WO2020259068A1 - 爬行焊接机器人 - Google Patents

爬行焊接机器人 Download PDF

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Publication number
WO2020259068A1
WO2020259068A1 PCT/CN2020/087549 CN2020087549W WO2020259068A1 WO 2020259068 A1 WO2020259068 A1 WO 2020259068A1 CN 2020087549 W CN2020087549 W CN 2020087549W WO 2020259068 A1 WO2020259068 A1 WO 2020259068A1
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WO
WIPO (PCT)
Prior art keywords
frame
light
welding robot
hole
crawling
Prior art date
Application number
PCT/CN2020/087549
Other languages
English (en)
French (fr)
Inventor
冯消冰
潘际銮
高力生
魏然
张�浩
潘百蛙
桂巧
Original Assignee
北京博清科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京博清科技有限公司 filed Critical 北京博清科技有限公司
Priority to UAA202105428A priority Critical patent/UA127752C2/uk
Priority to EP20727573.6A priority patent/EP3988241A4/en
Priority to AU2020203787A priority patent/AU2020203787A1/en
Priority to SG11202010870XA priority patent/SG11202010870XA/en
Priority to KR1020227001819A priority patent/KR20220050875A/ko
Priority to JP2020539197A priority patent/JP7140413B2/ja
Priority to US16/970,158 priority patent/US20220258291A1/en
Publication of WO2020259068A1 publication Critical patent/WO2020259068A1/zh
Priority to SA521421524A priority patent/SA521421524B1/ar

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Classifications

    • 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
    • B23K37/0282—Carriages forming part of a welding unit
    • 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
    • B23K37/0247—Driving means
    • 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
    • B23K37/0294—Transport carriages or vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/104—Suspension devices for wheels, rollers, bogies or frames
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/12—Arrangement, location, or adaptation of driving sprockets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/20—Tracks of articulated type, e.g. chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/26—Ground engaging parts or elements
    • B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/26—Ground engaging parts or elements
    • B62D55/28—Ground engaging parts or elements detachable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/30—Track-tensioning means
    • B62D55/305—Track-tensioning means acting on pivotably mounted idlers
    • 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
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/10—Pipe-lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/10—Bogies; Frames

Definitions

  • the invention belongs to the technical field of welding, and particularly relates to a crawling welding robot.
  • crawling welding robots are usually used for welding.
  • crawling welding robots it is driven by crawler wheels to walk on the welding surface.
  • the crawler wheels of crawling welding robots usually cannot fully contact the welding surface, which makes the welding robot walk The direction is difficult to control, and it may even slip or fall from the welding surface.
  • the purpose of the present invention is to provide a crawling welding robot, which aims to solve the situation that the walking direction of the crawling welding robot in the prior art is difficult to control when walking on a non-planar welding surface, and it may even slip or fall from the welding surface.
  • a crawling welding robot is used to crawl and weld the parts to be welded.
  • the crawling welding robot includes a frame and two parts respectively connected to both sides of the frame.
  • a crawler wheel, a welding gun connected to the frame and used for welding, the crawler wheel includes a wheel frame, a first sprocket and a second sprocket that are respectively rotatably connected to both ends of the wheel frame, and a ring sleeve
  • the chain outside the first sprocket and the second sprocket, and the wheel frames of the two crawler wheels are respectively movably connected to both sides of the frame.
  • the crawling welding robot includes a hinge, the two wheel frames are connected to the frame through the hinge, the hinge is rotatably connected to the wheel frame and/or the frame, and the hinge is rotated
  • the shaft extends along the traveling direction of the crawler wheel.
  • the crawling welding robot further includes a molten pool observation module for observing the welding conditions of the welding gun, and the molten pool observation module includes a camera assembly for photographing the molten pool and a shielding assembly for shielding spatters.
  • the shielding assembly includes a first stopper having a first light transmission hole, and a first stopper located between the first stopper and the camera assembly and covered on the first light transmission hole and used for shielding the light transmission of sputtering objects
  • the camera assembly photographs the molten pool through the first light transmission hole, and the area of the light transmission block is at least twice the area of the first light transmission hole and can be relatively
  • the light-transmitting hole is moved so that different areas of the light-transmitting baffle are covered on the first light-transmitting hole.
  • the molten pool observation module further includes a rotating shaft, and the transparent baffle is rotatably connected to the rotating shaft.
  • the shielding assembly further includes a second stopper located between the first stopper and the camera assembly, and a second stopper opposite to the first light transmission hole is provided on the second stopper.
  • a light-transmitting hole, the camera assembly photographs the molten pool through the first light-transmitting hole and the second light-transmitting hole, the first stopper and the second stopper are enclosed to form an accommodating space, so The light-transmitting baffle is located in the accommodating space, and the rotating shaft is connected with the first baffle and/or the second baffle.
  • the light-transmitting baffle is in the shape of a circular column
  • the rotating shaft is rotatably connected to the center of the light-transmitting baffle
  • the accommodation space has a gap
  • the light-transmitting baffle is exposed at the gap .
  • the crawling welding robot further includes a magnetic adsorption device for adsorbing the parts to be welded, and a lifting mechanism arranged on the frame and used to drive the magnetic adsorption device to lift, and the frame is provided There is a through hole, and the lifting mechanism includes an adjusting screw provided through the through hole and one end connected to the magnetic adsorption device, and is located on the side of the frame away from the magnetic adsorption device and is threadedly connected to the adjusting screw.
