Pipeline welding fixture, pipeline welding robot and pipeline welding method

Abstract

The invention discloses a pipeline welding fixture, a pipeline welding robot and a pipeline welding method. The pipeline welding fixture comprises a support rod, two hoop clamps and two driving members. The support rod is horizontally arranged along the left and right directions. The two hoop clamps are both semicircular rings. The two hoop clamps are both vertically arranged and distributed along the left and right directions. The notches of the two hoop clamps are close to each other. The upper ends of the two hoop clamps are rotatably connected to the middle part corresponding to the length direction of the support rod. The two driving members correspond to the two hoop clamps one by one. Each of the driving members is transmission-connected to the hoop clamps. The two driving members drive the two hoop clamps to rotate to close into a circular ring to clamp the pipeline, or rotate to expand to loosen the pipeline. In this way, the two driving members can drive the two hoop clamps to close into a circular ring to clamp the pipeline, or drive the two hoop clamps to expand to loosen the pipeline. The automation degree is high and the clamping effect is good.

Description

Technical Field

[0001] The invention belongs to the field of pipeline welding equipment, and in particular relates to a pipeline welding fixture, a pipeline welding robot and a pipeline welding method. Background Art

[0002] In the welding construction of large pipelines, since the diameter and weight of the pipeline to be welded are very large, and the motion range of the welding machine of the conventional gantry rectangular coordinate welding robot commonly used at present is small, the welding process mainly relies on rotating the pipeline to be welded to achieve the relative movement of the welding machine and the pipeline to complete the welding of the circumferential weld, which is very difficult for the welding construction of large pipelines. For example, the Chinese patent document "A Petroleum Pipeline Welding Robot" with the publication number "CN112775529A" discloses a welding robot structure for petroleum pipelines, including a lifting adjustment mechanism, an adaptive ring structure, an automatic spot welding head and a brush mechanism. A control component is connected to one side of the lifting adjustment mechanism, and the control component is used to control the lifting adjustment mechanism for adjustment and tightening. The adaptive ring structure is connected to the other side of the lifting adjustment mechanism, the automatic spot welding head is installed on the adaptive ring structure, and the brush mechanism is installed on the adaptive ring structure. The welding machine is fixed on an adaptive circular ring structure, and relies on the rotation of the electric wheel on the adaptive circular ring structure to drive the pipeline to rotate around the axis to complete the welding of the circumferential weld. This method of rotating the pipeline is slower and more energy-consuming than moving the welding machine. Therefore, this welding method is less efficient for large pipelines. In addition, its clamping method only relies on the upper and lower sets of electric wheel mechanisms, which lacks sufficient stability for large pipelines, and cannot adjust the axial and radial positions of the pipeline to be welded to ensure the overlap between the relative motion trajectory of the welding machine and the pipeline and the weld. Summary of the invention

[0003] In order to solve the above technical problems, one of the objectives of the present invention is to provide a pipeline welding clamp which has a simple structure and can tighten the pipeline.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a pipeline welding clamp, comprising a support rod, two clamps and two driving members, the support rod is horizontally arranged in the left-right direction, the two clamps are both semicircular, the two clamps are vertically arranged and distributed in the left-right direction, and the notches of the two clamps are close to each other, the upper ends of the two clamps are rotatably connected to the middle part corresponding to the length direction of the support rod, the two driving members correspond to the two clamps one by one, each of the driving members is transmission-connected to the clamps, and the two driving members drive the two clamps to rotate until they are closed into a circular ring to clamp the pipeline, or rotate to unfold to loosen the pipeline.

[0005] The beneficial effect of the above technical solution is that the two driving members can drive the two clamps to close into a circular shape to clamp the pipe, or drive the two clamps to expand to loosen the pipe, with a high degree of automation and a good clamping effect.

[0006] The driving member described in the above technical solution is a telescopic cylinder. The two driving members are rotatably installed at the two ends of the support rod respectively, and their telescopic ends face downward and are swingably connected to the middle part of the corresponding side clamp away from the slot. The driving member telescopes to drive the corresponding clamp to swing left and right.

