A large-diameter pipeline automatic welding robot

Abstract

The present invention discloses an automated large-caliber pipeline welding robot, comprising a pipeline, a frame, rollers, a hydraulic telescopic rod I, a track transfer mechanism, a rack track, a traveling mechanism, a support mechanism, a motor I, an upper roller, a motor II, a connecting belt, a tension spring, and a locking buckle. The frame is provided with several rollers at the bottom, sprockets at one end of which are connected by a chain. One side of one set of rollers is fixedly connected to the output end of motor I. A hydraulic telescopic rod I is provided above the frame, and an upper roller is provided at the other end of the hydraulic telescopic rod I. One end of the upper roller is fixedly connected to the output end of motor II. A pipeline is placed between the upper roller and the rollers. Several track transfer mechanisms are provided between the two sets of frames. The present invention utilizes an adjustable rack track and an adjustable traveling mechanism that moves along the rack track to complete the welding of multi-caliber pipelines. Furthermore, the welding gun is movably mounted on a slide rail, allowing for adjustment along the weld seam to ensure weld quality.

Description

Technical Field

[0001] The invention belongs to the technical field of large-diameter pipeline welding, and in particular relates to an automatic welding robot for large-diameter pipelines. Background Art

[0002] In the process of welding large-diameter pipes, due to the long welds and the need for circular motion, the work intensity is high, and the previous manual welding method has poor effect. The existing automated welding robots have the following problems during use: 1) Due to the different requirements of various industries for pipe diameters, there is usually a need to weld multi-diameter pipes, and the existing welding robots are not well adapted to multi-diameter welding; 2) The multi-diameter adjustment of existing welding robots mostly adopts fixed gear rings or tracks, and adopts a telescopic cylinder to drive the welding gun to move to adapt to multi-diameter adjustment. However, this method requires re-calibration of the center of the circle during welding to ensure the welding quality, which is time-consuming and labor-intensive; 3) The existing robot that uses a single roller to walk around the pipe is prone to insufficient friction between the drive wheel and the pipe, resulting in slippage, which affects the quality of the weld; 4) In the existing pipe welding process, in order to make the pipe more resistant to torque, the pipe joints are usually staggered. The existing welding equipment cannot adapt well to the changes in the weld, and the effect is not good during the actual welding process. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a large-diameter pipeline automated welding robot. By setting an adjustable rack track and an adjustable walking mechanism that moves along the rack track, the welding work of multi-diameter pipelines can be completed. At the same time, the welding gun is movably installed on the slide rail and can be adjusted at any time along the weld direction to ensure the quality of the weld.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A large-diameter pipeline automatic welding robot includes a pipeline, a frame, rollers, a hydraulic telescopic rod I, a track transfer mechanism, a rack track, a walking mechanism, a supporting mechanism, a motor I, an upper roller, a motor II, a connecting belt, a tension spring, and a locking buckle. The bottom of the frame is provided with a plurality of rollers, and a sprocket provided at one end of the roller is connected by a chain meshing. One side of one group of rollers is fixedly connected to the output end of the motor I. A hydraulic telescopic rod I is provided above the frame, and an upper roller is provided at the other end of the hydraulic telescopic rod I. One end of the upper roller is fixedly connected to the output end of the motor II. There are pipes placed between the rollers, and several track transfer mechanisms are provided between the two sets of frames. A rack track is provided on one side of the track transfer mechanism, and the rack track is installed on the pipe. The rack track consists of two racks, one end of the two racks is fixedly connected, and the other end is provided with a connecting belt, which is movably installed inside the rack track, one end of the connecting belt is fixedly installed with a tension spring, and the other end of the tension spring is fixedly installed inside the rack track, and a locking buckle is provided at the movable connection between the connecting belt and the rack track, a walking mechanism is provided under the rack track, and a supporting mechanism is provided under the walking mechanism;

[0006] The locking buckle includes a mounting sleeve, a connecting sleeve, an electric telescopic rod II, and a locking rod. The connecting sleeve is fixedly installed on one side of the rack track, the mounting sleeve is fixedly installed on the outside of the connecting sleeve, one end of the electric telescopic rod II is movably connected to the outside of the mounting sleeve, and the locking rod is fixedly installed on the other end of the electric telescopic rod II.

