All-position welding robot suitable for different pipe diameters

Abstract

The invention relates to an all-position welding robot adaptive to different pipe diameters, which comprises a guide rail, a welding robot, a driving device, a driving device, a driving device, a driving device and a driving device, and is characterized in that the guide rail is annularly arranged on the periphery of a pipe fitting; the multiple supporting rod assemblies are arranged on the guide rail and distributed in the circumferential direction of the guide rail at intervals; the supporting rod assembly comprises clamping pieces capable of moving in the radial direction of the guide rail, and the multiple clamping pieces abut against the outer wall of the pipe fitting. The circumferential moving assembly can be movably arranged on the guide rail in the circumferential direction of the guide rail; the axial moving assembly is arranged on the circumferential moving assembly, a multi-degree-of-freedom mechanical arm is arranged on the axial moving assembly, and the axial moving assembly is used for adjusting the position, relative to the axial direction of the pipe fitting, of the multi-degree-of-freedom mechanical arm; and the welding gun is arranged on the multi-degree-of-freedom mechanical arm. The technical problems that a welding robot is poor in adaptability to pipelines, insufficient in welding capacity and low in moving flexibility are solved.

Description

Technical Field

[0001] The invention relates to the field of welding robot equipment, and in particular to an all-position welding robot adaptable to pipes with different diameters. Background Art

[0002] With the continuous improvement of industrial manufacturing level, robot welding technology is increasingly used in pipeline engineering, petrochemical industry, shipbuilding and nuclear industry. The working environment of pipeline welding is usually more complicated, and on-site construction is often limited by the site. The existing manual welding method has problems such as low welding efficiency, high labor intensity and unstable welding quality, which is difficult to meet the needs of modern industry for high-quality and high-efficiency welding. At present, there are some welding robots for pipeline welding on the market, but they generally have the following shortcomings:

[0003] 1. Welding robots have poor adaptability to pipelines: Existing welding robots are usually designed for pipelines of fixed specifications. When welding pipelines of different diameters, they need to be complicatedly adjusted or even have some parts replaced, which increases the difficulty and time cost of operation and leads to low welding efficiency.

[0004] 2. Insufficient welding capabilities of welding robots: Pipeline welding usually needs to be performed in different positions, including horizontal welding, vertical welding, and inverted welding, etc. This requires the welding gun to be able to meet the requirements of changing different postures and positions; at the same time, many pipelines involve the welding of intersecting lines. In order to ensure the quality of welding, the posture of the welding gun needs to be able to change at any time. Due to structural limitations, traditional welding robots have low degrees of freedom of welding guns, making it difficult to meet the needs of full-position welding. For example, traditional gantry welding robots are generally hoisted on a gantry and can only weld from the top of the pipeline. When welding other positions of the pipeline, the pipeline needs to be rotated. This situation is impossible in many actual on-site pipeline construction.

[0005] 3. Low mobility of welding robots: Most existing welding robots have complex structures and large volumes, making them difficult to install in narrow or multi-obstruction construction sites, limiting the universality of welding robots in actual scenarios. For example, traditional rail-type welding robots rely on preset tracks to operate. When the welding position needs to be changed or the path needs to be adjusted, the track must be rearranged, which is time-consuming and labor-intensive. In addition, it is inconvenient to lay tracks in some narrow spaces, making it difficult to deploy welding robots.

[0006] Therefore, the present invention proposes an all-position welding robot that is adaptable to different pipe diameters to solve at least one of the above-mentioned technical problems. Summary of the invention

[0007] The purpose of the present invention is to provide an all-position welding robot that can adapt to different pipe diameters. The support rod assembly can be adaptively adjusted according to the different pipe diameters of the pipes to ensure that the welding robot can be assembled on pipes of different diameters and has better pipe adaptability.

[0008] Another object of the present invention is to provide an all-position welding robot that can adapt to pipes of different diameters. The robot can adapt to pipes of different diameters and can move circumferentially and axially along the pipe. While moving, the robot can also adjust the posture of the welding gun according to the welding angle requirements to achieve all-position and all-angle welding, thereby effectively improving the flexibility and welding ability of the welding robot.

[0009] The purpose of the present invention can be achieved by adopting the following scheme:

[0010] The present invention provides an all-position welding robot adapted to different pipe diameters, which is used for welding pipe fittings. The all-position welding robot adapted to different pipe diameters comprises:

[0011] An annular guide rail, the guide rail is used to be arranged around the outer periphery of the pipe along the circumference of the pipe;

[0012] A plurality of support rod assemblies, wherein the plurality of support rod assemblies are arranged on the guide rail and are spaced apart along the circumference of the guide rail;

[0013] The support rod assembly includes a clamping member that can move radially along the guide rail, and the positions of the clamping members in the plurality of support rod assemblies in the radial direction of the guide rail are adjusted respectively so that the plurality of clamping members are all against the outer wall of the pipe;

[0014] A circumferentially movable component, which is movably disposed on the guide rail along the circumference of the guide rail to adjust the position of the circumferentially movable component relative to the circumference of the pipe;

[0015] An axial moving assembly, the axial moving assembly is arranged on the circumferential moving assembly, a multi-degree-of-freedom mechanical arm is arranged on the axial moving assembly, and the axial moving assembly is used to drive the multi-degree-of-freedom mechanical arm to move axially along the guide rail to adjust the position of the multi-degree-of-freedom mechanical arm relative to the axial direction of the pipe;

[0016] A welding gun, wherein the welding gun is arranged on the multi-degree-of-freedom robotic arm.

[0017] In a preferred embodiment of the present invention, the guide rail has a plurality of arc segments, and the plurality of arc segments are sequentially connected end to end to form the annular guide rail.

[0018] In a preferred embodiment of the present invention, in two adjacent arc segments, a first plug block is disposed at the end of one arc segment, and a first slot is disposed at the end of the other arc segment;

[0019] When two adjacent arc segments are in a connected state, the first plug-in block is plugged into the first slot, and the first plug-in block is fixedly connected to the first slot at the plug-in position by a first bolt.

[0020] In a preferred embodiment of the present invention, the support rod assembly comprises:

[0021] A light guide rod, on which a first mounting seat is slidably provided along an extending direction thereof;

[0022] A threaded rod, the threaded rod is arranged parallel to the guide light rod, the threaded rod has a second mounting seat, the second mounting seat is screwed on the threaded rod, and the threaded rod is connected to a power device to drive the threaded rod to rotate;

[0023] A first connecting block and a second connecting block, the clamping member is arranged on the first connecting block, two ends of the guide light rod are respectively fixedly connected to the first connecting block and the second connecting block, and two ends of the threaded rod are respectively rotatably connected to the first connecting block and the second connecting block;

[0024] The first mounting seat and the second mounting seat are both fixedly connected to the guide rail, and the guide light rod and the threaded rod both extend along the radial direction of the guide rail.

[0025] In a preferred embodiment of the present invention, the clamping member includes a splint and a pad, one side surface of the splint is connected to the first connecting block, and the pad is arranged on the other opposite side surface of the splint, and the pad fits tightly against the outer wall of the pipe to increase the friction between the two.

[0026] In a preferred embodiment of the present invention, the clamping member includes a plurality of clamping plates, one side edge of two adjacent clamping plates are connected and there is a preset bending angle between the two clamping plates, and the extension direction of the connection line between the two adjacent clamping plates is parallel to the axial direction of the pipe fitting.

