CN107457512A - Remote controlled magnetic-type welding robot and its method of work - Google Patents
Remote controlled magnetic-type welding robot and its method of work Download PDFInfo
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- CN107457512A CN107457512A CN201710926058.2A CN201710926058A CN107457512A CN 107457512 A CN107457512 A CN 107457512A CN 201710926058 A CN201710926058 A CN 201710926058A CN 107457512 A CN107457512 A CN 107457512A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Mechanical Engineering (AREA)
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- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of remote controlled magnetic-type welding robot and its method of work, this magnetic-type welding robot includes：Body, the camera device of body front end is arranged on, is arranged on dismountable welding mechanism of body upper part, be arranged on the electromagnet of body bottom portion, for the roller for driving body to move, and the controller being connected with a wireless module；The controller is suitable to send the view data that camera device gathers to handheld terminal by wireless module, and receives the control instruction of handheld terminal transmission, creeps or welds to control magnetic-type welding robot to realize；I.e. described controller is suitable to control electromagnet absorption and controls roller to rotate on magnetic conductor surface, and by roller drive module, so that the magnetic-type welding robot is realized after climbing wall to target location, is welded in control welding mechanism alignment welding position.
Description
Technical field
The present invention relates to robotic technology field, especially a kind of method of work of magnetic-type welding robot.
Background technology
Magnetic-type welding robot can be climbed on vertical wall and complete the automatic machinery people of weld job.It is especially suitable
Climbing metal surface is closed to be welded.
But magnetic-type welding robot is due to the limitation of data wire length, robot can not be climbed to after remotely,
Therefore, the radius of clean-up is affected.
Based on above mentioned problem, it is necessary to design a kind of remote controlled magnetic-type welding robot and its method of work.
The content of the invention
It is an object of the invention to provide a kind of remote controlled magnetic-type welding robot and its method of work.
In order to solve the above-mentioned technical problem, the invention provides a kind of magnetic-type welding robot, including：
Body, the camera device of body front end is arranged on, is arranged on dismountable welding mechanism of body upper part, is arranged on body
The electromagnet of bottom, for the roller for driving body to move, and the controller being connected with a wireless module；The controller is fitted
In sending the view data that camera device gathers to handheld terminal by wireless module, and receive the control of handheld terminal transmission
Instruction, creep or weld to control magnetic-type welding robot to realize；I.e. described controller, which is suitable to control electromagnet absorption, is leading
Magnet surface, and control roller to rotate by roller drive module, so that the magnetic-type welding robot is realized and climbs wall to mesh
After cursor position, welded in control welding mechanism alignment welding position.
Further, the welding mechanism includes：Pipette tips are welded, the mechanical arm machine suitable for regulation electric welding pipette tips moving direction
Structure, the mechanical arm mechanism and electric welding pipette tips control by controller；The mechanical arm mechanism is included positioned at the flat of body upper part
Moving device, and the extending apparatus positioned at translating device top；The extending apparatus includes cantilever arm, and the electric welding pipette tips, which are located at, stretches
Go out the distal end of arm, and miniature rotary electric machine is provided with positioned at the junction of electric welding pipette tips and cantilever arm, and set in the distal end of cantilever arm
There are electric welding pipette tips to collapse storehouse；Wherein described controller is suitable to by controlling translating device to drive electric welding pipette tips or so translation, and leads to
The dynamic electric welding pipette tips of stretching device band are crossed along anterior-posterior translation, and collapses or beats by controlling miniature rotary electric machine to be welded pipette tips
Open.
Further, the magnetic-type welding robot also includes：It is arranged on the pressure sensor of body upper part, the pressure
Sensor is connected with controller；Before magnetic-type welding robot climbs wall, magnetic-type welding robot is kept flat to pass through pressure
Sensor obtains total heavy burden of magnetic-type welding robot；The controller is suitable to control the initial electricity of electromagnet according to total bear a heavy burden
Stream, so that magnetic-type welding robot is adsorbed in magnetic conductor surface.
Further, the body bottom portion is additionally provided with the range sensor being connected with controller, and the range sensor is suitable to
For the distance that detects body bottom portion between magnetic conductor surface of creeping；If it is suitable to when in motion apart from increase, the controller
Increase the current value of electromagnet, to improve magnetic-type welding robot absorption affinity.