[0007] The track transfer mechanism includes a hydraulic telescopic rod II, a connecting plate, a hydraulic telescopic rod III, a limit block, a tapered rod, and an electric telescopic rod I. One end of the hydraulic telescopic rod II is fixedly installed on the frame, and the other end is fixedly installed with the connecting plate. One end of the hydraulic telescopic rod III is fixedly installed on one side of the connecting plate. The other end of the hydraulic telescopic rod III is movably installed with a limit block. A tapered rod is movably installed below the limit block, and an electric telescopic rod I is provided between the tail of the tapered rod and the limit block.

[0008] The walking mechanism includes a support rod, a slide rail, a welding gun, an electric telescopic rod III, a connecting rod I, an electric telescopic rod IV, a connecting rod II, an electric telescopic rod V, an electric telescopic rod VI, an electric telescopic rod VII, a driving motor, a driving gear, and a roller. A slide rail is provided on one side of the support rod, a welding gun is movably installed on the slide rail, an electric telescopic rod III is provided between the welding gun and the support rod, a roller is provided on the side of the support rod close to the pipeline, two groups of identical connecting rods I are movably installed on the support rod, the connecting rod I is movably linked to one end of the electric telescopic rod IV, the other end of the electric telescopic rod IV is movably connected to one end of the support rod, a connecting rod II is movably installed on the connecting rod I, an electric telescopic rod V is movably installed between the connecting rod I and the connecting rod II, an electric telescopic rod VI is movably installed at the other end of the connecting rod II, one end of the electric telescopic rod VI is provided with a roller, an electric telescopic rod VII is movably installed between the electric telescopic rod VI and the connecting rod II, a driving motor is fixedly installed on one side close to each other, and a driving gear is provided at the output end of the drive motor.

[0009] The supporting mechanism includes a hydraulic telescopic rod IV, a movable frame, a guide rod, a hydraulic telescopic rod V, and a snap plate. One end of the hydraulic telescopic rod IV is fixedly mounted on the frame, and the other end is fixedly connected to the movable frame. Both ends of the movable frame are movably mounted on the guide rod, and the guide rod is fixedly mounted on the frame. A number of hydraulic telescopic rods V are provided on the movable frame, and a snap plate is fixedly mounted on the other end of the hydraulic telescopic rod V.

[0010] Compared with the prior art, the present invention has the following advantages:

[0011] 1) By setting up an adjustable rack track, two racks are placed side by side and fixed at one end. Then, a connecting belt and a tension spring are used at the other end of the rack to complete the automatic retraction function. A locking buckle is provided to automatically lock the connecting belt. The two racks are staggered and respectively equipped with a drive motor and a drive gear to mesh to ensure the continuity of the track and ensure that the walking mechanism can drive the welding gun to make a circular motion.

[0012] 2) In the traveling mechanism, the whole equipment is installed on the pipeline through three sets of rollers, and the power is provided by the meshing transmission of the gear and the rack to prevent the occurrence of slipping. When the rack changes diameter, the gear position can be adjusted to ensure the meshing of the gear and the teeth, ensuring the smooth rotation of the traveling mechanism;

[0013] 3) The welding gun is movably installed on the guide rail, which allows the welding gun to move left and right to meet the welding requirements of different welds and ensure the quality of the welds. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Attachment Figure 1 This is a structural schematic diagram of an automatic welding robot for large-diameter pipelines according to the present invention;

[0015] Attachment Figure 2 This is a side structural diagram of a large-diameter pipeline automated welding robot according to the present invention;

[0016] Attachment Figure 3 It is a schematic diagram of the rack structure;

