CN109986250B - Multifunctional high-altitude automatic welding robot - Google Patents

Multifunctional high-altitude automatic welding robot Download PDF

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Publication number
CN109986250B
CN109986250B CN201910404520.1A CN201910404520A CN109986250B CN 109986250 B CN109986250 B CN 109986250B CN 201910404520 A CN201910404520 A CN 201910404520A CN 109986250 B CN109986250 B CN 109986250B
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rod
transmission
fixedly arranged
motor
gear
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CN109986250A (en
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董青文
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Baoji Juhe Machinery Manufacturing Co ltd
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Xuancheng Hengchuang Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track

Abstract

The invention relates to a welding device, in particular to a multifunctional high-altitude automatic welding robot which comprises an installation base, a moving device, a position adjusting device, a height adjusting device, a welding part parallel device and a welding device.

Description

Multifunctional high-altitude automatic welding robot
Technical Field
The invention relates to a welding device, in particular to a multifunctional high-altitude automatic welding robot.
Background
Along with the progress of development technology of the times, the labor cost is high, the requirement on the size progress of a processed product is required in the aspect of writing, more and more factories replace some equipment to replace manual work, the robot is more dependent on high-precision work, and great potential safety hazard exists in high-altitude welding operation, so that the multifunctional high-altitude automatic welding robot is invented.
Disclosure of Invention
The invention relates to a welding device, in particular to a multifunctional high-altitude automatic welding robot which can move on a high-altitude wall through a moving device, a position adjusting device can adjust the transverse position of a welding part parallel device, a height adjusting device can adjust the height position of the welding part parallel device, the welding part parallel device can adjust the heights of two welding parts, and the welding device has the functions of welding the changed parts and the like.
The invention relates to a welding device, in particular to a multifunctional high-altitude automatic welding robot which comprises an installation base, a moving device, a position adjusting device, a height adjusting device, a welding part parallel device and a welding device.
The moving device consists of a fixed box, a motor A, an output gear, a walking transmission device and a vacuum chuck, wherein the motor A is fixedly installed in the fixed box;
the walking transmission device comprises a transmission shaft A, a kinetic energy receiving gear, a gear A, a limiting convex ring A, a transmission shaft AA, a limiting convex ring AA, a gear AB, a first connecting plate, a transmission leg and a limiting convex ring AAA, wherein the kinetic energy receiving gear is fixedly arranged on the transmission shaft A, the gear A is fixedly arranged on the transmission shaft A, the limiting convex ring A is fixedly arranged on the transmission shaft A, the first connecting plate is arranged on the transmission shaft A, the transmission shaft AA is arranged on the first connecting plate, the limiting convex ring AA is fixedly arranged on the transmission shaft AA, the gear AB is meshed with the gear A, the transmission leg is fixedly arranged on the transmission shaft AA, and the limiting convex ring AAA is fixedly arranged on the transmission shaft AA;
the position adjusting device comprises a motor B, an output belt wheel B, a transmission belt B, a transmission rotation supporting device A, a transmission chain, a fixed base B, a movable bottom device and a support auxiliary transmission device, wherein the output belt wheel B is fixedly arranged on the motor B;
the transmission rotation supporting device A is composed of a supporting frame, a transmission shaft C, a limiting convex ring C, a transmission belt wheel C and a transmission gear C, wherein the transmission shaft C is installed on the supporting frame, the limiting convex ring C is installed and fixed on the transmission shaft C, the transmission belt wheel C is installed and fixed on the transmission shaft C, and the transmission gear C is installed and fixed on the transmission shaft C;
the fixed base B consists of a base C, a chain passing hole and a movable groove C, wherein the chain passing hole is formed in the base C, and the movable groove C is formed in the base C;
the movable bottom device consists of a movable plate CC and a connecting wheel, and the connecting wheel is installed and fixed on the movable plate CC;
the supporting auxiliary transmission device consists of a support frame CC, a transmission shaft CC, a limiting convex ring CC and a transmission auxiliary gear CC, wherein the transmission shaft CC is arranged on the support frame CC, the limiting convex ring CC is fixedly arranged on the transmission shaft CC, and the transmission auxiliary gear CC is fixedly arranged on the transmission shaft CC;
the height adjusting device comprises a second connecting plate, a motor, a bevel gear D, a height adjusting mechanism, a limiting convex ring D and an annular bevel gear D, wherein the motor is fixedly installed on the second connecting plate;
the height adjusting mechanism is composed of a fixed cylinder, a tooth space, a movable middle pipe, a connecting block, a motor DA, an output belt wheel DA, a transmission belt DA, an installation shaft DA, a receiving belt wheel DA, a rotating gear DA, a movable inner rod, a matching rack, a limiting hole, a limiting block, a swinging pressing plate, a strip-shaped hole, a matching rod and a limiting rod, wherein the tooth space is arranged inside the fixed cylinder, the movable middle pipe is arranged inside the fixed cylinder, the connecting block is arranged and fixed on the movable middle pipe, the motor DA is arranged and fixed on the connecting block, the output belt DA is arranged and fixed on the motor DA, the transmission belt DA is arranged on the output belt wheel DA, the transmission belt DA is arranged on the receiving belt wheel DA, the installation shaft DA is arranged and fixed on the connecting block, the receiving belt DA is arranged on the installation shaft DA, the rotating gear DA is, the matching rack is fixedly arranged on the movable inner rod, the limiting hole is formed in the movable inner rod, the limiting block is fixedly arranged on the movable middle tube, the swinging pressing plate is arranged on the matching rod, the strip-shaped hole is formed in the swinging pressing plate, the matching rod is fixedly arranged on the limiting block, and the limiting rod is fixedly arranged on the swinging pressing plate;
the welding part parallel device is composed of a base E, a motor E, a bevel gear E, a support frame E, a limiting bolt E, a support device E, a motor EA, a bevel gear EA, a support frame EA, a limiting bolt EA and a support device EA, wherein the motor E is fixedly installed on the base E, the bevel gear E is fixedly installed on the motor E, the support frame E is fixedly installed on the base E, the limiting bolt E is installed on the support frame E, the support device E is installed on the support frame E, the motor EA is fixedly installed on the base E, the bevel gear EA is fixedly installed on the motor EA, the support frame EA is fixedly installed on the base E, the limiting bolt EA is arranged on the support frame EA, the support device EA is installed on the support frame EA, and the support device EA;
