A long pipeline robot welding construction process

Abstract

The present application relates to the technical field of pipeline welding, and in particular to a long pipeline robot welding construction process, which includes the following steps: S1, pre-welding preparation, grinding the groove at the weld; S2, pre-welding, fixing the pipeline weld at multiple locations, and pre-welding the pipeline; S3, welding, welding the pipeline weld with welding equipment. By adding a pre-welding preparation step before welding, the present application can, on the one hand, reduce the inclusion of paint or rust between the welds, which causes bubbles to be generated during welding, and further causes air holes to be included in the welds, so that the welding quality can be maintained; on the other hand, grinding the welds during welding can make the grooves smooth, reduce slag inclusions caused by potholes at the grooves, and thus maintain the welding quality; spot welding and pre-welding the pipeline welds can reduce weld shrinkage caused by the release of hard force during welding, which causes pipeline deformation.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline welding, and in particular to a long pipeline robot welding construction process. Background Art

[0002] Currently, welding technology has become a widely used connection method. However, the welding environment is extremely harsh. The harmful gases and glaring arc light produced by the welding torch can easily threaten the safety of welders. Therefore, in order to reduce the threat to workers' lives during welding and improve the welding environment, welding robots are widely used in most domestic fields.

[0003] After searching, a Chinese patent with application number CN208895437U discloses a welding robot and an automatic welding system with the robot, wherein the welding robot involved includes a fuselage, a movable arm connected to the fuselage, and a welding mechanism connected to the movable arm, the fuselage includes a main body and a telescopic neck whose height is adjustable relative to the main body; the movable arm includes a translation arm, a first rotating arm and a second rotating arm connected in sequence, the translation arm is arranged on the telescopic neck in a forward and backward direction and moves along its own length direction, the first rotating arm is arranged at the front end of the translation arm for rotating around a first transverse axis, the second rotating arm is arranged at an end of the first rotating arm away from the translation arm for rotating around a second transverse axis, the welding mechanism is connected to an end of the second rotating arm away from the first rotating arm and has a welding gun for welding.

[0004] In the process of implementing this application, the inventors found that there are at least the following problems in this technology: when assembling welding, the weld is not polished, and paint or rust mixed in the weld will cause pores or slag inclusions in the weld, resulting in a decrease in welding quality. Summary of the Invention

[0005] In order to reduce weld porosity and slag inclusion and maintain welding quality, the present application provides a long pipeline robot welding construction process.

[0006] This application provides a long pipeline robot welding construction process, which adopts the following technical solutions:

[0007] A long pipeline robot welding construction process includes the following steps:

[0008] S1. Preparation before welding: grinding the groove of the weld;

[0009] S2, pre-welding, perform multiple weld fixes on the pipeline welds, and pre-weld the pipeline bottom;

[0010] S3. Welding: Use welding equipment to weld the pipeline welds.

[0011] By adopting the above technical solution, when welding long pipes or large-diameter pipes, the weld seam is first polished, and then the weld seam of the pipe is fixed by spot welding, and then the base pre-welding is performed to further fix the steel pipes on both sides of the weld seam, and then welding is performed using welding equipment; by adding the pre-welding preparation steps before welding, on the one hand, it is possible to reduce the inclusion of paint or rust between the weld seams, which causes bubbles to be generated during welding, and then causes the inclusion of pores in the weld seam, so that the welding quality is maintained; on the other hand, polishing the weld seam during welding can make the groove smooth, reduce slag inclusion caused by potholes at the groove, and thus maintain the welding quality; spot welding and base pre-welding of the pipe weld can reduce the shrinkage of the weld seam caused by the release of hard force during welding, which causes pipe deformation.

[0012] Optionally, when welding is performed in S3, the weld is first preheated and then slowly cooled after welding. The welding equipment automatically identifies the position of the weld and fine-tunes the welding according to the position of the weld.

[0013] By adopting the above technical solution, after the weld is polished, it is spot-welded and fixed, and then preheated. The welding equipment automatically identifies the weld and makes fine adjustments according to the weld position. After welding is completed, it is slowly cooled. Through the above steps, the local high temperature gradient formed by welding or rapid cooling will be reduced, which will cause a large temperature gradient in the local area, thereby causing uneven metal crystallization and easily leading to local embrittlement, thereby maintaining the welding quality. At the same time, automatic weld identification can reduce welding equipment welding offset, welding leakage or multiple welding, which will lead to secondary processing of the weld, thereby improving welding quality and work efficiency.

