CN-121972875-A - Wall climbing welding robot based on visual measurement and welding method thereof

CN121972875ACN 121972875 ACN121972875 ACN 121972875ACN-121972875-A

Abstract

The invention relates to the technical field of wall climbing welding robots, and in particular discloses a wall climbing welding robot based on visual measurement and a welding method thereof, wherein the wall climbing welding robot comprises a wall climbing welding robot and a mounting box, and the mounting box is fixedly connected with the outer side of a welding gun of the wall climbing welding robot; the invention has the advantages that the smoke generated in the welding process can be absorbed through the arranged temperature absorbing mechanism, the environmental pollution caused by direct discharge of the smoke is avoided, the heat carried in the smoke is recycled and used for preheating the vision measuring instrument without consuming extra energy sources, and the smoke dust and metal splashes attached to the surface of the lens can be removed by utilizing the cleaning mechanism to rotate the inner hollow cleaning plate.

Inventors

YANG CHUNHUA
LIU CHANGHUI
WANG LUFEI
LI YANG
GAO JIAN

Assignees

泰州淼济智能科技有限公司
江苏省安全生产科学研究院

Dates

Publication Date: 20260505
Application Date: 20260320

Claims (10)

1. The wall climbing welding robot based on visual measurement is characterized by comprising a wall climbing welding robot and an installation box, wherein the installation box is fixedly connected with the outer side of a welding gun of the wall climbing welding robot; The device also comprises a temperature absorbing mechanism, a temperature measuring mechanism and a temperature measuring mechanism, wherein the temperature absorbing mechanism is arranged in the mounting box and is used for absorbing and storing smoke generated during welding work of the wall-climbing welding robot and absorbing and storing smoke heat, and the residual temperature is utilized to preheat a vision measuring instrument in the mounting box; The cleaning mechanism is arranged in the mounting box and is used for cleaning the lens of the vision measuring instrument in the mounting box; the adjusting mechanism is arranged on the wall climbing welding robot, and the cleaning time and the strength are adaptively adjusted according to the information fed back by the temperature absorbing mechanism.
2. The wall climbing welding robot based on visual measurement of claim 1, wherein the temperature absorbing mechanism comprises an optical sensor arranged in a mounting box, a heat preservation groove is formed in the mounting box, and a plurality of smoke guide holes are formed in the mounting box at equal intervals and are positioned below the heat preservation groove.
3. The wall climbing welding robot based on vision measurement of claim 2, wherein a heat-insulating plate is arranged on the inner side of the heat-insulating groove, a heat-conducting plate is arranged on the inner side of the heat-insulating plate, and a spiral heat-conducting wire is arranged on the inner side of the heat-conducting plate.
4. The wall climbing welding robot based on visual measurement of claim 3, wherein a temperature sensor is fixedly connected to the top of the inner wall of the heat preservation tank, and a negative pressure pump is arranged in the installation box.
5. The wall climbing welding robot based on vision measurement of claim 4, wherein the cleaning mechanism comprises a motor arranged in a mounting box, the output end of the motor is fixedly connected with a first bevel gear, the outer side of the first bevel gear is connected with a second bevel gear in a meshed manner, the outer side of the second bevel gear is connected with a third bevel gear in a meshed manner, the bottom of the third bevel gear is fixedly connected with a hollow rotating shaft, the hollow rotating shaft is rotationally connected with the mounting box, the bottom of the hollow rotating shaft is fixedly connected with an inner hollow cleaning plate, and the top of the hollow rotating shaft is provided with a rotary joint.
6. The wall climbing welding robot based on visual measurement of claim 5, wherein an air pump is arranged in the installation box, an argon tank is arranged at the input end of the air pump, and the output end of the air pump is connected with the top of the rotary joint through an air duct.
7. The wall climbing welding robot based on visual measurement of claim 1, wherein the adjusting mechanism comprises a protective box fixedly connected with one side of the wall climbing welding robot, an insulating box is fixedly connected to the bottom of the inner side of the protective box, a first conductive copper block is fixedly connected to the inner side of the insulating box, a second conductive copper block is slidingly connected to the inner side of the insulating box, and an insulating rod is fixedly connected to one side of the second conductive copper block.