the support device E is composed of a sleeve, a through hole bevel gear, a limiting convex ring E, a thread hinge seat E, a limiting convex ring EI, a hinge seat E, a hinge connecting rod and an anti-skidding supporting rod, wherein the through hole bevel gear is fixedly installed on the sleeve, the limiting convex ring E is fixedly installed on the sleeve, the thread E is arranged on the sleeve, the thread hinge seat E is installed on the thread E, the limiting convex ring EI is fixedly installed on the sleeve, the hinge seat E is installed on the sleeve, the hinge connecting rod is hinged on the thread hinge seat E, the hinge connecting rod is hinged on the hinge seat E, the hinge connecting rod is hinged with the hinge connecting rod, and the anti-skidding supporting rod is hinged on the hinge;
the supporting device EA is composed of a rotating rod EA, a bevel gear EA, a limiting convex ring EA I, a limiting convex ring EA II, a thread EA, a thread hinge seat EA, a limiting convex ring EA III, a hinge seat EA, a hinge connecting rod EA and an anti-skid supporting rod EA, wherein the bevel gear EA is fixedly arranged on the rotating rod EA, the limiting convex ring EA I is fixedly arranged on the rotating rod EA, the limiting convex ring EA II is fixedly arranged on the rotating rod EA, the thread EA is arranged on the rotating rod EA, the thread hinge seat EA is arranged on the thread EA, the limiting convex ring EA III is fixedly arranged on the rotating rod EA, the hinge seat EA is arranged on the rotating rod EA, the hinge connecting rod EA is arranged on the thread hinge seat EA, the hinge connecting rod EA is arranged on the hinge seat EA, the hinge connecting rod EA is hinged with the thread hinge seat EA, and the anti-skid supporting rod EA is;
the welding device comprises a fixed base G, a motor G, an output gear G, a position adjusting device G, a limiting convex ring G, a kinetic energy receiving gear G and a welding rod clamping device, wherein the motor G is fixedly installed on the fixed base G;
the position adjusting device G is composed of a fixed outer cylinder G, heat dissipation holes G, a motor GA, a screw rod installation ring G, a screw rod G, a limiting convex ring GA and an L-shaped moving rod, wherein the heat dissipation holes G are formed in the fixed outer cylinder G;
the welding rod clamping device comprises a clamping shell, an L-shaped clamping rod, an expanding rod, a sliding plate, a spring mounting cylinder, a spring, a motor GB, an output belt wheel GB, a transmission belt GB, a clamping shaft GB, a receiving belt wheel GB and a clamping elliptical wheel, wherein the L-shaped clamping rod is hinged on the clamping shell, the expanding rod is hinged on the L-shaped clamping rod, the sliding plate is fixedly mounted on the expanding rod, the spring mounting cylinder is mounted on the sliding plate, the spring is mounted in the spring mounting cylinder, the motor GB is fixedly mounted in the clamping shell, the output belt wheel GB is fixedly mounted on the motor GB, the transmission belt GB is mounted on the output belt wheel GB, the transmission belt GB is mounted on the receiving belt wheel GB, the clamping shaft GB is mounted in the clamping shell, the receiving belt wheel GB is fixedly mounted on the clamping shaft GB, and the clamping elliptical wheel is fixedly;
the mobile device is fixedly arranged on the mounting base, the position adjusting device is fixedly arranged on the mounting base, the height adjusting device is fixedly arranged on the mobile bottom device, and the welding part parallel device is fixedly arranged on the mobile inner rod.
As a further optimization of the technical scheme, the number of the moving devices of the multifunctional high-altitude automatic welding robot is four, the number of the transmission shafts a, the kinetic energy receiving gears and the transmission legs of the walking transmission device is two, the number of the gears a, the number of the transmission shafts AA and the number of the gears AB are four, the number of the limiting convex rings a and the number of the limiting convex rings AA are eight, and the number of the vacuum suction cups is eight.
As further optimization of the technical scheme, the number of the connecting blocks, the motor DA, the output belt wheel DA, the transmission belt DA, the mounting shaft DA, the receiving belt wheel DA and the rotating gear DA of the height adjusting device of the multifunctional high-altitude automatic welding robot is two.
The multifunctional high-altitude automatic welding robot has the beneficial effects that:
the invention relates to a welding device, in particular to a multifunctional high-altitude automatic welding robot which realizes the functions of moving on a high-altitude wall through a moving device, adjusting the transverse position of a welding part parallel device through a position adjusting device, adjusting the height position of the welding part parallel device through a height adjusting device, adjusting the heights of two welding parts through the welding part parallel device, welding a changed part through a welding device and the like.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic view of the overall structure of a multifunctional high-altitude automatic welding robot.
Fig. 2 is a schematic view of a moving device 2 of the multifunctional high-altitude automatic welding robot.
Fig. 3 is a schematic view of a walking transfer device 2-4 of the multifunctional high-altitude automatic welding robot.
Fig. 4 is a schematic diagram of a position adjusting device 3 of the multifunctional high-altitude automatic welding robot.
FIG. 5 is a schematic view of the transmission chain 3-5 of the multifunctional high-altitude automatic welding robot of the present invention.
FIG. 6 is a schematic view of a fixing base B3-6 of the multifunctional high-altitude automatic welding robot.
Fig. 7 is a schematic view of the moving bottom device 3-7 of the multifunctional high-altitude automatic welding robot.
Fig. 8 is a schematic view of the supporting auxiliary transmission device 3-8 of the multifunctional high-altitude automatic welding robot.
Fig. 9 is a schematic view of a height adjusting device 4 of the multifunctional high-altitude automatic welding robot.
Fig. 10 is a schematic view of a height adjusting mechanism 4-4 of the multifunctional high-altitude automatic welding robot.
FIG. 11 is a partially enlarged schematic view of the height adjusting mechanism 4-4 of the multifunctional high-altitude automatic welding robot of the present invention.
Fig. 12 is a schematic view of a weldment parallel arrangement 5 of the multifunctional high-altitude automatic welding robot of the invention.
Fig. 13 is a schematic view of a supporting device E5-6 of the multifunctional high-altitude automatic welding robot of the invention.
FIG. 14 is a schematic view of a supporting device EA5-11 of the multifunctional automatic high-altitude welding robot of the present invention.
Fig. 15 is a schematic view of a welding device 6 of the multifunctional high-altitude automatic welding robot.
FIG. 16 is a schematic view of a position adjusting device G6-4 of the multifunctional automatic high-altitude welding robot of the present invention.
FIG. 17 is a schematic view of the welding rod clamping device 6-7 of the multifunctional high-altitude automatic welding robot.
FIG. 18 is a partial schematic view of a receiving pulley GB6-7-11 of the multifunctional high-altitude automatic welding robot.