[0014] Optionally, when welding in S3, multi-layer welding is performed according to the thickness of the steel pipe, and submerged arc pit welding is performed at the end to reduce arc pits formed by welding pauses.

[0015] By adopting the above technical solutions, steel pipe welding has developed rapidly, but it still belongs to the welding of small and medium-sized steel pipes. As pipeline construction develops towards long distances and high pressures, and as the tonnage of presses increases, the requirements for steel pipes for pipelines are getting higher and higher, and welded pipes are also developing towards large diameters, large wall thicknesses and high strengths. For welding pipes with large wall thicknesses, multi-layer welding is required; multi-layer welding, on the one hand, facilitates the adaptation of the weld to the wall thickness, and on the other hand, can reduce heat input, reduce deformation, and reduce the probability of defects; on the other hand, filling the arc pit can increase the smoothness of the weld, increase the aesthetics, and at the same time increase the welding strength.

[0016] Optionally, the welding equipment includes a first welding robot, which includes a first slide rail, a first manipulator and a welding gun. A pipeline is placed on one side of the first slide rail, the first manipulator is slidably set on the first slide rail, and the welding gun is set on the first manipulator and welds the pipeline.

[0017] By adopting the above technical solution, when welding a long weld, the welding gun on the first manipulator spot-welds the weld, and the welding gun slides with the manipulator and spot-welds the long pipe. Then, the first manipulator drives the welding gun to pre-weld the weld. After the pre-welding is completed, the first manipulator drives the welding gun to reciprocate multiple times to perform multi-layer welding on the pipe. By setting up the first welding robot, rapid welding of the weld is achieved, which reduces the deformation of the steel pipe during the welding process due to human operation and non-human errors during the construction process.

[0018] Optionally, the first welding robot further includes a weld seam identification module, which is disposed on the first manipulator and is used to identify the position of the weld seam.

[0019] By adopting the above technical solution, when the first welding robot is welding the weld, the weld recognition module detects the change in the size of the weld or the change in the position of the weld, and controls the swing amplitude of the welding gun to change, and adjusts it according to the position of the weld; the weld recognition module is set up to enable all-round online real-time monitoring of the weld, thereby maintaining the welding quality of the weld, reducing the occurrence of missed welds or multiple welds, thereby reducing the chance of secondary corrections, and improving work efficiency.

[0020] Optionally, the welding equipment further includes an auxiliary mechanism, a first auxiliary robot and a second auxiliary robot, the auxiliary mechanism is used to support the pipe, the first auxiliary robot is arranged on one side of the auxiliary mechanism to fix the pipe, and the second auxiliary robot is used to grind the pipe weld; the first auxiliary robot includes a second manipulator and a clamping assembly, the second manipulator is slidably arranged on one side of the auxiliary mechanism, the clamping assembly includes a first clamping plate, a second clamping plate, a first transmission rod, a second transmission rod and a cylinder, the cylinder is arranged on the second manipulator, the first clamping plate and the second clamping plate are both rotatably arranged on the second manipulator, the first transmission rod is connected to the rotating end of the first clamping plate, and the second transmission rod is connected to the rotating end of the second clamping plate; a first slide groove is provided on the first transmission rod, and a second slide groove is provided on the second transmission rod, the axes of the first slide groove and the second slide groove are cross-arranged, and a slider is slidably connected in the first slide groove and the second slide groove, the slider is connected to the piston rod of the cylinder, and the slider slides to drive the first transmission rod and the second transmission rod to rotate.

[0021] By adopting the above technical solution, before welding, the long pipe is first placed on the placement mechanism, and then the cylinder is started. The cylinder drives the first transmission rod and the second transmission rod to rotate, and the first transmission rod and the second transmission rod respectively drive the first clamping plate and the second clamping plate to approach each other until the first clamping plate and the second clamping plate abut against the pipe, and then grinding and welding are performed. When encountering a position that the first manipulator cannot weld, the second manipulator drives the pipe between the first clamping plate and the second clamping plate to rotate, and then welding is performed; by setting up the first auxiliary robot, the equipment is applicable to different types of welds, thereby improving its applicability; at the same time, the first auxiliary robot is set to fix the pipe to reduce the risk of the welding gun and other positions of the pipe being colliding with each other due to the rotation of the pipe during welding, thereby reducing damage to the pipe.

[0022] Optionally, the second auxiliary robot includes a third manipulator, a grinding assembly and a dust shield assembly. The third manipulator slides to one side of the auxiliary mechanism. The grinding assembly is arranged on the third manipulator. The dust shield assembly includes a dust shield plate, a wire brush and a powder suction tube. The dust shield plate is arranged on the third manipulator and is located on the side of the grinding assembly close to the welding gun. The wire brush is arranged on the dust shield plate and abuts against the pipe weld. The powder suction tube is arranged on the third manipulator and is connected to a powder absorber and is used to absorb powder chips.