8. The wall climbing welding robot based on vision measurement of claim 7, wherein one side in the protective box is fixedly connected with a cylinder, the output end of the cylinder is fixedly connected with a fixed cylinder, the inner side of the fixed cylinder is slidably connected with a sliding block, a spring is fixedly connected between one side of the sliding block and one side in the fixed cylinder, one side of the sliding block is fixedly connected with a connecting plate, the connecting plate is positioned at the inner side of the spring, and the insulating rod is fixedly connected with the connecting plate.
9. The wall climbing welding robot based on visual measurement of claim 8, wherein an electromagnet is fixedly connected to one side in the fixed cylinder, a magnet is fixedly connected to one side of the sliding block, and the magnetic pole of the electromagnet is opposite to that of the magnet.
10. A welding method of a wall climbing welding robot based on visual measurement is characterized in that the wall climbing welding robot based on visual measurement according to any one of claims 1-9 comprises the following steps: Starting a wall climbing welding robot to perform welding work, synchronously starting related parts of a temperature absorbing mechanism in an installation box, starting a negative pressure pump to work, sucking smoke generated during welding of the wall climbing welding robot into the installation box through a plurality of smoke guide holes formed in the installation box at equal intervals, enabling the sucked smoke to enter a heat insulation groove, enabling a heat insulation board on the inner side of the heat insulation groove to perform heat insulation, enabling the heat conduction board to conduct heat in the smoke to a spiral heat conduction wire, realizing absorption and storage of the heat of the smoke, simultaneously starting a temperature sensor on the top of the inner wall of the heat insulation groove, detecting the temperature in the heat insulation groove in real time, synchronously working an optical sensor, monitoring smoke absorption condition and temperature change, feeding back a temperature signal to an adjusting mechanism, and providing data support for subsequent cleaning and adjusting, wherein stored residual smoke temperature synchronously preheats a vision measuring instrument in the installation box, so as to avoid the influence of the instrument on measuring accuracy due to low temperature; The second step, after receiving the signals fed back by the temperature sensor and the optical sensor in the temperature absorbing mechanism, the adjusting mechanism is started, the air cylinder stretches according to the fed back temperature data to drive the fixed cylinder to move, the sliding block on the inner side of the fixed cylinder moves cooperatively under the elastic action of the spring, the connecting plate drives the insulating rod to move, and further the second conductive copper block in the insulating box is pushed to slide to form different degrees of contact with the first conductive copper block, meanwhile, the electromagnet in the fixed cylinder is electrified to generate attractive force with the magnet on one side of the sliding block, the displacement of the second conductive copper block is accurately adjusted by matching with the elastic force of the spring, and the cleaning time and the cleaning strength of the cleaning mechanism are adaptively adjusted through the contact state change of the first conductive copper block and the second conductive copper block, so that the cleaning effect is matched with the running state of equipment; And the output end of the motor is driven to rotate by the first bevel gear, the first bevel gear is meshed with the second bevel gear for transmission, and then a third bevel gear meshed with the second bevel gear is driven to rotate, a hollow rotating shaft fixed at the bottom of the third bevel gear synchronously rotates along with the third bevel gear, an inner hollow cleaning plate at the bottom is driven to rotate, a lens of a vision measuring instrument in the mounting box is mechanically cleaned, meanwhile, an air pump in the mounting box is started, argon in an argon tank is extracted, the argon is conveyed to a rotary joint at the top of the hollow rotating shaft through an air duct, the argon enters the hollow rotating shaft through the rotary joint, and is blown out through an inner channel of the inner hollow cleaning plate, so that the omnibearing cleaning of the lens is realized by matching with mechanical cleaning, the influence of a welding fume attached lens on vision measuring precision is avoided, and the normal operation of welding positioning and welding quality monitoring of the wall-climbing welding robot is ensured.