Further, the controller is connected with a memory, is suitable for prestoring what total heavy burden matched with electromagnet current
The second database that distance matches with electromagnet current between first database, and body bottom portion and magnetic conductor surface of creeping；Institute
State the initial current that controller is suitable to obtain matching from the first database according to total heavy burden；And the controller is further adapted for
The current value of the electromagnet of matching is obtained from the second database according to distance between body bottom portion and magnetic conductor surface of creeping.
Further, distance of the electromagnet apart from magnetic conductor surface is 5-8mm.
Further, total heavy burden of the magnetic-type welding robot is G, the then electromagnet absorption affinity T=KG, wherein K
For adsorption coefficient, and 3<K<10.
Another aspect, present invention also offers a kind of method of work of magnetic-type welding robot, including：Body, set
Camera device in body front end, dismountable welding mechanism of body upper part is arranged on, is arranged on the electromagnet of body bottom portion,
For the roller for driving body to move, and the controller being connected with a wireless module；The controller is suitable to pass through wireless mould
Block sends the view data that camera device gathers to handheld terminal, and receives the control instruction of handheld terminal transmission, with control
Magnetic-type welding robot is realized and creeps or weld；I.e. described controller is suitable to control electromagnet absorption on magnetic conductor surface, and
Roller is controlled to rotate by roller drive module, so that the magnetic-type welding robot is realized after climbing wall to target location,
Welded control welding mechanism alignment welding position.
Further, the welding mechanism includes：Pipette tips are welded, the mechanical arm machine suitable for regulation electric welding pipette tips moving direction
Structure, the mechanical arm mechanism and electric welding pipette tips control by controller；The mechanical arm mechanism is included positioned at the flat of body upper part
Moving device, and the extending apparatus positioned at translating device top；The extending apparatus includes cantilever arm, and the electric welding pipette tips, which are located at, stretches
Go out the distal end of arm, and miniature rotary electric machine is provided with positioned at the junction of electric welding pipette tips and cantilever arm, and set in the distal end of cantilever arm
There are electric welding pipette tips to collapse storehouse；Wherein described controller is suitable to by controlling translating device to drive electric welding pipette tips or so translation, and leads to
The dynamic electric welding pipette tips of stretching device band are crossed along anterior-posterior translation, and collapses or beats by controlling miniature rotary electric machine to be welded pipette tips
Open.
Further, the magnetic-type welding robot also includes：It is arranged on the pressure sensor of body upper part, the pressure
Sensor is connected with controller；Before magnetic-type welding robot climbs wall, magnetic-type welding robot is kept flat to pass through pressure
Sensor obtains total heavy burden of magnetic-type welding robot；The controller is suitable to control the initial electricity of electromagnet according to total bear a heavy burden
Stream, so that magnetic-type welding robot is adsorbed in magnetic conductor surface；And the body bottom portion is additionally provided with what is be connected with controller
Range sensor, the range sensor are suitable for use in distance between detection body bottom portion and magnetic conductor surface of creeping；When transporting
If apart from increase when dynamic, the controller is suitable to the current value of increase electromagnet, to improve magnetic-type welding robot absorption affinity.
Further, the controller is connected with a memory, is suitable for prestoring what total heavy burden matched with electromagnet current
The second database that distance matches with electromagnet current between first database, and body bottom portion and magnetic conductor surface of creeping；Institute
State the initial current that controller is suitable to obtain matching from the first database according to total heavy burden；And the controller is further adapted for
The current value of the electromagnet of matching is obtained from the second database according to distance between body bottom portion and magnetic conductor surface of creeping.
Beneficial effects of the present invention are as follows：
This magnetic-type welding robot and its method of work gather the view data of robot ambulation, and nothing using camera device
Line is sent to handheld terminal, can also receive the control instruction of handheld terminal transmission, is operated with convenient use person's visualization
Control magnetic-type welding robot to realize to creep or weld；Electromagnet absorption can be controlled in magnetic conduction body surface by controller
Face, and control roller to rotate by roller drive module, so that the magnetic-type welding robot is realized and climbs wall to target location
Afterwards, welded in control welding mechanism alignment welding position, and then improve the operating radius of robot.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the structural representation of one magnetic-type welding robot of the present embodiment.