[0027] In a preferred embodiment of the present invention, the guide rail comprises a guide rail body in an annular shape and a gear ring, wherein the gear ring is arranged on the outer periphery of the guide rail body along the circumference of the guide rail body, and the gear ring is connected to the guide rail body;

[0028] The circumferential moving assembly includes a first side wall plate and a second side wall plate, the first side wall plate has a first plate surface and a second plate surface opposite to each other, a rotatable driving gear and a first driving motor are arranged on the first plate surface, the first driving motor is connected to the driving gear through a transmission structure, the teeth of the driving gear are meshed with the teeth of the gear ring, and the first driving motor provides a driving force for the driving gear to rotate, so as to drive the first side wall plate to move circumferentially along the guide rail;

[0029] The second side wall plate is connected to the first plate surface via a limiting connecting plate, and the axial moving assembly is arranged on the second side wall plate.

[0030] In a preferred embodiment of the present invention, a rotating shaft parallel to the axial direction of the guide rail is disposed on the first plate surface, and the driving gear is disposed on the rotating shaft;

[0031] The transmission structure includes a first transmission gear and a second transmission gear, the first transmission gear is arranged on the output shaft of the first drive motor, the second transmission gear is arranged on the rotating shaft, and the teeth on the first transmission gear are meshed with the teeth on the second transmission gear.

[0032] In a preferred embodiment of the present invention, a first slide rail and a driving structure are also provided on the first plate surface, the first driving motor can be slidably provided on the first slide rail, the driving end of the driving structure is connected to the first driving motor, and the driving structure is used to drive the first driving motor to slide along the first slide rail to control the teeth on the first transmission gear to engage or disengage with the teeth on the second transmission gear.

[0033] In a preferred embodiment of the present invention, the first drive motor and the second transmission gear are respectively located on both sides of the limit connecting plate, and the first transmission gear passes over the limit connecting plate and is located on the same side of the limit connecting plate as the second transmission gear;

[0034] When the first drive motor slides along the first slide rail toward the second transmission gear, the first drive motor slides to a position abutting against the limit connecting plate, and the first transmission gear moves to a position where the teeth thereon mesh with the teeth on the second transmission gear.

[0035] In a preferred embodiment of the present invention, a guide limiting ring is arranged on the outer wall of the guide rail body along its circumference, the guide limiting ring has a first side wall surface and a second side wall surface opposite to each other in the radial direction of the guide rail, and the guide limiting ring also has a first end surface and a second end surface opposite to each other in the axial direction of the guide rail;

[0036] The circumferential moving assembly further includes two first mounting plates spaced apart along the axial direction of the guide rail, the first mounting plates being connected to the second plate surface of the first side wall plate, and the two first mounting plates being respectively located on the upper and lower sides of the guide limiting ring;

[0037] The first mounting plate is provided with a plurality of limit guide wheels, which are arranged in at least two rows, and a gap is left between the two rows of limit guide wheels; the upper part of the guide limit ring is located between the two rows of limit guide wheels on the upper first mounting plate, and the outer walls of the two rows of limit guide wheels are in rolling contact with the upper part of the first side wall surface and the upper part of the second side wall surface respectively; the lower part of the guide limit ring is located between the two rows of limit guide wheels on the lower first mounting plate, and the outer walls of the two rows of limit guide wheels are in rolling contact with the lower part of the first side wall surface and the lower part of the second side wall surface respectively.

[0038] In a preferred embodiment of the present invention, the first mounting plate is provided with a plurality of movable guide wheels, and the movable guide wheels on two of the first mounting plates are in rolling contact with the first end surface and the second end surface respectively.

[0039] In a preferred embodiment of the present invention, the limiting guide wheel is rotatably disposed on a plate surface of a second mounting plate, and the second mounting plate is connected to the first mounting plate.

[0040] In a preferred embodiment of the present invention, the plate surface of the first mounting plate is perpendicular to the plate surface of the first side wall plate;

[0041] A second plug-in block is provided at the edge of the first mounting plate, a second slot is provided on the first side wall plate, the second plug-in block is inserted into the second slot, and a connecting piece is provided between the first mounting plate and the first side wall plate, and the first mounting plate and the first side wall plate are fixedly connected to the connecting piece by second bolts respectively.

[0042] In a preferred embodiment of the present invention, the axial movement assembly comprises:

[0043] A second slide rail extending along the axial direction of the guide rail, the second slide rail is arranged on the circumferential moving assembly, a screw rod is arranged on one side of the second slide rail, a slider is arranged on the second slide rail, and the slider is screwed to the screw rod;

[0044] A second driving motor is disposed at one end of the second slide rail, and an output shaft of the second driving motor is connected to one end of the lead screw to provide driving force for the slider to slide along the second slide rail.

[0045] In a preferred embodiment of the present invention, the multi-degree-of-freedom robotic arm is a three-degree-of-freedom robotic arm;

[0046] And / or, the fixed part of the multi-degree-of-freedom robotic arm is connected to the slider, and the movable part of the multi-degree-of-freedom robotic arm is connected to the welding gun.

[0047] As described above, the characteristics and advantages of the all-position welding robot adapted to different pipe diameters of the present invention are:

[0048] A guide rail is arranged around the outer periphery of the pipe to be welded and along the circumference of the pipe, and a plurality of support rod assemblies are arranged at intervals on the guide rail, and each support rod assembly has a clamping member that can move radially along the guide rail. Before welding, the positions of the clamping members in the plurality of support rod assemblies in the radial direction of the guide rail can be adjusted respectively, so that the plurality of clamping members are all against the outer wall of the pipe, thereby ensuring that the relative position between the guide rail and the pipe is kept stable. The arrangement of a plurality of support rod assemblies enables the welding robot of the present application to adapt to the clamping and welding of pipes of different diameters. When welding pipes of different diameters, there is no need to make complicated adjustments, let alone replace parts, which reduces the difficulty of operation, reduces time cost, and improves welding efficiency.

[0049] In addition, the welding gun is arranged on a multi-degree-of-freedom robotic arm, and the multi-degree-of-freedom robotic arm can carry the welding gun and adjust its posture according to the needs of the welding position and angle to complete welding at different positions and angles, which is particularly suitable for welding complex welds such as intersection lines on pipe fittings; the multi-degree-of-freedom robotic arm is arranged on the axial moving component, and the axial moving component is arranged on the circumferential moving component, and the circumferential moving component can be used to move circumferentially along the guide rail to adjust the position of the circumferential moving component relative to the pipe fitting (that is, adjust the position of the welding gun on the circumferential direction of the pipe fitting), and the axial moving component drives the multi-degree-of-freedom robotic arm to change its axial position relative to the guide rail (that is, adjust the axial position of the welding gun on the pipe fitting), so as to realize arbitrary adjustment of different positions of the welding gun on the pipe fitting. In the present invention, the circumferential moving component, the axial moving component and the multi-degree-of-freedom robotic arm are coordinated to enable the welding robot to achieve full-position and full-angle welding, thereby effectively improving the flexibility and welding ability of the welding robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The following drawings are intended only to illustrate and explain the present invention, and do not limit the scope of the present invention.