[0023] By adopting the above technical solution, after the pipeline is fixed, the weld is first polished with a grinding assembly, the dust shield blocks the powder chips, the wire brush scrapes the weld for a second time, and the powder suction tube sucks away the powder chips; by setting up a second auxiliary robot, on the one hand, it can reduce the impact of paint and rust on the welding quality, and on the other hand, it can reduce the powder chips that are polished out and stay on the weld, causing an impact on the welding quality; on the other hand, it can reduce a part of the dust flying to the welding gun for spot welding operation, causing interference with the welding quality of the spot welding position.

[0024] Optionally, the dust shield assembly also includes a clamping plate and a clamping spring. A plurality of the clamping plates are slidably connected to the dust shield plate. The ends of the plurality of clamping plates are provided with the wire brushes. The clamping spring is provided on the dust shield plate and connected to the clamping plate. The clamping spring drives the clamping plate toward the weld.

[0025] By adopting the above technical solution, when grinding the weld, the third manipulator drives the clamping plate on the dust shield plate toward the weld. Since the welds are mostly V-shaped, the wire brush on the abutment plate abuts against the weld and is relatively displaced with the dust shield plate. At the same time, the clamping spring is compressed and applies a reverse pushing force to the clamping plate, so that the wire brush on the clamping plate always abuts against the weld. Through the setting of the clamping plate and the clamping spring, the dust shield assembly is suitable for welds of different slopes, and at the same time can reduce the gap between the weld and the wire brush, thereby maintaining the dust shielding effect.

[0026] Optionally, the grinding assembly includes a fixed block, a driving motor, a rotating shaft and a grinding head, the fixed block is arranged on the third manipulator, and an installation cavity for installing the driving motor is opened inside the fixed block; the output shaft of the driving motor passes through the inner wall of the installation cavity and extends out of the fixed block, the grinding head is detachably connected to the rotating shaft, and the grinding head is conical, and the rotating shaft is connected to the output shaft of the driving motor.

[0027] By adopting the above technical solution, after the long pipe is placed on the placement mechanism, the third manipulator slides along the length direction of the pipe, and at the same time drives the motor to drive and rotate the rotating shaft, and the rotating shaft drives the grinding head to grind the weld; the grinding component is set to make the weld groove of the pipe smooth, reducing the interference of rust and paint on the welding quality.

[0028] Optionally, a sliding hole is provided on the side wall of the rotating shaft away from the driving motor, and a limiting groove is provided on the inner wall of the sliding hole; an adjustment component is provided on the first rotating shaft, and the adjustment component includes a sliding rod, a limiting block and a telescopic spring, the sliding rod is slidably connected in the sliding hole, the limiting block is provided on the sliding rod and slides along the limiting groove, the telescopic spring is provided in the sliding hole and connected to the sliding rod, and the telescopic spring pushes the sliding rod away from the driving motor.

[0029] By adopting the above technical solution, when grinding the pipeline weld, the third manipulator first drives the grinding head on the fixed block to approach the groove of the pipeline weld until the outer side of the grinding head abuts the groove, and then the third manipulator continues to drive the grinding head toward the weld, and the grinding head drives the rotating shaft to slide along the sliding hole, and the rotating shaft drives the telescopic spring to be compressed, and the telescopic spring releases the elastic force and drives the grinding head to press against the groove of the weld; the adjustment component is provided so that the grinding head is always pressed against the groove, thereby improving the grinding effect of the groove, and at the same time, the grinding head is detachable to facilitate welding with different slope ratios, thereby improving applicability.

[0030] In summary, this application has the following beneficial technical effects:

[0031] 1. By adding pre-weld preparation steps before welding, on the one hand, it can reduce the inclusion of paint or rust between the welds, which can cause bubbles during welding and further the inclusion of pores in the welds, thereby maintaining the welding quality; on the other hand, grinding the welds during welding can make the grooves smooth, reduce the slag inclusion caused by potholes at the grooves, thereby maintaining the welding quality; spot welding and pre-welding the pipeline welds can reduce the weld shrinkage caused by the release of hard force during welding, which can cause pipeline deformation;

[0032] 2. After the weld is polished, it is spot-welded and then preheated. The welding equipment automatically identifies the weld and makes fine adjustments according to the weld position. After welding is completed, the temperature is slowly lowered. Through the above steps, the high temperature gradient formed in the local area of the weld is reduced. Rapid cooling will cause a large temperature gradient in the local area, which will cause uneven metal crystallization and easily lead to local embrittlement, thereby maintaining the welding quality. At the same time, automatic weld identification can reduce welding equipment deviation, welding leakage or multiple welding, which will lead to secondary processing of the weld, thereby improving welding quality and work efficiency.