In the figure: installing a base 1; a mobile device 2; a fixed box 2-1; motor A2-2; an output gear 2-3; a walking transmission device 2-4; a transmission shaft A2-4-1; a kinetic energy receiving gear 2-4-2; gear A2-4-3; a limit convex ring A2-4-4; a transmission shaft AA 2-4-5; a limit convex ring AA 2-4-6; gear AB 2-4-7; a first connecting plate 2-4-8; 2-4-9 of a transmission leg; a limit convex ring AAA 2-4-10; 2-5 of a vacuum chuck; a position adjusting device 3; motor B3-1; an output pulley B3-2; a transmission belt B3-3; the transmission rotation supporting device A3-4; 3-4-1 of a support frame; a transmission shaft C3-4-2; a limit convex ring C3-4-3; a driving belt wheel C3-4-4; drive gear C3-4-5; the transmission chain 3-5 is fixed on a base B3-6; base C3-6-1; 3-6-2 of a through-chain hole; a moving groove C3-6-3; moving the base unit 3-7; mobile version CC 3-7-1; connecting wheels 3-7-2; supporting the auxiliary transmission device 3-8; a support frame CC 3-8-1; a transmission shaft CC 3-8-2; a limiting convex ring CC 3-8-3; a transmission auxiliary gear CC 3-8-4; a height adjusting device 4; a second connecting plate 4-1; a motor 4-2; bevel gear D4-3; 4-4 of a height adjusting mechanism; 4-4-1 of a fixed cylinder; 4-4-2 of tooth grooves; 4-4-3 of the movable middle pipe; 4-4-4 of a connecting block; motor DA 4-4-5; an output pulley DA 4-4-6; a transmission belt DA 4-4-7; mounting a shaft DA 4-4-8; a receiving pulley DA 4-4-9; rotating a gear DA 4-4-10; moving the inner rod 4-4-11; 4-4-12 of a matching rack; 4-4-13 of a limiting hole; 4-4-14 of a limiting block; 4-4-15 of a swinging pressing plate; 4-4-16 of strip-shaped holes; 4-4-17 of a mating rod; 4-4-18 parts of a limiting rod; a limit convex ring D4-5; an annular bevel gear D4-6; a weldment parallel device 5; base E5-1; motor E5-2; bevel gear E5-3; support E5-4; a limit bolt E5-5; support E5-6 sleeve 5-6-1; a through hole bevel gear 5-6-2; a limit convex ring E5-6-3; threads E5-6-4; a threaded hinge seat E5-6-5; a limiting convex ring EI 5-6-6; hinge base E5-6-7; 5-6-8 parts of hinged connecting rod; 5-6-9 parts of an anti-skid supporting rod; motor EA 5-7; bevel gears EA 5-8; a support EA 5-9; a limit bolt EA 5-10; support means EA 5-11; rotating the rod EA 5-11-1; a first bevel gear EA 5-11-2; 5-11-3 parts of a limiting convex ring EA I; 5-11-4 parts of a limiting convex ring EA II; threads EA 5-11-5; the thread hinge seat EA 5-11-6; 5-11-7 parts of a limiting convex ring EA III; hinge seat EA 5-11-8; articulated connecting bar EA 5-11-9; an anti-skid supporting rod EA 5-11-10; the welding device 6 fixes a base G6-1; motor G6-2; an output gear G6-3; the position adjusting device G6-4 fixes the outer cylinder G6-4-1; a heat dissipation hole G6-4-2; a motor GA 6-4-3; a screw rod mounting ring G6-4-4; lead screw G6-4-5; a limit convex ring GA 6-4-6; 6-4-7 of an L-shaped movable rod; a limit convex ring G6-5; a kinetic energy receiving gear G6-6; a welding rod clamping device 6-7; clamping the shell 6-7-1; an L-shaped clamping rod 6-7-2; 6-7-3 of an opening rod; a sliding plate 6-7-4; 6-7-5 parts of a spring mounting cylinder; 6-7-6 parts of a spring; motor GB 6-7-7; an output belt wheel GB 6-7-8; a transmission belt GB 6-7-9; a clamping shaft GB 6-7-10; a receiving pulley GB 6-7-11; clamping the elliptical wheels 6-7-12.
Detailed Description
The first embodiment is as follows:
the embodiment is described below with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, and 18, and the invention relates to a welding device, and more specifically to a multifunctional overhead automatic welding robot, which comprises a mounting base 1, a moving device 2, a position adjusting device 3, a height adjusting device 4, a weldment parallel device 5, and a welding device 6, and realizes the functions of moving on an overhead wall through the moving device, adjusting the transverse position of the weldment parallel device by the position adjusting device, adjusting the height position of the weldment parallel device by the height adjusting device, adjusting the heights of two weldments by the weldment parallel device, welding the exchanged weldments by the welding device, and the like.
The moving device 2 is composed of a fixed box 2-1, a motor A2-2, an output gear 2-3, a walking transmission device 2-4 and a vacuum chuck 2-5, wherein the motor A2-2 drives the kinetic energy receiving gear 2-4-2 of the walking transmission device 2-4 to rotate through the output gear 2-3, the motor A2-2 is installed and fixed in the fixed box 2-1, the output gear 2-3 is installed and fixed on the motor A2-2, the walking transmission device 2-4 is installed on the fixed box 2-1, and the vacuum chuck 2-5 is installed and fixed on the walking transmission device 2-4;
the walking transmission device 2-4 comprises a transmission shaft A2-4-1, a kinetic energy receiving gear 2-4-2, a gear A2-4-3, a limit convex ring A2-4-4, a transmission shaft AA2-4-5, a limit convex ring AA2-4-6, a gear AB2-4-7, a first connecting plate 2-4-8, a transmission leg 2-4-9 and a limit convex ring AAA2-4-10, wherein the kinetic energy receiving gear 2-4-2 drives the transmission shaft A2-4-1 and the gear A2-4-3 to rotate, the gear A2-4-3 drives the gear AB2-4-7 to rotate around the transmission shaft A2-4-1, so that the transmission leg 2-4-9 rotates under the condition that the vertical state is not changed, because the transmission legs 2-4-9 on two sides are opposite, the moving device 2 drives the robot to move forwards like walking, the kinetic energy receiving gear 2-4-2 is fixedly arranged on the transmission shaft A2-4-1, the gear A2-4-3 is fixedly arranged on the transmission shaft A2-4-1, the limiting convex ring A2-4-4 is fixedly arranged on the transmission shaft A2-4-1, the first connecting plate 2-4-8 is fixedly arranged on the transmission shaft A2-4-1, the transmission shaft AA2-4-5 is fixedly arranged on the first connecting plate 2-4-8, the limiting convex ring AA2-4-6 is fixedly arranged on the transmission shaft AA2-4-5, and the gear AB2-4-7 is fixedly arranged on the transmission shaft AA2-4-5, the gear AB2-4-7 is meshed with the gear A2-4-3, the transmission legs 2-4-9 are fixedly arranged on the transmission shaft AA2-4-5, and the limit convex ring AAA2-4-10 is fixedly arranged on the transmission shaft AA 2-4-5;
the position adjusting device 3 consists of a motor B3-1, an output belt wheel B3-2, a transmission belt B3-3, a transmission rotation supporting device A3-4, a transmission chain 3-5, a fixed base B3-6, a movable bottom device 3-7 and a support auxiliary transmission device 3-8, wherein the motor B3-1 drives a transmission belt wheel C3-4-4 of the transmission rotation supporting device A3-4 to rotate through the transmission belt B3-3, the movable bottom device 3-7 arranged on the transmission chain 3-5 moves synchronously, because the height adjusting device 4 is arranged on the movable bottom device 3-7, the height adjusting device 4 moves along with the height adjusting device, the output belt wheel B3-2 is arranged and fixed on the motor B3-1, the transmission belt B3-3 is arranged on the output belt wheel B3-2, the transmission belt B3-3 is installed on the transmission rotation supporting device A3-4, the transmission chain 3-5 is installed on the transmission rotation supporting device A3-4, the mobile bottom device 3-7 is installed inside the fixed base B3-6, the mobile bottom device 3-7 is installed and fixed on the transmission chain 3-5, and the transmission chain 3-5 is installed on the supporting auxiliary transmission device 3-8;