Description

Wall climbing welding robot based on visual measurement and welding method thereof Technical Field The invention relates to the technical field of wall climbing welding robots, in particular to a wall climbing welding robot based on visual measurement and a welding method thereof. Background The wall climbing welding robot is one specially designed to move automatically on vertical, inclined or even inverted metal surface and to perform automatic welding operation, and has combined adsorbing and moving technology, track tracking technology and automatic welding process to replace manual welding operation in dangerous, narrow or high altitude environment. In the scenes of ship manufacturing, large-scale steel structure welding and the like, the wall-climbing welding robot is a core device for replacing manual high-altitude and high-risk welding operation by virtue of the advantages of automation and high efficiency, and the vision measurement system is used as a key component part for realizing accurate positioning and welding quality monitoring of the wall-climbing welding robot, and the working stability of the wall-climbing welding robot directly determines the welding precision and the working efficiency. However, in the actual operation process of the wall climbing welding robot, particularly in low-temperature and high-humidity environments such as a cabin, dew condensation and frosting are easy to occur in the lens protection cover, the light transmittance of the protection cover is seriously reduced, so that a visual measuring instrument cannot clearly capture images of a welding area, meanwhile, a large amount of thick smoke and metal splashes are inevitably generated in the welding process, and are easy to adhere to the surface of the lens or the protection glass, so that the images are blurred and the contrast is reduced, even the imaging cannot be performed at all, the accuracy of visual measurement is directly influenced, further, welding positioning deviation and welding quality are out of control, and the operation rework rate and the safety hidden danger are increased. Disclosure of Invention The invention aims to provide a wall climbing welding robot based on visual measurement and a welding method thereof, which are used for solving the problems that in the practical operation process of the wall climbing welding robot provided in the prior art, particularly in a low-temperature and high-humidity environment such as a cabin, dew condensation and frosting phenomena are easy to occur in a lens protecting cover, the light transmittance of the protecting cover is seriously reduced, so that a visual measuring instrument cannot clearly capture images of a welding area, and meanwhile, a large amount of dense smoke and metal splashes are inevitably generated in the welding process, and are easy to adhere to the surfaces of a lens or protecting glass, so that the images are blurred and the contrast is reduced, even the imaging is completely impossible, the accuracy of visual measurement is directly influenced, further, the welding positioning deviation and the welding quality are out of control, and the operation rework rate and the potential safety hazard are increased. The wall climbing welding robot based on visual measurement and the welding method thereof comprise the wall climbing welding robot and a mounting box, wherein the mounting box is fixedly connected with the outer side of a welding gun of the wall climbing welding robot; The temperature absorbing mechanism is arranged in the mounting box and is used for absorbing the smoke generated during the welding work of the wall-climbing welding robot, absorbing and storing the heat of the smoke and preheating a vision measuring instrument in the mounting box by utilizing the residual temperature; The cleaning mechanism is arranged in the mounting box and is used for cleaning the lens of the vision measuring instrument in the mounting box; The adjusting mechanism is arranged on the wall climbing welding robot and is used for adaptively adjusting the cleaning time and the strength according to the information fed back by the temperature absorbing mechanism. Wherein, inhale warm mechanism including setting up the optical sensor in the mounting box, the heat preservation groove has been seted up to the inside of mounting box, and a plurality of smoke guide holes have been seted up to the inside of mounting box below that is located the heat preservation groove and equidistance. Wherein, the inboard of heat preservation groove is provided with the heated board, and the inboard of heated board is provided with the heat conduction board, and the inboard of heat conduction board is provided with spiral heat conduction silk. Wherein, the top fixedly connected with temperature sensor of heat preservation inslot wall, the inside of mounting box is provided with the negative pressure pump. Wherein, clean mechanism is including setting up the motor in the