[0007] The beneficial effects of the above technical solution are: its structure is simple and easy to install.

[0008] In the above technical solution, the lower ends of the two clamps are provided with an outer flange, and the outer flange is provided with a connecting hole passing through it. When the two clamps are rotated to close, the connecting holes on the two outer flanges are aligned and bolted to tighten on the pipe.

[0009] The beneficial effect of the above technical solution is that after the two clamps are closed, the two outer flanges can be bolted together, so that the tightening effect of the two clamps is better.

[0010] In the above technical solution, a plurality of clamping wheels are installed at annular intervals on the inner side wall of each clamp. When the two clamps are closed, the plurality of clamping wheels are distributed at annular intervals and clamp the pipe, and the pipe can roll relative to the plurality of clamping wheels.

[0011] The beneficial effect of the above technical solution is that when the two clamps are rotated to close and clamped on the pipeline, the pipeline welding clamp can also rotate relative to the pipeline under the action of external force.

[0012] The clamping wheel described in the above technical solution is a magnetic wheel.

[0013] The beneficial effect of the above technical solution is that after the external force is removed, the magnetic wheel can be adsorbed on the pipeline, thereby remaining stationary relative to the pipeline.

[0014] A second object of the present invention is to provide a pipeline welding robot which has a simple structure and can weld the butt joints of two pipelines.

[0015] In order to achieve the above-mentioned purpose, another technical solution of the present invention is as follows: A pipeline welding robot comprises a two-dimensional moving component, a rotating component, a welding gun and the pipeline welding fixture as described above, wherein the two-dimensional moving component, the rotating component and the welding gun are each provided with two and correspond one to one with two clamps respectively, each of the two-dimensional moving components is arranged on the side of the corresponding clamp away from the notch, each of the rotating components is installed at the driving end of the corresponding two-dimensional moving component, the driving ends of the two rotating components are both facing forward, and the welding gun is vertically installed at the driving end of the corresponding rotating component.

[0016] The beneficial effect of the above technical solution is that it can be clamped on the pipeline, and two groups of two-dimensional moving components drive the welding gun to rotate around the butt joint to weld the butt joint of the pipeline.

[0017] The two-dimensional moving component in the above technical solution includes a first linear module and a second linear module. The first linear module is vertically arranged on the side of the corresponding clamp away from its groove, with its driving end facing forward, and the middle part corresponding to the length direction of the first linear module is connected to the middle part of the groove bottom of the clamp. The second linear module is arranged along the left and right directions and is perpendicular to the first linear module. The driving end of the second linear module is connected to the driving end of the corresponding first linear module, and the end of the second linear module close to the corresponding clamp constitutes the driving end of the two-dimensional moving component.

[0018] The beneficial effects of the above technical solution are: its structure is simple, and the movable welding gun is flexible to move, so that the joint can be welded accurately.

[0019] In the above technical solution, the length of the first linear module is greater than the diameter of the clamp, and the length of the second linear module is between the radius and the diameter of the clamp.

[0020] The beneficial effect of the above technical solution is that the welding gun can perform 80° welding on the seam.

[0021] The rotating component described in the above technical solution is a reduction motor.

[0022] The beneficial effects of the above technical solution are: it has a simple structure and can drive the welding gun to adjust its direction slowly and at a small angle.

[0023] A third object of the present invention is to provide a pipeline welding method for welding a pipeline using the above-mentioned pipeline welding robot.

[0024] In order to achieve the above object, the technical solution of the present invention is as follows: a pipeline welding method, comprising the following steps:

[0025] Step 1: Lift the two pipes to be welded respectively through the support members until they are coaxially distributed, and align the ends to be welded with each other;

[0026] Step 2: Tighten the pipe welding robot as described above onto any one of the pipes, and align the welding gun with the butt joints of the two pipes;

[0027] Step 3: Control the two two-dimensional moving components and the two rotating components to operate synchronously to drive the welding gun to perform circumferential welding on the butt joints of the two pipes;

[0028] Step 4: After the butt joints of the two pipes are welded, the pipe welding robot is rotated to re-weld the welds.