[0033] 3. The set retaining plate and retaining spring make the dust shield assembly suitable for welds with different slopes, while reducing the gap between the weld and the wire brush, thereby maintaining the dust shielding effect;

[0034] 4. The adjustment component is set to ensure that the grinding head is always close to the groove, thereby improving the grinding effect of the groove. At the same time, the grinding head is detachable to facilitate welding with different slope ratios, thereby improving applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a flowchart of the long pipeline robot welding construction process in Example 1 of this application;

[0036] Figure 2 This is a schematic diagram of the installation position of the first welding robot in Example 1 of the present application;

[0037] Figure 3 This is a partial structural diagram of the first welding robot in Example 1 of the present application;

[0038] Figure 4 This is a schematic diagram of the installation position of the first assisting robot in Example 2 of the present application;

[0039] Figure 5 This is a schematic structural diagram of the auxiliary mechanism in Example 2 of the present application;

[0040] Figure 6 This is a schematic diagram of the installation position of the second assistive robot in Example 2 of the present application;

[0041] Figure 7 This is a schematic diagram of the overall structure of the first assistive robot in Example 2 of the present application;

[0042] Figure 8 This is a schematic structural diagram of the clamping assembly in Example 2 of the present application;

[0043] Figure 9 This is a schematic diagram of the overall structure of the second assistive robot in Example 2 of the present application;

[0044] Figure 10 This is a schematic structural diagram of the polishing assembly in Example 2 of the present application;

[0045] Figure 11 This is a schematic structural diagram of the dust shield assembly in Example 2 of the present application.

[0046] 1. Reference numerals: 100, first welding robot; 110, first slide rail; 120, first manipulator; 121, base; 122, first connecting arm; 123, second connecting arm; 124, third connecting arm; 125, rotating arm; 126, first motor; 127, second motor; 128, third motor; 129, fixed seat; 130, welding gun; 140, weld seam recognition module; 150, first sliding seat; 160, first servo motor; 170, first ball screw; 200, auxiliary mechanism; 210, fixed plate; 220, support assembly; 221, support block; 222, arc frame; 223, rotating wheel; 230, rotating assembly; 231, rotating wheel; 232, connecting block; 233, rotating motor; 240, lifting hydraulic cylinder; 300, first auxiliary robot; 310, clamping assembly; 311, first clamping plate; 312, second clamping plate; 313, first transmission rod; 314, second transmission rod; 315, cylinder; 316, slider; 317, mounting block; 318, mounting plate; 320, second manipulator; 400, second auxiliary robot; 410, third manipulator; 420, grinding assembly; 421, fixing block; 422, drive motor; 423, rotating shaft; 424, grinding head; 430, dust shield assembly; 431 , dust shield; 432, wire brush; 433, powder suction tube; 434, clamping plate; 435, clamping spring; 440, adjustment assembly; 441, sliding rod; 442, limit block; 443, telescopic spring; 510, second slide rail; 520, second sliding seat; 530, second servo motor; 540, first gear; 550, rack; 560, third servo motor; 570, second gear; 580, third sliding seat. DETAILED DESCRIPTION

[0047] The following is combined with Figure 1-11 This application is described in further detail.

[0048] The embodiment of the present application discloses a long pipeline robot welding construction process.

[0049] Example 1:

[0050] refer to Figure 1 , the long pipeline robot welding construction process includes the following steps:

[0051] S1. Preparation before welding: Grind the groove of the weld seam to remove paint, rust and slag at the groove by grinding to reduce the impact on welding quality; S2. Pre-welding: Use welding equipment to fix the pipeline weld at multiple locations along the length direction of the weld of the long pipeline to reduce the deformation of the pipeline caused by the release of hard force during welding, and then perform base pre-welding on the pipeline weld to facilitate subsequent normal welding; S3. Welding: When welding the pipeline weld with welding equipment, first preheat the weld to reduce the impact of the temperature gradient on the strength of the weld, and then use the welding equipment to monitor the position and size of the weld in real time, so that the welding end of the welding equipment always changes along the position of the weld, so that the weld is fully welded, and perform multi-layer reciprocating welding on the pipeline. After the welding is completed, the weld is slowly cooled to reduce the embrittlement of the weld caused by too rapid temperature drop. At the end of welding, the arc pit formed by the pause at the end of welding is buried in the pit welding to improve the welding quality.

