Detection and welding integrated robot flexible welding equipment and method

Abstract

The invention discloses detecting and welding integrated robot flexible welding equipment and method, and relates to the field of robot welding. Detection and welding integrated robot flexible welding equipment comprises an operation base station, and further comprises positioning mechanisms which are symmetrically arranged and are rotationally arranged on the operation base station, and the mechanisms are used for positioning and splicing two pipes to be welded; by means of the integrated positioning, welding and detecting structure, the transfer links between equipment are reduced, the welding efficiency is improved, the real-time detection function of an industrial camera is achieved, welding defects can be found in time, the defective product rate is reduced, the purifying mechanism sucks and purifies welding smoke, the gas curtain wall is arranged, the working environment is effectively improved, and the welding quality is improved. Meanwhile, the gas curtain wall prevents the welding smoke from drifting to the position below the camera, the welding smoke is prevented from blocking a lens or being attached to the camera, the image definition is guaranteed, the detection accuracy is further improved, and the rework cost caused by misjudgment is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robot welding, and particularly relates to a robot flexible welding device and method integrating detection and welding. BACKGROUND

[0002] In the field of pipe welding processing, especially in the connection operation of metal pipes, welding equipment is the core equipment for realizing effective splicing of pipes.

[0003] With the increasing requirements of industrial production on pipe welding precision, efficiency and operation environment, traditional pipe welding relies on multiple independent devices such as positioning devices, welding equipment and detection instruments to work cooperatively. The pipes need to be transferred between different devices by manual or transfer mechanism to complete positioning, welding, quality detection and other processes. This split operation mode is widely used in large-scale production, and its core idea is to realize single function by professional equipment and complete overall welding processing through process connection to meet the basic pipe connection requirements.

[0004] However, the existing split pipe welding operation mode has obvious defects. Firstly, the pipe transfer link between multiple devices not only increases the operation time, but also easily causes welding precision to decrease due to bumping and positioning deviation in the transfer process, which seriously affects the welding efficiency and product quality. Secondly, welding quality detection is mostly performed offline after welding, which cannot find welding defects such as pores, welding bumps and cracks in real time. When problems are detected, the finished product or semi-finished product needs to be reworked, which increases production cost and rework time, and the defective product rate is difficult to effectively control. Thirdly, a large amount of welding fume containing harmful gas and metal particles is generated during the welding process. Although the existing equipment is partially equipped with welding fume collection devices, the collection effect is limited. The uncollected welding fume is easy to spread near the detection instrument (such as the camera lens), which will adhere to the lens surface or block the shooting field of view, causing the detection image clarity to decrease, leading to detection misjudgment, further increasing the rework cost and operation risk. In view of this, the present application is proposed. SUMMARY

[0005] The technical problem to be solved by the present application is to overcome the deficiencies of the prior art and provide a robot flexible welding device and method integrating detection and welding, which can overcome the above problems or at least partially solve the above problems.

[0006] To solve the above technical problems, the basic idea of the technical solution of the present application is as follows:

[0007] The utility model provides a kind of detection, welding integrated robot flexible welding equipment, including operation base, further including: symmetrically arranged positioning mechanism, rotate on the operation base, which is used to position and splice two pipe materials to be welded, and can also be used to drive pipe material to rotate after splicing is completed;Welding gun is connected on the operation base by mounting block, for welding after the splicing of two pipe materials;Protective cover is arranged on the operation base, and the industrial camera for shooting pipe material surface and welding area image is fixedly installed in the protective cover, which is located above pipe material, gas conveying cavity is opened between the inner and outer wall of the protective cover, and a plurality of gas injection holes, which are communicated with gas conveying cavity, are equidistantly opened in the lower end surface of the protective cover;The operation base is provided with a purification mechanism for sucking and purifying welding fume generated in the welding process, wherein welding fume gas is conveyed into gas conveying cavity after being purified by the purification mechanism, and is sprayed out through gas injection hole, and gas curtain wall is formed around the protective cover.

[0008] Preferably, a collection cavity for collecting welding slag generated in the welding process is opened in the mounting block, and the collection cavity coaxially arranged with the welding gun is arranged in a ring shape.

[0009] Further, the purification mechanism includes an air suction pump and a purification box fixedly installed on the operation base, the mounting block is provided with a smoke suction cavity, a plurality of groups of suction holes are equidistantly opened in the cavity wall of the collection cavity, and each group of suction holes is communicated with the smoke suction cavity; Each group of suction holes is provided with a plurality of suction holes, and the plurality of suction holes are equidistantly distributed on the cavity wall of the smoke suction cavity, the smoke suction cavity is communicated with the lower end of the purification box through a smoke conveying pipe one, the input end of the air suction pump is communicated with the upper end of the purification box, the output end is communicated with the gas conveying cavity through a smoke conveying pipe two, and a plurality of activated carbon filter elements are equidistantly arranged in the purification box.