  • the adjusting nut of the screw, the lifting mechanism further includes a circumferential restricting member fixedly arranged on the frame and used for restricting the rotation of the adjusting screw.
  • the circumferential restricting member has a clamping hole and is arranged around the adjusting screw, the clamping hole is clamped on the outer circumference of the adjusting screw to limit the rotation of the adjusting screw, and the clamping hole is in the shape of "D ”Type, the adjusting screw includes a sliding joint section that is slidingly fitted with the clamping hole, and the cross-sectional shape of the sliding joint section corresponds to the shape of the clamping hole and is in a "D" shape.
  • the crawler wheel further includes a first tensioning mechanism connected to the wheel frame and used to adjust the tension of the chain in the first direction, and connected to the wheel frame and used to adjust the chain to For a second tensioning mechanism with a tension force in a second direction, the first direction and the second direction have different directions.
  • first direction is a transverse direction consistent with the walking direction of the crawler wheels
  • second direction is a longitudinal direction perpendicular to the transverse direction
  • the technical effect of the present invention is that the crawling welding robot provided by the present invention includes a frame and two crawler wheels arranged on both sides of the frame, and the wheel frame and the frame of the two crawler wheels are both movably connected. , So that when the crawling welding robot is walking on the non-planar welding surface, the two crawler wheels can freely adjust the posture relative to the frame to adapt to the welding surface and improve the fit between the two crawler wheels and the welding surface. It makes the walking direction of the crawling welding robot easier to control, and reduces the probability of the crawling welding robot slipping or falling from the welding plane.
  • Figure 1 is a perspective view of a crawling welding robot provided by an embodiment of the present invention
  • Figure 2 is a perspective view of a crawling welding robot provided by an embodiment of the present invention.
  • Figure 3 is a perspective view of a crawling welding robot provided by an embodiment of the present invention.
  • Figure 4 is a perspective view of a frame provided by an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a use state of a molten pool observation module provided by an embodiment of the present invention.
  • FIG. 6 is a perspective view of a molten pool observation module provided by an embodiment of the present invention.
  • Figure 7 is an exploded view of a molten pool observation module provided by an embodiment of the present invention.
  • FIG. 8 is a cross-sectional view of a molten pool observation module provided by an embodiment of the present invention.
  • Figure 9 is a perspective view of a light-transmitting baffle provided by an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of the installation of the magnetic adsorption device and the frame provided by the embodiment of the present invention.
  • FIG. 11 is a schematic diagram of the installation of the magnetic adsorption device and the frame provided by the embodiment of the present invention.
  • FIG. 12 is a schematic diagram of the installation of the lifting mechanism and the magnetic adsorption device provided by the embodiment of the present invention.
  • Figure 13 is a perspective view of a circumferential limiting member provided by an embodiment of the present invention.
  • Figure 14 is a perspective view of an adjusting screw provided by an embodiment of the present invention.
  • Figure 15 is a cross-sectional view of a sliding section provided by an embodiment of the present invention.
  • Figure 16 is an exploded view of the lifting mechanism provided by the embodiment of the present invention.
  • Figure 17 is a perspective view of a crawler wheel provided by an embodiment of the present invention.
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features. In the description of the present invention, “plurality” means two or more than two, unless specifically defined otherwise.
  • the crawling welding robot provided by the embodiment of the present invention is used to crawl and weld the workpiece to be welded.
  • the crawling welding robot includes a frame 10, which is connected to the frame respectively.
  • Two crawler wheels 30 on both sides of 10 a welding gun 80 connected to the frame 10 and used for welding, the crawler wheel 30 includes a wheel frame 31, and a first chain respectively connected to both ends of the wheel frame 31
  • the wheel 32 and the second sprocket 33, the chain 34 looped around the first sprocket 32 and the second sprocket 33, and the wheel frames 31 of the two crawler wheels 30 are respectively movably connected to the frame 10 sides.
  • the crawling welding robot provided by the embodiment of the present invention includes a frame 10 and two crawler wheels 30 arranged on both sides of the frame 10, the wheel frame 31 of the two crawler wheels 30 and the frame 10 are both Active connection, so that when the crawling welding robot is walking on the non-planar welding surface, the two crawler wheels 30 can freely adjust the posture relative to the frame 10 to adapt to the welding surface and improve the two crawler wheels.
  • the closeness of 30 to the welding surface makes the walking direction of the crawling welding robot easier to control, and reduces the probability of the crawling welding robot slipping or falling from the welding plane.
  • the crawling welding robot includes a hinge 20, the two wheel frames 31 are connected to the frame 10 through the hinges 20, the hinge 20 is connected to the wheel frame 31 and /Or the frame 10 is rotatably connected, and the rotation axis of the hinge 20 extends along the walking direction of the crawler wheel 30.
  • the wheel frame 31 is connected to the frame 10 through the hinge 20.
  • the hinge 20 can be connected to the wheel frame 31 only in rotation, can be connected to the frame 10 only, or can be connected to both the wheel frame 31 and the frame 10 in rotation.
  • This structure enables the crawler wheel 30 to adjust its posture relative to the frame 10, and the rotation axis of the hinge 20 extends along the walking direction of the crawler wheel 30, that is, the crawler wheel 30 can be vertical relative to the frame 10 Direction swing, as shown in Figure 3, to adapt to different non-planar welding surfaces.