Fig. 2 is the top view of the welding mechanism of the present embodiment one.
Fig. 3 is the workflow diagram of the magnetic-type welding robot crawling process of the present embodiment one.
In figure：Body 1, electromagnet 2, roller 3, pressure sensor 4, range finder 5, welding mechanism 6, electric welding pipette tips
61st, miniature rotary electric machine 611, translating device 62, extending apparatus 63, cantilever arm 631, electric welding pipette tips collapse storehouse 631a, shooting dress
Put 7, wireless module 8.
Embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention.
Embodiment 1
As shown in Figure 1 to Figure 3, a kind of magnetic-type welding robot is present embodiments provided, including：
Body 1, the camera device 7 of body front end is arranged on, is arranged on dismountable welding mechanism of body upper part, be arranged on this
The electromagnet 2 of body bottom, for the roller 3 for driving body to move, and the controller being connected with a wireless module 8.
The controller is suitable to send the view data that camera device gathers to handheld terminal by wireless module, and connects
The control instruction that handheld terminal is sent is received, creeps or welds to control magnetic-type welding robot to realize；I.e. described controller is fitted
Magnetic conductor surface is adsorbed in control electromagnet 2, and controls roller to rotate by roller drive module, so that the magnetic-type weldering
After wall to target location is climbed in welding robot realization, welded in control welding mechanism alignment welding position.
This magnetic-type welding robot and its method of work gather the view data of robot ambulation using camera device, and
And handheld terminal is wirelessly transmitted to, and the control instruction of handheld terminal transmission is received, to control magnetic-type welding robot to realize
Creep or weld；I.e. described controller is suitable to control electromagnet absorption and controlled on magnetic conductor surface, and by roller drive module
Roller rotates, so that the magnetic-type welding robot is realized after climbing wall to target location, in control welding mechanism alignment welding
Welded position.
The camera device can make control and grasp the walking and welding action of this magnetic-type welding robot, Jin Ershi
Existing exact operations.
In this embodiment, the welding mechanism includes：Pipette tips 61 are welded, the machinery suitable for regulation electric welding pipette tips moving direction
Arm mechanism, the mechanical arm mechanism and electric welding pipette tips control by controller.
The mechanical arm mechanism includes the translating device 62 positioned at body upper part, and the stretching dress positioned at translating device top
Put 63；The extending apparatus includes cantilever arm, and the electric welding pipette tips are located at the distal end of cantilever arm, and positioned at electric welding pipette tips with stretching out
The junction of arm is provided with miniature rotary electric machine, and is provided with electric welding pipette tips in the distal end of cantilever arm and collapses storehouse；Wherein described controller
Suitable for by controlling translating device to drive electric welding pipette tips or so translation（It is set to X-axis）, and electric welding pipette tips are driven by extending apparatus
Along anterior-posterior translation（Y-axis is set to, as shown in arrow F1 in Fig. 1）, and by control miniature rotary electric machine will be welded pipette tips collapse or
Open, gathering or opening direction, as shown in arrow F2 in Fig. 1.
Wherein controller can use single-chip microcomputer, and the controller is suitable to one current regulating module of control, to change electromagnetism
The operating current of iron, such as current regulating module can use switching tube, the single-chip microcomputer output pwm signal, with controlling switch
The shut-off cycle of pipe so realize operating current adjust；Lithium battery is also carried on the body to provide electric energy；It is and described
Electromagnet can use on DC electromagnet, or body and be additionally provided with DC-AC module, and the electromagnet uses alternating electromagnet；
The roller drive module can use four-wheel drive module, be provided with direct current generator in it, be controlled by controller.It is described
Wireless module can be, but not limited to use WiFi module, and the handheld terminal can be that the controlled in wireless with WiFi function fills
Put.
The translating device 62, extending apparatus 63 can use screw body, wherein two lead screw motors can be by institute
Controller is stated to be controlled.
