CN214446450U - Anti-falling welding robot - Google Patents

Abstract

The application relates to automatic weld equipment technical field especially relates to a prevent welding robot that falls, prevents falling welding robot and includes: a traveling device for traveling on the work surface on which the weld is formed; a fixed member provided to the traveling device; the anti-falling device is arranged on the fixed component; the anti-falling device is provided with a locking part for locking with the edge of the welding seam; the locking part of the anti-falling device penetrates through the welding line and extends to the position below the welding line, and when the walking device falls from the working surface, the locking part is in contact with the back surface of the working surface and is locked. The application provides a welding robot that prevents falling realizes the effect of preventing falling through the anti-falling device of self, avoids preventing falling when the welding robot that prevents to operate unusually and the welding robot that prevents breaks away from the operation face and falls impaired to need depend on external environment and obtain fixedly.

Description

Anti-falling welding robot

Technical Field

The application relates to the technical field of automatic welding equipment, in particular to a falling-preventing welding robot.

Background

At present, the present crawling welding robot does not have an anti-falling mechanism mostly, cause welding environment or operation condition to appear unusually such as when the welding face is uneven or there is the barrier, crawling welding robot takes place to empty very easily, fall, even if there is anti-falling mechanism in the crawling robot of a small number of types, the mode that also needs to depend on external working face is realized, can not only play the effect of preventing falling to crawling welding machine by relying on crawling welding machine and working face itself, it should be fixed with the outside environment of working face to lead to this kind of anti-falling mechanism, in case can take measures to avoid crawling welding machine to fall or take place the striking when crawling welding machine falls from the working face, this kind of condition influences the smooth and easy nature of crawling welding machine's walking very easily, thereby influence welding quality and welding efficiency.

SUMMERY OF THE UTILITY MODEL

The application aims to provide a prevent welding robot that falls to solve the mode that the mechanism of preventing falling that exists needs to depend on external working face and realize, the technical problem of the smooth and easy nature of the walking of welding machine that influences to a certain extent among the prior art.

The application provides a prevent welding robot that falls includes:

a traveling device for traveling on the work surface on which the weld is formed;

a fixing member provided to the traveling device;

the anti-falling device is arranged on the fixing component and has a telescopic structure; the anti-falling device is provided with a first locking part;

the first locking portion cooperates with the work surface so as to lock the fall arrest device to the work surface when the running gear falls from the work surface.

In the above technical solution, further, the anti-falling welding robot further includes a locking member, the locking member includes a connecting sleeve and a magnetic attraction plate disposed at one end of the connecting sleeve; the connecting sleeve is arranged on the anti-falling device and can move relative to the anti-falling device.

In any of the above technical solutions, further, the fall protection device includes:

the driving device comprises a fixed end and a telescopic end, and the telescopic end can extend or retract relative to the fixed end; the fixed end is connected with the fixed component;

the first connecting piece is of a flat plate structure, one end of the first connecting piece is connected with the telescopic end, a connecting part is formed at the other end of the first connecting piece, and the connecting part is used for arranging the first locking part;

the thickness of the first connecting piece is smaller than the width of the welding seam;

the first locking portion can be in contact with and locked to an upper surface of the work surface, or the first locking portion can extend below the work surface through the weld to be in contact with and locked to a lower surface of the work surface.

In any one of the above technical solutions, further, the connection sleeve is sleeved on the telescopic end and slidably connected to the telescopic end, and the connection sleeve can drive the magnetic attraction plate to slide along a vertical direction relative to the telescopic end so as to be close to or away from the working surface.

In any one of the above technical solutions, further, the connection portion includes: the first clamping part and the second clamping part are arranged at intervals;

the first locking portion includes:

a first arm member, wherein a first hinge part and a second hinge part are respectively formed at two ends of the first arm member, and the first hinge part is arranged on the first clamping part;

a second arm member, wherein a third hinge part and a fourth hinge part are respectively formed at two ends of the second arm member, and the third hinge part is arranged on the second clamping part;

a third arm member, wherein a fifth hinge part and a sixth hinge part are respectively formed at two ends of the third arm member, and the fifth hinge part is hinged with the second hinge part;

a fourth arm member, both ends of which form a seventh hinge part and an eighth hinge part, respectively; the seventh hinge is hinged to the fourth hinge;

a hinge shaft penetrating the first hinge portion, the first clamping portion, the third hinge portion and the second clamping portion, for enabling the first arm member and the second arm member to be respectively hinged with the first clamping portion and the second clamping portion;

a second connecting member formed with a first connecting wall and a second connecting wall disposed to face each other; the sixth hinge is pivotally connected to the first connecting wall and the eighth hinge is pivotally connected to the second connecting wall.