[0052] refer to Figure 2 and Figure 3The welding equipment includes a first welding robot 100, which includes a first slide rail 110 fixedly connected to the ground, a first slide seat 150 slidingly connected to the first slide rail 110, a first ball screw 170 rotatably connected to one side of the first slide rail 110, the first ball screw 170 passes through the first slide seat 150 and is threadedly connected to the first slide seat 150, one end of the first slide rail 110 is fixedly connected to a first servo motor 160 connected to one end of the first ball screw 170; a first manipulator 120 is provided on the first slide seat 150, the first manipulator 120 includes a base 121 fixedly connected to the slide seat by bolts, a first connecting arm 122 is rotatably connected to the base 121, a first motor 126 is fixedly connected to the base 121, the first motor 126 is connected to the first connecting arm 122 and drives the first connecting arm 1 22 rotates; the end of the first connecting arm 122 away from the base 121 is rotatably connected to the second connecting arm 123, and the first connecting arm 122 is fixedly connected to a second motor 127, the second motor 127 is connected to the second connecting arm 123 and drives the second connecting arm 123 to rotate; the end of the second connecting arm 123 away from the first connecting arm 122 is fixedly connected to a fixed seat 129, and the fixed seat 129 is rotatably connected to a rotating arm 125, and the fixed seat 129 is fixedly connected to a third motor 128, the third motor 128 is connected to the rotating arm 125 through a gear transmission and drives the rotating arm 125 to rotate; the rotating arm 125 is rotatably connected to the third connecting arm 124, and the second connecting arm 123 is fixedly connected to a fourth motor, the fourth motor is connected to the third connecting arm 124 and drives the third connecting arm 124 to rotate; the third connecting arm 124 is fixedly connected to a welding gun 130.

[0053] A weld identification module 140 is also provided on the third connecting arm 124. The weld identification module 140 is composed of a laser, an optical sensor and a central processing unit. It adopts the principles of optical propagation and imaging to obtain the position information of each point in the laser scanning area, and completes the online real-time detection of common welds through complex program algorithms.

[0054] The implementation principle of Example 1 of the present application is as follows: when welding a large-diameter pipe or a long pipe, first lay the first slide rail 110 on one side of the pipe or place the pipe on the side of the already laid first slide rail 110, grind the weld groove of the pipe, and then start the first servo motor 160 to drive the first ball screw 170 to rotate, the first ball screw 170 drives the first manipulator 120 on the first sliding seat 150 to slide, the first manipulator 120 drives the welding gun 130 to slide, the weld recognition module 140 controls the welding gun 130 to fine-tune according to the actual weld position, and completes the spot welding fixation of the weld, preheats the weld, and the first servo motor 160 drives the welding gun 130 to perform reciprocating motion to complete the base welding and multi-layer welding, and performs submerged arc pit welding at the end, and slowly cools down after the welding is completed.

[0055] Example 2:

[0056] refer to Figure 4 and Figure 5 The difference between this embodiment and embodiment 1 is that the welding equipment further includes an auxiliary mechanism 200, which includes a fixed plate 210 placed on one side of the first slide rail 110, the axis of the fixed plate 210 is parallel to the axis of the first slide rail 110, and a support assembly 220 is provided on the fixed plate 210. The support assembly 220 includes a plurality of support blocks 221 fixedly connected to the fixed plate 210, and an end of the support block 221 away from the fixed plate 210 is fixedly connected to an arc frame 222, and three rotating wheels 223 are rotatably connected to the arc frame 222, and the rotating wheels 223 rotate along the bending direction of the arc frame 222. The three rotating wheels 223 Used to support the pipe; two groups of lifting hydraulic cylinders 240 are on the fixed plate 210, and the two groups of lifting hydraulic cylinders 240 and the support block 221 are arranged crosswise. Each group of lifting hydraulic cylinders 240 is composed of two lifting hydraulic cylinders 240. A rotating assembly 230 is provided on the lifting hydraulic cylinder 240. The rotating assembly 230 includes a connecting block 232 fixedly connected to the piston rods of the two lifting hydraulic cylinders 240. Two rotating wheels 231 are rotatably connected to the connecting block 232. Two rotating motors 233 respectively connected to the rotating wheels 231 are fixedly connected to the connecting block 232. The rotating motor 233 drives the rotating wheel 231 to rotate, and the rotating wheel 231 drives the long pipe to rotate.