This magnetic-type welding robot and its method of work use dismountable welding mechanism, improve the logical of welding robot
With property, and after magnetic-type welding robot climbs wall to target location, by the translating device in welding mechanism and can stretch
Go out device to be finely adjusted the welding position for being welded pipette tips；In crawling process, the electric welding pipette tips collapse positioned at electric welding pipette tips
In storehouse, miniature rotary electric machine is controlled to be welded pipette tips opening after reaching purpose.
Specifically, the body upper part is provided with welding mechanism installation position, the installation position is provided with connector and gim peg etc.
Part, for welding mechanism to be arranged on into body upper part by way of the prior art such as above-mentioned.Each translating device, stretch out dress
The control line and power line for putting, being welded pipette tips and miniature rotary electric machine can be drawn from body, be connected by connecting plug.
Further, because welding mechanism is detachable, if traditional magnetic-type welding robot, because its magnetic field is consolidated
It is fixed, therefore, after robotic asssembly welding mechanism, if erection welding mechanism weight is larger, robot may be caused to climb
Cause to come off during climbing, cause serious consequence, therefore the versatility of robot reduces.
Simultaneously as climbing magnetic conductor surface is not straight all the time, may be inadequate due to absorption affinity when there is indenture
Robot is caused to fall, job insecurity.
Based on above-mentioned purpose, the magnetic-type welding robot also includes：The pressure sensor 4 of body upper part is arranged on,
The pressure sensor 4 is connected with controller；Before magnetic-type welding robot climbs wall, by magnetic-type welding robot keep flat with
Total heavy burden of magnetic-type welding robot is obtained by pressure sensor（Heavy burden including welding mechanism）；The controller is suitable to
The initial current of electromagnet is controlled according to total bear a heavy burden, so that magnetic-type welding robot is adsorbed in magnetic conductor surface.
The pressure sensor can use strain resistor sensor.
The body bottom portion is additionally provided with the range sensor 5 being connected with controller, and the range sensor 5 is suitable for use in spy
Survey distance between body bottom portion and magnetic conductor surface of creeping；If apart from increase when in motion, the controller is suitable to increase electricity
The current value of magnet, to improve magnetic-type welding robot absorption affinity.
The range sensor can be, but not limited to use high-precision infrared distance sensor or ultrasonic sensor.
The controller is connected with a memory, is suitable for prestoring the first data always born a heavy burden and matched with electromagnet current
The second database that distance matches with electromagnet current between storehouse, and body bottom portion and magnetic conductor surface of creeping；
The controller is suitable to the initial current for obtaining matching from the first database according to total heavy burden；And
The controller is further adapted for being matched from the second database according to distance between body bottom portion and magnetic conductor surface of creeping
Electromagnet current value.
This magnetic-type welding robot first calculates total heavy burden after loading article, then determines electromagnet according to total bear a heavy burden
Operating current, so that product more steady operation；During magnetic-type welding robot motion, range finder detection body bottom
Portion apart from magnetic conductor distance, and by distance information transmission to controller, when described distance changes, the controller
According to the table of comparisons regulation in memory by the electric current of electromagnet, so as to change absorption affinity, effectively prevent magnetic conductor surface from splitting
Magnetic-type welding robot falls caused by trace；And electric current is dynamic regulation so that absorption affinity will not be excessive, magnetic-type weldering
The motion of welding robot will not cause energy waste.
Distance of the electromagnet apart from magnetic conductor surface is 5-8mm.If greater than 8mm, then magnetic field is not enough concentrated, and is caused
Energy waste, if less than 5mm, then it may cause to interfere due to the out-of-flatness on magnetic conductor surface.
Total heavy burden of the magnetic-type welding robot is G, the then electromagnet absorption affinity T=KG, and wherein K is absorption
Coefficient, and 3<K<10.If K<3, magnetic-type welding robot job insecurity, magnetic may be caused due to some accidental causes
Formula welding robot falls, if K>10, then resistance of the magnetic-type welding robot along magnetic conductor apparent motion is larger, causes energy
Source wastes.
Preferably, in order to increase frictional force, the edge of the roller 3 is made of anti-slip material, to increase roller and lead
The coefficient of friction of magnet surface, so as to reduce adsorption coefficient K value, realize energy-conservation.
Embodiment 2
On the basis of embodiment 1, the present embodiment 2 provides a kind of work of magnetic-type welding robot as described in Example 1
Method.