[0010] Preferably, the positioning mechanism includes a sliding seat, a positioning plug, and a ring-shaped positioning air bag, the sliding seat is slidingly connected to the operation base, the positioning plug is rotatably connected to the sliding seat through a rotating shaft, the front end of the positioning plug is in a cylindrical structure, the tail end is in a conical structure, the positioning air bag is arranged on the front end of the positioning plug, the positioning air bag is communicated with the gas conveying pipe arranged on the positioning plug, the gas conveying pipe is provided with an electromagnetic valve, a motor one is fixedly installed on the sliding seat, gears are fixedly installed on the output end and the rotating shaft of the motor one, and the two gears are meshingly connected.

[0011] Further, the operation base is fixedly connected with a slide rod symmetrically, the sliding seat is slidingly connected to the slide rod, the operation base is fixedly connected with an electric telescopic rod, and the sliding seat is fixedly connected to the telescopic end of the electric telescopic rod.

[0012] Further, a sliding cavity is arranged in the rotating shaft, a sliding block is slidably connected in the sliding cavity, a tension spring is arranged in the sliding cavity, one end of the tension spring is fixedly connected with the inner wall of the sliding cavity, and the other end is fixedly connected with the sliding block, a communication cavity is arranged in the positioning plug and communicates with the sliding cavity and the inner part of the pipe, a pressure relief pipe is fixedly connected with the positioning air bag, a pressure relief valve is arranged on the pressure relief pipe, a warning device is arranged on the positioning plug, a groove is arranged in the positioning plug, a storage battery is arranged in the groove, and the warning device is electrically connected with the storage battery through a guide ring one and a guide ring two.

[0013] Further, a cover plate for closing the groove is further arranged, and the cover plate is detachably connected with the positioning plug through fixing bolts.

[0014] Preferably, a gas cylinder connected with the operation base is further arranged, and the mounting block is fixedly connected with the telescopic end of the gas cylinder.

[0015] Further, a lead screw rotatably connected with the operation base through a mounting seat is further arranged, a guide rod is fixedly connected with the mounting seat, an adjusting frame is slidably connected with the guide rod, the adjusting frame is threadedly connected with the lead screw, the protective cover and the gas cylinder are fixedly connected with the adjusting frame, a second motor is fixedly installed on the mounting seat, and the lead screw is fixedly connected with the output end of the second motor.

[0016] The use method of the robot flexible welding device integrating detection and welding comprises the following operation steps:

[0017] Step one: two pipe materials to be welded are respectively arranged in two groups of positioning mechanisms, and accurate positioning and stable fixing are realized through the mechanical structure of the positioning mechanisms;

[0018] Step two: the two groups of positioning mechanisms are driven to approach along the guide, the posture of the pipe is calibrated by means of the guide function, the welding ends of the two pipes are accurately butt-jointed to form a joint seam;

[0019] Step three: the mounting block drives the welding gun to descend to the welding position, the welding gun is started, and the positioning mechanism drives the pipe to rotate at a constant speed at the same time, and welding is performed;

[0020] Step four: the industrial camera is started during welding, images are captured and transmitted to the control system in real time, the system analyzes the images to judge the welding quality, and the welding parameters are automatically adjusted if there is a defect;

[0021] Step five: the purification mechanism is started at the same time to suck the welding fume, the purified gas is delivered to the gas conveying cavity, and the gas is sprayed out through the gas injection holes to form a ring-shaped air curtain wall, thereby blocking the welding fume from interfering with the detection of the industrial camera;

[0022] Step six: after the welding is completed, the welding gun, positioning mechanism rotation, purification mechanism and industrial camera are turned off, the welding gun and positioning mechanism are reset, and the finished pipe is removed.

[0023] After the above technical scheme is adopted, the present application has the following beneficial effects compared with the prior art:

[0024] The integrated positioning, welding and detection structure of the present application reduces the transfer link between devices, improves the welding efficiency, the real-time detection function of the industrial camera can timely find welding defects, reduces the defective product rate, the suction and purification of the welding fume by the purification mechanism, and the setting of the air curtain wall effectively improve the working environment, avoid the harm of welding fume to the health of the operator, the air curtain wall blocks the welding fume from drifting to the lower part of the camera, avoids the shielding of the lens or the adhesion, guarantees the image clarity, further improves the detection accuracy, and reduces the rework cost caused by misjudgment;

[0025] The positioning air bag is made of aging-resistant and high-temperature-resistant rubber material, is fixed by inflation and adhesion with the inner wall of the pipe, does not need rigid clamping, can be adapted to different inner diameter pipes, and will not cause scratches or deformation on the surface of the pipe, and completely protects the appearance and structural integrity of the pipe;

[0026] The purification mechanism expands the welding fume collection range through a plurality of circumferentially distributed suction holes, the activated carbon filter element filters harmful gases and small particles in the welding fume in multiple stages, and the purified gas is recycled for the air curtain wall, which reduces the influence of harmful gas emission on the health of the operator, realizes resource recycling, reduces energy consumption and environmental protection treatment cost;

[0027] After welding, the positioning air bag is pressurized, the pressure of the valve is controlled, and the warning system of the sliding block and the guide ring linkage can automatically detect the sealing property of the welding seam, without the need of additional detection equipment, realizing welding and detection integration closed loop, timely finding the gap problem of the welding seam, avoiding safety accidents caused by leakage in subsequent use, and improving the reliability of the finished product.