  • the crawling welding robot further includes a molten pool observation module 40 for observing the welding condition of the welding gun 80, and the molten pool observation module 40 includes a camera assembly 41 for photographing the molten pool 90 And a shielding assembly for shielding sputtering objects.
  • the shielding assembly includes a first stopper 421 with a first light-transmitting hole 4211 and a first stopper 421 located between the first stopper 421 and the camera assembly 41 and covered by A light-transmitting baffle 43 on the first light-transmitting hole 4211 and used for shielding spatters, the camera assembly 41 photographs the molten pool 90 through the first light-transmitting hole 4211, the light-transmitting baffle 43
  • the area of is at least twice the area of the first light-transmitting hole 4211 and can move relative to the first light-transmitting hole 4211, so that different areas of the light-transmitting baffle 43 cover the first transparent On the light hole 4211.
  • the molten pool observation module 40 provided by the embodiment of the present invention includes a camera assembly 41, a first stopper 421 having a first light-transmitting hole 4211, and a light-transmitting member covering the first light-transmitting hole 4211
  • the light blocking plate 43 wherein the area of the light transmitting plate 43 is at least twice the area of the first light transmitting hole 4211, and the light transmitting plate 43 can move relative to the first light transmitting hole 4211.
  • the spatter will pass through the first transparent hole 4211 and be bonded to the side of the transparent baffle 43 facing the molten pool 90, and the sputter will only be bonded to the transparent baffle 43 and In the area opposite to the first light-transmitting hole 4211, when the sputtering is excessively bonded, which affects the shooting effect of the camera assembly 41, the light-transmitting baffle 43 can be moved to make other unbonded spatters of the light-transmitting baffle 43 The area covered by the first light-transmitting hole 4211 can increase the light transmittance of the light-transmitting baffle 43, thereby improving the photographing effect of the camera assembly 41.
  • the light-transmitting baffle 43 when the light-transmitting baffle 43 corresponds to the area of the first light-transmitting hole 4211 and too much sputtering is adhered, the light-transmitting baffle 43 only needs to be moved to make the light-transmitting baffle The clean area of the sheet 43 is aligned with the first light transmission hole 4211 to continue the welding work. Only when all areas of the light transmission block 43 are contaminated, the light transmission block 43 needs to be cleaned or replaced, which greatly reduces the light transmission The frequency of cleaning or replacement of the baffle 43 reduces labor costs and improves work efficiency.
  • the movement of the light-transmitting baffle 43 relative to the first light-permeable hole 4211 can be achieved by translation, rotation, etc., as long as the clear area of the light-transmitting baffle 43 can be made Just align the first light-transmitting hole 4211.
  • the light-transmitting baffle 43 can be moved manually or electrically, and is not limited thereto.
  • the light-transmitting baffle 43 may allow all light to pass through, or may only allow light of a specific wavelength to pass, as long as the camera assembly 41 can capture the welding situation.
  • the molten pool observation module 40 further includes a rotating shaft 44, and the transparent baffle 43 is rotatably connected to the rotating shaft 44.
  • the embodiment of the present invention moves the light-transmitting baffle 43 in a rotating manner, which can greatly save the installation space required by the light-transmitting baffle 43, which is beneficial to the miniaturization of the molten pool observation module 40 design.
  • This embodiment does not limit the position of the rotating shaft 44, as long as the light-transmitting baffle 43 can rotate around it and move relative to the first light-transmitting hole 4211.
  • the shielding assembly further includes a second stop 422 located between the first stop 421 and the camera assembly 41, the second stop 422 is provided with The second light transmission hole 4221 opposite to the first light transmission hole 4211, the camera assembly 41 photographs the molten pool 90 through the first light transmission hole 4211 and the second light transmission hole 4221,
  • the first blocking member 421 and the second blocking member 422 are enclosed to form an accommodating space 423, the light-transmitting baffle 43 is located in the accommodating space 423, the rotating shaft 44 and the first baffle and/or The second baffle is connected.
  • the light-transmitting baffle 43 by arranging the light-transmitting baffle 43 in the accommodating space 423, the light-transmitting baffle 43 can be prevented from being contaminated by external impurities, further extending the use time of the light-transmitting baffle 43, and reducing the light-transmitting baffle 43.
  • the frequency of cleaning or replacement reduces labor costs and improves work efficiency.
  • the light-transmitting baffle 43 is in the shape of a circular column
  • the rotating shaft 44 is rotatably connected to the center of the light-transmitting baffle 43
  • the accommodating space 423 has a gap 4231
  • the transparent baffle 43 is exposed at the notch 4231.
  • the transparent baffle 43 is in the shape of a circular column
  • the rotating shaft 44 is rotatably connected to the center of the transparent baffle 43
  • the accommodation space 423 has a gap 4231
  • the transparent baffle 43 is attached to the The gap 4231 is exposed.
  • a part of the transparent baffle 43 is exposed at the notch 4231 of the accommodating space 423, so that when the transparent baffle 43 needs to be rotated, only the exposed part of the transparent baffle 43 needs to be manually pushed to drive the transparent baffle 43.
  • the light blocking plate 43 rotates to realize that the clean area of the light transmitting plate 43 is aligned with the first light transmitting hole 4211, and the operation is simple and fast.