The operation principle of each several part of magnetic-type welding robot, process have detailed opinion in embodiment 1 in the present embodiment
State.
Specifically, the method for work of the magnetic-type welding robot includes：
Body, the camera device of body front end is arranged on, is arranged on dismountable welding mechanism of body upper part, is arranged on body
The electromagnet of bottom, for the roller for driving body to move, and the controller being connected with a wireless module；The controller is fitted
In sending the view data that camera device gathers to handheld terminal by wireless module, and receive the control of handheld terminal transmission
Instruction, creep or weld to control magnetic-type welding robot to realize；I.e. described controller, which is suitable to control electromagnet absorption, is leading
Magnet surface, and control roller to rotate by roller drive module, so that the magnetic-type welding robot is realized and climbs wall to mesh
After cursor position, welded in control welding mechanism alignment welding position.
The welding mechanism includes：Pipette tips are welded, suitable for the mechanical arm mechanism of regulation electric welding pipette tips moving direction, the machine
Tool arm mechanism and electric welding pipette tips control by controller；The mechanical arm mechanism includes the translating device positioned at body upper part, and
Extending apparatus positioned at translating device top；The extending apparatus includes cantilever arm, and the electric welding pipette tips are located at the remote of cantilever arm
End, and miniature rotary electric machine is provided with positioned at the junction of electric welding pipette tips and cantilever arm, and it is provided with electric torch in the distal end of cantilever arm
Head collapses storehouse；Wherein described controller is suitable to by controlling translating device to drive electric welding pipette tips or so translation, and filled by stretching out
Drive electric welding pipette tips are put along anterior-posterior translation, and collapses or opens by controlling miniature rotary electric machine to be welded pipette tips.
The magnetic-type welding robot also includes：It is arranged on the pressure sensor of body upper part, the pressure sensor
It is connected with controller；Before magnetic-type welding robot climbs wall, magnetic-type welding robot is kept flat to pass through pressure sensor
Obtain total heavy burden of magnetic-type welding robot；The controller is suitable to control the initial current of electromagnet according to total bear a heavy burden, with
Magnetic-type welding robot is set to be adsorbed in magnetic conductor surface；And the body bottom portion is additionally provided with the distance being connected with controller and passed
Sensor, the range sensor are suitable for use in distance between detection body bottom portion and magnetic conductor surface of creeping；If when in motion
Distance increase, the controller is suitable to the current value of increase electromagnet, to improve magnetic-type welding robot absorption affinity.
The controller is connected with a memory, is suitable for prestoring the first data always born a heavy burden and matched with electromagnet current
The second database that distance matches with electromagnet current between storehouse, and body bottom portion and magnetic conductor surface of creeping；The controller
Suitable for obtaining the initial current of matching from the first database according to always bearing a heavy burden；And the controller is further adapted for according to body
Distance obtains the current value of the electromagnet of matching from the second database between bottom and magnetic conductor surface of creeping.
Distance of the electromagnet apart from magnetic conductor surface is 5-8mm.If greater than 8mm, then magnetic field is not enough concentrated, and is caused
Energy waste, if less than 5mm, then it may cause to interfere due to the out-of-flatness on magnetic conductor surface.
Total heavy burden of the magnetic-type welding robot is G, the then electromagnet absorption affinity T=KG, and wherein K is absorption
Coefficient, and 3<K<10.If K<3, magnetic-type welding robot job insecurity, magnetic may be caused due to some accidental causes
Formula welding robot falls, if K>10, then resistance of the magnetic-type welding robot along magnetic conductor apparent motion is larger, causes energy
Source wastes.
Preferably, in order to increase frictional force, the edge of the roller 3 is made of anti-slip material, to increase roller and lead
The coefficient of friction of magnet surface, so as to reduce adsorption coefficient K value, realize energy-conservation.
It is complete by above-mentioned description, relevant staff using the above-mentioned desirable embodiment according to the present invention as enlightenment
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to determines its technical scope according to right.