[0017] Attachment Figure 4 It is a schematic diagram of the structure of the track transfer mechanism;

[0018] Attachment Figure 5 It is a schematic diagram of the supporting mechanism structure;

[0019] Attachment Figure 6 It is a schematic diagram of the walking mechanism structure;

[0020] Attachment Figure 7 It is a schematic diagram of the internal structure of the rack track;

[0021] Attachment Figure 8 1. It is a schematic diagram of the locking buckle structure;

[0022] In the figure: 10, pipeline; 11, frame; 12, roller; 13, hydraulic telescopic rod I; 14, track transfer mechanism; 15, rack track; 16, walking mechanism; 17, supporting mechanism; 121, motor I; 131, upper roller; 132, motor II; 141, hydraulic telescopic rod II; 142, connecting plate; 143, hydraulic telescopic rod III; 144, limit block; 145, tapered rod; 146, electric telescopic rod I; 151, connecting belt; 152, tension spring; 153, locking buckle; 1531, mounting sleeve; 1532, connecting sleeve; 1 533. Electric telescopic rod II; 1534. Locking rod; 161. Support rod; 162. Slide rail; 1621. Welding gun; 1622. Electric telescopic rod III; 163. Connecting rod I; 1631. Electric telescopic rod IV; 164. Connecting rod II; 1641. Electric telescopic rod V; 165. Electric telescopic rod VI; 1651. Electric telescopic rod VII; 166. Drive motor; 1661. Drive gear; 167. Roller; 171. Hydraulic telescopic rod IV; 172. Movable frame; 173. Guide rod; 174. Hydraulic telescopic rod V; 175. Snap plate. DETAILED DESCRIPTION

[0023] To facilitate understanding by those skilled in the art, Figure 1-8 , the technical solution of the present invention is further described in detail.

[0024] A large-diameter pipeline automated welding robot includes a pipeline 10, a frame 11, rollers 12, a hydraulic telescopic rod I 13, a track transfer mechanism 14, a rack track 15, a walking mechanism 16, a support mechanism 17, a motor I 121, an upper roller 131, a motor II 132, a connecting belt 151, a tension spring 152, and a locking buckle 153. A plurality of rollers 12 are provided at the bottom of the frame 11. The sprockets provided at one end of the rollers 12 are connected by chain engagement. One side of one group of rollers 12 is fixedly connected to the output end of the motor I 121. A hydraulic telescopic rod I 13 is provided above the frame 11. The other end of the hydraulic telescopic rod I 13 is provided with an upper roller 131. One end of the upper roller 131 is fixedly connected to the output end of the motor II 132. A pipe 10 is placed between the roller 131 and the roller 12, and several track transfer mechanisms 14 are provided between the two sets of frames 11. A rack track 15 is provided on one side of the track transfer mechanism 14. The rack track 15 is installed on the pipe 10. The rack track 15 consists of two racks, one end of the two racks is fixedly connected, and the other end is provided with a connecting belt 151. The connecting belt 151 is movably installed inside the rack track 15. A tension spring 152 is fixedly installed on one end of the connecting belt 151, and the other end of the tension spring 152 is fixedly installed inside the rack track 15. A locking buckle 153 is provided at the movable connection between the connecting belt 151 and the rack track 15. A walking mechanism 16 is provided below the rack track 15, and a supporting mechanism 17 is provided below the walking mechanism 16.

[0025] The locking buckle 153 includes a mounting sleeve 1531, a connecting sleeve 1532, an electric telescopic rod II 1533, and a locking rod 1534. The connecting sleeve 1532 is fixedly installed on one side of the rack track 15. The mounting sleeve 1531 is fixedly installed on the outside of the connecting sleeve 1532. One end of the electric telescopic rod II 1533 is movably connected to the outside of the mounting sleeve 1531. The locking rod 1534 is fixedly installed on the other end of the electric telescopic rod II 1533.