[0028] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0029] In the drawings:

[0030] Figure 1 is a structural diagram of the present application Figure 1 ;

[0031] Figure 2 is a structural diagram of the present application Figure 2 ;

[0032] Figure 3 is a partial structural diagram of the present application Figure 1 ;

[0033] Figure 4 is a part structure schematic of the present application Figure 2 ;

[0034] Figure 5 is a part structure schematic of the present application Figure 3 ;

[0035] Figure 6 is a structure schematic of the positioning mechanism of the present application

[0036] Figure 7 is a structure development schematic of the positioning plug, battery, cover plate of the present application

[0037] Figure 8 is a sectional view of the mounting block, smoke suction cavity, welding gun of the present application

[0038] Figure 9 is a sectional view of the protective cover, industrial camera of the present application

[0039] Figure 10 is a part structure schematic of the present application Figure 6 ;

[0040] In the figure: 1, operation base; 101, sliding rod; 102, sliding seat; 103, electric telescopic rod;

[0041] 2, rotating shaft; 201, positioning plug; 202, positioning air bag; 203, gas conveying pipe; 204, motor one; 205, gear;

[0042] 3, mounting seat; 301, screw rod; 302, guide rod; 303, adjusting frame; 304, motor two; 305, air cylinder; 306, mounting block; 307, welding gun; 308, collection cavity;

[0043] 4, industrial camera; 401, protective cover;

[0044] 5, smoke suction cavity; 501, suction hole; 502, smoke conveying pipe one; 503, air suction pump; 504, purification box; 505, activated carbon filter element; 506, smoke conveying pipe two; 507, gas conveying cavity; 508, air injection hole;

[0045] 6, sliding cavity; 601, sliding block; 602, tension spring; 603, intercommunication cavity; 604, guide ring one; 605, guide ring two; 606, warning device; 607, pressure relief pipe;

[0046] 7, groove; 701, battery; 702, cover plate. DETAILED DESCRIPTION

[0047] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments of the present application. The following embodiments are used to explain the present application but not to limit the scope of the present application.

[0048] Embodiment

[0049] With reference to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 9 A robot flexible welding device integrating detection and welding comprises an operation base 1, further comprising: a positioning mechanism symmetrically arranged and rotating on the operation base 1, which is used for positioning and splicing two pipe materials to be welded and can also be used for driving the pipe materials to rotate after splicing; a welding gun 307 connected to the operation base 1 through a mounting block 306 and used for welding the two spliced pipe materials; a protective cover 401 arranged on the operation base 1, wherein an industrial camera 4 used for shooting images of the pipe material surface and the welding area is fixedly installed in the protective cover 401, and the industrial camera 4 is located above the pipe materials, wherein the industrial camera 4 is selected as a 2000-pixel high-frame-rate camera, the resolution is 1920x1080, the frame rate is 30fps, and the lens focal length is 16mm, and the image data is transmitted to the control system of the device through a data line, a gas conveying cavity 507 is arranged between the inner and outer walls of the protective cover 401, and a plurality of gas injection holes 508 in communication with the gas conveying cavity 507 are equidistantly arranged on the lower end surface of the protective cover 401; the operation base 1 is provided with a purification mechanism used for sucking and purifying welding fume generated in the welding process, wherein the welding fume gas is conveyed into the gas conveying cavity 507 after being purified by the purification mechanism and is sprayed out through the gas injection holes 508, and the gas forms a gas curtain wall around the protective cover 401.

[0050] In specific implementation, first, the two pipe materials to be welded are placed on the two sets of positioning mechanisms respectively, the positioning mechanisms precisely position and stably fix the pipe materials through mechanical structure, ensure that the pipe materials do not deviate in subsequent operations, then the two sets of positioning mechanisms are driven to approach each other, the welding ends of the two pipe materials are precisely spliced by virtue of the guiding function of the positioning mechanisms, the transfer link of the traditional split type equipment is reduced, the overall welding efficiency is improved, after splicing, the control system controls the mounting block 306 to drive the welding gun 307 to descend to the welding position, starts the welding gun 307 to weld the splicing part, at the same time, the positioning mechanism drives the pipe material to rotate at a constant speed, ensures the uniformity of the welding part, in the welding process, the industrial camera 4 shoots the images of the pipe material surface and the welding area in real time, transmits the image data to the control system, the control system analyzes the images, judges the welding quality, if welding defects are found, the welding parameters are adjusted in time, the defective product rate is effectively reduced, at the same time, the purification mechanism is started, the welding fume generated in the welding process is sucked, after the welding fume is purified by the purification mechanism, the welding fume is conveyed into the gas conveying cavity 507 of the protective cover 401, then is sprayed out through the air injection hole 508, a ring-shaped air curtain wall is formed around the protective cover 401, the air curtain wall can effectively block the welding fume that is not completely collected from drifting to the front of the industrial camera 4, avoids the detection misjudgment caused by the shielding of the welding fume, and improves the detection accuracy;