the transmission rotation supporting device A3-4 consists of a supporting frame 3-4-1, a transmission shaft C3-4-2, a limit convex ring C3-4-3, a transmission belt wheel C3-4-4 and a transmission gear C3-4-5, the transmission belt wheel C3-4-4 drives a transmission gear C3-4-5 to rotate through a transmission shaft C3-4-2, the transmission gear C3-4-5 drives a transmission chain 3-5 to rotate, the transmission shaft C3-4-2 is installed on a support frame 3-4-1, a limiting convex ring C3-4-3 is installed and fixed on the transmission shaft C3-4-2, the transmission belt wheel C3-4-4 is installed and fixed on the transmission shaft C3-4-2, and the transmission gear C3-4-5 is installed and fixed on the transmission shaft C3-4-2;
the fixed base B3-6 is composed of a base C3-6-1, a chain passing hole 3-6-2 and a moving groove C3-6-3, the chain passing hole 3-6-2 is arranged on the base C3-6-1, and the moving groove C3-6-3 is arranged on the base C3-6-1;
the movable bottom device 3-7 consists of a movable plate CC3-7-1 and a connecting wheel 3-7-2, wherein the connecting wheel 3-7-2 is fixedly arranged on the movable plate CC 3-7-1;
the supporting auxiliary transmission device 3-8 consists of a support frame CC3-8-1, a transmission shaft CC3-8-2, a limit convex ring CC3-8-3 and a transmission auxiliary gear CC3-8-4, wherein the transmission shaft CC3-8-2 is installed on the support frame CC3-8-1, the limit convex ring CC3-8-3 is installed and fixed on the transmission shaft CC3-8-2, and the transmission auxiliary gear CC3-8-4 is installed and fixed on the transmission shaft CC 3-8-2;
the height adjusting device 4 is composed of a second connecting plate 4-1, a motor 4-2, a bevel gear D4-3, a height adjusting mechanism 4-4, a limit convex ring D4-5 and an annular bevel gear D4-6, wherein the motor 4-2 drives the annular bevel gear D4-6 to rotate through the bevel gear D4-3, the annular bevel gear D4-6 drives the height adjusting mechanism 4-4 to rotate to adjust a welding part arranged on the height adjusting device 4 to be parallel to the angle direction of the device 5, the motor 4-2 is fixedly arranged on the second connecting plate 4-1, the bevel gear D4-3 is arranged on the motor 4-2, the height adjusting mechanism 4-4 is arranged on the second connecting plate 4-1, the limit convex ring D4-5 is fixedly arranged on the height adjusting mechanism 4-4, the annular bevel gear D4-6 is fixedly arranged on the height adjusting mechanism 4-4, the annular bevel gear D4-6 is meshed with the bevel gear D4-3;
the height adjusting mechanism 4-4 is composed of a fixed cylinder 4-4-1, a tooth groove 4-4-2, a movable middle pipe 4-4-3, a connecting block 4-4-4, a motor DA4-4-5, an output belt wheel DA4-4-6, a transmission belt DA4-4-7, a mounting shaft DA4-4-8, a receiving belt wheel DA4-4-9, a rotating gear DA4-4-10, a movable inner rod 4-4-11, a matching rack 4-4-12, a limiting hole 4-4-13, a limiting block 4-4-14, a swinging pressing plate 4-4-15, a strip hole 4-4-16, a matching rod 4-4-17 and a limiting rod 4-4-18, the motor DA4-4-5 drives a rotating gear DA4-4-10 arranged on a mounting shaft DA4-4-8 to rotate through a transmission belt DA4-4-7, the rotating gear DA4-4-10 is matched with a tooth groove 4-4-2, the rotating gear DA4-4-10 pushes a movable middle pipe 4-4-3 outwards through a connecting block 4-4-4, the rotating gear DA4-4-10 pushes a movable inner rod 4-4-11 outwards through a matching rack 4-4-12 to adjust the height of a welding part parallel device 5, then a limiting rod 4-4-18 is inserted into a limiting hole 4-4-13 to fix the length of a height adjusting mechanism 4-4, the tooth groove 4-4-2 is arranged inside a fixed cylinder 4-4-1, the movable middle pipe 4-4-3 is arranged in the fixed cylinder 4-4-1, the connecting block 4-4-4 is fixedly arranged on the movable middle pipe 4-4-3, the motor DA4-4-5 is fixedly arranged on the connecting block 4-4-4, the output belt wheel DA4-4-6 is fixedly arranged on the motor DA4-4-5, the transmission belt DA4-4-7 is arranged on the output belt wheel DA4-4-6, the transmission belt DA4-4-7 is arranged on the receiving belt wheel DA4-4-9, the mounting shaft DA4-4-8 is fixedly arranged on the connecting block 4-4-4, the receiving belt wheel DA4-4-9 is arranged on the mounting shaft DA4-4-8, the rotating gear DA4-4-10 is arranged on the DA mounting shaft 4-4-8, the rotary gear DA4-4-10 is meshed with the toothed groove 4-4-2, the movable inner rod 4-4-11 is arranged inside the movable middle pipe 4-4-3, the matching rack 4-4-12 is fixedly arranged on the movable inner rod 4-4-11, the limiting hole 4-4-13 is arranged on the movable inner rod 4-4-11, the limiting block 4-4-14 is fixedly arranged on the movable middle pipe 4-4-3, the swinging pressing plate 4-4-15 is arranged on the matching rod 4-4-17, the strip-shaped hole 4-4-16 is arranged on the swinging pressing plate 4-4-15, the matching rod 4-4-17 is fixedly arranged on the limiting block 4-4-14, and the limiting rod 4-4-18 is fixedly arranged on the swinging pressing plate 4-4-15;
the weldment parallel device 5 comprises a base E5-1, a motor E5-2, a bevel gear E5-3, a support frame E5-4, a limit bolt E5-5, a support device E5-6, a motor EA5-7, a bevel gear EA5-8, a support frame EA5-9, a limit bolt EA5-10 and a support device EA5-11, wherein the motor E5-2 drives the through hole bevel gear 5-6-2 to rotate through the bevel gear E5-3, the motor EA5-7 drives an electric bevel gear EA5-11-2 to rotate through the bevel gear EA5-8, the anti-skid support rod EA5-11-10 is supported and then leveled with the anti-skid support rod 5-6-9 in the above process, the motor E5-2 is installed and fixed on the base E5-1, and the bevel gear E5-3 is installed and fixed on the motor E5-2, a supporting frame E5-4 is fixedly installed on a base E5-1, a limiting bolt E5-5 is installed on the supporting frame E5-4, a supporting device E5-6 is installed on the supporting frame E5-4, a motor EA5-7 is fixedly installed on the base E5-1, a bevel gear EA5-8 is fixedly installed on a motor EA5-7, a supporting frame EA5-9 is fixedly installed on the base E5-1, a limiting bolt EA5-10 is fixedly installed on the supporting frame EA5-9, a supporting device EA5-11 is installed on the supporting frame EA5-9, and a supporting device EA5-11 is installed on the supporting device E5-6;
the supporting device E5-6 comprises a sleeve 5-6-1, a through hole bevel gear 5-6-2, a limit convex ring E5-6-3, a thread E5-6-4, a thread hinge seat E5-6-5, a limit convex ring EI 5-6-6, a hinge seat E5-6-7, a hinge connecting rod 5-6-8 and an anti-skid supporting rod 5-6-9, wherein the through hole bevel gear 5-6-2 drives the sleeve 5-6-1 to rotate, the thread E5-6-4 pushes the thread hinge seat E5-6-5 to move, the hinge seat E5-6-7 is not moved, so the anti-skid supporting rod 5-6-9 is supported at the joint of the hinge connecting rod 5-6-8, the bevel gear 5-6-2 with the through hole is fixedly arranged on the sleeve 5-6-1, the limit convex ring E5-6-3 is fixedly arranged on the sleeve 5-6-1, the thread E5-6-4 is arranged on the sleeve 5-6-1, the thread hinge seat E5-6-5 is arranged on the thread E5-6-4, the limit convex ring EI 5-6-6 is fixedly arranged on the sleeve 5-6-1, the hinge seat E5-6-7 is arranged on the sleeve 5-6-1, the hinge connecting rod 5-6-8 is hinged on the thread hinge seat E5-6-5, the hinge connecting rod 5-6-8 is hinged on the hinge seat E5-6-7, the hinge connecting rod 5-6-8 is hinged with the hinge connecting rod 5-6-8, the anti-skid supporting rod 5-6-9 is hinged on the hinged connecting rod 5-6-8;