In any of the above technical solutions, further, a telescopic member is disposed between the first clamping portion and the second clamping portion;

the telescopic component comprises a fixed seat and a telescopic rod, the fixed seat is arranged on the connecting part, one end of the telescopic rod is connected with the fixed seat, and the end of the telescopic rod, far away from the fixed end, is connected with the second connecting piece; the telescopic rod sleeve is provided with an elastic piece.

In any of the above technical solutions, further, the first arm member, the second arm member, the third arm member, the fourth arm member, and the magnetic attraction plate are all electromagnets.

In any of the above technical solutions, further, the fixing member includes: the first fixing part is connected with the walking device;

a second fixing part connected with the first fixing part; a fixing plate is arranged on the surface of one side, facing the welding seam, of the second fixing part;

the fixed plate is provided with a slide rail; the sliding rail extends along the width direction of the welding seam;

the fixed end of the driving device is provided with a sliding block, and the sliding block is connected with the sliding rail in a sliding mode.

In any of the above technical solutions, further, the fixing member is provided with a plurality of the fall preventing devices at intervals along the extending direction of the weld.

In any one of the above technical solutions, further, the anti-falling welding robot further includes a detection member provided to the fixing member;

the detection component is arranged between any two adjacent anti-falling devices.

Compared with the prior art, the beneficial effect of this application is:

the application provides a prevent welding robot that falls includes: a traveling device for traveling on the work surface on which the weld is formed; a fixed member provided to the traveling device; the anti-falling device is arranged on the fixed component; the anti-falling device is provided with a first locking part for locking with a working surface; defining one side surface of the operation surface, which is used for bearing the walking device, as a front surface, and one side surface of the operation surface, which deviates from the front surface, as a back surface; when running gear falls from the operation face, anti-falling device has two kinds of circumstances to lock with the operation face, and is first: the first locking part is mutually matched and locked with the front surface of the working surface, or the first locking part penetrates through the welding seam and extends below the welding seam to be mutually matched and locked with the back surface of the working surface.

The application provides a welding robot of preventing falling realizes preventing the effect of falling through setting up in the anti-falling device who prevents welding robot self, when the welding robot that falls operation is unusual, can fix the very first time, avoid preventing that the welding robot that falls breaks away from the operation face and fall impaired to need not depend on external environment and fix, do not influence the smooth and easy nature of the welding robot walking of preventing falling, also avoided producing unavoidable influence to welding quality and welding efficiency. In addition, the welding robot that prevents falling that this application provided can realize keeping away the barrier function through mutually supporting between the anti-falling device, ensures that weldment work smoothly goes on.

Drawings

In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic structural diagram of a fall protection device of a fall protection welding robot provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a fall-prevention welding robot provided in an embodiment of the present application;

FIG. 3 is an enlarged schematic view of the fall arrest device provided in FIG. 1 at A;

fig. 4 is a schematic structural diagram of a fall-prevention welding robot provided in the embodiment of the present application;

fig. 5 is a schematic structural diagram of a first locking part of a fall-prevention welding robot provided in an embodiment of the present application;

fig. 6 is a schematic state diagram of a first locking part of a fall-prevention welding robot provided in an embodiment of the present application;

fig. 7 is another state diagram of the first locking part of the fall-prevention welding robot provided in the embodiment of the present application.

Reference numerals:

1-a running gear, 2-a fixed component, 201-a first fixed component, 202-a second fixed component, 203-a fixed plate, 2031-a sliding rail, 3-a falling-prevention device, 301-a driving device, 302-a first connecting piece, 3021-a first clamping part, 3022-a second clamping part, 3023-a fixed seat, 3024-a telescopic rod, 303-a first locking part, 3031-a first arm component, 3032-a second arm component, 3033-a second connecting piece, 3034-a first step part, 3035-a third arm component, 3036-a fourth arm component, 3037-a first connecting wall, 4-a welding gun, 5-a working surface, 6-a welding seam, 7-a detection component, 8-a locking component, 801-a connecting sleeve, 802-a magnetic attraction plate, 100-a first falling-prevention device, 200-a second fall arrest device.