[0051] Through the above technical solutions, the positioning, welding and detection structure are integrated, the transfer link between the equipment is reduced, the welding efficiency is improved, the real-time detection function of the industrial camera 4 can find welding defects in time and reduce the defective product rate, the purification mechanism sucks and purifies the welding fume, and the air curtain wall is arranged, which effectively improves the working environment, avoids the harm of the welding fume to the health of the operator, at the same time, the air curtain wall can also avoid the detection misjudgment caused by the shielding of the welding fume, and improve the detection accuracy.

[0052] With reference to Figure 8 The collecting cavity 308 for collecting the welding slag generated in the welding process is arranged in the mounting block 306, and the collecting cavity 308 coaxially arranged with the welding gun 307 is arranged in a ring shape;

[0053] In specific implementation, when the welding gun 307 performs welding operation, the welding slag generated is dropped downward under the action of gravity, since the collecting cavity 308 is coaxial with the welding gun 307 and arranged in a ring shape, the welding slag directly falls into the collecting cavity 308, when the welding is completed or the welding slag accumulated in the collecting cavity 308 reaches a certain amount, the operator can clean the welding slag by means of a cleaning tool, this process avoids the welding slag from scattering on the operation base 1 or other parts of the equipment, reduces the abrasion and corrosion of the equipment caused by the welding slag, prolongs the service life of the equipment, at the same time, reduces the cleaning workload of the operator, shortens the cleaning time each time, improves the work efficiency, prevents the welding slag from randomly falling to cause safety hazards, and improves the operation safety of the equipment.

[0054] With reference toFigure 1 、 Figure 2 、 Figure 3 、 Figure 8 、 Figure 9 The purification mechanism includes a suction pump 503 fixedly installed on the operation base 1, and a purification box 504. The suction cavity 5 is formed in the mounting block 306, and a plurality of groups of suction holes 501 are formed equidistantly on the wall of the collection cavity 308 and are in communication with the suction cavity 5. Each group of suction holes 501 is provided with a plurality of suction holes 501, and the plurality of suction holes 501 are distributed equidistantly in a circle on the wall of the suction cavity 5. The suction cavity 5 is connected in communication with the lower end of the purification box 504 through a smoke conveying pipe one 502. The input end of the suction pump 503 is connected in communication with the upper end of the purification box 504, and the output end is connected in communication with a gas conveying cavity 507 through a smoke conveying pipe two 506. The purification mechanism further includes a plurality of activated carbon filter elements 505, which are equidistantly arranged and are inserted into the purification box 504.

[0055] In the specific implementation, after the welding operation starts, the suction pump 503 is started to form a negative pressure in the suction cavity 5. The welding fume generated by welding and the suspended welding fume particles in the collection cavity 308 are sucked into the suction cavity 5 through the suction holes 501 on the wall of the collection cavity 308. The plurality of circumferentially distributed suction holes 501 expand the suction range and improve the welding fume collection effect.

[0056] The welding fume is conveyed to the purification box 504 through the smoke conveying pipe one 502 and passes through the plurality of activated carbon filter elements 505. The activated carbon filter elements 505 adsorb and filter the harmful gas and fine particles in the welding fume, and the multi-stage filtration improves the purification effect.

[0057] The purified gas is conveyed to the gas conveying cavity 507 through the smoke conveying pipe two 506 under the action of the suction pump 503, is sprayed out through the air injection holes 508 to form an air curtain wall, and is used to form the air curtain wall, thereby realizing resource recycling and reducing the energy consumption of the equipment. At the same time, the formed air curtain wall can effectively block the welding fume that is not completely collected from drifting to the front of the industrial camera 4, so as to avoid the welding fume from adhering to the camera lens or blocking the shooting field of view.

[0058] When the purification effect of the activated carbon filter elements 505 decreases, the activated carbon filter elements 505 in the purification box 504 can be taken out and replaced with new filter elements.