[0057] refer to Figure 6 、 Figure 7 and Figure 8, a second slide rail 510 is fixedly connected to one side of the fixed plate 210, the second slide rail 510 is parallel to the first slide rail 110 and is located on the side of the fixed plate 210 away from the first slide rail 110; a second slide seat 520 is slidably connected to the second slide rail 510, a rack 550 is fixedly connected to the second slide rail 510, a placement cavity is opened on the second slide seat 520, a second servo motor 530 is fixedly connected in the placement cavity, a first gear 540 is keyed to the output shaft of the second servo motor 530, and the first gear 540 is meshed with the rack 550; the second slide The first auxiliary robot 300 is provided on the seat 520. The first auxiliary robot 300 includes a second manipulator 320. The structure of the second manipulator 320 is the same as that of the first manipulator 120 and is fixedly connected to the second sliding seat 520 by bolts. The second manipulator 320 is provided with a clamping assembly 310. The clamping assembly 310 includes a mounting block 317 fixedly connected to the second manipulator 320. A cavity is defined in the mounting block 317. A cylinder 315 is fixedly connected to the cavity. The piston rod of the cylinder 315 passes through the side wall of the cavity and extends out of the mounting block 317. , two mounting plates 318 are fixedly connected to the mounting block 317, and the first clamping plate 311 and the second clamping plate 312 are rotatably connected to the two mounting plates 318 respectively. The ends of the first clamping plate 311 and the second clamping plate 312 away from the mounting plate 318 are parallel to each other in a semi-arc shape, and the rotating end of the first clamping plate 311 is fixedly connected to the first transmission rod 313, and the first transmission rod 313 is set at an obtuse angle to the first clamping plate 311; the rotating end of the second clamping plate 312 is fixedly connected to the second transmission rod 314, and the second transmission rod 314 is connected to the second clamping plate 31 2 is arranged at an obtuse angle; the first transmission rod 313 is located above the second transmission rod 314 and is arranged to intersect with the second transmission rod 314. The first transmission rod 313 is provided with a first slide groove, which is opened along the length direction of the first transmission rod 313, and the second transmission rod 314 is provided with a second slide groove, which is opened along the length direction of the second transmission rod 314; the axis of the first slide groove and the axis of the second slide groove are arranged to intersect, and a slider 316 is fixedly connected to the piston rod of the cylinder 315, and the two ends of the slider 316 are respectively slidably connected to the first slide groove and the second slide groove.

[0058] refer to Figure 6 、 Figure 9 and Figure 10A third sliding seat 580 is slidingly connected to the second slide rail 510, and a second placement cavity is opened on the third sliding seat 580. A third servo motor 560 is fixedly connected in the second placement cavity. The output shaft of the third servo motor 560 is keyed to a second gear 570, and the second gear 570 is engaged with the rack 550; a second auxiliary robot 400 is arranged on the third sliding seat 580, and the second auxiliary robot 400 includes a third manipulator 410 fixedly connected to the third sliding seat 580, and a grinding assembly 420 is arranged on the third manipulator 410, and the grinding assembly 420 includes a fixed block 421 fixedly connected to the third manipulator 410, and an installation cavity is opened in the fixed block 421, and a drive motor 422 is fixedly connected to the inner wall of the installation cavity, and a rotating shaft 423 is fixedly connected to the output shaft of the drive motor 422.

[0059] refer to Figure 10 The rotating shaft 423 passes through the inner wall of the fixed block 421 and extends out of the mounting cavity. An adjusting component 440 is provided on the rotating shaft 423. The adjusting component 440 includes a sliding rod 441. A sliding hole is provided on the rotating shaft 423. Two symmetrically arranged limit grooves are provided on the inner wall of the sliding hole. The sliding rod 441 is slidingly connected in the sliding hole, and two limit blocks 442 are fixedly connected to the sliding rod 441. The two limit blocks 442 are respectively slidably connected in the limit grooves. A telescopic spring 443 is fixedly connected to the bottom wall of the sliding hole away from the sliding rod 441, and the other end of the telescopic spring 443 is fixedly connected to the sliding rod 441; the end of the sliding rod 441 away from the limit block 442 is detachably connected to a grinding head 424, and the grinding head 424 is conical.

