CN-224223882-U - Intelligent welding robot with magnetic steel structure and high-altitude obstacle surmounting function

Abstract

The utility model relates to the technical field of constructional engineering construction equipment, and particularly discloses a magnetic steel structure overhead obstacle surmounting intelligent welding robot which comprises a vehicle body, a welding mechanism, a moving mechanism and an obstacle surmounting mechanism, wherein the bottom of the vehicle body is provided with a magnetic component, the moving mechanism is connected with the vehicle body and used for controlling the vehicle body to move and turn, the obstacle surmounting mechanism is arranged on the vehicle body, the vehicle body comprises a first base plate used for installing the welding mechanism, a second base plate hinged with the first base plate and rotating around an X-axis direction, and the obstacle surmounting mechanism comprises a first obstacle surmounting component which is arranged on the first base plate and connected with the second base plate. The utility model has good adsorption capacity, can effectively realize welding operation at high altitude, can realize movement at the surface of the steel structure with an included angle or an obstacle, can be suitable for the surface of the complex and changeable steel structure, improves operation continuity and flexibility, and reduces the requirement of manual intervention.

Inventors

• Du Lianteng
• LI LI
• LIU JIANLI
• XIAO XIANLI
• WANG YONGJING
• ZHOU JING
• WANG YUNFEI
• ZHAO JIABIN
• JIANG YOURONG
• HOU XINGBAO
• TANG LI

Assignees

• 中国五冶集团有限公司

Dates

Publication Date

20260512

Application Date

20250603

Priority Date

20250220

Claims (14)

1. 1. The intelligent welding robot is characterized by comprising a vehicle body, a welding mechanism, a moving mechanism and an obstacle surmounting mechanism, wherein the bottom of the vehicle body is provided with a magnetic component, the welding mechanism is arranged 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 surmounting mechanism is arranged on the vehicle body; The vehicle body comprises a first base plate for installing a welding mechanism and a second base plate hinged with the first base plate and rotating around the X-axis direction, and the obstacle surmounting mechanism comprises an obstacle surmounting assembly I which is installed on the first base plate and connected with the second base plate.
2. 2. The intelligent welding robot for the high-altitude obstacle surmounting of the magnetic steel structure is characterized by further comprising 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, wherein the fourth bottom plate is hinged to the first bottom plate and rotates around the Y-axis direction, the hinging points of the first bottom plate and the second bottom plate and the hinging points of the third bottom plate and the fourth bottom plate are arranged on the same straight line along the X-axis direction, the hinging points of the second bottom plate and the third bottom plate and the hinging points of the fourth bottom plate and the fourth bottom plate are arranged on the same straight line along the Y-axis direction, and when moving on a plane on the surface of the steel structure, the bottoms of the first bottom plate, the second bottom plate, the third bottom plate and the fourth bottom plate are arranged on the same plane.
3. 3. The intelligent welding robot for the obstacle surmounting of the high altitude of the magnetic steel structure is characterized by further comprising an obstacle surmounting component II which is arranged on a bottom plate IV and is matched with the bottom plate III in a transmission way, wherein the moving mechanism comprises a moving component I and a moving component II which are symmetrically arranged along the Y-axis direction; The first moving component is arranged on the outer side surfaces of the first base plate and the second base plate, and the second moving component is arranged on the outer side surfaces of the third base plate and the fourth base plate.
4. 4. The intelligent welding robot with the magnetic steel structure for high-altitude obstacle surmounting according to claim 3, wherein the obstacle surmounting component I and the obstacle surmounting component II are identical in structure and symmetrically arranged along the Y-axis direction; the obstacle crossing assembly I comprises a rotating shaft I, a driving motor I, a driving arm I and a driving arm I, wherein the rotating shaft I is arranged on the bottom plate I and is in rotating fit with the bottom plate I, the driving motor I is in transmission connection with one end of the rotating shaft I and is arranged on the bottom plate I, and the driving arm I is connected with the other end of the rotating shaft I and is in sliding hinge connection with the bottom plate II; the obstacle crossing assembly II comprises a rotating shaft II which is arranged on the bottom plate IV and is in running fit with the bottom plate IV, a driving motor II which is in transmission connection with one end of the rotating shaft II and is arranged on the bottom plate IV, and a driving arm II which is connected with the other end of the rotating shaft II and is in sliding hinge joint with the bottom plate III, wherein the axis of the rotating shaft II is arranged along the X-axis direction and is in the same straight line with the axis of the rotating shaft I.
5. 5. The intelligent welding robot with the magnetic steel structure for the high-altitude obstacle surmounting is characterized in that a first connecting shaft which is hinged with a first driving arm in a sliding mode and is arranged in the X-axis direction is arranged on the second bottom plate, and a second connecting shaft which is hinged with the second driving arm in a sliding mode and is arranged in the X-axis direction is arranged on the third bottom plate.
6. 6. The intelligent welding robot for obstacle surmounting in high altitude of a magnetic steel structure according to any one of claims 1 to 5, wherein the magnetic component comprises a plurality of groups of permanent magnets arranged at the bottom of the vehicle body.
7. 7. The intelligent welding robot for the high-altitude obstacle surmounting of the magnetic steel structure is characterized in that the permanent magnet is in telescopic fit with a vehicle body, a vertical telescopic assembly connected with the permanent magnet is arranged in the vehicle body, and a sliding groove matched with the permanent magnet is formed in the vehicle body.
8. 8. The intelligent welding robot for the high-altitude obstacle surmounting of the magnetic steel structure, as set forth in claim 7, wherein the moving mechanism is provided with a magnetic component.
9. 9. The intelligent welding robot for the high-altitude obstacle surmounting of the magnetic steel structure according to any one of claims 3 to 5, wherein the first moving component and the second moving component are identical in structure, and the first moving component and the second moving component are crawler-type driving mechanisms.
10. 10. The intelligent welding robot with the magnetic steel structure for high-altitude obstacle surmounting according to claim 9, wherein the crawler-type driving mechanism comprises a driving wheel set II connected with a bottom plate II or a bottom plate III, a driving wheel set I connected with a bottom plate I or a bottom plate IV, a driven wheel set connected with the bottom plate I or the bottom plate IV, and a crawler in transmission connection with the driving wheel set I, the driving wheel set II and the driven wheel set respectively; the driven wheel set is positioned between the first driving wheel set and the second driving wheel set.
11. 11. The intelligent welding robot for the high-altitude obstacle surmounting of the magnetic steel structure according to any one of claims 3 to 5, wherein the first moving assembly is identical to the second moving assembly in structure, and the first moving assembly comprises a first driving group connected with the first base plate and a second driving group connected with the second base plate.
12. 12. The intelligent welding robot with the magnetic steel structure for the high-altitude obstacle surmounting function according to claim 11, wherein the first driving group and the second driving group have the same structure and are triangular magnetic crawler wheels or rubber wheels.
13. 13. The intelligent welding robot for the high-altitude obstacle surmounting of the magnetic steel structure according to claim 1, wherein the welding mechanism comprises a support shaft arranged on the first bottom plate, a welding mechanical arm arranged on the support shaft and in rotating fit with the support shaft, a welding gun arranged on the welding mechanical arm, a path recognition module arranged on the support shaft and used for path recognition, and a welding seam recognition module arranged on the welding mechanical arm and used for welding seam recognition.
14. 14. The intelligent welding robot for the obstacle surmounting of the high altitude of the magnetic steel structure, which is disclosed in claim 2, is characterized in that hinge seats are respectively arranged between the first base plate and the second base plate, between the second base plate and the third base plate, between the third base plate and the fourth base plate, and between the fourth base plate and the first base plate; The hinge seat comprises a support with a slot, an ear seat inserted in the slot and a pin shaft matched with the support ear seat.