the supporting device EA5-11 is composed of a rotating rod EA5-11-1, a first bevel gear EA5-11-2, a limiting convex ring EA I5-11-3, a limiting convex ring EA II 5-11-4, a thread EA5-11-5, a thread hinge seat EA5-11-6, a limiting convex ring EA III 5-11-7, a hinge seat EA5-11-8, a hinge connecting rod EA5-11-9 and an anti-skid supporting rod EA5-11-10, the anti-skid supporting rod EA5-11-10 is supported and then is parallel to the anti-skid supporting rod EA 5-6-9 in the above process, the first bevel gear EA5-11-2 is fixedly arranged on the rotating rod EA5-11-1, the limiting convex ring EA I5-11-3 is fixedly arranged on the rotating rod EA5-11-1, the limiting convex ring EA II 5-11-4 is fixedly arranged on a rotating rod EA5-11-1, a thread EA5-11-5 is arranged on a rotating rod EA5-11-1, a thread hinge seat EA5-11-6 is arranged on a thread EA5-11-5, the limiting convex ring EA III 5-11-7 is fixedly arranged on a rotating rod EA5-11-1, a hinge seat EA5-11-8 is arranged on a rotating rod EA5-11-1, a hinge connecting rod EA5-11-9 is arranged on a thread hinge seat EA5-11-6, a hinge connecting rod EA5-11-9 is arranged on a hinge seat EA5-11-8, the hinge connecting rod EA5-11-9 is hinged with the thread hinge seat EA5-11-6, and an anti-skid supporting rod EA5-11-10 is hinged on the hinge connecting rod EA 5-11-9;
the welding device 6 comprises a fixed base G6-1, a motor G6-2, an output gear G6-3, a position adjusting device G6-4, a limit convex ring G6-5, a kinetic energy receiving gear G6-6 and a welding rod clamping device 6-7, wherein the motor G6-2 drives the kinetic energy receiving gear G6-6 to rotate through the output gear G6-3, the kinetic energy receiving gear G6-6 drives the position adjusting device G6-4 to the fixed base G6-1 to enable the welding rod clamping device 6-7 of the welding rod to face a welding rod, the motor G6-2 is fixedly arranged on the fixed base G6-1, the output gear G6-3 is fixedly arranged on the motor G6-2, the position adjusting device G6-4 is clamped on the fixed base G6-1, the limit convex ring G6-5 is fixedly arranged on the position adjusting device G6-4, the kinetic energy receiving gear G6-6 is fixedly arranged on the position adjusting device G6-4, and the welding rod clamping device 6-7 is fixedly arranged on the position adjusting device G6-4;
the position adjusting device G6-4 comprises a fixed outer cylinder G6-4-1, a heat dissipation hole G6-4-2, a motor GA6-4-3, a lead screw mounting ring G6-4-4, a lead screw G6-4-5, a limiting convex ring GA6-4-6 and an L-shaped moving rod 6-4-7, wherein the motor GA6-4-3 drives the lead screw G6-4-5 to rotate so that the L-shaped moving rod 6-4-7 changes the height to enable a welding rod clamping device 6-7 clamping a welding rod to synchronously change the height for welding, the heat dissipation hole G6-4-2 is arranged on the fixed outer cylinder G6-4-1, the motor GA6-4-3 is fixedly arranged in the fixed outer cylinder G6-4-1, the lead screw mounting ring G6-4-4 is fixedly arranged in the fixed outer cylinder G6-4-1, a lead screw G6-4-5 is fixedly arranged on a motor GA6-4-3 through a coupling, a limiting convex ring GA6-4-6 is fixedly arranged on the lead screw G6-4-5, an L-shaped moving rod 6-4-7 is arranged on the lead screw G6-4-5, and the L-shaped moving rod 6-4-7 is in threaded fit with the lead screw G6-4-5;
the welding rod clamping device 6-7 comprises a clamping shell 6-7-1, an L-shaped clamping rod 6-7-2, an opening rod 6-7-3, a sliding plate 6-7-4, a spring mounting cylinder 6-7-5, a spring 6-7-6, a motor GB6-7-7, an output belt wheel GB6-7-8, a transmission belt GB6-7-9, a clamping shaft GB6-7-10, a receiving belt GB6-7-11 and a clamping elliptical wheel 6-7-12, wherein the motor GB6-7-7 drives the clamping elliptical wheel 6-7-12 arranged on the clamping shaft GB6-7-10 to rotate through the transmission belt GB6-7-9, so that the short part of the clamping elliptical wheel 6-7-12 is positioned between the tail ends of the L-shaped clamping rod 6-7-2, the spring 6-7-6 pushes the sliding plate 6-7-4 in the spring installation cylinder 6-7-5, the sliding plate 6-7-4 pushes the opening rod 6-7-3 to separate the two L-shaped clamping rods 6-7-2, welding rods are placed between the two L-shaped clamping rods 6-7-2, then the long diameter of the clamping elliptical wheel 6-7-12 is rotated to be between the two L-shaped moving rods 6-4-7, because the L-shaped moving rod 6-4-7 is hinged with the fixed outer cylinder G6-4-1, the two L-shaped moving rods 6-4-7 clamp the welding rods, the L-shaped clamping rod 6-7-2 is hinged on the clamping shell 6-7-1, the opening rod 6-7-3 is hinged on the L-shaped clamping rod 6-7-2, a sliding plate 6-7-4 is fixedly arranged on an opening rod 6-7-3, a spring mounting cylinder 6-7-5 is arranged on the sliding plate 6-7-4, a spring 6-7-6 is arranged in the spring mounting cylinder 6-7-5, a motor GB6-7-7 is fixedly arranged in a clamping shell 6-7-1, an output belt wheel GB6-7-8 is fixedly arranged on a motor GB6-7-7, a transmission belt GB6-7-9 is arranged on the output belt wheel GB6-7-8, a transmission belt GB6-7-9 is arranged on a receiving belt wheel GB6-7-11, a clamping shaft GB6-7-10 is arranged in the clamping shell 6-7-1, the receiving belt wheel GB6-7-11 is fixedly arranged on the clamping shaft GB6-7-10, the clamping elliptical wheel 6-7-12 is fixedly arranged on a clamping shaft GB 6-7-10;
the moving device 2 is fixedly arranged on the mounting base 1, the position adjusting device 3 is fixedly arranged on the mounting base 1, the height adjusting device 4 is fixedly arranged on the moving bottom device 3-7, and the welding part parallel device 5 is fixedly arranged on the moving inner rod 4-4-11.
The second embodiment is as follows:
the present embodiment is described below with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, and 18, and the present embodiment further describes the first embodiment, where the number of the moving devices 2 is four, the number of the transmission shafts a2-4-1 of the walking transmission devices 2-4, the number of the kinetic energy receiving gears 2-4-2, and the number of the transmission legs 2-4-9 are two, the number of the gears a2-4-3, the number of the transmission shafts AA2-4-5, and the number of the gears AB2-4-7 are four, the number of the limit convex rings a2-4-4 and the limit convex rings AA2-4-6 is eight, and the number of the vacuum suction cups 2-5 is eight, where the number of the ZPT zp xs is eight.
The third concrete implementation mode:
the following describes the present embodiment with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, and 18, and the present embodiment further describes the first embodiment, where the height adjustment device 4 includes two connection blocks 4-4-4, two motors DA4-4-5, two output pulleys DA4-4-6, two transmission belts DA4-4-7, two mounting shafts DA4-4-8, two receiving pulleys DA4-4-9, and two rotating gears DA 4-4-10.