Claims (10)
- A kind of 1. magnetic-type welding robot, it is characterised in that including：Body, the camera device of body front end is arranged on, is arranged on dismountable welding mechanism of body upper part, is arranged on body The electromagnet of bottom, for the roller for driving body to move, and the controller being connected with a wireless module；The controller is suitable to send the view data that camera device gathers to handheld terminal by wireless module, and receives hand The control instruction of terminal transmission is held, creeps or welds to control magnetic-type welding robot to realize；I.e.The controller is suitable to control electromagnet absorption and controls roller to rotate on magnetic conductor surface, and by roller drive module, So that the magnetic-type welding robot is realized after climbing wall to target location, welded in control welding mechanism alignment welding position Connect.
- 2. magnetic-type welding robot according to claim 1, it is characterised in thatThe welding mechanism includes：Pipette tips are welded, suitable for the mechanical arm mechanism of regulation electric welding pipette tips moving direction, the mechanical arm Mechanism and electric welding pipette tips control by controller；The mechanical arm mechanism includes the translating device positioned at body upper part, and the extending apparatus positioned at translating device top；The extending apparatus includes cantilever arm, and the electric welding pipette tips are located at the distal end of cantilever arm, and positioned at electric welding pipette tips with stretching out The junction of arm is provided with miniature rotary electric machine, and is provided with electric welding pipette tips in the distal end of cantilever arm and collapses storehouse；WhereinThe controller is suitable to by controlling translating device to drive electric welding pipette tips or so translation, and is driven and be welded by extending apparatus Pipette tips are collapsed or opened along anterior-posterior translation, and by controlling miniature rotary electric machine to be welded pipette tips.
- 3. magnetic-type welding robot according to claim 2, it is characterised in thatThe magnetic-type welding robot also includes：It is arranged on the pressure sensor of body upper part, the pressure sensor and control Device processed is connected；Before magnetic-type welding robot climbs wall, magnetic-type welding robot is kept flat magnetic-type to be obtained by pressure sensor Total heavy burden of welding robot；The controller is suitable to control the initial current of electromagnet according to total bear a heavy burden, so that magnetic-type welding robot is adsorbed in and led Magnet surface.
- 4. magnetic-type welding robot according to claim 3, it is characterised in thatThe body bottom portion is additionally provided with the range sensor being connected with controller, and the range sensor is suitable for use in detection body Distance between bottom and magnetic conductor surface of creeping；If apart from increase when in motion, the controller is suitable to the current value of increase electromagnet, to improve magnetic-type bonding machine Device people's absorption affinity.
- 5. magnetic-type welding robot according to claim 4, it is characterised in thatThe controller is connected with a memory, is suitable for prestoring the first database for always bearing a heavy burden and matching with electromagnet current, The second database that distance matches with electromagnet current between body bottom portion and magnetic conductor surface of creeping；The controller is suitable to the initial current for obtaining matching from the first database according to total heavy burden；AndThe controller is further adapted for being matched from the second database according to distance between body bottom portion and magnetic conductor surface of creeping Electromagnet current value.
- 6. according to the magnetic-type welding robot described in any one of claim 3 or 4, it is characterised in thatDistance of the electromagnet apart from magnetic conductor surface is 5-8mm；AndTotal heavy burden of the magnetic-type welding robot is G, thenAbsorption affinity T=KG of the electromagnet, wherein K are adsorption coefficient, and 3<K<10.
- A kind of 7. method of work of magnetic-type welding robot, it is characterised in that including：The magnetic-type welding robot includes：Body, the camera device of body front end is arranged on, is arranged on dismountable welding mechanism of body upper part, is arranged on body The electromagnet of bottom, for the roller for driving body to move, and the controller being connected with a wireless module；The controller is suitable to send the view data that camera device gathers to handheld terminal by wireless module, and receives hand The control instruction of terminal transmission is held, creeps or welds to control magnetic-type welding robot to realize；I.e.The controller is suitable to control electromagnet absorption and controls roller to rotate on magnetic conductor surface, and by roller drive module, So that the magnetic-type welding robot is realized after climbing wall to target location, welded in control welding mechanism alignment welding position Connect.