[0026] The track transfer mechanism 14 includes a hydraulic telescopic rod II 141, a connecting plate 142, a hydraulic telescopic rod III 143, a limit block 144, a tapered rod 145, and an electric telescopic rod I 146. One end of the hydraulic telescopic rod II 141 is fixedly mounted on the frame 11, and the other end is fixedly mounted on the connecting plate 142. One end of the hydraulic telescopic rod III 143 is fixedly mounted on one side of the connecting plate 142, and the other end of the hydraulic telescopic rod III 143 is movably mounted on the limit block 144. A tapered rod 145 is movably mounted below the limit block 144, and an electric telescopic rod I 146 is provided between the tail of the tapered rod 145 and the limit block 144.

[0027] The walking mechanism 16 includes a support rod 161, a slide rail 162, a welding gun 1621, an electric telescopic rod III 1622, a connecting rod I 163, an electric telescopic rod IV 1631, a connecting rod II 164, an electric telescopic rod V 1641, an electric telescopic rod VI 165, an electric telescopic rod VII 1651, a drive motor 166, a drive gear 1661, and a roller 167. A slide rail 162 is provided on one side of the support rod 161, and a welding gun 1621 is movably mounted on the slide rail 162. An electric telescopic rod III 1622 is provided between the welding gun 1621 and the support rod 161. A roller 167 is provided on the side of the support rod 161 close to the pipeline. Two sets of identical connecting rods I 161 are movably mounted on the support rod 161. 3. Connecting rod I 163 is movably connected to one end of electric telescopic rod IV 1631, and the other end of electric telescopic rod IV 1631 is movably connected to one end of support rod 161. Connecting rod I 163 is movably mounted with connecting rod II 164, and electric telescopic rod V 1641 is movably mounted between connecting rod I 163 and connecting rod II 164. Electric telescopic rod VI 165 is movably mounted on the other end of connecting rod II 164, and one end of electric telescopic rod VI 165 is provided with a roller 167. Electric telescopic rod VII 1651 is movably mounted between electric telescopic rod VI 165 and connecting rod II 164. A drive motor 166 is fixedly mounted on one side of the two sets of connecting rods II 164 close to each other, and a drive gear 1661 is provided at the output end of the drive motor 166.

[0028] The support mechanism 17 includes a hydraulic telescopic rod IV 171, a movable frame 172, a guide rod 173, a hydraulic telescopic rod V 174, and a snap plate 175. One end of the hydraulic telescopic rod IV 171 is fixedly mounted on the frame 11, and the other end is fixedly connected to the movable frame 172. Both ends of the movable frame 172 are movably mounted on the guide rod 173. The guide rod 173 is fixedly mounted on the frame 11. A number of hydraulic telescopic rods V 174 are provided on the movable frame 172, and a snap plate 175 is fixedly mounted on the other end of the hydraulic telescopic rod V 174.