  • the crawling welding robot further includes a magnetic adsorption device 50 for adsorbing the workpiece to be welded, and a magnetic adsorption device 50 arranged on the frame 10 and used for driving the magnetic adsorption device 50
  • the lifting mechanism 51 is provided with a through hole 52 on the frame 10, and the lifting mechanism 51 includes an adjusting screw 53 provided through the through hole 52 and connected to the magnetic adsorption device 50 at one end, and is located in the vehicle
  • the frame 10 is facing away from the magnetic adsorption device 50 and is threadedly connected to the adjusting nut 54 of the adjusting screw 53, the lifting mechanism 51 further includes a fixedly arranged on the frame 10 and used to restrict the adjusting screw 53 Circumferential limiter 55 of rotation.
  • the lifting mechanism 51 that drives the magnetic adsorption device 50 up and down includes an adjusting screw 53 and an adjusting nut 54 screwed on the adjusting screw 53, and the present invention adopts A circumferential limiting member 55 that can limit the rotation of the adjusting screw 53 is added to the frame 10, so that during the lifting and lowering process of the magnetic adsorption device 50 by rotating the nut, the circumferential limiting member 55 can limit the rotation of the adjusting screw 53 to force the adjusting screw 53 to only It can move in the axial direction, thus avoiding the situation that the lifting adjustment is invalid.
  • the circumferential restricting member 55 restricts the rotation of the adjusting screw 53, it also prevents the magnetic adsorption device 50 from following the adjusting screw 53 to rotate This situation further avoids the technical problem of the magnetic adsorption device 50 hitting the crawler wheels 30 of the crawling welding robot and interfering with the walking of the crawling welding robot.
  • the circumferential limiting component in the embodiment of the present invention is a component that can prevent the screw from rotating during the process of rotating the nut, and this component does not hinder the movement of the adjusting screw 53 along its axial direction , That is, lifting movement. It is understandable that the adjusting screw 53 and the adjusting nut 54 are provided with mutually matched threads. When the nut is rotated, the adjusting screw 53 can be prompted to move up and down, thereby driving the magnetic adsorption device 50 up and down.
  • the magnetic attraction device 50 in the embodiment of the present invention may be a permanent magnet or an electromagnet.
  • the circumferential limiting member 55 has a clamping hole 551 and is set around the adjusting screw 53, and the clamping hole 551 is clamped on the outer periphery of the adjusting screw 53 to restrict
  • the adjusting screw 53 rotates on its own.
  • the locking hole 551 restricts the rotation of the adjusting screw 53, so that the screw moves up and down relative to the frame 10, thereby driving the magnetic attraction device 50 to up and down.
  • the locking hole 551 is in a "D" shape
  • the adjusting screw 53 includes a sliding connection section 531 slidingly fitted with the locking hole 551, and the cross-sectional shape of the sliding connection section 531 is similar to that of the locking hole 551.
  • the shape corresponds to that of "D” shape, and the cross-sectional shape is shown in the figure. Understandably, since the locking hole 551 is in the shape of "D” and the cross section of the sliding section 531 is also in the shape of "D”, the adjusting screw 53 cannot rotate relative to the circumferential limiting member 55, but it can be relative to the circumference. Move to the limiting member 55 along its axial direction, so as to realize the lifting movement of the adjusting screw 53 without rotating, thereby achieving effective lifting adjustment and avoiding the problem of the rotation of the magnetic adsorption device 50 interfering with the walking of the crawler wheel 30 .
  • the above-mentioned circumferential limiting member 55 has a simple structure and a low manufacturing cost.
  • the circumferential limiting member 55 is fixedly arranged on the side of the frame 10 that faces away from the adjusting nut 54.
  • the crawler wheel 30 further includes a first tensioning mechanism 60 connected to the wheel frame 31 and used to adjust the tensioning force of the chain 34 in the first direction and connected to The wheel frame 31 is used for adjusting the tensioning force of the chain 34 in a second direction with a second tensioning mechanism 70, and the first direction and the second direction have different directions.
  • the track assembly provided by the embodiment of the present invention includes a first tensioning mechanism 60 and a second tensioning mechanism 70.
  • the first tensioning mechanism 60 can adjust the tensioning force of the chain 34 in the first direction
  • the second tensioning mechanism The tightening mechanism 70 can adjust the tension of the chain 34 in the second direction.
  • the crawling welding robot does not reserve enough space for the swing of the chain 34 in the first direction, it can use the second tensioning mechanism 70 from the second direction.
  • the chain 34 is tensioned; the first tensioning mechanism 60 can also be used to provide a part of the tension, and the second tensioning mechanism 70 provides the remaining tension, and the sum of the two tensions is used to satisfy the chain 34 Tension.
  • the second tensioning mechanism 70 can be used for tensioning, and the tensioning method is more flexible.
  • the first direction is a transverse direction consistent with the walking direction of the crawler wheels 30, see the x direction in FIG. 17, and the second direction is a longitudinal direction perpendicular to the transverse direction, see appendix The z direction in Figure 17.
  • the tensioning methods of the first tensioning mechanism 60 and the second tensioning mechanism 70 are the same as the existing tensioning methods, as long as the chain 34 can be tensioned, and will not be repeated here.