The working principle of the invention is as follows:
a multifunctional high-altitude automatic welding robot has the working principle that whether the connection condition between devices meets requirements is checked before the robot is used, a motor A2-2 drives a kinetic energy receiving gear 2-4-2 of a walking transmission device 2-4 to rotate through an output gear 2-3, the kinetic energy receiving gear 2-4-2 drives a transmission shaft A2-4-1 and a gear A2-4-3 to rotate, the gear A2-4-3 drives a gear AB2-4-7 to rotate around the transmission shaft A2-4-1, so that transmission legs 2-4-9 rotate under the condition that the vertical state is not changed, and the transmission legs 2-4-9 on two sides are opposite, so that the moving device 2 drives the robot to move forwards like walking. When two weldments are welded, the two weldments are required to be kept flat, a motor B3-1 drives a transmission belt wheel C3-4-4 of a transmission rotation supporting device A3-4 to rotate through a transmission belt B3-3, the transmission belt wheel C3-4-4 drives a transmission gear C3-4-5 to rotate through a transmission shaft C3-4-2, the transmission gear C3-4-5 drives a transmission chain 3-5 to rotate, a movable bottom device 3-7 arranged on the transmission chain 3-5 synchronously moves, the height adjusting device 4 is arranged on the movable bottom device 3-7, the height adjusting device 4 accordingly moves together, the motor 4-2 drives an annular bevel gear D4-6 to rotate through a bevel gear D4-3, and the annular bevel gear D4-6 drives the height adjusting mechanism 4-4 to rotate to adjust the welding arranged on the height adjusting device 4 The connecting piece is parallel to the angle direction of the device 5, a motor DA4-4-5 drives a rotating gear DA4-4-10 arranged on a mounting shaft DA4-4-8 to rotate through a transmission belt DA4-4-7, the rotating gear DA4-4-10 is matched with a tooth groove 4-4-2, the rotating gear DA4-4-10 pushes a movable middle pipe 4-4-3 outwards through a connecting block 4-4-4, the rotating gear DA4-4-10 pushes a movable inner rod 4-4-11 outwards through a matching rack 4-4-12 to adjust the height of the parallel device 5 for the welding piece, then the length of the height adjusting mechanism 4-4 can be fixed by inserting the limiting rod 4-4-18 into the limiting hole 4-4-13. The motor E5-2 drives the through hole bevel gear 5-6-2 to rotate through the bevel gear E5-3, the through hole bevel gear 5-6-2 drives the sleeve 5-6-1 to rotate, the thread E5-6-4 pushes the thread hinge seat E5-6-5 to move, the hinge seat E5-6-7 is not moved, therefore, the hinged connecting rod 5-6-8 can support the anti-skid supporting rod 5-6-9 at the joint, the motor EA5-7 rotates through the bevel gear EA5-8 and the electric bevel gear EA5-11-2, the anti-skid supporting rod EA5-11-10 is supported and then is level with the anti-skid supporting rod 5-6-9 in the process, and the circle centers of the circular tubes sleeved on the supporting device E5-6 and the supporting device EA5-11 are opposite. At the moment, the motor G6-2 drives the kinetic energy receiving gear G6-6 to rotate through the output gear G6-3, the kinetic energy receiving gear G6-6 drives the position adjusting device G6-4 to enable the welding rod clamping device 6-7 clamped with the welding rod to face a welding seam on the fixed base G6-1, then the motor GA6-4-3 drives the screw rod G6-4-5 to rotate so that the height of the L-shaped movable rod 6-4-7 is changed to enable the welding rod clamping device 6-7 clamped with the welding rod to synchronously change the height for welding, when the welding rod is used up, the motor GB6-7-7 drives the clamping elliptical wheel 6-7-12 arranged on the clamping shaft GB6-7-10 to rotate through the transmission belt GB6-7-9, the short part of the clamping elliptical wheel 6-7-12 is positioned between the tail ends of the L-shaped clamping rod 6-7-2, the spring 6-7-6 pushes the sliding plate 6-7-4 in the spring mounting cylinder 6-7-5, the sliding plate 6-7-4 pushes the opening rod 6-7-3 to separate the two L-shaped clamping rods 6-7-2, welding rods are placed between the two L-shaped clamping rods 6-7-2, then the long diameter of the clamping elliptical wheel 6-7-12 is rotated to be between the two L-shaped moving rods 6-4-7, and the two L-shaped moving rods 6-4-7 clamp the welding rods because the L-shaped moving rods 6-4-7 are hinged with the fixed outer cylinder G6-4-1.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.

Claims (3)

1. The utility model provides a multi-functional high altitude automatic weld robot, includes installation base (1), mobile device (2), position control device (3), height control device (4), welding spare parallel device (5), welding set (6), its characterized in that: the moving device (2) is composed of a fixed box (2-1), a motor A (2-2), an output gear (2-3), a walking transfer device (2-4) and a vacuum chuck (2-5), wherein the motor A (2-2) is fixedly installed inside the fixed box (2-1), the output gear (2-3) is fixedly installed on the motor A (2-2), the walking transfer device (2-4) is installed on the fixed box (2-1), and the vacuum chuck (2-5) is fixedly installed on the walking transfer device (2-4);
the walking transmission device (2-4) consists of a transmission shaft A (2-4-1), a kinetic energy receiving gear (2-4-2), a gear A (2-4-3), a limit convex ring A (2-4-4), a transmission shaft AA (2-4-5), a limit convex ring AA (2-4-6), a gear AB (2-4-7), a first connecting plate (2-4-8), a transmission leg (2-4-9) and a limit convex ring AAA (2-4-10), the kinetic energy receiving gear (2-4-2) is fixedly arranged on the transmission shaft A (2-4-1), the gear A (2-4-3) is fixedly arranged on the transmission shaft A (2-4-1), a limit convex ring A (2-4-4) is fixedly arranged on a transmission shaft A (2-4-1), a first connecting plate (2-4-8) is arranged on the transmission shaft A (2-4-1), a transmission shaft AA (2-4-5) is arranged on the first connecting plate (2-4-8), a limit convex ring AA (2-4-6) is fixedly arranged on the transmission shaft AA (2-4-5), a gear AB (2-4-7) is fixedly arranged on the transmission shaft AA (2-4-5), the gear AB (2-4-7) is meshed with the gear A (2-4-3), a transmission leg (2-4-9) is fixedly arranged on the transmission shaft AA (2-4-5), and a limit convex ring AAA (2-4-10) is fixedly arranged on the transmission shaft AA (2-4-5) (ii) a
The position adjusting device (3) is composed of a motor B (3-1), an output belt wheel B (3-2), a transmission belt B (3-3), a transmission rotation supporting device A (3-4), a transmission chain (3-5), a fixed base B (3-6), a movable bottom device (3-7) and a support auxiliary transmission device (3-8), wherein the output belt wheel B (3-2) is installed and fixed on the motor B (3-1), the transmission belt B (3-3) is installed on the output belt wheel B (3-2), the transmission belt B (3-3) is installed on the transmission rotation supporting device A (3-4), the transmission chain (3-5) is installed on the transmission rotation supporting device A (3-4), the movable bottom device (3-7) is installed inside the fixed base B (3-6), the movable bottom device (3-7) is fixedly arranged on the transmission chain (3-5), and the transmission chain (3-5) is arranged on the supporting auxiliary transmission device (3-8);