Description

Intelligent welding robot with magnetic steel structure and high-altitude obstacle surmounting function Technical Field The utility model relates to the technical field of constructional engineering construction equipment, in particular to a magnetic steel structure high-altitude obstacle-surmounting intelligent welding robot. Background In recent years, along with continuous promotion of building industrialization, the assembled building is widely applied to building construction engineering, highway engineering, bridge engineering, municipal public engineering and other engineering construction, the steel structure building is taken as an important direction of the development of the assembled building industry, the steel structure building has good advantages in the aspect of industrial construction, the steel structure building has the advantages of light weight, high strength, good shock resistance, short construction period, environmental protection, convenient industrial production, recycling and the like, belongs to typical green energy-saving industry, meets the requirements of national recycling economy and sustainable development and the requirements of national building industry transformation upgrading and high-quality development, is widely applied in recent years, and is taken as a main mode of connecting assembled steel structure building components, the quality of connection is directly related to the whole quality and safety of the assembled steel structure building, and most of component welding of the steel structure construction site is still mainly manually, the welding mode is rough, and particularly when high-altitude welding is carried out, the welding quality cannot be guaranteed, and certain safety risks exist for personnel. Meanwhile, as the aging degree of the population is deepened continuously, welding operators have certain gaps; Therefore, how to improve the welding quality of the steel structural member, improve the production efficiency of a construction site, reduce the labor intensity of the site, reduce the requirements on the operation technology of workers, improve the construction safety, realize the intelligent production of the construction site and save the cost is a technical problem to be solved at present. Disclosure of utility model The utility model aims to solve the technical problem of providing the intelligent welding robot for the obstacle surmounting of the magnetic steel structure in high altitude, which has good adsorption capacity, can effectively realize welding operation in high altitude and can realize operation at the surface of the steel structure with an included angle or an obstacle, is suitable for the surface of the complex and changeable steel structure, improves the operation continuity and flexibility, and reduces the requirement of manual intervention. The utility model solves the technical problems by adopting the following solution: A magnetic steel structure high-altitude obstacle-surmounting intelligent welding robot comprises a vehicle body, a welding mechanism, a moving mechanism and an obstacle-surmounting mechanism, wherein the bottom of the vehicle body is provided with a magnetic component, the welding mechanism is arranged 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-surmounting mechanism is arranged on the vehicle body; The vehicle body comprises a first base plate for installing a welding mechanism and a second base plate hinged with the first base plate and rotating around the X-axis direction, and the obstacle surmounting mechanism comprises an obstacle surmounting assembly I which is installed on the first base plate and connected with the second base plate. In some possible embodiments, the vehicle body further comprises a third bottom plate hinged with the second bottom plate and rotating around the Y-axis direction, and a fourth bottom plate hinged with the third bottom plate and rotating around the X-axis direction, wherein the fourth bottom plate is hinged with 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 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 fourth bottom plate are on the same straight line arranged along the Y-axis direction, and when the vehicle moves on the plane of the steel structure surface, the bottoms of the first bottom plate, the second bottom plate, the third bottom plate and the fourth bottom plate are on the same plane. In some possible embodiments, the obstacle surmounting mechanism further comprises an obstacle surmounting assembly II mounted on the bottom plate IV and in driving