[0029] The beneficial effects of the above technical solution are: it is easy to operate and has high welding accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a state diagram of the pipeline welding fixture described in Example 1 of the present invention when it is unfolded;

[0031] Figure 2 This is a state diagram of the pipeline welding fixture when it is closed according to Example 1 of the present invention;

[0032] Figure 3 This is a state diagram of the pipeline welding robot when it is unfolded according to Embodiment 2 of the present invention;

[0033] Figure 4 This is a state diagram of the pipeline welding robot when it is closed according to Embodiment 2 of the present invention;

[0034] Figure 5 This is a schematic diagram of the assembly of the pipeline welding robot on a pipeline according to Example 3 of the present invention.

[0035] In the figure: 1 pipeline welding fixture, 11 support rod, 12 clamp, 121 outer flange, 122 clamping wheel, 13 driving member, 2 two-dimensional moving component, 21 first linear module, 22 second linear module, 3 rotating component, 4 welding gun, 5 pipeline, 6 support member. DETAILED DESCRIPTION

[0036] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention. The present invention is described in more detail by way of example with reference to the accompanying drawings in the following paragraphs. The advantages and features of the present invention will become clearer according to the following description and claims. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

[0037] Example 1

[0038] like Figure 1 and Figure 2 As shown, this embodiment provides a pipeline welding clamp, including a support rod 11, two clamps 12 and two driving members 13, the support rod 11 is horizontally arranged in the left and right direction, the two clamps 12 are both semicircular, the two clamps 12 are vertically arranged and distributed in the left and right direction, and the notches of the two clamps 12 are close to each other, the upper ends of the two clamps 12 are rotatably connected to the middle part corresponding to the length direction of the support rod 11, the two driving members 13 correspond to the two clamps 12 one by one, each of the driving members 13 is transmission-connected to the clamps 12, the two driving members 13 drive the two clamps 12 to rotate to close into a circular ring to clamp the pipeline 5, or rotate to expand to loosen the pipeline 5, so that the two driving members can drive the two clamps to close into a circular ring to clamp the pipeline, or drive the two clamps to expand to loosen the pipeline, and the automation degree is high and the clamping effect is good. The support rod 11 is preferably made of a hollow steel pipe or channel steel, which has high structural strength and is relatively light.

[0039] In the above technical solution, the driving member 13 is a telescopic cylinder. The two driving members 13 are rotatably mounted on the two ends of the lower surface of the support rod 11, and the telescopic ends thereof face downward and are swivellingly connected to the middle of the corresponding side clamp 12 away from the notch. The driving member 13 is telescopic to drive the corresponding clamp 12 to swing left and right. The structure is simple and the installation is convenient. The telescopic cylinder is preferably a hydraulic cylinder.

[0040] In the above technical solution, the lower ends of the two clamps 12 are provided with outer flanges 121, and the outer flanges 121 are provided with connection holes penetrating therethrough. When the two clamps 12 are rotated to close, the connection holes on the two outer flanges 121 are aligned and bolted to clamp the pipe 5. In this way, after the two clamps are closed, the two outer flanges can be bolted, so that the clamping effect of the two clamps is better. Among them, two connection holes on the outer flanges can be set, and the connection holes on the two outer flanges correspond to each other. The two corresponding connection holes are aligned when the two clamps are closed. At this time, a bolt can be inserted and at least one nut can be threadedly connected to the threaded end of the bolt, that is, the two outer flanges are bolted.

[0041] In the above technical solution, a plurality of clamping wheels 122 are installed at intervals along the circumferential direction on the inner side wall of each clamp 12. When the two clamps 12 are closed, the plurality of clamping wheels 122 are distributed at intervals along the circumferential direction and clamp the pipe 5, and the pipe 5 can roll relative to the plurality of clamping wheels 122, so that when the two clamps are rotated to close and clamped on the pipe, the pipe welding clamp can also rotate relative to the pipe under the action of external force (by setting the clamping wheels, and the plurality of clamping wheels surround and clamp the pipe, the pipe welding clamp can also rotate relative to the pipe under the action of external force). The wheel axle of the clamping wheel is horizontally arranged along the front-back direction, and when the two clamps are closed, the plurality of clamping wheels are distributed in a circular shape. Specifically, 4-6 clamping wheels are arranged on the inner side wall of each clamp.