[0051] Figure 1 This is a three-dimensional diagram of the all-position welding robot of the present invention that is adapted to different pipe diameters when welding pipe fittings;

[0052] Figure 2 It is a partial schematic diagram of two adjacent arc segments in the all-position welding robot adapted to different pipe diameters of the present invention when they are split;

[0053] Figure 3 It is a structural schematic diagram of a support rod assembly in an all-position welding robot adapted to different pipe diameters of the present invention;

[0054] Figure 4 It is a front cross-sectional view of a support rod assembly in an all-position welding robot adapted to different pipe diameters of the present invention;

[0055] Figure 5 It is a structural schematic diagram of a circumferential moving component in an all-position welding robot adapted to different pipe diameters of the present invention;

[0056] Figure 6 It is a partial schematic diagram of the first side wall plate and the first mounting plate of the all-position welding robot adapted to different pipe diameters of the present invention in a separated state;

[0057] Figure 7 This is a schematic diagram of the installation position of the limiting guide wheel in the all-position welding robot adapted to different pipe diameters of the present invention;

[0058] Figure 8 It is a schematic diagram of the structure on the first wall surface of the first side wall plate in the all-position welding robot adapted to different pipe diameters of the present invention.

[0059] The accompanying drawings in the present invention are:

[0060] 1. Guide rail; 101. Arc segment;

[0061] 1011, a first plug-in block; 1012, a first slot;

[0062] 1013. a first bolt; 1014. a first nut;

[0063] 1015, through hole; 102, guide rail body;

[0064] 103. Guide limiting ring; 1031. First end surface;

[0065] 1032, first side wall surface; 104, gear ring;

[0066] 2. Support rod assembly; 201. Clamping member;

[0067] 2011, splint; 2012, connecting wire;

[0068] 2013, pad; 202, guide light rod;

[0069] 203, threaded rod; 204, first mounting seat;

[0070] 205. second mounting seat; 206. first connecting block;

[0071] 2061, a first blind hole; 2062, a first through hole;

[0072] 207. A second connecting block; 2071. A second blind hole;

[0073] 2072, second through hole; 208, first locking screw;

[0074] 209. second locking screw; 210. first thrust bearing;

[0075] 211. second thrust bearing; 212. second nut;

[0076] 213. The third nut; 3. The circumferential moving assembly;

[0077] 301, first side wall plate; 3011, second slot;

[0078] 302, driving gear; 303, first driving motor;

[0079] 304. Second side wall plate; 3041. First connecting column;

[0080] 305. Limiting connecting plate; 306. First transmission gear;

[0081] 307. second transmission gear; 308. rotating shaft;

[0082] 309, first slide rail; 310, mounting block;

[0083] 311. driving structure; 312. connecting rod;

[0084] 313. Connecting plate; 314. First mounting plate;

[0085] 3141, second plug-in block; 315, connecting piece;

[0086] 316. second bolt; 317. movable guide wheel;

[0087] 318. Position limiting guide wheel; 319. Second mounting plate;

[0088] 320, second connecting column; 321, third connecting column;

[0089] 4. Axial moving assembly; 401. Second slide rail;

[0090] 402, screw rod; 403, slider;

[0091] 404. A second driving motor; 5. A multi-degree-of-freedom robotic arm;

[0092] 6. Welding gun; 7. Pipe fittings. DETAILED DESCRIPTION

[0093] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading the present invention, various equivalent forms of modifications to the present invention by those skilled in the art all fall within the scope defined by the claims attached to this application.

[0094] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0095] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0096] Implementation Method 1

[0097] like Figures 1 to 8 As shown, the present invention provides an all-position welding robot adaptable to different pipe diameters, which is used for welding pipe fittings 7. The all-position welding robot adaptable to different pipe diameters comprises: a guide rail 1 in an annular shape, the guide rail 1 is used to be arranged around the outer periphery of the pipe fitting 7 along the circumference of the pipe fitting 7; a plurality of support rod assemblies 2, the plurality of support rod assemblies 2 are all arranged on the guide rail 1 and are spaced and evenly distributed along the circumference of the guide rail 1; the support rod assembly 2 comprises a clamping member 201 which can move radially along the guide rail 1, and the positions of the clamping members 201 in the plurality of support rod assemblies 2 in the radial direction of the guide rail 1 are respectively adjusted so that the plurality of clamping members 201 are all against the outer wall of the pipe fitting 7, Thereby ensuring the stable position between the welding robot and the pipe fitting 7; a circumferential moving component 3, which can be arranged on the guide rail 1 so as to be movable in the circumferential direction of the guide rail 1, so as to adjust the circumferential position of the circumferential moving component 3 relative to the pipe fitting 7; an axial moving component 4, which is arranged on the circumferential moving component 3, and a multi-degree-of-freedom robotic arm 5 is arranged on the axial moving component 4, and the axial moving component 4 is used to drive the multi-degree-of-freedom robotic arm 5 to move axially along the guide rail 1, so as to adjust the axial position of the multi-degree-of-freedom robotic arm 5 relative to the pipe fitting 7; a welding gun 6, which is arranged on the multi-degree-of-freedom robotic arm 5, and the welding operation is performed by the welding gun 6.

[0098] In the present invention, a guide rail 1 is arranged on the outer periphery of the pipe fitting 7 to be welded and along the circumferential direction of the pipe fitting 7 (the guide rail 1 and the outer wall of the pipe fitting 7 are not in contact with each other, but have a certain spacing space therebetween), and a plurality of support rod assemblies 2 are arranged at intervals on the guide rail 1, and each support rod assembly 2 has a clamping member 201 that can move radially along the guide rail 1. Before the pipe fitting 7 is welded by the welding gun 6, the positions of the clamping members 201 in the plurality of support rod assemblies 2 in the radial direction of the guide rail 1 can be adjusted respectively, so that the plurality of clamping members 201 are all against the outer wall of the pipe fitting 7, thereby ensuring that a stable relative position is maintained between the guide rail 1 and the pipe fitting 7. The guide rail 1 serves as the basis for connecting the welding robot and the pipe fitting 7. The positioning and installation of the welding robot can be completed by only assembling the guide rail 1 on the pipe fitting 7, and there is no need to move the pipe fitting 7 or adjust the position of the pipe fitting 7. Therefore, the welding robot of the present invention can be applied to any pipe fitting 7 welding scene, has a wider range of applications, and does not require the preliminary preparation work for welding, which does not require a lot of manpower and material resources.

[0099] By setting up multiple support rod assemblies 2, the welding robot of the present application can adapt to the clamping and welding of pipe fittings 7 of different diameters. When welding pipe fittings 7 of different diameters, there is no need to perform complicated adjustments or replace parts, which reduces the difficulty of operation, reduces time costs, and improves welding efficiency.