[0059] Referring to Figure 1 、 Figure 3 、 Figure 4 、 Figure 6The positioning mechanism comprises a sliding seat 102, a positioning plug 201, and a positioning air bag 202 arranged in a ring shape, the sliding seat 102 is slidably connected to the operation base 1, the positioning plug 201 is rotatably connected to the sliding seat 102 through a rotating shaft 2, the front end of the positioning plug 201 is in a columnar structure, the tail end is in a conical structure, the positioning air bag 202 is arranged on the front end of the positioning plug 201, the positioning air bag 202 is made of an aging-resistant and high-temperature-resistant rubber material, a gas conveying pipe 203 in communication with the positioning air bag 202 is arranged on the positioning plug 201, an electromagnetic valve is arranged on the gas conveying pipe 203, a motor 204 is fixedly installed on the sliding seat 102, the motor 204 is a servo motor, the rated power is 0.75 kW, and the rated rotating speed is 1500 r / min, gears 205 are fixedly installed on the output end of the motor 204 and the rotating shaft 2, and the two gears 205 are meshingly connected to each other;

[0060] In specific implementation, first, one end of the pipe to be welded is sleeved on the columnar structure at the front end of the positioning plug 201, then the tail end of the positioning plug 201 is pushed towards the pipe, the guiding feature of the conical structure at the tail end is used to guide the pipe to automatically adjust the posture, so that the pipe and the positioning plug 201 are coaxial, and a foundation is laid for accurate splicing of the two pipes subsequently;

[0061] After the pipe is preliminarily aligned, an external gas source (such as a gas pump) is started and the electromagnetic valve on the gas conveying pipe 203 is opened, compressed gas enters the positioning air bag 202 through the gas conveying pipe 203, the positioning air bag 202 gradually inflates and expands until it is closely attached to the inner wall of the pipe, and the stable positioning and fixing of the pipe are realized through the friction force and the expansion pressure between the air bag and the inner wall of the pipe. This flexible positioning method does not need rigid clamping, can be adapted to pipes with different inner diameters, and will not cause scratches or deformation on the surface of the pipe, so that the appearance and structural integrity of the pipe can be well protected;

[0062] Then the sliding seat 102 is controlled to slide along a preset direction, the pipe fixed after positioning and the positioning plug 201 are driven to move close to the pipe on the other positioning mechanism, so that the welding ends of the two pipes are accurately butt-jointed, after splicing is completed, the motor 204 is started, the output end of the motor 204 drives the fixed gear 205 to rotate, power is transmitted to the rotating shaft 2 through the meshing transmission of the two gears 205, and then the positioning plug 201 and the pipe are uniformly rotated, the gear 205 transmission has the characteristics of accurate transmission ratio and high power transmission efficiency, and can effectively ensure the uniformity and stability of the pipe during rotation, so that the weld seam track is uniform and coherent when the welding gun 307 is welding, and the problem of local uneven welding is avoided;

[0063] After the welding operation is completed, turn off motor 204 to stop the pipe from rotating, and at the same time open the solenoid valve on the gas supply pipe 203 to release the gas. The positioning airbag 202 gradually contracts and separates from the inner wall of the pipe. At this time, the operator can easily remove the welded pipe. In addition, motor 204 is a servo motor, and its speed can be precisely adjusted by the control system. It can adjust the rotation speed of the pipe according to the welding process requirements of different pipes (such as the welding speed requirements of pipes of different materials and wall thicknesses), improve the versatility of the equipment, and meet the welding needs of various types of pipes.

[0064] It should be noted that a one-way valve is installed inside the gas pipeline 203.

[0065] Reference Figure 2 , Figure 3 A sliding rod 101 is symmetrically fixedly connected to the operating base 1, and a sliding seat 102 is slidably connected to the sliding rod 101. An electric telescopic rod 103 is fixedly connected to the operating base 1, and the sliding seat 102 is fixedly connected to the telescopic end of the electric telescopic rod 103.

[0066] In practice, when it is necessary to adjust the position of the positioning mechanism to splice the two pipes, the control system sends a command to the electric telescopic rod 103. The electric telescopic rod 103 extends and retracts, driving the sliding seat 102 to slide smoothly along the sliding rod 101. The operator sets the extension and retraction amount of the electric telescopic rod 103 through the control system, and precisely controls the moving distance of the sliding seat 102, so that the welding ends of the two pipes are accurately connected, improving the welding quality.

[0067] After welding is completed, the control system controls the electric telescopic rod 103 to extend and retract in the opposite direction, driving the sliding seat 102 back to the initial position, which facilitates the removal of the pipe. The sliding rod 101 guides and supports the sliding seat 102 to ensure that its movement does not deviate.

[0068] Reference Figure 3 , Figure 6 , Figure 7 , Figure 10 The rotating shaft 2 has a sliding cavity 6, and a slider 601 is slidably connected in the sliding cavity 6. A tension spring 602 is provided in the sliding cavity 6. One end of the tension spring 602 is fixedly connected to the inner wall of the sliding cavity 6, and the other end is fixedly connected to the slider 601. The positioning plug 201 has an interconnecting cavity 603 that is connected to the sliding cavity 6 and the inside of the tube respectively. The positioning airbag 202 is fixedly connected to a pressure relief pipe 607, and a pressure relief valve is provided on the pressure relief pipe 607. The positioning plug 201 is provided with an alarm 606. The positioning plug 201 has a groove 7, and a storage battery 701 is provided in the groove 7. The alarm 606 is electrically connected to the storage battery 701 through a first guide ring 604 and a second guide ring 605. The first guide ring 604 is fixedly connected to the slider 601, and the second guide ring 605 is fixedly connected to the inner wall of the sliding cavity 6.