- 8. method of work according to claim 7, it is characterised in thatThe welding mechanism includes：Pipette tips are welded, suitable for the mechanical arm mechanism of regulation electric welding pipette tips moving direction, the mechanical arm Mechanism and electric welding pipette tips control by controller；The mechanical arm mechanism includes the translating device positioned at body upper part, and the extending apparatus positioned at translating device top；The extending apparatus includes cantilever arm, and the electric welding pipette tips are located at the distal end of cantilever arm, and positioned at electric welding pipette tips with stretching out The junction of arm is provided with miniature rotary electric machine, and is provided with electric welding pipette tips in the distal end of cantilever arm and collapses storehouse；WhereinThe controller is suitable to by controlling translating device to drive electric welding pipette tips or so translation, and is driven and be welded by extending apparatus Pipette tips are collapsed or opened along anterior-posterior translation, and by controlling miniature rotary electric machine to be welded pipette tips.
- 9. method of work according to claim 8, it is characterised in thatThe magnetic-type welding robot also includes：It is arranged on the pressure sensor of body upper part, the pressure sensor and control Device processed is connected；Before magnetic-type welding robot climbs wall, magnetic-type welding robot is kept flat magnetic-type to be obtained by pressure sensor Total heavy burden of welding robot；The controller is suitable to control the initial current of electromagnet according to total bear a heavy burden, so that magnetic-type welding robot is adsorbed in and led Magnet surface；AndThe body bottom portion is additionally provided with the range sensor being connected with controller, and the range sensor is suitable for use in detection body Distance between bottom and magnetic conductor surface of creeping；If apart from increase when in motion, the controller is suitable to the current value of increase electromagnet, to improve magnetic-type bonding machine Device people's absorption affinity.
- 10. method of work according to claim 9, it is characterised in thatThe controller is connected with a memory, is suitable for prestoring the first database for always bearing a heavy burden and matching with electromagnet current, The second database that distance matches with electromagnet current between body bottom portion and magnetic conductor surface of creeping；The controller is suitable to the initial current for obtaining matching from the first database according to total heavy burden；AndThe controller is further adapted for being matched from the second database according to distance between body bottom portion and magnetic conductor surface of creeping Electromagnet current value.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108188620A (en) * | 2018-03-05 | 2018-06-22 | 哈尔滨阿尔特机器人技术有限公司 | A kind of Portable welding machine people based on mobile phone manipulation and welding image acquisition |
| CN108713385A (en) * | 2018-04-26 | 2018-10-30 | 合肥绿叶园林工程有限责任公司 | A kind of environment-friendly type afforestation nutrition liquid irrigation auxiliary device |
| CN108875887A (en) * | 2018-07-05 | 2018-11-23 | 薛杰怀 | A kind of student's questionnaire survey statistics equipment |
| CN111922557A (en) * | 2020-06-29 | 2020-11-13 | 福建省气柜设备安装有限公司 | Novel construction equipment for welding wall plate by using climbing column robot |
| CN117283164A (en) * | 2023-11-24 | 2023-12-26 | 广东欣龙隧道装备股份有限公司 | Shield constructs quick-witted structure cutting device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108188620A (en) * | 2018-03-05 | 2018-06-22 | 哈尔滨阿尔特机器人技术有限公司 | A kind of Portable welding machine people based on mobile phone manipulation and welding image acquisition |
| CN108713385A (en) * | 2018-04-26 | 2018-10-30 | 合肥绿叶园林工程有限责任公司 | A kind of environment-friendly type afforestation nutrition liquid irrigation auxiliary device |
| CN108875887A (en) * | 2018-07-05 | 2018-11-23 | 薛杰怀 | A kind of student's questionnaire survey statistics equipment |
| CN111922557A (en) * | 2020-06-29 | 2020-11-13 | 福建省气柜设备安装有限公司 | Novel construction equipment for welding wall plate by using climbing column robot |
| CN111922557B (en) * | 2020-06-29 | 2022-04-29 | 中琉科技有限公司 | Novel construction equipment for welding wall plate by using climbing column robot |
| CN117283164A (en) * | 2023-11-24 | 2023-12-26 | 广东欣龙隧道装备股份有限公司 | Shield constructs quick-witted structure cutting device |
| CN117283164B (en) * | 2023-11-24 | 2024-01-30 | 广东欣龙隧道装备股份有限公司 | Shield constructs quick-witted structure cutting device |
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