the transmission rotation supporting device A (3-4) is composed of a supporting frame (3-4-1), a transmission shaft C (3-4-2), a limiting convex ring C (3-4-3), a transmission belt wheel C (3-4-4) and a transmission gear C (3-4-5), wherein the transmission shaft C (3-4-2) is installed on the supporting frame (3-4-1), the limiting convex ring C (3-4-3) is installed and fixed on the transmission shaft C (3-4-2), the transmission belt wheel C (3-4-4) is installed and fixed on the transmission shaft C (3-4-2), and the transmission gear C (3-4-5) is installed and fixed on the transmission shaft C (3-4-2);
the fixed base B (3-6) is composed of a base C (3-6-1), a chain passing hole (3-6-2) and a moving groove C (3-6-3), wherein the chain passing hole (3-6-2) is arranged on the base C (3-6-1), and the moving groove C (3-6-3) is arranged on the base C (3-6-1);
the movable bottom device (3-7) is composed of a movable plate CC (3-7-1) and a connecting wheel (3-7-2), and the connecting wheel (3-7-2) is fixedly arranged on the movable plate CC (3-7-1);
the supporting auxiliary transmission device (3-8) is composed of a supporting frame CC (3-8-1), a transmission shaft CC (3-8-2), a limiting convex ring CC (3-8-3) and a transmission auxiliary gear CC (3-8-4), wherein the transmission shaft CC (3-8-2) is installed on the supporting frame CC (3-8-1), the limiting convex ring CC (3-8-3) is installed and fixed on the transmission shaft CC (3-8-2), and the transmission auxiliary gear CC (3-8-4) is installed and fixed on the transmission shaft CC (3-8-2);
the height adjusting device (4) is composed of a second connecting plate (4-1), a motor (4-2), a bevel gear D (4-3), a height adjusting mechanism (4-4), a limiting convex ring D (4-5) and an annular bevel gear D (4-6), the motor (4-2) is fixedly installed on the second connecting plate (4-1), the bevel gear D (4-3) is arranged on the motor (4-2), the height adjusting mechanism (4-4) is installed on the second connecting plate (4-1), the limiting convex ring D (4-5) is fixedly installed on the height adjusting mechanism (4-4), the annular bevel gear D (4-6) is fixedly installed on the height adjusting mechanism (4-4), and the annular bevel gear D (4-6) is meshed with the bevel gear D (4-3);
the height adjusting mechanism (4-4) is composed of a fixed cylinder (4-4-1), a tooth groove (4-4-2), a movable middle pipe (4-4-3), a connecting block (4-4-4), a motor DA (4-4-5), an output belt wheel DA (4-4-6), a transmission belt DA (4-4-7), a mounting shaft DA (4-4-8), a receiving belt wheel DA (4-4-9), a rotating gear DA (4-4-10), a movable inner rod (4-4-11), a matching rack (4-4-12), a limiting hole (4-4-13), a limiting block (4-4-14), a swinging pressing plate (4-4-15), a strip hole (4-4-16), The matching rod (4-4-17) and the limiting rod (4-4-18) are formed, a tooth groove (4-4-2) is arranged inside the fixed cylinder (4-4-1), the movable middle pipe (4-4-3) is arranged inside the fixed cylinder (4-4-1), the connecting block (4-4-4) is fixedly arranged on the movable middle pipe (4-4-3), the motor DA (4-4-5) is fixedly arranged on the connecting block (4-4-4), the output belt wheel DA (4-4-6) is fixedly arranged on the motor DA (4-4-5), the transmission belt DA (4-4-7) is arranged on the output belt wheel DA (4-4-6), the transmission belt DA (4-4-7) is arranged on the receiving belt wheel DA (4-4-9), an installation shaft DA (4-4-8) is fixedly installed on a connecting block (4-4-4), a receiving belt wheel DA (4-4-9) is installed on the installation shaft DA (4-4-8), a rotating gear DA (4-4-10) is installed on the installation shaft DA (4-4-8), the rotating gear DA (4-4-10) is meshed with a tooth groove (4-4-2), a moving inner rod (4-4-11) is installed inside a moving middle tube (4-4-3), a matching rack (4-4-12) is fixedly installed on the moving inner rod (4-4-11), a limiting hole (4-4-13) is arranged on the moving inner rod (4-4-11), a limiting block (4-4-14) is fixedly installed on the moving middle tube (4-4-3), the swinging pressing plate (4-4-15) is arranged on the matching rod (4-4-17), the strip-shaped hole (4-4-16) is arranged on the swinging pressing plate (4-4-15), the matching rod (4-4-17) is fixedly arranged on the limiting block (4-4-14), and the limiting rod (4-4-18) is fixedly arranged on the swinging pressing plate (4-4-15);
the welding part parallel device (5) is composed of a base E (5-1), a motor E (5-2), a bevel gear E (5-3), a support frame E (5-4), a limit bolt E (5-5), a support device E (5-6), a motor EA (5-7), a bevel gear EA (5-8), a support frame EA (5-9), a limit bolt EA (5-10) and a support device EA (5-11), wherein the motor E (5-2) is installed and fixed on the base E (5-1), the bevel gear E (5-3) is installed and fixed on the motor E (5-2), the support frame E (5-4) is installed and fixed on the base E (5-1), the limit bolt E (5-5) is installed on the support frame E (5-4), the supporting device E (5-6) is installed on the supporting frame E (5-4), the motor EA (5-7) is installed and fixed on the base E (5-1), the bevel gear EA (5-8) is installed and fixed on the motor EA (5-7), the supporting frame EA (5-9) is installed and fixed on the base E (5-1), the limiting bolt EA (5-10) is installed on the supporting frame EA (5-9), the supporting device EA (5-11) is installed on the supporting frame EA (5-9), and the supporting device EA (5-11) is installed on the supporting device E (5-6);
the supporting device E (5-6) is composed of a sleeve (5-6-1), a through hole bevel gear (5-6-2), a limiting convex ring E (5-6-3), a thread E (5-6-4), a thread hinge seat E (5-6-5), a limiting convex ring EI (5-6-6), a hinge seat E (5-6-7), a hinge connecting rod (5-6-8) and an anti-skid supporting rod (5-6-9), the through hole bevel gear (5-6-2) is installed and fixed on the sleeve (5-6-1), the limiting convex ring E (5-6-3) is installed and fixed on the sleeve (5-6-1), the thread E (5-6-4) is arranged on the sleeve (5-6-1), the thread hinge seat E (5-6-5) is arranged on the thread E (5-6-4), the limit convex ring EI (5-6-6) is fixedly arranged on the sleeve (5-6-1), the hinge seat E (5-6-7) is arranged on the sleeve (5-6-1), the hinge connecting rod (5-6-8) is hinged on the thread hinge seat E (5-6-5), the hinge connecting rod (5-6-8) is hinged on the hinge seat E (5-6-7), the hinge connecting rod (5-6-8) is hinged with the hinge connecting rod (5-6-8), and the anti-skid supporting rod (5-6-9) is hinged on the hinge connecting rod (5-6-8);