[0100] In addition, the welding gun 6 is arranged on the multi-degree-of-freedom robot 5. The multi-degree-of-freedom robot 5 can carry the welding gun 6 and adjust its posture according to the welding position and angle on the pipe fitting 7 to complete welding at different positions and angles, which is particularly suitable for welding complex welds such as intersection lines on the pipe fitting 7; the multi-degree-of-freedom robot 5 is arranged on the axial moving component 4, and the axial moving component 4 is arranged on the circumferential moving component 3. The circumferential moving component 3 can be moved circumferentially along the guide rail 1 to adjust the circumferential position of the circumferential moving component 3 relative to the pipe fitting 7 (that is, adjust the circumferential position of the welding gun 6 on the pipe fitting 7). The axial moving component 4 drives the multi-degree-of-freedom robot 5 to change its axial position relative to the guide rail 1 (that is, adjust the axial position of the welding gun 6 on the pipe fitting 7), so as to realize arbitrary adjustment of different positions of the welding gun 6 on the pipe fitting 7. In the present invention, the circumferential moving component 3, the axial moving component 4 and the multi-degree-of-freedom robot 5 cooperate with each other, so that the welding robot can realize full-position and full-angle welding, effectively improving the flexibility and welding ability of the welding robot.

[0101] In the present invention, the pipe fitting 7 can be, but is not limited to, a pipe or a round pipe, and of course, can also be other round tubular structural parts that require welding. Of course, the specific form of the pipe fitting 7 is not limited to the above examples, and technicians in the relevant field may make other changes based on the technical essence of this application, but as long as the structural parts have the same or similar structure as the pipe in this application and require welding, they should be included in the protection scope of this application.

[0102] In the actual welding process, the clamping members 201 in the multiple support rod assemblies 2 can be controlled to be at the same position in the radial direction of the guide rail 1 (that is, the distances between the multiple clamping members 201 and the axis of the guide rail 1 are equal), so that the pipe fitting 7 and the guide rail 1 are in a coaxial state in the welding state. Of course, the clamping members 201 in the multiple support rod assemblies 2 can also be controlled to be at different positions in the radial direction of the guide rail 1 (that is, the distances between the multiple clamping members 201 and the axis of the guide rail 1 are not equal) according to actual needs. At this time, the pipe fitting 7 and the guide rail 1 are in an eccentric state. At this time, the distance between one side of the guide rail 1 and the pipe fitting 7 is greater than the distance between the other opposite side of the guide rail 1 and the pipe fitting 7. At this time, the position of the welding gun 6 in the circumferential direction of the guide rail 1 can be adjusted according to actual needs. Through the non-equal length adjustment of the multiple support rod assemblies 2, the adjustable ability and actual adaptability of the welding gun 6 are improved, ensuring that the welding gun 6 can be accurately aligned with the welding position for welding. For example, when the multi-DOF robot arm 5 is in a fully extended or retracted state, the welding gun 6 still cannot reach the preset welding position. Then, the non-equal length adjustment of multiple support rod assemblies 2 can be used as a supplement to the multi-DOF robot arm 5 to enable the welding gun 6 to reach the preset welding position.

[0103] In an optional implementation of the present invention, Figure 1 , Figure 2 As shown, the guide rail 1 has a plurality of arc segments 101 , and the plurality of arc segments 101 are sequentially connected end to end to form a circular guide rail 1 .

[0104] Specifically, there are four arc segments 101, and the lengths of the four arc segments 101 are the same. Before the welding operation, in order to facilitate transportation and installation of the circumferential moving component 3 on the guide rail 1, the four arc segments 101 can be connected in pairs, or three arc segments 101 can be connected. After the circumferential moving component 3 is installed, all the arc segments 101 are connected end to end to form a circular guide rail 1.

[0105] Further, such as Figure 2 As shown, in two adjacent arc segments 101, at least one first plug block 1011 is provided at the end of one arc segment 101, and a first slot 1012 matched with the first plug block 1011 is provided at the end of the other arc segment 101. When the two adjacent arc segments 101 are connected, the first plug block 1011 on one arc segment 101 is plugged into the first slot 1012 on the other arc segment 101, and the first plug block 1011 and the first slot 1012 are respectively provided with interconnected through holes 1015, a first bolt 1013 is inserted into the through hole 1015 at the plugging position of the first plug block 1011 and the first slot 1012, and a first nut 1014 is screwed on the head of the first bolt 1013, so that the two adjacent arc segments 101 are fixedly connected by the first bolt 1013.

[0106] In an optional embodiment of the present invention, Figure 1 , Figure 3 and Figure 4 As shown, the support rod assembly 2 includes a guide light rod 202, a threaded rod 203, a first connecting block 206 and a second connecting block 207. The guide light rod 202 is provided with a first mounting seat 204 that can slide along its extension direction. The threaded rod 203 is arranged parallel to the guide light rod 202. The threaded rod 203 has a second mounting seat 205. The second mounting seat 205 is provided with a threaded hole. The second mounting seat 205 is screwed to the threaded rod 203 through the threaded hole. One end of the threaded rod 203 is connected to the power device. The first and second mounting seats 204 and 205 are respectively fixedly connected to the guide rail 1 by bolts, and the guide light rod 202 and the threaded rod 203 are both extended along the radial direction of the guide rail 1. The threaded rod 203 is driven to rotate by the power device. Since the second mounting seat 205 on the threaded rod 203 has been fixedly installed on the guide rail 1, the threaded rod 203 moves along its own axial direction (i.e., moves along the radial direction of the guide rail 1) while rotating, so as to achieve the purpose of adjusting the clamping member 201 along the radial direction of the guide rail 1. Among them, the guide light rod 202 plays the role of guiding and ensuring the stable movement of the clamping member 201.

[0107] In the present invention, the power device may be, but is not limited to, a motor, and the output shaft of the motor is connected to one end of the threaded rod 203. Of course, it may also be other power devices, and the specific form of the above power device is not limited to the above examples. The technical personnel in the relevant field may make other changes under the inspiration of the technical essence of this application, but as long as the function is the same as that of the motor in this application, and the function of providing driving force for the rotation of the threaded rod 203 is provided, it should be included in the protection scope of this application.

[0108] Specifically, Figure 3 and Figure 4 As shown, the first connection block 206 has a first blind hole 2061, the second connection block 207 has a second blind hole 2071, the two ends of the guide light rod 202 are respectively inserted into the first blind hole 2061 and the second blind hole 2071, and the guide light rod 202 is fixedly connected to the first connection block 206 by a first locking screw 208, and the guide light rod 202 is fixedly connected to the second connection block 207 by a second locking screw 209. The screwing direction of the first locking screw 208 and the second locking screw 209 is perpendicular to the extension direction of the guide light rod 202, so as to achieve circumferential locking of the guide light rod 202 and ensure that the guide light rod 202 does not rotate circumferentially.

[0109] In addition, the first connecting block 206 also has a first through hole 2062, and the second connecting block 207 also has a second through hole 2072. The two ends of the threaded rod 203 can be rotatably inserted into the first through hole 2062 and the second through hole 2072, respectively, and the two ends of the threaded rod 203 are respectively tightened with a second nut 212 and a third nut 213 to achieve axial locking of the threaded rod 203 and ensure that the threaded rod 203 can rotate circumferentially.

[0110] Further, such as Figure 4 As shown, at least one first thrust bearing 210 is disposed in the first through hole 2062, and at least one second thrust bearing 211 is disposed in the second through hole 2072. Both ends of the threaded rod 203 are respectively connected to the first thrust bearing 210 and the second thrust bearing 211 to ensure that the threaded rod 203 can rotate stably and smoothly, thereby extending the service life of the threaded rod 203.