Detailed Description

The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments.

The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application.

All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

A fall prevention welding robot according to some embodiments of the present application is described below with reference to fig. 1 to 4.

Referring to fig. 1 to 4, an embodiment of the present application provides a fall-prevention welding robot, including: the anti-falling device comprises a walking device 1, a fixing component 2 and an anti-falling device 3, wherein the walking device 1 is used for walking on a working surface 5 with a welding line 6, the fixing component 2 is arranged on the walking device 1, the fixing component 2 is used for fixing the anti-falling device 3, specifically, the fixing component 2 extends along the length direction of the welding line 6, and when the walking device 1 walks above the welding line 6 formed on the working surface 5, the fixing component 2 is arranged just opposite to the welding line 6;

according to the state shown in fig. 2 or fig. 4, the upper surface of the working surface 5 on which the welding seam 6 is formed for walking of the walking device 1 is defined as the front surface, the lower surface of the working surface 5 is defined as the back surface, the first end of the anti-falling device 3, i.e. the upper end as shown in the figure, is connected with the fixing member 2, the second end of the anti-falling device 3, i.e. the lower end as shown in the figure, is provided with a first locking part 303, and the anti-falling device 3 has a telescopic structure and can be extended and contracted towards or away from the welding seam 6, when the walking device 1 and the fixing member 2 are separated from the working surface, i.e. fall occurs, the anti-falling device 3 is integrally extended, so that the first locking part 303 rapidly approaches the working surface 5 and is mutually locked with the working surface 5 in a short time, and the anti-falling device 3, together with the fixing member 2 and the walking device 1, is locked on the working surface 5.

It should be noted that, in this embodiment, a more preferable technical solution is: the second end of the anti-falling device 3 extends to the welding seam 6, when the walking device 1 normally walks, a certain gap is formed between the first locking portion 303 and the operation surface 5, but the gap is smaller, the smoothness of the walking process of the walking device 1 caused by friction is avoided, when the walking device 1 breaks away from the operation surface together with the fixing component 2 and falls, the anti-falling device 3 is integrally shortened, the state of the first locking portion 303 also changes, namely, the anti-falling device moves upwards to be attached to and locked with the back surface of the operation surface 5, so that the walking device 1 is prevented from falling, and damage is avoided.

Specifically, the fall arrest device 3 includes: drive arrangement 301 and first connecting piece 302, wherein, drive arrangement 301 specifically is cylinder or pneumatic cylinder, including stiff end and flexible end, flexible end relatively fixed end can stretch out or retract, thereby adjust the length that anti-falling device 3 relative welding seam 6 stretches out, the stiff end is connected with fixed component 2, make anti-falling device 3 can be along with fixed component 2, running gear 1 walks in step, first connecting piece 302 and the flexible end of keeping away from an end connection of stiff end, first locking portion 303 sets up in the tip of keeping away from the stiff end of first connecting piece 302, and can pass welding seam 6 and be located below welding seam 6, through the extension or the retraction degree of adjustment flexible end relatively fixed end, can adjust the distance between first locking portion 303 and the working face 5.

Further, one end of the first connector 302, which is far away from the telescopic part of the driving device 301, is formed with a connecting part for connecting the first locking part 303, specifically, the connecting part includes a first clamping part 3021 and a second clamping part 3022 which are arranged at intervals, so that the end of the first connector 302 is formed into a shape similar to a comb or a fork;

the first locking part 303 includes a first arm member 3031, a second arm member 3032, a third arm member 3035, a fourth arm member 3036, a hinge shaft, and a second connector 3033, wherein, a first hinge part and a second hinge part are respectively formed at two ends of the first arm component 3031, a third hinge part and a fourth hinge part are respectively formed at two ends of the second arm component 3032, a fifth hinge part and a sixth hinge part are respectively formed at two ends of the third arm component 3035, a seventh hinge part and an eighth hinge part are respectively formed at two ends of the fourth arm component 3036, wherein the first hinge part and the third hinge part are both provided with through holes, the first hinge part is positioned in the first clamping part, the third clamping part is positioned in the second clamping part, the hinge shaft passes through the first clamping part, the through holes of the first hinge part, the second clamping part and the through holes of the third hinge part, such that the first hinge, i.e. the first arm member 3031, and the third hinge, i.e. the third arm member 3035, are rotatable relative to the hinge axis;