[0042] The clamping wheel 122 in the above technical solution is a magnetic wheel, so that after the external force is removed, the magnetic wheel can be adsorbed on the pipeline, thereby remaining stationary relative to the pipeline (i.e., preventing the pipeline welding clamp from easily rotating relative to the pipeline).

[0043] Example 2

[0044] like Figure 3 and Figure 4 As shown, this embodiment provides a pipeline welding robot, including a two-dimensional moving component 2, a rotating component 3, a welding gun 4 and the pipeline welding fixture 1 as described in Example 1, wherein the two-dimensional moving component 2, the rotating component 3 and the welding gun 4 are each provided with two and correspond one to one with two clamps 12 respectively, the two-dimensional moving component 2 is arranged on the side of the clamp 12 away from the notch, the rotating component 3 is installed at the driving end of the two-dimensional moving component 2, and the driving ends of the two rotating components 3 are both facing forward, the welding gun 4 is vertically installed at the driving end corresponding to the rotating component 3, which can be clamped on the pipeline, and there are two groups of two-dimensional moving components to drive the welding gun to rotate around the butt joint to weld the butt joint of the pipeline.

[0045] The two-dimensional movable component 2 in the above technical scheme includes a first linear module 21 and a second linear module 22. The first linear module 21 is vertically arranged on the side of the clamp 12 away from its slot, with its driving end facing forward, and the middle part of the length direction of the first linear module 21 is connected to the middle part of the slot bottom of the clamp 12. The second linear module 22 is arranged in the left and right directions and is perpendicular to the first linear module 21, and the driving end of the second linear module 22 is connected to the driving end of the first linear module 21. The side of the second linear module 22 close to the slot of the clamp 12 constitutes the driving end of the two-dimensional movable component 2. It has a simple structure and the mobile welding gun can move flexibly, so that the joints can be accurately welded.

[0046] In the above technical solution, the length of the first linear module 21 is greater than the diameter of the clamp 12, and the length of the second linear module 22 is between the radius and the diameter of the clamp 12, so that the welding gun can perform 180° welding on the seam.

[0047] The rotating assembly 3 described in the above technical solution is a variable frequency or servo reduction motor (its rotation angle should not exceed 360°, otherwise the wires of the welding gun are likely to get tangled), which has a simple structure and can drive the welding gun to adjust its direction slowly and at a small angle.

[0048] Example 3

[0049] like Figure 5 As shown, this embodiment provides a pipeline welding method, comprising the following steps:

[0050] Step 1: lift the two pipes 5 to be welded respectively through the support 6 to be coaxially distributed, and align the ends to be welded with each other;

[0051] Step 2: Tighten the pipeline welding robot as described in Example 2 onto any one of the pipelines 5, and align the welding gun 4 with the joints of the two pipelines 5;

[0052] Step 3: Control the two two-dimensional moving components 2 and the two rotating components 3 to operate synchronously to drive the welding gun 4 to move (move along the vertical plane where the butt joint is located) to perform circumferential welding on the butt joints of the two pipes 5;

[0053] Step 4: After the butt joints of the two pipes 5 are welded, the pipe welding robot is rotated to re-weld the welds. This welding method is easy to operate and has high welding accuracy.

[0054] The support member may be a support block, and the upper end of the support block is provided with a groove running through the front and back (the groove may be an isosceles triangle with its vertex facing downward).

[0055] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0056] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example.