[0069] In specific implementation, when the welding operation is completed, the positioning air bag 202 is first kept in the initial state of adhesion to the pipe, and then the electromagnetic valve on the gas delivery pipe 203 is opened, and the external gas pump continues to deliver gas into the positioning air bag 202 through the gas delivery pipe 203. With the continuous injection of gas, the internal pressure of the positioning air bag 202 gradually increases, the air bag further expands and adheres more closely to the inner wall of the pipe, thereby enhancing the sealing performance of the connection between the positioning plug 201 and the end of the pipe, and avoiding external air leakage interference during subsequent pressure detection.

[0070] When the internal pressure of the positioning air bag 202 exceeds the set pressure relief value of the pressure relief valve, the pressure relief valve is automatically opened, and the excess gas is released through the pressure relief pipe 607 to prevent the positioning air bag 202 from being damaged due to overpressure. In this process, the excess gas injected into the positioning air bag 202 is continuously discharged through the pressure relief pipe 607, gradually forming a high-pressure environment inside the pipe, and the high-pressure gas enters the sliding cavity 6 of the rotating shaft 2 through the intercommunication cavity 603, generating an axial thrust on the sliding block 601. When the thrust is greater than the tension of the tension spring 602, the sliding block 601 moves away from the positioning plug 201 along the sliding cavity 6 until the guide ring one 604 on the sliding block 601 contacts the guide ring two 605 on the inner wall of the sliding cavity 6.

[0071] At this time, the circuit loop composed of the warning device 606, the battery 701, the guide ring one 604 and the guide ring two 605 is connected, the warning device 606 is powered on to issue an audible and visual alarm, and the operator immediately closes the electromagnetic valve and stops the gas pump to stop delivering gas to the positioning air bag 202. Thereafter, the warning device 606 enters the weld sealing performance monitoring state: if the warning device 606 continuously issues an audible and visual alarm within a set time, it indicates that the internal pressure of the pipe remains stable, i.e., there is no gap in the welded area of the pipe, and the weld sealing performance is qualified.

[0072] If the internal pressure of the pipe gradually decreases due to leakage within the time period, the thrust on the sliding block 601 is less than the tension of the tension spring 602, and the sliding block 601 moves towards the positioning plug 201 along the sliding cavity 6 under the elastic force of the tension spring 602, causing the guide ring one 604 to separate from the guide ring two 605, the circuit loop is disconnected, and the warning device 606 stops alarming, indicating that there is a gap in the welded area of the pipe, and the weld sealing performance is unqualified.

[0073] Referring to Figure 7 Further comprising a cover plate 702 for closing the groove 7, the cover plate 702 is detachably connected to the positioning plug 201 by fixed bolts, and a rubber sealing gasket with a thickness of 1 mm is pasted between the contact surface of the cover plate 702 and the positioning plug 201 to prevent dust and water vapor from entering the groove 7;

[0074] In the embodiment, when the battery 701 is installed, the rubber sealing gasket is first attached to the inner side of the cover plate 702, then the battery 701 is placed in the groove 7, the wires of the battery 701 and the warning indicator 606 are connected, the cover plate 702 is covered on the opening of the groove 7, the bolt holes on the cover plate 702 are aligned with the threaded holes on the positioning plug 201, finally the fixing bolts are tightened with a wrench, and the installation of the cover plate 702 is completed.

[0075] When the battery 701 needs to be replaced or the internal circuit of the groove 7 needs to be maintained, the fixing bolts are unscrewed with a wrench, and the cover plate 702 is removed, then the operation can be performed, and after the operation is completed, the cover plate 702 is reinstalled according to the above steps. The detachable design of the cover plate 702 makes the replacement of the battery 701 and the maintenance of the internal circuit more convenient, and the sealing effect of the rubber sealing gasket effectively prevents the erosion of dust and water vapor on the battery 701 and the circuit, prolonging the service life of the battery 701.

[0076] Referring to Figure 4 , Figure 5 , the gas cylinder 305 is connected to the operation base 1, and the mounting block 306 is fixedly connected to the telescopic end of the gas cylinder 305. The double-acting gas cylinder 305 is selected, with a rated working pressure of 0.6-0.8 MPa and an aluminum alloy material. The surface is anodized to improve corrosion resistance. The gas inlet pipe and the gas outlet pipe of the gas cylinder 305 are both PU pipes, which are connected to the electromagnetic valves of the external gas source. The gas inlet and outlet of the gas cylinder 305 are controlled by the electromagnetic valves, and the telescopic movement of the gas cylinder 305 is further controlled.