the fifth hinge portion is hinged to the second hinge portion and the seventh hinge portion is hinged to the fourth hinge portion such that the third arm member 3035 forms a hinge structure with the first arm member 3031 and the fourth arm member 3036 forms a hinge structure with the second arm member 3032;

the second connector 3033 is generally U-shaped and comprises a plate member extending in the horizontal direction and arranged facing the lower surface of the working surface 5, a first connecting wall 3037 and a second connecting wall are respectively vertically arranged at two ends of the plate member, a sixth hinge part is rotatably connected with the first connecting wall 3037, and an eighth hinge part is rotatably connected with the second connecting wall, so that the four arm members, the hinge shaft and the second connector 3033 integrally form a hinge mechanism;

furthermore, a telescopic member is arranged at the solid part between the first clamping part and the second clamping part, the telescopic member comprises a fixed seat 3023 and a telescopic rod 3024, the fixed seat 3023 is fixedly arranged at the connecting part, the telescopic rod 3024 has a telescopic structure, one end of the telescopic rod 3024 is connected with the fixed seat, and the other end of the telescopic rod 3024 is connected with the plate member of the second connecting member 3033, which may be rigidly connected, so that the telescopic rod 3024 can drive the second connecting member 3033 to approach or leave the working surface 5 when performing telescopic motion; and the telescopic rod 3024 is sleeved with a pressure spring which is in a moderate but incompletely compressed state, one end of the pressure spring is abutted to the fixed seat 3023, and the other end of the pressure spring is abutted to the plate member of the second connector 3033, so that the telescopic rod 3024 always has a stretching tendency under the condition of no external force.

In the present embodiment, the first locking portion 303 is locked by magnetic attraction between the four arm members, specifically, the electromagnet, and the work surface 5, and therefore, the work surface 5 may be regarded as a workpiece to be welded, and is preferably a metal member that can be attracted to the electromagnet, and since the first locking portion 303 is positioned below the work surface 5 by passing through the weld 6, even if the workpiece to be welded does not have magnetism, the first locking portion 303 can be engaged with the work surface 5 or below by self-deformation, and can still function as a fall prevention.

In specific operation, as shown in fig. 5 to 7, after the four arm members are powered on, the four arm members and the working surface 5 have a tendency of moving upward due to the magnetic attraction, so that the telescopic rod 3024 retracts and drives the second connector 3033 to ascend, so that the four arm members perform a folding action, the first arm member 3031 and the third arm member 3035 are overlapped and supported leftward and extend, the second arm member 3032 and the fourth arm member 3036 are overlapped and supported rightward and extend, so that the first locking portion 303 has a maximum length (or width) at this time, the first locking portion 303 and the working surface 5 also have a maximum locking area at this time, it is ensured that the first locking portion 303 can cover the width of the welding seam 6, and the first locking portion 303 is prevented from being displaced from below the welding seam 6 to above the welding seam 6 when the traveling device 1 falls;

furthermore, the anti-falling welding robot that this application provided still includes the locking component 8 that sets up in drive arrangement 301's pars contractilis, locking component 8 includes connecting sleeve 801 and magnetism board 802, magnetism board 802 specifically is the electromagnetism magnet board, magnetism board 802 is connected with the lower tip of connecting sleeve 801, the pars contractilis of drive arrangement 301 is located to connecting sleeve 801 cover, and connecting sleeve 801 and pars contractilis sliding connection, magnetism board 802 and first locking part 303 are synchronous to switch on and off, when first locking part 303 adsorbs with operation face 5, to magnetism board 802 circular telegram, magnetism board 802 produces magnetic attraction, under the effect of magnetism, magnetism board 802 moves down to adsorbing with operation face 5, magnetism board 802 and first locking part 303 synergism centre gripping and locking to operation face 5, prevent running gear 1 from the operation face 5 falling.