[0057] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A pipeline welding robot, characterized in that: The invention comprises a two-dimensional moving component (2), a rotating component (3), a welding gun (4) and a pipe welding fixture (1), wherein the pipe welding fixture comprises a support rod (11), two clamps (12) and two driving members (13), wherein the support rod (11) is horizontally arranged in the left-right direction, the two clamps (12) are both semicircular, the two clamps (12) are vertically arranged and distributed in the left-right direction, and the notches of the two clamps (12) are close to each other, the upper ends of the two clamps (12) are rotationally connected to the middle part corresponding to the length direction of the support rod (11), the two driving members (13) correspond to the two clamps (12) one by one, each driving member (13) is transmission-connected to the clamps (12), and the two driving members (13) drive the two clamps (12) to rotate until they are closed into a circular ring to clamp the pipe (5), or rotate until they are unfolded to loosen the pipe (5); the two-dimensional moving component (11) 2), two rotating assemblies (3) and welding guns (4) are provided and correspond to two clamps (12) respectively, each of the two-dimensional moving assemblies (2) is arranged on the side of the corresponding clamp (12) away from the notch, each of the rotating assemblies (3) is installed at the driving end of the corresponding two-dimensional moving assembly (2), and the driving ends of the two rotating assemblies (3) are both facing forward, and the welding gun (4) is vertically installed at the driving end of the corresponding rotating assembly (3), and the two-dimensional moving assembly (2) and the rotating assembly (3) are used to jointly drive the welding gun (4) to move in the vertical plane; a plurality of clamping wheels (122) are installed on the inner side wall of each clamp (12) at intervals along the annular direction, and when the two clamps (12) are closed, the plurality of clamping wheels (122) are distributed at intervals along the annular direction and clamp the pipe (5), and the pipe (5) can roll relative to the plurality of clamping wheels (122); the clamping wheels (122) are magnetic wheels.

2. The pipeline welding robot according to claim 1, characterized in that: The driving member (13) is a telescopic cylinder. The two driving members (13) are rotatably mounted on the two ends of the support rod (11), respectively, with their telescopic ends facing downwards, and are swingably connected to the middle part of the corresponding side clamp (12) away from the slot. The driving member (13) is telescopic to drive the corresponding clamp (12) to swing left and right.

3. The pipeline welding robot according to claim 1, characterized in that: The lower ends of the two clamps (12) are each provided with an outer flange (121), and the outer flange (121) is provided with a connection hole penetrating therethrough. When the two clamps (12) are rotated to be closed, the connection holes on the two outer flanges (121) are aligned and bolted together to clamp the pipe (5) tightly.

4. The pipeline welding robot according to claim 1, characterized in that: The two-dimensional moving component (2) comprises a first linear module (21) and a second linear module (22); the first linear module (21) is vertically arranged on a side of the clamp (12) away from its slot, with its driving end facing forward, and the middle portion of the first linear module (21) corresponding to the length direction is connected to the middle portion of the slot bottom of the clamp (12); the second linear module (22) is arranged in the left-right direction and is perpendicular to the first linear module (21); the driving end of the second linear module (22) is connected to the driving end of the first linear module (21); and the end of the second linear module (22) close to the clamp (12) constitutes the driving end of the two-dimensional moving component (2).

5. The pipeline welding robot according to claim 4, characterized in that: The length of the first linear module (21) is greater than the diameter of the clamp (12), and the length of the second linear module (22) is between the radius and the diameter of the clamp (12).

6. The pipeline welding robot according to claim 4, characterized in that: The rotating component (3) is a reduction motor.

7. A pipeline welding method, characterized in that: The following steps are involved: Step 1: lift the two pipes (5) to be welded respectively through the support members until they are coaxially distributed, and align the ends to be welded with each other; Step 2: clamping the pipeline welding robot as described in any one of claims 1 to 6 onto any one of the pipelines (5), and aligning the welding gun (4) with the butt joints of the two pipelines (5); Step 3: Controlling the two two-dimensional moving components (2) and the two rotating components (3) to operate synchronously to drive the welding gun (4) to perform circumferential welding on the butt joints of the two pipes (5); Step 4: After the butt joints of the two pipes (5) are welded, the pipe welding robot is rotated to re-weld the welds.

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