the supporting device EA (5-11) is composed of a rotating rod EA (5-11-1), a first bevel gear EA (5-11-2), a limiting convex ring EA I (5-11-3), a limiting convex ring EA II (5-11-4), a thread EA (5-11-5), a thread hinge seat EA (5-11-6), a limiting convex ring EA III (5-11-7), a hinge seat EA (5-11-8), a hinge connecting rod EA (5-11-9) and an anti-skid supporting rod EA (5-11-10), the first bevel gear EA (5-11-2) is fixedly arranged on the rotating rod EA (5-11-1), the limiting convex ring EA I (5-11-3) is fixedly arranged on the rotating rod EA (5-11-1), the limiting convex ring EA II (5-11-4) is fixedly arranged on the rotating rod EA (5-11-1), the thread EA (5-11-5) is arranged on the rotating rod EA (5-11-1), the thread hinge seat EA (5-11-6) is arranged on the thread EA (5-11-5), the limiting convex ring EA III (5-11-7) is fixedly arranged on the rotating rod EA (5-11-1), the hinge seat EA (5-11-8) is arranged on the rotating rod EA (5-11-1), the hinge connecting rod EA (5-11-9) is arranged on the thread hinge seat EA (5-11-6), the hinge connecting rod EA (5-11-9) is arranged on the hinge seat EA (5-11-8), the hinge connecting rod EA (5-11-9) is hinged with the thread hinge seat EA (5-11-6), and the anti-skid supporting rod EA (5-11-10) is hinged on the hinge connecting rod EA (5-11-9);
the welding device (6) is composed of a fixed base G (6-1), a motor G (6-2), an output gear G (6-3), a position adjusting device G (6-4), a limiting convex ring G (6-5), a kinetic energy receiving gear G (6-6) and a welding rod clamping device (6-7), wherein the motor G (6-2) is fixedly arranged on the fixed base G (6-1), the output gear G (6-3) is fixedly arranged on the motor G (6-2), the position adjusting device G (6-4) is fixedly arranged on the fixed base G (6-1), the limiting convex ring G (6-5) is fixedly arranged on the position adjusting device G (6-4), the kinetic energy receiving gear G (6-6) is fixedly arranged on the position adjusting device G (6-4), the welding rod clamping device (6-7) is fixedly arranged on the position adjusting device G (6-4);
the position adjusting device G (6-4) is composed of a fixed outer cylinder G (6-4-1), heat dissipation holes G (6-4-2), a motor GA (6-4-3), a screw rod installation ring G (6-4-4), a screw rod G (6-4-5), a limiting convex ring GA (6-4-6) and an L-shaped moving rod (6-4-7), wherein the heat dissipation holes G (6-4-2) are arranged on the fixed outer cylinder G (6-4-1), the motor GA (6-4-3) is fixedly arranged inside the fixed outer cylinder G (6-4-1), the screw rod installation ring G (6-4-4) is fixedly arranged inside the fixed outer cylinder G (6-4-1), and the screw rod G (6-4-5) is fixedly arranged on the motor GA (6-4-3) through a coupler, the limiting convex ring GA (6-4-6) is fixedly arranged on the screw rod G (6-4-5), the L-shaped movable rod (6-4-7) is arranged on the screw rod G (6-4-5), and the L-shaped movable rod (6-4-7) is in threaded fit with the screw rod G (6-4-5);
the welding rod clamping device (6-7) is composed of a clamping shell (6-7-1), an L-shaped clamping rod (6-7-2), an opening rod (6-7-3), a sliding plate (6-7-4), a spring installation cylinder (6-7-5), a spring (6-7-6), a motor GB (6-7-7), an output belt wheel GB (6-7-8), a transmission belt GB (6-7-9), a clamping shaft GB (6-7-10), a receiving belt wheel GB (6-7-11) and a clamping elliptical wheel (6-7-12), wherein the L-shaped clamping rod (6-7-2) is hinged on the clamping shell (6-7-1), the opening rod (6-7-3) is hinged on the L-shaped clamping rod (6-7-2), a sliding plate (6-7-4) is fixedly arranged on an opening rod (6-7-3), a spring mounting cylinder (6-7-5) is arranged on the sliding plate (6-7-4), a spring (6-7-6) is arranged in the spring mounting cylinder (6-7-5), a motor GB (6-7-7) is fixedly arranged in a clamping shell (6-7-1), an output belt wheel GB (6-7-8) is fixedly arranged on the motor GB (6-7-7), a transmission belt GB (6-7-9) is arranged on the output belt wheel GB (6-7-8), the transmission belt GB (6-7-9) is arranged on a receiving belt wheel GB (6-7-11), a clamping shaft GB (6-7-10) is arranged in the clamping shell (6-7-1), the receiving belt wheel GB (6-7-11) is fixedly arranged on the clamping shaft GB (6-7-10), and the clamping elliptical wheel (6-7-12) is fixedly arranged on the clamping shaft GB (6-7-10);
the moving device (2) is fixedly arranged on the mounting base (1), the position adjusting device (3) is fixedly arranged on the mounting base (1), the height adjusting device (4) is fixedly arranged on the moving bottom device (3-7), and the welding part parallel device (5) is fixedly arranged on the moving inner rod (4-4-11).
2. The multifunctional high-altitude automatic welding robot as claimed in claim 1, characterized in that: the number of the moving devices (2) is four, the number of the transmission shafts A (2-4-1), the number of the kinetic energy receiving gears (2-4-2) and the number of the transmission legs (2-4-9) of the walking transmission devices (2-4) are two, the number of the gears A (2-4-3), the number of the transmission shafts AA (2-4-5) and the number of the gears AB (2-4-7) are four, the number of the limiting convex rings A (2-4-4) and the number of the limiting convex rings AA (2-4-6) are eight, and the number of the vacuum suction cups (2-5) is eight.
3. The multifunctional high-altitude automatic welding robot as claimed in claim 1, characterized in that: the number of the connecting blocks (4-4-4) of the height adjusting device (4), the motor DA (4-4-5), the output belt wheel DA (4-4-6), the transmission belt DA (4-4-7), the mounting shaft DA (4-4-8), the receiving belt wheel DA (4-4-9) and the rotating gear DA (4-4-10) is two.
CN201910404520.1A 2019-05-16 2019-05-16 Multifunctional high-altitude automatic welding robot Active CN109986250B (en)

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CN111069922B (en) * 2020-01-03 2020-12-08 温州拓日工业设计有限公司 Safe and stable upright post equipment for machining
CN111922476B (en) * 2020-06-23 2022-10-11 中琉科技有限公司 High altitude welding robot
CN112496641A (en) * 2020-11-27 2021-03-16 深圳特朗达照明股份有限公司 Automatic welding jig and welding method for exterior wall landscape lamp

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RU2430821C1 (en) * 2010-06-25 2011-10-10 Общество с ограниченной ответственностью "ШТОРМ" Automatic welding device
EP3012506A1 (en) * 2014-10-24 2016-04-27 I.S.I.F. S.R.L. Active automatic safety system for working environments
CN105798613A (en) * 2016-05-13 2016-07-27 青岛黄海学院 Wall-climbing type welding robot
CN107186315A (en) * 2017-06-02 2017-09-22 滕佳豪 A kind of overhead welding robot
CN108438084A (en) * 2018-04-02 2018-08-24 夏贵荣 A kind of pedestal mobile device for robot ambulation
CN108581306A (en) * 2018-06-04 2018-09-28 青岛林辉钢构有限公司 A kind of automatic welding mechanism of detachable flare tower

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Publication number Priority date Publication date Assignee Title
RU2430821C1 (en) * 2010-06-25 2011-10-10 Общество с ограниченной ответственностью "ШТОРМ" Automatic welding device
EP3012506A1 (en) * 2014-10-24 2016-04-27 I.S.I.F. S.R.L. Active automatic safety system for working environments
CN105798613A (en) * 2016-05-13 2016-07-27 青岛黄海学院 Wall-climbing type welding robot
CN107186315A (en) * 2017-06-02 2017-09-22 滕佳豪 A kind of overhead welding robot
CN108438084A (en) * 2018-04-02 2018-08-24 夏贵荣 A kind of pedestal mobile device for robot ambulation
CN108581306A (en) * 2018-06-04 2018-09-28 青岛林辉钢构有限公司 A kind of automatic welding mechanism of detachable flare tower

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