After the four arm members and the magnetic attraction plate 802 are powered off, under the action of an elastic element, namely a compression spring, the telescopic rod 3024 stretches to drive the second connector 3033 to move downwards, so that the first arm member 3031 and the third arm member 3035 are staggered with each other and move to extend in the vertical direction at the same time, the second arm member 3032 and the fourth arm member 3036 are staggered with each other and move to extend in the vertical direction at the same time, at this time, the first locking portion 303 not only loses the locking effect relative to the working surface 5, but also has a minimum width, which is smaller than the width of the weld joint, and when the driving device 301 drives the telescopic portion and the first connector 302 to retract, the first locking portion 303 rises along with the first locking portion 303 and can rise to a space above the weld joint 6 through the weld joint 6.

Further, the first connecting wall 3037 is formed with a first stepped portion 3034, the second connecting wall is formed with a second stepped portion, the first stepped portion is located below the first arm member 3031, and the second stepped portion is located below the fourth arm member 3036, so that when the first locking portion 303 has the maximum length, the first stepped portion 3034 and the second stepped portion can restrict the first arm member 3031 and the fourth arm member 3036 from further rotating, so that the first locking portion 303 maintains the state of the maximum length.

It should be noted that the first connecting member 302 has a flat plate structure, and the thickness of the first connecting member 302 is smaller than the width of the welding seam 6, so that the plate surface of the first connecting member 302 is not in contact with the wall surface of the welding seam 6, and under the action of the driving device 301, the first connecting member 302 can freely lift and lower relative to the welding seam 6.

Further, the anti-falling welding robot provided by the embodiment of the application further comprises a control device (not shown in the figure), the control device is arranged on the walking device 1, the control device is electrically connected with a driving mechanism of the walking device 1 and used for controlling starting and stopping of the walking process of the walking device 1, and the control device is also electrically connected with a driving device 301 of the anti-falling device 3 and used for controlling the expansion and contraction of the expansion part.

Furthermore, the running gear 1 is further provided with a power supply device electrically connected with the control device, which may be but is not limited to a battery, and the power supply device supplies power to the running gear 1 on the one hand and also supplies power to the first driving member and the second driving member on the other hand.

Preferably, the bottom of the vehicle body of the traveling device 1 or the wheel axle of the traveling device 1 is provided with a distance measuring sensor for detecting the edge of the head facing the welding seam 6 or the working surface 5, and the distance measuring sensor is electrically connected with a control device for detecting the distance between the traveling device 1 and the working surface 5, when the detection result H is smaller than the limit H of a preset standard, the traveling device 1 is indicated to fall immediately or already separated from the working surface 5, at the moment, the control device controls the telescopic end to retract together with the first connecting piece 302, so that the four arm members of the first locking part 303 are simultaneously supported and contacted with the lower surface of the working surface 5, and simultaneously the control device controls the four arm members to be electrified to realize that the four arm members generate magnetic adsorption force to be adsorbed and locked with the working surface 5.

Further, the fixing member 2 includes a first fixing portion 201 and a second fixing portion 202 connected to each other, the first fixing portion 201 has a plate-like structure, and a lower surface of the first fixing portion 201 is disposed facing the welding seam 6, one end of the first fixing portion 201 is fixedly connected to the traveling device 1, and the welding torch 4 may be disposed on the lower surface of the first fixing portion 201, and a nozzle of the welding torch 4 may be disposed toward the welding seam 6, so as to perform welding while traveling; the second fixing portion 202 has an L-shaped plate-shaped structure, and includes a first plate portion extending in the vertical direction and a second plate portion extending in the length direction of the welding seam 6, one end of the first fixing portion 201, which is far away from the traveling device 1, is connected to the lower end of the first plate portion, a reinforcing rib is provided between the first fixing portion 201 and the first plate portion, and the second plate portion is connected to the upper end of the first plate portion, so that a sufficient mounting space is formed on the lower surface of the second plate portion for mounting the anti-falling device 3, and a sufficient height is provided between the second plate portion and the working surface 5 for the telescopic portion and the first connecting member 302 to be telescopic.

Further, the lower surface of the second plate portion is provided with a fixing plate 203, the surface of the fixing plate 203 facing the weld 6 is provided with a slide rail 2031, the slide rail 2031 extends in the width direction of the weld 6, the fixed end of the driving device 301 is provided with a slider, the slider is connected with the slide rail 2031 in a sliding manner, the slider is adjusted to slide relative to the slide rail 2031, the position of the anti-falling device 3 relative to the weld 6 can be adjusted, and the first locking portion 303 can pass through the weld 6 when being at the minimum extension length.