Abstract

一种爬行焊接机器人，包括车架（10）和设置在车架（10）两侧的两个履带轮（30），两个履带轮（30）的轮架（31）和车架（10）均活动连接，使得爬行焊接机器人在非平面的焊接面上行走的过程中，两个履带轮（30）可以自由的相对车架（10）进行姿态调整，以此来适应焊接面，提高两个履带轮（30）与焊接面的贴合度。

Description

爬行焊接机器人 技术领域
本发明属于焊接技术领域，尤其涉及一种爬行焊接机器人。
背景技术
随着机器人技术和焊接技术的发展，在金属结构焊接领域，对钢制储罐、球罐、管道弧面设备进行焊接作业时，通常采用爬行焊接机器人进行焊接，目前存在一类爬行焊接机器人，其是通过履带轮驱动，在焊接表面上行走，然而对于上述的弧面、球面等非平面的焊接面来说，爬行焊接机器人的履带轮通常无法与焊接表面充分接触，从而使得焊接机器人的行走方向难以掌控，甚至会发生打滑或者从焊接平面掉落的情况。
发明内容
本发明的目的在于提供一种爬行焊接机器人，旨在解决现有技术中爬行焊接机器人在非平面的焊接面上行走时，行走方向难以掌控，甚至会发生打滑或者从焊接平面掉落的情况。
本发明是这样实现的，一种爬行焊接机器人，用于在待焊接件上爬行并焊接所述待焊接件，所述爬行焊接机器人包括车架、分别连接于所述车架两侧的两个履带轮、连接于所述车架且用于进行焊接的焊枪，所述履带轮包括轮架、分别转动连接于所述轮架两端的第一链轮和第二链轮、环套于所述第一链轮和所述第二链轮外的链条，两所述履带轮的轮架分别活动连接于所述车架的两侧。
进一步地，所述爬行焊接机器人包括铰链，两所述轮架通过所述铰链与所述车架连接，所述铰链与所述轮架和/或所述车架转动连接，所述铰链的旋转轴沿所述履带轮的行走方向延伸。
进一步地，所述爬行焊接机器人还包括用于观察焊枪焊接情况的熔池观察模块，所述熔池观察模块包括用于拍摄熔池的相机组件以及用于遮挡溅射物的遮挡组件，所述遮挡组件包括具有第一透光孔的第一挡件以及位于所述第一挡件和所述相机组件之间且盖设在所述第一透光孔上并用于遮挡溅射物的透光挡片，所述相机组件通过所述第一透光孔拍摄所述熔池，所述透光挡片的面积至少为所述第一透光孔面积的二倍且能够相对于所述第一透光孔移动，以使所述透光挡片的不同区域盖设于所述第一透光孔上。
进一步地，所述熔池观察模块还包括转轴，所述透光挡片转动连接于所述转轴上。
进一步地，所述遮挡组件还包括位于所述第一挡件和所述相机组件之间的第二挡件，所述第二挡件上设有与所述第一透光孔相对的第二透光孔，所述相机组件通过所述第一透光孔和所述第二透光孔拍摄所述熔池，所述第一挡件和所述第二挡件合围形成容置空间，所述透光挡片位于所述容置空间内，所述转轴与所述第一挡片和/或所述第二挡片连接。
进一步地，所述透光挡片呈圆形柱状，所述转轴转动连接于所述透光挡片的圆心位置，所述容置空间具有缺口，所述透光挡片于所述缺口处外露。
进一步地，所述爬行焊接机器人还包括用于吸附所述待焊接件的磁吸附装置以及设置于所述车架上且用于驱动所述磁吸附装置升降的升降机构，所述车架上设有贯穿孔，所述升降机构包括贯穿所述贯穿孔设置且一端与所述磁吸附装置连接的调节螺杆以及位于所述车架背向所述磁吸附装置的一侧且螺纹连接于所述调节螺杆的调节螺母，所述升降机构还包括固定设置于所述车架且用于限制所述调节螺杆自转的周向限定件。
进一步地，所述周向限定件具有卡孔并环套于所述调节螺杆设置，所述卡孔卡持于所述调节螺杆的外周以限制所述调节螺杆自转，所述卡孔呈“D”型，所述调节螺杆包括与所述卡孔滑动配合的滑接段，所述滑接段的横截面形状与所述卡孔形状相应，呈“D”型。
进一步地，所述履带轮还包括连接于所述轮架且用于调节所述链条于第一方向张紧力度的第一张紧机构以及连接于所述轮架且用于调节所述链条于第二方向张紧力度的第二张紧机构，所述第一方向和所述第二方向朝向不同。
进一步地，所述第一方向为与所述履带轮的行走方向一致的横向方向，所述第二方向为与所述横向方向垂直的纵向方向。
本发明相对于现有技术的技术效果是：本发明提供的爬行焊接机器人包括车架和设置在车架两侧的两个履带轮，两个履带轮的轮架和车架均活动连接，这样，就使得爬行焊接机器人在非平面的焊接面上行走的过程中，两个履带轮可以自由的相对车架进行姿态调整，以此来适应焊接面，提高两个履带轮与焊接面的贴合度，使得爬行焊接机器人的行走方向较为容易掌控，降低了爬行焊接机器人发生打滑或者从焊接平面掉落的概率。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对本发明实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面所描述的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的爬行焊接机器人的立体图；
图2是本发明实施例提供的爬行焊接机器人的立体图；
图3是本发明实施例提供的爬行焊接机器人的立体图；