[0111] Further, such as Figure 3 and Figure 4 As shown, the clamping member 201 includes a clamping plate 2011 and a sheet-shaped pad 2013, one side of the clamping plate 2011 is connected to the first connecting block 206, and the pad 2013 is arranged on the other opposite side of the clamping plate 2011. When the clamping member 201 abuts against the outer wall of the pipe 7, the pad 2013 is tightly fitted with the outer wall of the pipe 7 to increase the friction between the clamping member 201 and the outer wall of the pipe 7, thereby ensuring stable clamping of the pipe 7. The pad 2013 can be, but is not limited to, a rubber pad.

[0112] Further, such as Figure 3 As shown, the clamping member 201 includes a plurality of clamping plates 2011, one side edge of two adjacent clamping plates 2011 are connected and there is a preset bending angle between the two adjacent clamping plates 2011, and the extension direction of the connecting line 2012 of the two adjacent clamping plates 2011 is parallel to the axial direction of the pipe 7, so that the side plate surface of the clamping member 201 that abuts against the pipe 7 is more adapted to the curvature of the outer wall of the pipe 7, thereby improving the stable clamping ability of the clamping member 201, and thereby improving the stability of the welding robot.

[0113] In an optional implementation of the present invention, Figure 1 , Figure 2 , Figures 5 to 8As shown, the guide rail 1 includes a guide rail body 102 and a gear ring 104 in a circular ring shape, the gear ring 104 is arranged on the outer periphery of the guide rail body 102 along the circumference of the guide rail body 102, and the inner side wall of the gear ring 104 is connected to the outer side wall of the guide rail body 102; wherein the circumferential moving component 3 includes a first side wall plate 301 and a second side wall plate 304, the first side wall plate 301 has a first plate surface and a second plate surface opposite to each other, a rotatable driving gear 302 and a first driving motor 303 are arranged on the first plate surface, and the first side wall plate 301 has a first plate surface and a second plate surface opposite to each other, and a rotatable driving gear 302 and a first driving motor 303 are arranged on the first plate surface. The extension direction of the output shaft of the driving motor 303 is perpendicular to the extension direction of the rotating shaft 308. The first driving motor 303 is connected to the driving gear 302 through a transmission structure. The teeth of the driving gear 302 are meshed with the teeth of the ring gear 104. The first driving motor 303 provides driving force for the rotation of the driving gear 302 to drive the first side wall plate 301 to move along the ring gear 104, so that the circumferential moving component 3 can move circumferentially along the guide rail 1, so as to achieve the purpose of adjusting the circumferential position of the welding gun 6 on the pipe 7.

[0114] Further, if Figure 1 and Figure 8 As shown, the second side wall plate 304 is connected to the first plate surface of the first side wall plate 301 through the limiting connecting plate 305 , and the axial moving component 4 is arranged on the second side wall plate 304 .

[0115] In this embodiment, if Figure 1 , Figure 2 As shown, the guide rail body 102 and the gear ring 104 are respectively multi-section splicing structures, and the multi-sections are spliced ​​end to end to form the annular guide rail body 102 and the annular gear ring 104 respectively. Among them, the guide rail body 102 can be spliced ​​and fixed by the above-mentioned first plug block 1011 and the first slot 1012, and then fixedly connected by the first bolt 1013. No additional connection structure is required between two adjacent gear rings 104. The multi-section gear rings 104 can be connected to the outer side walls of the corresponding multi-section guide rail body 102 by bolts and nuts. After the multi-section guide rail body 102 is spliced, the multi-section gear rings 104 naturally form a structure connected end to end, thereby splicing to form a complete annular gear ring 104. Specifically, the annular guide rail body 102 is spliced ​​and formed by four sections of the same arc structure, and the annular gear ring 104 is spliced ​​and formed by four sections of the same arc structure.

[0116] Specifically, Figure 8As shown, a rotating shaft 308 parallel to the axial direction of the guide rail 1 is arranged on the first plate surface of the first side wall plate 301, and the driving gear 302 is arranged on the rotating shaft 308. The transmission structure includes a first transmission gear 306 and a second transmission gear 307. The first transmission gear 306 is arranged on the output shaft of the first driving motor 303, and the second transmission gear 307 is arranged on the rotating shaft 308. The teeth on the first transmission gear 306 and the teeth on the second transmission gear 307 are meshed. The function of the transmission structure is to transmit the rotational force provided by the output shaft of the first driving motor 303 to the driving gear 302. The first transmission gear 306 and the second transmission gear 307 cooperate to realize meshing transmission, thereby driving the driving gear 302 to move circumferentially along the gear ring 104, that is, to achieve the purpose of circumferential movement of the circumferential moving component 3 along the guide rail 1. The first transmission gear 306 and the second transmission gear 307 are both bevel gears, and the driving gear 302 is a spur gear matched with the gear ring 104.

[0117] Further, such as Figure 8 As shown, a first slide rail 309 and a driving structure 311 are also provided on the first plate surface of the first side wall plate 301. The first slide rail 309 is fixedly installed on the first plate surface of the first side wall plate 301 by bolts. The first driving motor 303 can be slidably provided on the first slide rail 309. The first driving motor 303 moves along the first slide rail 309 to move the first transmission gear 306 toward or away from the second transmission gear 307. Among them, the driving end of the driving structure 311 is connected to the first driving motor 303, and the driving structure 311 is used to drive the first driving motor 303 to slide along the first slide rail 309. When the first transmission gear 306 is controlled to move in the direction close to the second transmission gear 307, the teeth on the first transmission gear 306 can be controlled to mesh with the teeth on the second transmission gear 307, and normal power transmission can be performed at this time; when the first transmission gear 306 is controlled to move in the direction away from the second transmission gear 307, the teeth on the first transmission gear 306 can be controlled to separate from the teeth on the second transmission gear 307, and power transmission can no longer be performed at this time. In this state, the driving gear 302 and the second transmission gear 307 rotate freely, which can be suitable for the assembly of the circumferential moving component 3 and the guide rail 1, ensuring that the teeth of the driving gear 302 can mesh smoothly with the teeth of the ring gear 104.

[0118] Further, such as Figure 8As shown, the first drive motor 303 and the second transmission gear 307 are respectively located on both sides of the limiting connection plate 305, and the first transmission gear 306 passes over the limiting connection plate 305 and is located on the same side of the limiting connection plate 305 as the second transmission gear 307; when the first drive motor 303 slides along the first slide rail 309 toward the second transmission gear 307, the first drive motor 303 slides to a position against the limiting connection plate 305, and the first transmission gear 306 moves to a position where the teeth thereon mesh with the teeth on the second transmission gear 307. The setting of the limiting connection plate 305 can not only serve as a connecting structural member between the first side wall plate 301 and the second side wall plate 304, but also play a role in limiting the moving position of the first drive motor 303, ensuring that the teeth on the first transmission gear 306 can just reach the best meshing position with the teeth on the second transmission gear 307, and ensuring smooth transmission.

[0119] In a specific embodiment of the present invention, Figure 8 As shown, the driving structure 311 includes a wrench, a first plate surface has a mounting block 310, one end of the wrench is rotatably connected to the mounting block 310 through a shaft, the middle part of the wrench or a position close to the middle part is connected to one end of a connecting rod 312 through a hinge, the other end of the connecting rod 312 is provided with a connecting plate 313, the connecting plate 313 is connected to the first driving motor 303, and the extension direction of the connecting rod 312 is parallel to the extension direction of the first slide rail 309.

