0141] The robotic arm assembly 220 can drive the end effector to move in three-dimensional space, thereby achieving precise adjustment of the position (X / Y / Z coordinates) and attitude (pitch angle, yaw angle, roll angle) of the welding torch.

[0142] In this embodiment, the robotic arm assembly 220 may be:

[0143] Multi-jointed robotic arms (such as 6-axis or 7-axis serial robots) offer high flexibility and are suitable for tracking complex curved weld seams. SCARA robots are suitable for planar or near-planar welding tasks, featuring high speed and high rigidity. Gantry-type Cartesian coordinate robots are suitable for large-scale, high-precision straight-line or regular-curve welding. Other types of automated robotic arms may also be available.

[0144] By controlling the movement of each joint of the robotic arm assembly 220, the welding torch can approach the workpiece, perform arc or laser sensing positioning, and determine the starting point of the weld; the welding torch can be moved smoothly along a preset or real-time identified weld path; the welding torch angle can be dynamically adjusted according to the weld spatial orientation (such as vertical welding, overhead welding, and horizontal welding) to ensure the optimal welding angle (such as welding torch tilt angle and forward tilt angle); and a path can be planned in complex steel structures to avoid interference between the robotic arm and the workpiece.

[0145] The robotic arm assembly 220 can be driven by a control system (such as a PLC, motion controller, or industrial computer) and supports multiple operating modes such as teach programming, offline programming, or vision guidance.

[0146] In some embodiments, the welding robot also includes a remote controller electrically connected to the robotic arm assembly 220 and the welding assembly 210, respectively.

[0147] In these embodiments, a welding robot with an integrated remote controller is further provided to enable remote control and real-time monitoring of the robotic arm assembly 220 and the welding assembly 210.

[0148] The remote controller is used to remotely control various functional modules in the welding device 200 and to perform status monitoring and fault diagnosis. For example, the remote controller can be a handheld remote control, an industrial tablet PC, or a dedicated industrial computer.

[0149] Specifically, in some embodiments, the remote controller can operate in the following ways:

[0150] Manual mode: Operators can directly control the movement of each joint of the robotic arm via a touch screen or physical buttons, and adjust the position and posture of the welding torch point by point.

[0151] Automatic mode: The welding path and process parameters are pre-programmed, and the controller automatically executes the entire welding process after one-button start;

[0152] Hybrid mode: Combining the advantages of manual and automatic modes, it allows for manual intervention and fine-tuning in specific stages, improving adaptability and flexibility.

[0153] 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.

[0154] 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.

[0155] 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 in that, The mobile chassis includes: A chassis assembly, the chassis assembly including a limiting member and a frame member, the limiting member being disposed on the frame member; A support leg assembly includes a swing member with a supporting end, the middle of which is hinged to the frame member, and the swing member has a limiting part; wherein, the rotation of the swing member causes the support leg assembly to switch between a working state and a retracted state, and in the working state, the supporting end abuts against the ground, and the gravity of the mobile chassis acts on the swing member, causing the limiting part and the limiting member to abut and limit each other.

2. The mobile chassis according to claim 1, characterized in that, The support assembly also includes: A constraint member is disposed on the chassis assembly; wherein, in the stowed state, the support end is detached from the ground, and the constraint member can be detachably connected to the swing member.

3. The mobile chassis according to claim 2, characterized in that, In the retracted state, the constraint member and the swing member form a detachable constraint under the action of external force.

4. The mobile chassis according to claim 3, characterized in that, The constraint member and the swing member are magnetically attracted to each other.

5. The mobile chassis according to claim 3 or 4, characterized in that, In the direction away from the support end, the swing member has an operating end, wherein, in the retracted state, the center of gravity of the swing member is located at the operating end, and under the action of the weight of the swing member, the swing member and the constraint member abut against each other.

6. The mobile chassis according to claim 5, characterized in that, A lever fulcrum is formed at the hinge of the swing member and the chassis assembly, and the lever arm of the operating end is greater than the lever arm of the supporting end.

7. The mobile chassis according to claim 1, characterized in that, The swing member includes a control lever portion and an adjustment portion. The support end is disposed at one end of the control lever portion, and the adjustment portion is disposed at the control lever portion. The adjustment portion is connected to the limiting portion, and the adjustment portion can adjust the distance between the limiting portion and the control lever portion in the rotation direction.

8. The mobile chassis according to claim 7, characterized in that, The swing member also includes a support leg, which is hinged to one end of the control lever, and the support end is disposed on the support leg.

9. The mobile chassis according to claim 1, characterized in that, The frame component has a mounting platform located at the front end of the frame component.

10. A welding robot, characterized in that, The welding robot includes: The mobile chassis as described in any one of claims 1 to 9; A welding device, which is connected or detachably connected to the frame components of the mobile chassis.

11. The welding robot according to claim 10, characterized in that, The welding apparatus includes: Welding assembly, the welding assembly having a welding torch; A robotic arm assembly having a base end and an execution end, the base end being disposed on the vehicle frame component, the welding assembly being disposed on the execution end, the robotic arm assembly being capable of driving the execution end to move, thereby being able to adjust the position and orientation of the welding torch.

12. The welding robot according to claim 11, characterized in that, The welding robot also includes a remote controller, which is electrically connected to both the robotic arm assembly and the welding assembly.

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