图4是本发明实施例提供的车架的立体图；
图5是本发明实施例提供的熔池观察模块的使用状态示意图；
图6是本发明实施例提供的熔池观察模块的立体图；
图7是本发明实施例提供的熔池观察模块的分解图；
图8是本发明实施例提供的熔池观察模块的剖视图；
图9是本发明实施例提供的透光挡片的立体图；
图10是本发明实施例提供的磁吸附装置与车架的安装示意图；
图11是本发明实施例提供的磁吸附装置与车架的安装示意图；
图12是本发明实施例提供的升降机构以及磁吸附装置的安装示意图；
图13是本发明实施例提供的周向限定件的立体图；
图14是本发明实施例提供的调节螺杆的立体图；
图15是本发明实施例提供的滑接段的横截面图；
图16是本发明实施例提供的升降机构的分解图；
图17是本发明实施例提供的履带轮的立体图。
附图标记说明：
10 车架 4231 缺口
20 铰链 43 透光挡片
30 履带轮 44 转轴
31 轮架 50 磁吸附装置
32 第一链轮 51 升降机构
33 第二链轮 52 贯穿孔
34 链条 53 调节螺杆
40 熔池观察模块 531 滑接段
41 相机组件 54 调节螺母
421 第一挡件 55 周向限定件
4211 第一透光孔 551 卡孔
422 第二挡件 60 第一张紧机构
4221 第二透光孔 70 第二张紧机构
423 容置空间 80 焊枪
    90 熔池
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件，它可以是直接连接到另一个元件或间接连接至该另一个元件上。
需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。
请参见图1至图4，本发明实施例提供的爬行焊接机器人用于在待焊接件上爬行并焊接所述待焊接件，所述爬行焊接机器人包括车架10、分别连接于所述车架10两侧的两个履带轮30、连接于所述车架10且用于进行焊接的焊枪80，所述履带轮30包括轮架31、分别转动连接于所述轮架31两端的第一链轮32 和第二链轮33、环套于所述第一链轮32和所述第二链轮33外的链条34，两所述履带轮30的轮架31分别活动连接于所述车架10的两侧。
请参见图1至图4，本发明实施例提供的爬行焊接机器人包括车架10和设置在车架10两侧的两个履带轮30，两个履带轮30的轮架31和车架10均活动连接，这样，就使得爬行焊接机器人在非平面的焊接面上行走的过程中，两个履带轮30可以自由的相对车架10进行姿态调整，以此来适应焊接面，提高两个履带轮30与焊接面的贴合度，使得爬行焊接机器人的行走方向较为容易掌控，降低了爬行焊接机器人发生打滑或者从焊接平面掉落的概率。
请参见图1至图4，进一步地，所述爬行焊接机器人包括铰链20，两所述轮架31通过所述铰链20与所述车架10连接，所述铰链20与所述轮架31和/或所述车架10转动连接，所述铰链20的旋转轴沿所述履带轮30的行走方向延伸。本发明实施例通过铰链20将轮架31与车架10连接，铰链20可以仅和轮架31转动连接，可以仅和车架10转动连接，也可以和轮架31和车架10均转动连接，此结构可以使得履带轮30能够相对车架10进行自身姿态的调整，并且铰链20的旋转轴沿所述履带轮30的行走方向延伸，也即，履带轮30可以相对车架10于竖直方向摆动，如图3所示，以此来适应不同的非平面的焊接面。
请参见图5至图9，进一步地，所述爬行焊接机器人还包括用于观察焊枪80焊接情况的熔池观察模块40，所述熔池观察模块40包括用于拍摄熔池90的相机组件41以及用于遮挡溅射物的遮挡组件，所述遮挡组件包括具有第一透光孔4211的第一挡件421以及位于所述第一挡件421和所述相机组件41之间且盖设在所述第一透光孔4211上并用于遮挡溅射物的透光挡片43，所述相机组件41通过所述第一透光孔4211拍摄所述熔池90，所述透光挡片43的面积至少为所述第一透光孔4211面积的二倍且能够相对于所述第一透光孔4211移动，以使所述透光挡片43的不同区域盖设于所述第一透光孔4211上。
请参见图5至图9，本发明实施例提供的熔池观察模块40包括相机组件41、具有第一透光孔4211的第一挡件421以及盖设在第一透光孔4211上的透光挡 片43，其中，透光挡片43的面积至少是第一透光孔4211面积的二倍，并且透光挡片43可以相对于第一透光孔4211移动。在焊接的过程中，溅射物会穿过第一透光孔4211粘接在透光挡片43面向熔池90的一侧，并且溅射物仅会粘接在透光挡片43上与第一透光孔4211相对的区域，当溅射物粘接过多，影响相机组件41的拍摄效果时，可以移动透光挡片43，使得透光挡片43的其他未粘接溅射物的区域盖设在第一透光孔4211上，这样便可以提高透光挡片43的透光率，从而提高相机组件41的拍摄效果。本发明实施例提供的熔池观察模块40，当透光挡片43对应第一透光孔4211的区域粘接过多的溅射物时，只需移动透光挡片43，使得透光挡片43的干净区域对准第一透光孔4211即可继续进行焊接工作，只有当透光挡片43的所有区域均被污染后才需要清洗或更换透光挡片43，大大降低了透光挡片43清洗或更换的频次，降低了人工成本，提高了工作效率。