[0120] Since the first drive motor 303 has a large reduction ratio, a large external force is required to rotate the first drive motor 303. When the circumferential moving assembly 3 needs to be installed on the guide rail 1, the wrench can be lifted to drive the first drive motor 303 to move in a direction away from the second transmission gear 307, so that the teeth on the first transmission gear 306 are separated from the teeth on the second transmission gear 307, so that the circumferential moving assembly 3 can move freely along the circumference of the guide rail 1 on the guide rail 1 without being hindered by the first drive motor 303. After the circumferential moving assembly 3 is installed on the guide rail 1, the wrench can be pushed down to drive the first drive motor 303 to move in a direction close to the second transmission gear 307, so that the teeth on the first transmission gear 306 are meshed with the teeth on the second transmission gear 307, and at this time, the first drive motor 303 can drive the circumferential moving assembly 3 to move on the guide rail 1 in a controlled manner.

[0121] Of course, in the present invention, the above-mentioned wrench structure can be used to control the first drive motor 303 to slide on the first slide rail 309, and other structures such as handles can also be used to directly connect with the first drive motor 303 or the connecting rod 312 through the handle, and control the sliding position of the first drive motor 303 on the first slide rail 309 by pushing and pulling.

[0122] In an optional implementation of the present invention, Figure 5 As shown, the second side wall plate 304 is arranged parallel to the first side wall plate 301, and a plurality of first connecting columns 3041 are connected between the second side wall plate 304 and the first plate surface of the first side wall plate 301 to improve the stability of the connection between the second side wall plate 304 and the first side wall plate 301, thereby strengthening the structural rigidity of the circumferential moving component 3.

[0123] In an optional implementation of the present invention, Figure 2 , Figure 5 and Figure 7 As shown, a guide stop ring 103 is arranged on the outer wall of the guide rail body 102 along its circumferential direction. The guide stop ring 103 is connected to the outer wall of the guide rail body 102. The guide stop ring 103 has a radial direction (i.e. Figure 2 The guide limit ring 103 also has a first side wall surface 1032 and a second side wall surface opposite to the inner and outer directions of the paper, and the guide limit ring 103 also has an axial direction of the guide rail 1 (ie Figure 2 The circumferential moving assembly 3 also includes two first mounting plates 314 arranged at intervals along the axial direction of the guide rail 1, the first mounting plates 314 are connected to the second plate surface of the first side wall plate 301, and the two first mounting plates 314 are respectively located on the upper and lower sides of the guide limit ring 103; the first mounting plate 314 has a plurality of limit guide wheels 318, and the plurality of limit guide wheels 318 are arranged in at least two rows, and a gap is left between the two rows of limit guide wheels 318, preferably the gap is equal to the first side wall surface 101 on the guide limit ring 103. 32 and the second side wall surface (i.e., the thickness of the guide limit ring 103), so that the upper part of the guide limit ring 103 is located between the two rows of limit guide wheels 318 of the upper first mounting plate 314, and the outer walls of the two rows of limit guide wheels 318 are in rolling contact with the upper part of the first side wall surface 1032 and the upper part of the second side wall surface respectively; the lower part of the guide limit ring 103 is located between the two rows of limit guide wheels 318 of the lower first mounting plate 314, and the outer walls of the two rows of limit guide wheels 318 are in rolling contact with the lower part of the first side wall surface 1032 and the lower part of the second side wall surface respectively. By setting up two rows of limiting guide wheels 318, the circumferentially movable component 3 can be limited radially along the guide rail 1, and the outer walls of the two rows of limiting guide wheels 318 are in rolling contact with the first side wall surface 1032 and the second side wall surface respectively, thereby playing a role of support and rolling guidance, so that the rolling contact position between the circumferentially movable component 3 and the guide rail 1 is more balanced in force, avoiding the occurrence of local excessive force, and improving the stability of the circumferentially movable component 3 moving along the guide rail 1.

[0124] Further, such as Figure 2 and Figure 5As shown, the first mounting plate 314 has a plurality of movable guide wheels 317, and the movable guide wheels 317 on the two first mounting plates 314 are in rolling contact with the first end surface 1031 and the second end surface respectively. The movable guide wheels 317 cooperate with the limiting guide wheels 318 to support the circumferential moving assembly 3, so that the circumferential moving assembly 3 is in rolling contact with the guide rail 1 on at least three sides, further improving the stability of the circumferential moving assembly 3 moving along the guide rail 1 and the rolling ability of the circumferential moving assembly 3.

[0125] Specifically, Figure 5 , Figure 7 As shown, the limiting guide wheel 318 is rotatably disposed on the plate surface of the second mounting plate 319, and a plurality of second connecting columns 320 are connected between the second mounting plate 319 and the first mounting plate 314. By adjusting the length of the second connecting columns 320, the distance between the limiting guide wheels 318 on the upper and lower second mounting plates 319 can be adjusted, thereby adapting to the stable connection of the guide limiting rings 103 of different radial lengths.

[0126] Further, such as Figure 5 As shown, a plurality of third connecting columns 321 are connected between the two second mounting plates 319 to which the upper and lower first mounting plates 314 are respectively connected, so as to improve the position stability of the two second mounting plates 319 .

[0127] Specifically, in the invention, if Figure 5 and Figure 6 As shown, the plate surface of the first mounting plate 314 is perpendicular to the plate surface of the first side wall plate 301; the edge of the first mounting plate 314 has a second plug block 3141, the first side wall plate 301 has a second slot 3011, the second plug block 3141 is plugged into the second slot 3011, and a connecting piece 315 is provided between the first mounting plate 314 and the first side wall plate 301, and the first mounting plate 314 and the first side wall plate 301 are fixedly connected to the connecting piece 315 by second bolts 316 respectively, so as to ensure the stable connection between the first mounting plate 314 and the first side wall plate 301. The connecting piece 315 can be, but is not limited to, an angle steel.

[0128] In an optional implementation of the present invention, Figure 1 As shown, the axial movement assembly 4 includes a second slide rail 401, and the extension direction of the second slide rail 401 is parallel to the axial direction of the guide rail 1, that is, the extension direction of the second slide rail 401 is along Figure 1The second slide rail 401 is vertically extended in the middle, and is fixedly mounted on the second side wall plate 304 of the circumferential moving assembly 3 by bolts. A screw rod 402 is provided on one side of the second slide rail 401, and the extension direction of the screw rod 402 is parallel to the extension direction of the second slide rail 401. A slider 403 is slidably provided on the second slide rail 401, and the slider 403 has a threaded hole. The slider 403 is screwed to the screw rod 402 through the threaded hole. The rotation of the screw rod 402 can drive the slider 403 to move up and down along the second slide rail 401, so as to adjust the axial position of the slider 403 relative to the pipe fitting 7, and then adjust the axial position of the welding gun 6 connected to the slider 403 on the pipe fitting 7, so as to realize the adjustment of the axial welding position of the pipe fitting 7.

[0129] Further, such as Figure 1 As shown, the axial moving component 4 also includes a second drive motor 404, which is fixedly arranged at the top end of the second slide rail 401, and the output shaft of the second drive motor 404 is connected to the top end of the screw rod 402. The screw rod 402 can be driven to rotate by the second drive motor 404, thereby providing driving force for the slider 403 to slide along the second slide rail 401.