[0029] An automatic welding robot for large-diameter pipelines has the following working process: the pipeline 10 is placed between the roller 12 and the upper roller 131 for transmission. After being transmitted to the designated position, the track transfer mechanism 14 places the rack track 15 at the designated position of the pipeline. The tension spring in the rack track 15 pulls the connecting belt 151 to make the rack track 15 fit on the outer wall of the pipeline. Then the electric telescopic rod II 1533 drives the locking rod 1534 to retract, and cooperates with the installation sleeve 1531 to lock the connecting belt 151 to prevent movement. At this time, the rack track 15 is installed. The hydraulic telescopic rod in the support mechanism 17 IV171 drives the movable frame 172 to move, so that the driving gear 1661 in the walking mechanism 16 can mesh with the rack track 15. At this time, the hydraulic telescopic rod V174 drives the walking mechanism 16 to rise as a whole, so that the roller 167 on one side of the support rod 161 is close to the outer surface of the pipe. At this time, the staff can adjust the distance between the welding gun 1621 and the weld according to the actual welding needs. Then the electric telescopic rod IV1631 drives the connecting rod I163 to move, and the electric telescopic rod V1641 drives the connecting rod II164 to move, so that the driving gear 1661 can mesh with the rack track 15, and then continue Adjust the electric telescopic rod VI 165 and the electric telescopic rod VII 1651 so that the roller 167 is close to the outer surface of the pipe. At this time, the driving motor 166 drives the driving gear 1661 to rotate, which will cause the walking mechanism to rotate along the rack track 15. The position of the welding gun 1621 is adjusted by the electric telescopic rod III 1622 to complete the welding operation of the pipe 10. After the welding is completed, the walking mechanism returns to its original position, and the hydraulic telescopic rod V in the support mechanism 17 is raised to make the walking mechanism 16 fall into the snap plate 175 and be fixed. Then the telescopic rods in the walking mechanism 16 are relaxed and separated from the pipe 10. Then the hydraulic telescopic rods are retracted. Rod III 143 extends, and the tapered rod 145 fits the outer surface of the pipe. Then the hydraulic telescopic rod II 141 cooperates with the electric telescopic rod I 146 to push the tapered rod 145 under the rack track 15. At the same time, the electric telescopic rod II 1533 extends, cancels the lock, and allows the connecting belt 151 to move normally. The hydraulic telescopic rod III 143 contracts, and the rack track 15 is pushed away from the surface of the pipe 10. At this time, the pipe 10 can be transported normally. Then, when waiting for the next welding, the track transfer mechanism 14 places the rack track 15 on the surface of the pipe 10 again, and repeats the above operations to complete the welding.

[0030] The above content is merely an example and explanation of the structure of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in a similar manner. As long as they do not deviate from the structure of the invention or exceed the scope defined by the claims, they should all fall within the scope of protection of the present invention.