请参见图5至图9，可以理解地，所述透光挡片43相对于第一透光孔4211移动的方式可以通过平移、旋转等方式实现，只要能够使得透光挡片43的干净区域对准第一透光孔4211即可。所述透光挡片43的移动可以通过手动，也可以通过电动，且不限于此。所述透光挡片43可以允许所有光通过，也可以仅允许特定波长的光通过，只要能够使得相机组件41捕捉到焊接情况即可。
请参见图5至图9，进一步地，所述熔池观察模块40还包括转轴44，所述透光挡片43转动连接于所述转轴44上。基于此结构，本发明实施例通过旋转的方式移动透光挡片43，可以大大节省透光挡片43所需的安装空间，有利于熔池观察模块40设计的小型化。本实施例对转轴44的设置位置不做限制，只要能够使得透光挡片43绕其旋转并相对于第一透光孔4211运动即可。
请参见图5至图9，进一步地，所述遮挡组件还包括位于所述第一挡件421和所述相机组件41之间的第二挡件422，所述第二挡件422上设有与所述第一透光孔4211相对的第二透光孔4221，所述相机组件41通过所述第一透光孔4211和所述第二透光孔4221拍摄所述熔池90，所述第一挡件421和所述第二 挡件422合围形成容置空间423，所述透光挡片43位于所述容置空间423内，所述转轴44与所述第一挡片和/或所述第二挡片连接。本发明实施例通过将透光挡片43设置在容置空间423内，可以避免透光挡片43被外部杂质污染，进一步延长了透光挡片43的使用时间，降低了透光挡片43清洗或更换的频次，降低了人工成本，提高了工作效率。
请参见图5至图9，进一步地，所述透光挡片43呈圆形柱状，所述转轴44转动连接于所述透光挡片43的圆心位置，所述容置空间423具有缺口4231，所述透光挡片43于所述缺口4231处外露。所述透光挡片43呈圆形柱状，所述转轴44转动连接于所述透光挡片43的圆心位置，所述容置空间423具有缺口4231，所述透光挡片43于所述缺口4231处外露。基于上述结构，透光挡片43的一部分于容置空间423的缺口4231处外露，使得当需要旋转透光挡片43时，只需要手动推动透光挡片43的外露部分，便可以驱动透光挡片43旋转，实现透光挡片43的干净区域对准第一透光孔4211，操作简单，快捷。
请参见图10至图16，进一步地，所述爬行焊接机器人还包括用于吸附所述待焊接件的磁吸附装置50以及设置于所述车架10上且用于驱动所述磁吸附装置50升降的升降机构51，所述车架10上设有贯穿孔52，所述升降机构51包括贯穿所述贯穿孔52设置且一端与所述磁吸附装置50连接的调节螺杆53以及位于所述车架10背向所述磁吸附装置50的一侧且螺纹连接于所述调节螺杆53的调节螺母54，所述升降机构51还包括固定设置于所述车架10且用于限制所述调节螺杆53自转的周向限定件55。
请参见图10至图16，本发明实施例提供的爬行焊接机器人中，驱动磁吸附装置50升降的升降机构51包括调节螺杆53和旋合于调节螺杆53上的调节螺母54，并且本发明通过在车架10上增设可以限制调节螺杆53自转的周向限定件55，使得在旋转螺母调节磁吸附装置50升降的过程中，周向限定件55可以限制调节螺杆53自转，迫使调节螺杆53只能沿其轴向方向移动，因此，避免了升降调节无效的这种情况，另外，由于周向限定件55限制了调节螺杆53 的自转，因此，也避免了磁吸附装置50跟随调节螺杆53旋转的这种情况，进一步避免了磁吸附装置50撞击爬行焊接机器人的履带轮30而干扰爬行焊接机器人行走的技术问题。
请参见图10至图16，本发明实施例中的周向限定组件为：在旋转螺母的过程中，能够防止螺杆发生自转的构件，此构件并不妨碍调节螺杆53沿其轴向方向的运动，也即升降运动。可以理解地，调节螺杆53上和调节螺母54上设有相互配合的螺纹，在旋转螺母时，可以促使调节螺杆53做升降运动，进而驱动磁吸附装置50升降。本发明实施例中的磁吸附装置50可以为永磁体，也可以为电磁铁。
请参见图10至图16，进一步地，所述周向限定件55具有卡孔551并环套于所述调节螺杆53设置，所述卡孔551卡持于所述调节螺杆53的外周以限制所述调节螺杆53自转。具体地，在旋转调节螺母54时，卡孔551限制调节螺杆53的自转，使得螺杆相对于车架10做升降运动，进而驱动磁吸附装置50升降。具体地，所述卡孔551呈“D”型，所述调节螺杆53包括与所述卡孔551滑动配合的滑接段531，所述滑接段531的横截面形状与所述卡孔551形状相应，呈“D”型，横截面形状图如图所示。可以理解地，由于卡孔551呈“D”型，而滑接段531的横截面也呈“D”型，这样使得调节螺杆53无法相对于周向限定件55自转，但其可以相对于周向限定件55沿其轴向方向移动，进而实现了调节螺杆53在不发生自转的情况下，做升降运动，以此实现升降调节有效，以及避免磁吸附装置50旋转干扰履带轮30行走的问题。上述周向限定件55的结构简单，制造成本较低。所述周向限定件55固定设置于所述车架10背向所述调节螺母54的一面。