[0130] In an optional implementation of the present invention, Figure 1 As shown, the fixed part of the multi-degree-of-freedom robot 5 is detachably connected to the slider 403, and the moving part of the multi-degree-of-freedom robot 5 is connected to the welding gun 6. The multi-degree-of-freedom robot 5 and the welding gun 6 can move with the sliding of the slider 403 on the second slide rail 401, so as to adjust the axial position of the multi-degree-of-freedom robot 5 and the welding gun 6 in the pipe 7 to meet the needs of different welding positions. Among them, the multi-degree-of-freedom robot 5 can be but not limited to a three-degree-of-freedom robot. The three-degree-of-freedom robot can be used to adjust the different postures of the welding gun 6, so as to meet the welding needs of multiple angles, and is particularly suitable for welding complex welds such as intersection lines on pipes 7. In the present invention, the three-degree-of-freedom robot cooperates with the circumferential moving component 3 and the axial moving component 4, so that the welding robot of the present invention has at least 5 degrees of freedom, so that all-position welding of pipes 7 can be achieved.

[0131] The assembly and working process of the all-position welding robot adapted to different pipe diameters of the present invention is as follows:

[0132] First, the four sections of the gear ring 104 are respectively installed on the corresponding four sections of the guide rail body 102, and then three sections of the guide rail body 102 are connected in sequence, that is, a three-quarter circle of the guide rail 1 is assembled. The teeth on the first transmission gear 306 are controlled to separate from the teeth on the second transmission gear 307, and the circumferential moving component 3 is installed on the guide rail 1 so that the teeth of the driving gear 302 are meshed with the teeth of the gear ring 104; then, the first transmission gear 306 is controlled to move in a direction close to the second transmission gear 307 until the teeth on the first transmission gear 306 are meshed with the teeth on the second transmission gear 307; then, the last section of the guide rail body 102 is installed to assemble a complete circle of the guide rail 1.

[0133] The guide rail 1 is arranged around the outer circumference of the pipe 7 to be welded, and the positions of the clamps 201 in the plurality of support rod assemblies 2 in the radial direction of the guide rail 1 are adjusted respectively, so that the plurality of clamps 201 are all against the outer wall of the pipe 7, ensuring that the guide rail 1 can be fixed on the pipe 7 and keep the position unchanged. Before the welding operation, the circumferential moving assembly 3 is driven to move along the guide rail 1 by the first driving motor 303, so that the circumferential moving assembly 3 can move around the circumference of the pipe 7 to be welded, and at the same time, the second driving motor 404 in the axial moving assembly 4 drives the multi-degree-of-freedom robot 5 to move along the axial direction of the pipe 7 to be welded, and the multi-degree-of-freedom robot 5 can adjust the posture of the welding gun 6 according to the welding position and angle requirements, so as to realize full-position and multi-posture welding.

[0134] The characteristics and advantages of the all-position welding robot adapted to different pipe diameters of the present invention are:

[0135] 1. The all-position welding robot adapted to different pipe diameters can adjust the position of the clamping member 201 on the support rod assembly 2 according to the pipe diameter of the pipe 7, so that the welding robot can stably clamp the pipe 7, thereby adapting to the welding of pipes with different pipe diameters. The pipe 7 can be clamped by the cooperation of multiple support rod assemblies 2, with a large adjustable range, and no other parts need to be added or replaced during the adjustment process, making the adjustment more convenient and efficient.

[0136] Second, the full-position welding robot adapted to different pipe diameters can adjust the position and posture of the welding gun 6 through the cooperation of the circumferential moving component 3, the axial moving component 4 and the multi-degree-of-freedom mechanical arm 5, and can realize full-position welding of the pipe 7, which is suitable for welding complex welds such as the intersection line on the pipe 7. Among them, the circumferential moving component 3 can move along the guide rail 1 to achieve 360° position adjustment of the welding gun 6 around the pipe 7; the axial moving component 4 can drive the multi-degree-of-freedom mechanical arm 5 to move in a large range in the axial direction of the pipe 7, and the multi-degree-of-freedom mechanical arm 5 can realize the need of changing different postures of the welding gun 6 to meet the needs of different welding angles. In the present invention, the circumferential moving component 3, the axial moving component 4 and the multi-degree-of-freedom mechanical arm 5 cooperate, so that the welding robot of the present invention has at least 5 degrees of freedom. Since the rotation of the welding gun 6 itself will not affect the welding process, the welding robot of the present invention can achieve full-position welding within a certain spatial range.

[0137] 3. The all-position welding robot adapted to different pipe diameters is compact, portable and easy to install. For example, the guide rail 1 can be formed by splicing multiple arc segments 101 (such as four arc segments 101). In actual use, the four arc segments 101 can be spliced ​​in pairs in advance to form two semicircular guide rails, and the circumferential moving component 3 can be pre-installed on one of the semicircular guide rails. When welding is required, it is only necessary to splice the two semicircular guide rails, and then adjust the position of the clamping member 201 in the support rod assembly 2 to tighten the outer wall of the pipe 7 before welding. The entire operation process is simple, efficient and convenient; in addition, the guide rail 1, the circumferential moving component 3 and the axial moving component 4 are all connected by bolts or screws, which is convenient for disassembly. After disassembly, it is easy to carry and transport, and has better transfer capabilities.

[0138] It should be noted that, in the description of this application, the terms "first", "second", etc. are only used for descriptive purposes and to distinguish similar objects. There is no order of precedence between the two, and they cannot be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, the meaning of "plurality" is two or more.

[0139] The above-mentioned various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments.

[0140] The above are only a few embodiments of the present invention. Although the embodiments disclosed by the present invention are as above, the contents are only embodiments adopted for facilitating the understanding of the present invention and are not used to limit the present invention. Any technician in the technical field to which the present invention belongs can make any modification and change in the form and details of the embodiments without departing from the spirit and scope disclosed by the present invention, but the patent protection scope of the present invention shall still be subject to the scope defined by the attached claims.

Claims

1. An all-position welding robot adapted to different pipe diameters, used for welding pipe fittings, characterized in that: The all-position welding robot adapted to different pipe diameters comprises: An annular guide rail, the guide rail is used to be arranged around the outer periphery of the pipe along the circumference of the pipe; A plurality of support rod assemblies, wherein the plurality of support rod assemblies are arranged on the guide rail and are spaced apart along the circumference of the guide rail; The support rod assembly includes a clamping member that can move radially along the guide rail, and the positions of the clamping members in the plurality of support rod assemblies in the radial direction of the guide rail are adjusted respectively so that the plurality of clamping members are all against the outer wall of the pipe; A circumferentially movable component, which is movably disposed on the guide rail along the circumference of the guide rail to adjust the position of the circumferentially movable component relative to the circumference of the pipe; An axial moving assembly, the axial moving assembly is arranged on the circumferential moving assembly, a multi-degree-of-freedom mechanical arm is arranged on the axial moving assembly, and the axial moving assembly is used to drive the multi-degree-of-freedom mechanical arm to move axially along the guide rail to adjust the position of the multi-degree-of-freedom mechanical arm relative to the axial direction of the pipe; A welding gun, wherein the welding gun is arranged on the multi-degree-of-freedom robotic arm.

2. The all-position welding robot adapted to different pipe diameters as claimed in claim 1, characterized in that: The guide rail has a plurality of arc segments, and the plurality of arc segments are connected end to end in sequence to form the annular guide rail.