Further, in the anti-falling welding robot provided by the application, the number of the anti-falling devices 3 is multiple, the anti-falling devices 3 are arranged on the second plate part of the fixing component 2 at intervals along the length direction of the welding seam 6 in a sliding manner, and the anti-falling effects can be obviously enhanced by the anti-falling devices 3.

Furthermore, as shown in fig. 2 and 4, the number of the anti-falling devices 3 is preferably two, namely a first anti-falling device 100 and a second anti-falling device 200, and the first anti-falling device 100 and the second anti-falling device 200 have the same structure, wherein the first anti-falling device 100 is relatively closer to the welding gun 4 as a main anti-falling device, the second anti-falling device 200 is relatively far away from the welding gun 4 as an auxiliary anti-falling device, a detection member 7 is arranged on the fixing plate 203 at a position between the first anti-falling device 100 and the second anti-falling device 200, and the detection member 7 can be a sensor, a camera or the like for detecting whether an obstacle exists in a corresponding part of the welding seam 6 between the first anti-falling device 100 and the second anti-falling device 200;

the driving device of the first anti-falling device 100 is defined as a first driving device, the driving device of the second anti-falling device 200 is defined as a second driving device, the first driving device and the second driving device are respectively and electrically connected with a control device, in the normal operation of the traveling device 1, the second anti-falling device 200, namely the auxiliary anti-falling device, does not participate in the work, the second driving device is in a retraction state, a first locking part arranged at the end part of the second driving device is in the minimum extension length and is positioned above a welding seam 6, a certain gap exists between the first anti-falling device 100, namely a first locking part 303 of a main anti-falling device, and a working surface 5, when a distance measuring sensor of the traveling device 1 detects abnormal data, the control device controls the first driving device to retract and controls the first locking part of the main anti-falling device to be electrified so that the first locking part is adsorbed and locked with the working surface 5, the walking device 1 is prevented from falling;

when the detection component 7 detects that an obstacle, such as a welding sheet temporarily used for welding and fixing, exists below the fixing plate 203, specifically at a position between the projections of the first and second anti-falling devices 100 and 200, which fall vertically downwards into the working surface 5, the detection component 7 transmits a signal to the control device, the control device controls the traveling device 1 to stop traveling, then the control device controls the second driving device of the auxiliary anti-falling device to extend out so that the first locking part of the auxiliary anti-falling device gradually moves downwards to pass through the welding seam 6 and be positioned below the welding seam 6, then the control device controls the two arm members of the first locking part of the auxiliary anti-falling device to gradually rotate from the minimum extension length to the maximum extension length, whether the first locking part of the auxiliary anti-falling device needs to be electrified or not can be determined according to the actual situation, and then the control device controls the main anti-falling device to perform an execution action opposite to that of the auxiliary anti-falling device, the control device controls the first locking part of the main anti-falling device to be powered off, the main anti-falling device is enabled to have the maximum extension length to rotate to the minimum extension length, then the first driving device is controlled to retract to enable the first locking part of the main anti-falling device to ascend to a welding seam 6, in the process, the two anti-falling devices which are mutually matched to work realize the obstacle avoidance function, the smoothness of the walking process of the walking device 1 is ensured, and even if the anti-falling device meets an obstacle, the welding work can also be normally carried out after the obstacle is automatically avoided.

The other detection means is provided on the side of the auxiliary fall preventing device close to the traveling direction of the traveling device 1, and is used for detecting whether an obstacle exists in front of the auxiliary fall preventing device in the traveling direction, and controlling the start/stop state of the traveling device 1 when the auxiliary fall preventing device operates according to the recognition result of the detection means.