[0077] In the embodiment, when the height of the welding gun 307 needs to be adjusted, the control system sends a command to the electromagnetic valve. If it needs to be lowered, the electromagnetic valve controls the gas source to supply gas to the rodless cavity of the gas cylinder 305 and exhaust gas from the rod cavity, and the telescopic end extends to drive the welding gun 307 to descend to the welding position. If it needs to be raised, the gas source supplies gas to the rod cavity and exhausts gas from the rodless cavity, and the telescopic end retracts to drive the welding gun 307 to rise. In the welding process, the gas cylinder 305 can accurately control the height of the welding gun 307 through the electromagnetic valve for fine adjustment, meet the requirements of different welding processes, and improve the stability of welding quality.

[0078] Referring to Figure 4 , Figure 5 , the lead screw 301 is rotatably connected to the operation base 1 through the mounting seat 3. The lead screw 301 is fixedly connected to the mounting seat 3. The lead screw 301 is threadedly connected to the adjusting frame 303. The lead screw 301 is fixedly connected to the output end of the second motor 304. The second motor 304 is selected to be a servo motor with a rated power of 1.1 kW and a rated speed of 1500 r / min.

[0079] In actual implementation, when it is necessary to adjust the horizontal position of the protective cover 401 and the welding gun 307 to adapt to pipes of different lengths or different welding positions, the control system sends a command to the motor two 304, and the motor two 304 rotates forward or reverses according to the command. The output end of the motor two 304 drives the screw rod 301 to rotate synchronously. Since the adjusting frame 303 is threadedly connected with the screw rod 301 and guided by the guide rod 302, the rotation of the screw rod 301 is converted into the horizontal movement of the adjusting frame 303 along the axis direction of the screw rod 301 and the guide rod 302. The movement of the adjusting frame 303 drives the synchronous movement of the protective cover 401, the cylinder 305 and the welding gun 307 fixed thereon. During the movement, the operator can set the rotation angle of the motor two 304 through the control system, and then accurately control the movement distance of the adjusting frame 303, so that the industrial camera 4 in the protective cover 401 is aligned with the welding area, and the welding gun 307 is aligned with the welding position. When the position adjustment is completed, the motor two 304 stops rotating, and the adjusting frame 303 remains at the current position, and then the welding operation can be started.

[0080] It should be noted that the smoke conveying pipe one 502 and the smoke conveying pipe two 506 are stretchable and contractible hoses, so the smoke conveying pipe one 502 and the smoke conveying pipe two 506 will not interfere with the movement of the adjusting frame 303.

[0081] The above is only a preferred embodiment of the present application, and does not limit the present application in any form. Although the present application has been disclosed as above with reference to the preferred embodiment, it is not intended to limit the present application.

Claims

1. A robotic flexible welding device integrating inspection and welding, comprising an operating base (1), characterized in that, Also includes: The symmetrically arranged positioning mechanism rotates on the operating base (1). This mechanism is used to position and splice the two pipes to be welded. After the splicing is completed, it can also be used to drive the pipes to rotate. The welding gun (307) is connected to the operating base (1) via the mounting block (306) and is used to weld the two pipes after splicing. A protective cover (401) is installed on the operating base (1). An industrial camera (4) for taking pictures of the surface of the pipe and the welding area is fixedly installed inside the protective cover (401). The industrial camera (4) is located above the pipe. An air supply chamber (507) is opened between the inner and outer walls of the protective cover (401). A plurality of air jet holes (508) communicating with the air supply chamber (507) are equidistantly opened on the lower end face of the protective cover (401). The operating base (1) is equipped with a purification mechanism for absorbing and purifying the welding fumes generated during the welding process. The welding fume gas is purified by the purification mechanism and then transported into the gas delivery chamber (507) and ejected through the jet nozzle (508). The gas forms an air curtain around the protective cover (401).

2. The robotic flexible welding equipment integrating inspection and welding according to claim 1, characterized in that, The mounting block (306) has a collection cavity (308) for collecting welding slag generated during the welding process, and the collection cavity (308) is arranged in a ring shape and is coaxial with the welding gun (307).

3. The robotic flexible welding equipment integrating inspection and welding according to claim 2, characterized in that, The purification mechanism includes an air pump (503) and a purification box (504) fixedly installed on the operating base (1). A smoking chamber (5) is provided on the mounting block (306). Multiple sets of suction holes (501) are equidistantly provided on the wall of the collection chamber (308). Each set of suction holes (501) is connected to the smoking chamber (5). Multiple suction holes (501) are provided in each set, and the multiple suction holes (501) are equidistantly distributed in a circle on the wall of the smoking chamber (5). The smoking chamber (5) is connected to the lower end of the purification box (504) through a first smoke supply pipe (502). The input end of the air pump (503) is connected to the upper end of the purification box (504), and the output end is connected to the air supply chamber (507) through a second smoke supply pipe (506). It also includes multiple activated carbon filter elements (505). The multiple activated carbon filter elements (505) are equidistantly arranged and are all inserted into the purification box (504).