[0060] refer to Figure 9 and Figure 11 The third manipulator 410 is also provided with a dust shield assembly 430, which includes a dust shield plate 431 fixedly connected to the third manipulator 410, and the dust shield plate 431 is located on the side of the fixed block 421 close to the first manipulator 120; a plurality of wire brushes 432 are fixedly connected to the side wall of the dust shield plate 431 away from the third manipulator 410, and a sliding groove is provided on the side wall of the dust shield plate 431 away from the fixed block 421, and a clamping plate 434 is slidably connected in the sliding groove, and the two clamping plates 434 close to each other abut against each other; a clamping spring 435 is fixedly connected to the side wall of the sliding groove close to the third manipulator 410, and the end of the clamping spring 435 away from the third manipulator 410 is fixedly connected to the clamping plate 434 and pushes the clamping plate 434 away from the third manipulator 410; a plurality of wire brushes 432 are fixedly connected to the end of the clamping plate 434 away from the third manipulator 410.

[0061] The implementation principle of Example 2 of the present application is as follows: when welding a large-diameter pipe or a long pipe, the spliced large-diameter pipe or long pipe is first placed on the rotating wheel 223 on the fixed plate 210, and then the second servo motor 530 is started. The second servo motor 530 drives the first gear 540 to rotate, and the first gear 540 and the rack 550 are relatively displaced and drive the second sliding seat 520 to slide. The second sliding seat 520 drives the second manipulator 320 to move to the end of the pipe, and then the cylinder 315 is started. The piston rod of the cylinder 315 drives the slider 316 to slide and drives the first transmission rod 313 and the second transmission rod 314 to slide relative to each other. , the first transmission rod 313 and the second transmission rod 314 drive the first clamping plate 311 and the second clamping plate 312 to approach each other and clamp the pipe; then start the third servo motor 560, the third servo motor 560 drives the second gear 570 to rotate, the second gear 570 and the rack 550 slide relative to each other and drive the third sliding seat 580 to slide, the third sliding seat 580 drives the third manipulator 410 to slide, the third manipulator 410 drives the grinding head 424 to approach the groove at the weld, the grinding head 424 abuts against the outer edge of the groove and slides along the groove as the third manipulator 410 descends, the grinding head 424 drives the sliding rod 441 to slide and The telescopic spring 443 is driven to be compressed until the grinding head 424 can grind the entire groove; then the driving motor 422 is started, and the driving motor 422 drives the rotating shaft 423 to rotate, and the rotating shaft 423 drives the grinding head 424 to rotate to grind the groove; when the third manipulator 410 drives the grinding head 424 toward the groove and drives the dust shield 431 toward the groove of the weld, the wire brush 432 on the dust shield 431 abuts against the pipe and deforms, and at the same time, the wire brush 432 on the clamping plate 434 abuts against the inclined surface of the groove and drives the clamping plate 434 to slide, and the clamping spring 435 is compressed and accumulates elastic potential energy and pushes the clamping plate 43 4 is pressed against the inclined surface of the groove; the third manipulator 410 slides and drives the grinding head 424 to grind the entire weld, and at the same time the dust shield 431 blocks the powder and sucks the powder away through the powder suction pipe 433; while grinding, the first servo motor 160 starts and drives the first ball screw 170 to rotate, the first ball screw 170 drives the first manipulator 120 on the first sliding seat 150 to slide, and the first manipulator 120 drives the welding gun 130 to weld along the weld; while welding, the weld recognition module 140 controls the various motors on the first manipulator 120 to fine-tune the position angle of the welding gun 130 according to the actual weld position.

[0062] When the shape of the pipeline weld is relatively irregular and the welding gun 130 cannot weld it, the lifting hydraulic cylinder 240 drives the rotating wheel 231 on the connecting block 232 to fit the pipeline, the rotating motor 233 starts and drives the rotating wheel 231 to rotate, and the second manipulator 320 swings along with the pipeline; then the welding gun 130 welds along the weld according to the signal of the weld recognition module 140.