It is thus clear that the welding robot that prevents falling that this application provided realizes preventing the effect of falling through setting up in the anti-falling device who prevents welding robot self, when the welding robot that prevents falling operation is unusual, can fix the very first time, avoid preventing that the welding robot that falls breaks away from the operation face and the impaired falls to need not depend on external environment and fix, do not influence the smooth and easy nature of the welding robot walking of preventing falling, also avoided producing unavoidable influence to welding quality and welding efficiency. In addition, the welding robot that prevents falling that this application provided can realize keeping away the barrier function through mutually supporting between the anti-falling device, ensures that weldment work smoothly goes on.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. A fall-prevention welding robot, comprising:

a traveling device for traveling on the work surface on which the weld is formed;

a fixing member provided to the traveling device;

the anti-falling device is arranged on the fixing component and has a telescopic structure; the anti-falling device is provided with a first locking part;

the first locking portion cooperates with the work surface so as to lock the fall arrest device to the work surface when the running gear falls from the work surface.

2. The anti-fall welding robot of claim 1, further comprising a locking member comprising a connecting sleeve and a magnetically attractive plate disposed at one end of the connecting sleeve; the connecting sleeve is arranged on the anti-falling device and can move relative to the anti-falling device.

3. The fall arrest welding robot of claim 2, wherein the fall arrest device comprises:

the driving device comprises a fixed end and a telescopic end, and the telescopic end can extend or retract relative to the fixed end; the fixed end is connected with the fixed component;

the first connecting piece is of a flat plate structure, one end of the first connecting piece is connected with the telescopic end, a connecting part is formed at the other end of the first connecting piece, and the connecting part is used for arranging the first locking part;

the thickness of the first connecting piece is smaller than the width of the welding seam;

the first locking portion can be in contact with and locked to an upper surface of the work surface, or the first locking portion can extend below the work surface through the weld to be in contact with and locked to a lower surface of the work surface.

4. The anti-falling welding robot according to claim 3, wherein the connecting sleeve is sleeved on the telescopic end and is slidably connected with the telescopic end, and the connecting sleeve can drive the magnetic attraction plate to slide in a vertical direction relative to the telescopic end so as to be close to or far away from the working surface.

5. The fall-prevention welding robot of claim 3, wherein the connecting part comprises: the first clamping part and the second clamping part are arranged at intervals;

the first locking portion includes:

a first arm member, wherein a first hinge part and a second hinge part are respectively formed at two ends of the first arm member, and the first hinge part is arranged on the first clamping part;

a second arm member, wherein a third hinge part and a fourth hinge part are respectively formed at two ends of the second arm member, and the third hinge part is arranged on the second clamping part;

a third arm member, wherein a fifth hinge part and a sixth hinge part are respectively formed at two ends of the third arm member, and the fifth hinge part is hinged with the second hinge part;

a fourth arm member, both ends of which form a seventh hinge part and an eighth hinge part, respectively; the seventh hinge is hinged to the fourth hinge;

a hinge shaft penetrating the first hinge portion, the first clamping portion, the third hinge portion and the second clamping portion, for enabling the first arm member and the second arm member to be respectively hinged with the first clamping portion and the second clamping portion;

a second connecting member formed with a first connecting wall and a second connecting wall disposed to face each other;

the sixth hinge is pivotally connected to the first connecting wall and the eighth hinge is pivotally connected to the second connecting wall.

6. The fall-prevention welding robot of claim 5,

a telescopic component is arranged between the first clamping part and the second clamping part;

the telescopic component comprises a fixed seat and a telescopic rod, the fixed seat is arranged on the connecting part, one end of the telescopic rod is connected with the fixed seat, and the end of the telescopic rod, far away from the fixed end, is connected with the second connecting piece; the telescopic rod sleeve is provided with an elastic piece.

7. The anti-drop welding robot of claim 6, wherein the first arm member, the second arm member, the third arm member, the fourth arm member, and the magnetically attractive plate are electromagnets.

8. The fall-prevention welding robot according to claim 3, wherein the fixing member comprises: the first fixing part is connected with the walking device;

a second fixing part connected with the first fixing part; a fixing plate is arranged on the surface of one side, facing the welding seam, of the second fixing part;

the fixed plate is provided with a slide rail; the sliding rail extends along the width direction of the welding seam;

the fixed end of the driving device is provided with a sliding block, and the sliding block is connected with the sliding rail in a sliding mode.

9. The fall arrest welding robot according to any one of claims 1 to 8, wherein the fixing member is provided with a plurality of the fall arrest devices at intervals in the extending direction of the weld.

10. The fall-prevention welding robot according to claim 9, further comprising a detection member provided to the fixing member;

the detection component is arranged between any two adjacent anti-falling devices.

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