3. The all-position welding robot adapted to different pipe diameters as claimed in claim 2, characterized in that: In two adjacent arc segments, a first plug block is disposed at the end of one arc segment, and a first slot is disposed at the end of the other arc segment; When two adjacent arc segments are in a connected state, the first plug-in block is plugged into the first slot, and the first plug-in block is fixedly connected to the first slot at the plugging position by a first bolt.

4. The all-position welding robot adapted to different pipe diameters as claimed in claim 1, characterized in that: The support rod assembly comprises: A light guide rod, on which a first mounting seat is slidably provided along an extending direction thereof; A threaded rod, the threaded rod is arranged parallel to the guide light rod, the threaded rod has a second mounting seat, the second mounting seat is screwed on the threaded rod, and the threaded rod is connected to a power device to drive the threaded rod to rotate; A first connecting block and a second connecting block, the clamping member is arranged on the first connecting block, two ends of the guide light rod are respectively fixedly connected to the first connecting block and the second connecting block, and two ends of the threaded rod are respectively rotatably connected to the first connecting block and the second connecting block; The first mounting seat and the second mounting seat are both fixedly connected to the guide rail, and the guide light rod and the threaded rod both extend along the radial direction of the guide rail.

5. The all-position welding robot adapted to different pipe diameters as claimed in claim 4, characterized in that: The clamping member includes a clamping plate and a pad. One side surface of the clamping plate is connected to the first connecting block. The pad is arranged on the other opposite side surface of the clamping plate. The pad fits tightly against the outer wall of the pipe to increase the friction between the two.

6. The all-position welding robot adapted to different pipe diameters as claimed in claim 4 or 5, characterized in that: The clamping member comprises a plurality of clamping plates, one side edge of two adjacent clamping plates are connected and there is a preset bending angle between the two clamping plates, and the extending direction of the connecting line between the two adjacent clamping plates is parallel to the axial direction of the pipe fitting.

7. The all-position welding robot adapted to different pipe diameters as claimed in claim 1 or 2, characterized in that: The guide rail comprises a ring-shaped guide rail body and a gear ring, wherein the gear ring is arranged on the outer periphery of the guide rail body along the circumference of the guide rail body, and the gear ring is connected to the guide rail body; The circumferential moving assembly includes a first side wall plate and a second side wall plate, the first side wall plate has a first plate surface and a second plate surface opposite to each other, a rotatable driving gear and a first driving motor are arranged on the first plate surface, the first driving motor is connected to the driving gear through a transmission structure, the teeth of the driving gear are meshed with the teeth of the gear ring, and the first driving motor provides a driving force for the driving gear to rotate, so as to drive the first side wall plate to move circumferentially along the guide rail; The second side wall plate is connected to the first plate surface via a limiting connecting plate, and the axial moving assembly is arranged on the second side wall plate.

8. The all-position welding robot adapted to different pipe diameters as claimed in claim 7, characterized in that: A rotating shaft parallel to the axial direction of the guide rail is arranged on the first plate surface, and the driving gear is arranged on the rotating shaft; The transmission structure includes a first transmission gear and a second transmission gear, the first transmission gear is arranged on the output shaft of the first drive motor, the second transmission gear is arranged on the rotating shaft, and the teeth on the first transmission gear are meshed with the teeth on the second transmission gear.

9. The all-position welding robot adapted to different pipe diameters as claimed in claim 8, characterized in that: A first slide rail and a driving structure are also provided on the first plate surface. The first driving motor can be slidably provided on the first slide rail. The driving end of the driving structure is connected to the first driving motor. The driving structure is used to drive the first driving motor to slide along the first slide rail to control the teeth on the first transmission gear to engage or disengage with the teeth on the second transmission gear.

10. The all-position welding robot adapted to different pipe diameters as claimed in claim 9, characterized in that: The first drive motor and the second transmission gear are respectively located on both sides of the limit connecting plate, and the first transmission gear passes over the limit connecting plate and is located on the same side of the limit connecting plate as the second transmission gear; When the first drive motor slides along the first slide rail toward the second transmission gear, the first drive motor slides to a position abutting against the limit connecting plate, and the first transmission gear moves to a position where the teeth thereon mesh with the teeth on the second transmission gear.

11. The all-position welding robot adapted to different pipe diameters as claimed in claim 7, characterized in that: A guide limiting ring is arranged on the outer wall of the guide rail body along its circumference, the guide limiting ring having a first side wall surface and a second side wall surface opposite to each other in the radial direction of the guide rail, and the guide limiting ring also having a first end surface and a second end surface opposite to each other in the axial direction of the guide rail; The circumferential moving assembly further includes two first mounting plates spaced apart along the axial direction of the guide rail, the first mounting plates being connected to the second plate surface of the first side wall plate, and the two first mounting plates being respectively located on the upper and lower sides of the guide limiting ring; The first mounting plate is provided with a plurality of limit guide wheels, which are arranged in at least two rows, and a gap is left between the two rows of limit guide wheels. The upper part of the guide limit ring is located between the two rows of limit guide wheels on the upper first mounting plate, and the outer walls of the two rows of limit guide wheels are in rolling contact with the upper part of the first side wall surface and the upper part of the second side wall surface respectively; the lower part of the guide limit ring is located between the two rows of limit guide wheels on the lower first mounting plate, and the outer walls of the two rows of limit guide wheels are in rolling contact with the lower part of the first side wall surface and the lower part of the second side wall surface respectively.

12. The all-position welding robot adapted to different pipe diameters as claimed in claim 11, characterized in that: The first mounting plate is provided with a plurality of movable guide wheels, and the movable guide wheels on the two first mounting plates are in rolling contact with the first end surface and the second end surface respectively.

13. The all-position welding robot adapted to different pipe diameters as claimed in claim 11, characterized in that: The limiting guide wheel is rotatably arranged on the plate surface of the second mounting plate, and the second mounting plate is connected to the first mounting plate.

14. The all-position welding robot adapted to different pipe diameters as claimed in claim 11, characterized in that: The plate surface of the first mounting plate is perpendicular to the plate surface of the first side wall plate; A second plug-in block is provided at the edge of the first mounting plate, a second slot is provided on the first side wall plate, the second plug-in block is inserted into the second slot, and a connecting piece is provided between the first mounting plate and the first side wall plate, and the first mounting plate and the first side wall plate are fixedly connected to the connecting piece by second bolts respectively.

15. The all-position welding robot adapted to different pipe diameters as claimed in claim 1, characterized in that: The axial movement assembly comprises: A second slide rail extending along the axial direction of the guide rail, the second slide rail is arranged on the circumferential moving assembly, a screw rod is arranged on one side of the second slide rail, a slider is arranged on the second slide rail, and the slider is screwed to the screw rod; A second driving motor is disposed at one end of the second slide rail, and an output shaft of the second driving motor is connected to one end of the lead screw to provide driving force for the slider to slide along the second slide rail.

16. The all-position welding robot adapted to different pipe diameters as claimed in claim 15, characterized in that: The multi-degree-of-freedom robotic arm is a three-degree-of-freedom robotic arm; And / or, the fixed part of the multi-degree-of-freedom robotic arm is connected to the slider, and the movable part of the multi-degree-of-freedom robotic arm is connected to the welding gun.

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