[0063] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A long pipeline robot welding construction process, characterized in that: The following steps are involved: S1. Preparation before welding: grinding the groove of the weld; S2, pre-welding, perform multiple weld fixes on the pipeline welds, and pre-weld the pipeline bottom; S3. Welding: welding the pipeline welds with welding equipment; The welding device comprises a first welding robot (100), the first welding robot (100) comprising a first slide rail (110), a first manipulator (120) and a welding gun (130), a pipeline being placed on one side of the first slide rail (110), the first manipulator (120) being slidably disposed on the first slide rail (110), and the welding gun (130) being disposed on the first manipulator (120) and performing welding on the pipeline; The welding equipment further comprises an auxiliary mechanism (200), a first auxiliary robot (300) and a second auxiliary robot (400), wherein the auxiliary mechanism (200) is used for supporting the pipe, the first auxiliary robot (300) is arranged on one side of the auxiliary mechanism (200) for fixing the pipe, and the second auxiliary robot (400) is used for grinding the pipe weld; the first auxiliary robot (300) comprises a second manipulator (320) and a clamping assembly (310), the second manipulator (320) is slidably arranged on one side of the auxiliary mechanism (200), the clamping assembly (310) comprises a first clamping plate (311), a second clamping plate (312), a first transmission rod (313), a second transmission rod (314) and a cylinder (315), the cylinder (315) being arranged on the second manipulator (320). On the hand (320), the first clamping plate (311) and the second clamping plate (312) are both rotatably set on the second manipulator (320), the first transmission rod (313) is connected to the rotating end of the first clamping plate (311), and the second transmission rod (314) is connected to the rotating end of the second clamping plate (312); a first sliding groove is provided on the first transmission rod (313), and a second sliding groove is provided on the second transmission rod (314), the axes of the first sliding groove and the second sliding groove are cross-arranged, and a slider (316) is slidingly connected in the first sliding groove and the second sliding groove, and the slider (316) is connected to the piston rod of the cylinder (315), and the slider (316) slides to drive the first transmission rod (313) and the second transmission rod (314) to rotate.

2. A long pipe robot welding construction process according to claim 1, characterized in that: When welding is performed in S3, the weld is first preheated and then slowly cooled after welding. The welding equipment automatically identifies the position of the weld and fine-tunes the welding process according to the position of the weld.

3. A long pipe robot welding construction process according to claim 1, characterized in that: When welding in S3, multi-layer welding is performed according to the thickness of the steel pipe, and submerged arc pit welding is performed at the end to reduce arc pits formed by welding pauses.

4. A long pipe robot welding construction process according to claim 1, characterized in that: The first welding robot (100) further comprises a weld seam identification module (140), wherein the weld seam identification module (140) is arranged on the first manipulator (120) and is used to identify the position of the weld seam.

5. A long pipe robot welding construction process according to claim 1, characterized in that: The second auxiliary robot (400) includes a third manipulator (410), a grinding assembly (420) and a dust shield assembly (430), the third manipulator (410) slides to one side of the auxiliary mechanism (200), the grinding assembly (420) is arranged on the third manipulator (410), the dust shield assembly (430) includes a dust shield plate (431), a wire brush (432) and a powder suction pipe (433), the dust shield plate (431) is arranged on the third manipulator (410) and is located on the side of the grinding assembly (420) close to the welding gun (130), the wire brush (432) is arranged on the dust shield plate (431) and abuts against the pipe weld, and the powder suction pipe (433) is arranged on the third manipulator (410) and is connected to a powder absorber and is used to absorb powder chips.

6. A long pipe robot welding construction process according to claim 5, characterized in that: The dust shield assembly (430) further includes a retaining plate (434) and a retaining spring (435). A plurality of retaining plates (434) are slidably connected to the dust shield plate (431). The ends of the plurality of retaining plates (434) are each provided with the wire brush (432). The retaining spring (435) is provided on the dust shield plate (431) and connected to the retaining plate (434). The retaining spring (435) drives the retaining plate (434) to approach the weld.

7. A long pipe robot welding construction process according to claim 5, characterized in that: The grinding assembly (420) includes a fixed block (421), a driving motor (422), a rotating shaft (423) and a grinding head (424); the fixed block (421) is arranged on the third manipulator (410); a mounting cavity for mounting the driving motor (422) is provided inside the fixed block (421); the output shaft of the driving motor (422) passes through the inner wall of the mounting cavity and extends out of the fixed block (421); the grinding head (424) is detachably connected to the rotating shaft (423), and the grinding head (424) is conical in shape; the rotating shaft (423) is connected to the output shaft of the driving motor (422).

8. A long pipe robot welding construction process according to claim 7, characterized in that: A sliding hole is provided on the side wall of the rotating shaft (423) away from the driving motor (422), and a limiting groove is provided on the inner wall of the sliding hole; an adjusting component (440) is provided on the rotating shaft (423), and the adjusting component (440) includes a sliding rod (441), a limiting block (442) and a telescopic spring (443); the sliding rod (441) is slidably connected in the sliding hole, the limiting block (442) is provided on the sliding rod (441) and slides along the limiting groove, the telescopic spring (443) is provided in the sliding hole and connected to the sliding rod (441), and the telescopic spring (443) pushes the sliding rod (441) away from the driving motor (422).

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