Industrial robot for pipeline welding and control method thereof

Abstract

The invention discloses an industrial robot for pipeline welding and a control method thereof. The industrial robot comprises a vehicle body. An advancing mechanism is arranged at the bottom of the vehicle body, lateral supporting mechanisms are symmetrically arranged on vehicle body side surfaces of the vehicle body, a hydraulic station is arranged at the top end of the vehicle body, a housing isarranged on one side of the hydraulic station, a fixed sleeve at the top end of the vehicle body is arranged in the housing, a servo motor I is arranged at the top end of the fixed sleeve, a rotatingarm is arranged in the fixed sleeve, the end, close to the hydraulic station, of the rotating arm is connected to the servo motor I through a gear bank, and a gear I is arranged on excircle of one end in the housing of a sleeve. The industrial robot has the beneficial effects that the industrial robot can weld a joint in a pipeline efficiently and precisely, so that the work efficiency of the industrial robot for pipeline welding is improved, and meanwhile, by adopting an advancing mode of being driven by a spiral roller, the passing capacity of the industrial robot is improved, so that the industrial robot is particular suitable for welding operation in a pipeline with a complex environment.

Description

technical field [0001] The invention belongs to the technical field of industrial robots, in particular to an industrial robot used for pipeline welding and a control method thereof. Background technique [0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They have certain automation and can realize various industrial processing and manufacturing functions by relying on their own power sources and control capabilities. Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemical industry. Welding robots are the most widely used industrial robots. About half of the active industrial robots in the world are used in the field of welding, and they are more widely used in the field of pipeline welding. However, the existing pipelines are used to transport oil, liquid and powder. , gas, etc., there may be residual oil or sediment, scum, etc. in the pi...

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