4. The robotic flexible welding equipment integrating inspection and welding according to claim 1, characterized in that, The positioning mechanism includes a sliding seat (102), a positioning plug (201), and a positioning airbag (202) arranged in a ring. The sliding seat (102) is slidably connected to the operating base (1). The positioning plug (201) is rotatably connected to the sliding seat (102) via a rotating shaft (2). The front end of the positioning plug (201) is cylindrical and the rear end is conical. The positioning airbag (202) is disposed on the front end of the positioning plug (201). The positioning plug (201) is provided with an air supply that communicates with the positioning airbag (202). The gas pipe (203) is equipped with a solenoid valve. A motor (204) is fixedly installed on the sliding seat (102). Gears (205) are fixedly installed on the output end and the rotating shaft (2) of the motor (204). The two gears (205) are meshed with each other.

5. The robotic flexible welding equipment integrating inspection and welding according to claim 4, characterized in that, A sliding rod (101) is symmetrically fixedly connected to the operating base (1), and a sliding seat (102) is slidably connected to the sliding rod (101). An electric telescopic rod (103) is fixedly connected to the operating base (1), and the sliding seat (102) is fixedly connected to the telescopic end of the electric telescopic rod (103).

6. The robotic flexible welding equipment integrating inspection and welding according to claim 4, characterized in that, The rotating shaft (2) has a sliding cavity (6) inside, and a slider (601) is slidably connected inside the sliding cavity (6). A tension spring (602) is provided inside the sliding cavity (6), with one end of the tension spring (602) fixedly connected to the inner wall of the sliding cavity (6) and the other end fixedly connected to the slider (601). The positioning plug (201) has an interconnecting cavity (603) that communicates with the sliding cavity (6) and the inside of the tube respectively. A pressure relief pipe (607) is fixedly connected to the positioning airbag (202). A pressure relief valve is provided on the pressure relief pipe (607), and an alarm (606) is provided on the positioning plug (201). A groove (7) is provided on the positioning plug (201), and a storage battery (701) is provided in the groove (7). The alarm (606) is electrically connected to the storage battery (701) through a first guide ring (604) and a second guide ring (605). The first guide ring (604) is fixedly connected to the slider (601), and the second guide ring (605) is fixedly connected to the inner wall of the sliding cavity (6).

7. The robotic flexible welding equipment integrating inspection and welding according to claim 6, characterized in that, It also includes a cover plate (702) for closing the groove (7), which is detachably connected to the positioning plug (201) by fixing bolts.

8. The robotic flexible welding equipment integrating inspection and welding according to claim 1, characterized in that, It also includes a cylinder (305) connected to the operating base (1), and the mounting block (306) is fixedly connected to the telescopic end of the cylinder (305).

9. A robotic flexible welding equipment integrating inspection and welding according to claim 8, characterized in that, It also includes a lead screw (301) rotatably connected to the operating base (1) via a mounting base (3), a guide rod (302) fixedly connected to the mounting base (3), an adjusting frame (303) slidably connected to the guide rod (302), the adjusting frame (303) being threadedly connected to the lead screw (301), the protective cover (401) and the cylinder (305) being fixedly connected to the adjusting frame (303), a second motor (304) fixedly mounted on the mounting base (3), and the lead screw (301) being fixedly connected to the output end of the second motor (304).

10. A method for using a robotic flexible welding equipment integrating inspection and welding, comprising the robotic flexible welding equipment integrating inspection and welding as described in claim 1, characterized in that, The following steps are included: Step 1: Place the two pipes to be welded into the two sets of positioning mechanisms respectively, and complete the precise positioning and stable fixation through the mechanical structure of the positioning mechanisms; Step 2: Drive the two sets of positioning mechanisms to approach along the guide, and use the guide function to calibrate the posture of the pipes so that the welding ends of the two pipes are precisely connected to form a splice seam; Step 3: Control the installation block (306) to drive the welding gun (307) down to the welding position, start the welding gun (307), and at the same time drive the positioning mechanism to drive the pipe to rotate at a uniform speed for welding; Step 4: When welding, start the industrial camera (4) to capture and transmit images to the control system in real time. The system analyzes the images to judge the welding quality. If there are defects, the welding parameters will be automatically adjusted. Step 5: Simultaneously start the purification mechanism to absorb welding fumes, and after purification, the gas is delivered to the gas delivery chamber (507) and sprayed out through the jet hole (508) to form an annular air curtain wall to block welding fumes from interfering with the detection of the industrial camera (4); Step 6: After welding is completed, turn off the welding gun (307), the positioning mechanism rotation, the purification mechanism and the industrial camera (4), reset the welding gun (307) and the positioning mechanism, and remove the finished pipe.

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