请参见图10至图16，进一步地，所述履带轮30还包括连接于所述轮架31且用于调节所述链条34于第一方向张紧力度的第一张紧机构60以及连接于所述轮架31且用于调节所述链条34于第二方向张紧力度的第二张紧机构70，所述第一方向和所述第二方向朝向不同。
请参见图17，本发明实施例提供的履带组件包括第一张紧机构60和第二张紧机构70，第一张紧机构60可以调节链条34第一方向上的张紧力度，第二张紧机构70可以调节链条34第二方向上的张紧力度，当爬行焊接机器人在第一方向上没有为链条34的摆动预留足够的空间时，可以通过第二张紧机构70从第二方向对链条34进行张紧；也可以利用第一张紧机构60提供一部分的张紧量，第二张紧机构70提供剩余部分的张紧量，利用两个张紧量的加和来满足链条34的张紧。本发明实施例提供的履带组件，当第一张紧机构60没有足够的空间对链条34进行完全张紧时，可以通过第二张紧机构70进行张紧，张紧方式更加灵活。优先地，所述第一方向为与所述履带轮30的行走方向一致的横向方向，参见附图17中的x方向，所述第二方向为与所述横向方向垂直的纵向方向，参见附图17中的z方向。所述第一张紧机构60和第二张紧机构70的张紧方式与现有中的张紧方式相同，只要能够实现链条34张紧即可，此处不赘述。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种爬行焊接机器人，用于在待焊接件上爬行并焊接所述待焊接件，所述爬行焊接机器人包括车架、分别连接于所述车架两侧的两个履带轮、连接于所述车架且用于进行焊接的焊枪，所述履带轮包括轮架、分别转动连接于所述轮架两端的第一链轮和第二链轮、环套于所述第一链轮和所述第二链轮外的链条，其特征在于，两所述履带轮的轮架分别活动连接于所述车架的两侧。
  2. 如权利要求1所述的爬行焊接机器人，其特征在于，所述爬行焊接机器人包括铰链，两所述轮架通过所述铰链与所述车架连接，所述铰链与所述轮架和/或所述车架转动连接，所述铰链的旋转轴沿所述履带轮的行走方向延伸。
  3. 如权利要求1所述的爬行焊接机器人，其特征在于，所述爬行焊接机器人还包括用于观察焊枪焊接情况的熔池观察模块，所述熔池观察模块包括用于拍摄熔池的相机组件以及用于遮挡溅射物的遮挡组件，所述遮挡组件包括具有第一透光孔的第一挡件以及位于所述第一挡件和所述相机组件之间且盖设在所述第一透光孔上并用于遮挡溅射物的透光挡片，所述相机组件通过所述第一透光孔拍摄所述熔池，所述透光挡片的面积至少为所述第一透光孔面积的二倍且能够相对于所述第一透光孔移动，以使所述透光挡片的不同区域盖设于所述第一透光孔上。
  4. 如权利要求3所述的爬行焊接机器人，其特征在于，所述熔池观察模块还包括转轴，所述透光挡片转动连接于所述转轴上。
  5. 如权利要求4所述的爬行焊接机器人，其特征在于，所述遮挡组件还包括位于所述第一挡件和所述相机组件之间的第二挡件，所述第二挡件上设有与所述第一透光孔相对的第二透光孔，所述相机组件通过所述第一透光孔和所述第二透光孔拍摄所述熔池，所述第一挡件和所述第二挡件合围形成容置空间，所述透光挡片位于所述容置空间内，所述转轴与所述第一挡片和/或所述第二挡片连接。
  6. 如权利要求5所述的爬行焊接机器人，其特征在于，所述透光挡片呈圆 形柱状，所述转轴转动连接于所述透光挡片的圆心位置，所述容置空间具有缺口，所述透光挡片于所述缺口处外露。
  7. 如权利要求1所述的爬行焊接机器人，其特征在于，所述爬行焊接机器人还包括用于吸附所述待焊接件的磁吸附装置以及设置于所述车架上且用于驱动所述磁吸附装置升降的升降机构，所述车架上设有贯穿孔，所述升降机构包括贯穿所述贯穿孔设置且一端与所述磁吸附装置连接的调节螺杆以及位于所述车架背向所述磁吸附装置的一侧且螺纹连接于所述调节螺杆的调节螺母，所述升降机构还包括固定设置于所述车架且用于限制所述调节螺杆自转的周向限定件。
  8. 如权利要求7所述的爬行焊接机器人，其特征在于，所述周向限定件具有卡孔并环套于所述调节螺杆设置，所述卡孔卡持于所述调节螺杆的外周以限制所述调节螺杆自转，所述卡孔呈“D”型，所述调节螺杆包括与所述卡孔滑动配合的滑接段，所述滑接段的横截面形状与所述卡孔形状相应，呈“D”型。
  9. 如权利要求1所述的爬行焊接机器人，其特征在于，所述履带轮还包括连接于所述轮架且用于调节所述链条于第一方向张紧力度的第一张紧机构以及连接于所述轮架且用于调节所述链条于第二方向张紧力度的第二张紧机构，所述第一方向和所述第二方向朝向不同。
  10. 如权利要求9所述的爬行焊接机器人，其特征在于，所述第一方向为与所述履带轮的行走方向一致的横向方向，所述第二方向为与所述横向方向垂直的纵向方向。
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