Pipeline crawling welding robot

Abstract

The invention relates to a pipeline crawling welding robot. The pipeline crawling welding robot includes a traveling mechanism and a welding mechanism, wherein the traveling mechanism adopts a suspension structure with Mecanum wheels, the two symmetrical Mecanum wheels are installed on the end parts of an extensible rod of the inner end of a suspension spring, and are provided with an independentmotor for driving, and thus the two Mecanum wheels can bestride on a pipeline to move back and forth under pressure of the suspension spring; the welding mechanism is fixed to the front end of the traveling mechanism and can be raised and recycled to the upper end of the traveling mechanism without affecting crawling of the robot; and when the welding mechanism descends, two semicircular gear rings can be enclosed to the circumference of the pipeline, and a moving welding machine is controlled to rotate to weld a joint of the pipeline. The welding robot can crawl and turn a corner on the pipeline, meanwhile, the all-direction welding task of the pipeline can be completed, and welding of the pipeline by human in the field can be replaced; and at the same time, the pipeline crawling weldingrobot has the advantages of being high in welding quality, high in welding precision, high in efficiency, and low in cost, and is beneficial to promoting the market.

Description

technical field [0001] The invention relates to the technical field of pipeline welding equipment, in particular to a pipeline crawling welding robot. Background technique [0002] Oil is an important energy source for industry, and it is mainly transported through oil pipelines. Oil and gas pipelines usually pass through sparsely populated wilderness, and the weight of a section of pipeline can often reach 400kg. Alignment, and then put the skid under the pipe to support the pipe, and finally weld the joint with a welding torch manually; due to the relatively harsh field environment and lack of power supply equipment, welders are prone to fatigue after long hours of work, and it is difficult to ensure welding quality. Since the weld is a circular pipe, the bottom of the pipe is not convenient for welding. Usually, the welder needs to lie on the ground at the lower end of the pipe for "lying welding". This method of welding is very labor-intensive and will cause more damage ...

AI Technical Summary

Problems solved by technology

[0005] The requirements are high, and it can only walk along the circumferential direction of the pipeline, but cannot walk along the axial direction of the pipeline, and cannot meet the actual welding requirements;

[0006] ② Magnetic adsorption crawler, this kind of crawler can only walk on the surface of iron products, but

[0009] The flexible bending feature is used to weld the pipe correspondingly. When bending, it needs to be bent by internal drawing. This flexible method is prone to vibration and insufficient rigidity. Since the robot needs to carry heavy welding and power generation equipment during field welding, this This kind of robot requires a large preload to prevent the robot from falling off the pipeline. In addition, oil pipelines usually need to climb mountains and mountains, so the pipeline will have bends and slopes. This kind of robot that relies on preload cannot adapt to this working environment.

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