Claims

1. A large-diameter pipeline automated welding robot, comprising a pipeline, a frame, rollers, a hydraulic telescopic rod I, a track transfer mechanism, a rack track, a walking mechanism, a supporting mechanism, a motor I, an upper roller, a motor II, a connecting belt, a tension spring, and a locking buckle, characterized in that The bottom of the frame is provided with a plurality of rollers, and a sprocket at one end of the roller is connected by a chain meshing. One side of one group of rollers is fixedly connected to the output end of motor I, and a hydraulic telescopic rod I is provided above the frame, and an upper roller is provided at the other end of the hydraulic telescopic rod I, and one end of the upper roller is fixedly connected to the output end of motor II. A pipe is placed between the upper roller and the roller, and a plurality of track transfer mechanisms are provided between the two groups of frames. A rack track is provided on one side of the track transfer mechanism, and the rack track is installed on the pipe. The rack track consists of two racks, one end of the two racks is fixedly connected, and the other end is provided with a connecting belt, which is movably installed inside the rack track, one end of the connecting belt is fixedly installed with a tension spring, and the other end of the tension spring is fixedly installed inside the rack track, and a locking buckle is provided at the movable connection between the connecting belt and the rack track, a walking mechanism is provided below the rack track, and a supporting mechanism is provided below the walking mechanism; The locking buckle includes a mounting sleeve, a connecting sleeve, an electric telescopic rod II, and a locking rod. The connecting sleeve is fixedly mounted on one side of the rack track, the outside of the connecting sleeve is fixedly mounted with a mounting sleeve, the outside of the mounting sleeve is movably connected to one end of the electric telescopic rod II, and the other end of the electric telescopic rod II is fixedly mounted with a locking rod; The track transfer mechanism includes a hydraulic telescopic rod II, a connecting plate, a hydraulic telescopic rod III, a limit block, a tapered rod, and an electric telescopic rod I. One end of the hydraulic telescopic rod II is fixedly mounted on the frame, and the other end is fixedly mounted on the connecting plate. One end of the hydraulic telescopic rod III is fixedly mounted on one side of the connecting plate. The other end of the hydraulic telescopic rod III is movably mounted on the limit block. A tapered rod is movably mounted below the limit block. An electric telescopic rod I is provided between the tail of the tapered rod and the limit block. The walking mechanism includes a support rod, a slide rail, a welding gun, an electric telescopic rod III, a connecting rod I, an electric telescopic rod IV, a connecting rod II, an electric telescopic rod V, an electric telescopic rod VI, an electric telescopic rod VII, a driving motor, a driving gear, and a roller. A slide rail is provided on one side of the support rod, a welding gun is movably mounted on the slide rail, an electric telescopic rod III is provided between the welding gun and the support rod, a roller is provided on the side of the support rod close to the pipeline, two identical groups of connecting rods I are movably mounted on the support rod, connecting rod I is movably connected to one end of the electric telescopic rod IV, and the other end of the electric telescopic rod IV is movably connected to one end of the support rod, connecting rod I is movably mounted with connecting rod II, an electric telescopic rod V is movably mounted between connecting rod I and connecting rod II, an electric telescopic rod VI is movably mounted on the other end of connecting rod II, one end of the electric telescopic rod VI is provided with a roller, an electric telescopic rod VII is movably mounted between electric telescopic rod VI and connecting rod II, a driving motor is fixedly mounted on one side of the two groups of connecting rods II close to each other, and a driving gear is provided at the output end of the drive motor; The support mechanism includes a hydraulic telescopic rod IV, a movable frame, a guide rod, a hydraulic telescopic rod V, and a snap plate. One end of the hydraulic telescopic rod IV is fixedly mounted on the frame, and the other end is fixedly connected to the movable frame. Both ends of the movable frame are movably mounted on the guide rod. The guide rod is fixedly mounted on the frame. The movable frame is provided with a plurality of hydraulic telescopic rods V, and the other end of the hydraulic telescopic rod V is fixedly mounted with a snap plate. The pipe is placed between the roller and the upper roller for transmission. After being transmitted to the designated position, the track transfer mechanism places the rack track at the designated position of the pipe. The tension spring in the rack track will pull the connecting belt so that the rack track fits the outer wall of the pipe. Then the electric telescopic rod II drives the locking rod to retract, and cooperates with the installation sleeve to lock the connecting belt. At this time, the rack track is installed. The hydraulic telescopic rod IV in the support mechanism drives the movable frame to move so that the drive gear in the walking mechanism can engage with the rack track. At this time, the hydraulic telescopic rod V drives the walking mechanism to rise as a whole, so that the roller on one side of the support rod is close to the outer surface of the pipe, and the distance between the welding gun and the weld is adjusted. Then the electric telescopic rod IV drives the connecting rod I to move, and the electric telescopic rod V drives the connecting rod II to move so that the drive gear can engage with the rack track. Then continue to adjust the electric telescopic rod VI and the electric telescopic rod VII to make the roller close to the surface of the pipe. At this time, the driving motor drives the driving gear to rotate, which will make the walking mechanism rotate along the rack track, and the welding gun position is adjusted by the electric telescopic rod III to complete the pipeline welding operation; after the welding is completed, the walking mechanism returns to its original position, and the hydraulic telescopic rod V in the supporting mechanism is raised to make the walking mechanism fall into the snap plate and be fixed, and then the telescopic rods in the walking mechanism are relaxed and separated from the pipeline, and then the hydraulic telescopic rod III is extended to fit the tapered rod to the outer surface of the pipeline, and then the hydraulic telescopic rod II cooperates with the electric telescopic rod I to push the tapered rod to the bottom of the rack track, and at the same time the electric telescopic rod II is extended to cancel the lock, so that the connecting belt can move normally, and the hydraulic telescopic rod III contracts to open the rack track and separate from the pipeline surface. At this time, the pipeline is transported normally, and then when waiting for the next welding, the track transfer mechanism places the rack track on the pipeline surface again, and repeats the above operations to complete the welding.

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