Multi-joint pipe welding robot

Abstract

The application provides a multi-joint pipeline welding manipulator, and relates to the technical field of welding equipment. The pipeline welding manipulator comprises a mounting mechanism, the mounting mechanism comprises a main body and a sliding groove, and a circular through hole is formed in the middle of the main body. Two groups of sliding grooves are arranged on the inner ends of the two sides of the main body. During use, when the rotating plate is in a transverse state, the mounting plate provided with the welding manipulator can move left and right on the rotating plate, so that the purpose of annular welding of the pipeline is achieved. When the rotating plate is in a longitudinal state, the manipulator can move forward and backward on the rotating plate, so that the purpose of straight seam welding of the pipeline is achieved. Through the device, the device can change the state according to different use scenarios, and the practicability of the pipeline welding equipment is improved. When in use, the welding equipment can only perform annular welding around the pipeline, and cannot perform linear welding along the gap of the pipeline, so that the practicability of the welding equipment is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding equipment, in particular to a multi-joint pipeline welding manipulator. BACKGROUND

[0002] Pipeline transportation is the main mode of oil and gas transportation in China, and pipeline transportation has the advantages of low transportation cost, small environmental harm, safety and reliability, etc. During the laying process of oil and gas pipelines, welding equipment with multi-joint mechanical arm is needed to perform 360° welding on the transportation pipeline.

[0003] For example, the application number: CN202211535638.6 relates to a multi-joint pipeline welding robot and welding method, belonging to the technical field of pipeline welding robot, the multi-joint pipeline welding robot, comprising: first welding arm, second welding arm and pipeline clamping mechanism, the pipeline clamping mechanism includes rack, rack seat, first clamping mechanism and second clamping mechanism, the rack seat is vertically arranged, the lower end of which is in contact with the outer wall of the pipeline to be welded, and the upper end is fixedly connected with the middle part of the rack, the rack is horizontally arranged, the first clamping mechanism and the second clamping mechanism are symmetrically arranged at the left and right ends of the rack, and the end of the first clamping mechanism and the second clamping mechanism in contact with the outer wall of the pipeline to be welded can be opened and clamped relative to the pipeline to be welded, the first welding arm and the second welding arm are symmetrically arranged on the bottom of the rack, and the first welding arm and the second welding arm can cover 180° of the welding seam range respectively.

[0004] However, in view of the existing pipeline welding equipment, it lacks a structure for limiting the welding position, and when welding around the pipeline, the lack of limiting structure can easily lead to excessive welding, resulting in poor welding precision. Moreover, the existing pipeline welding equipment has poor practicability, and when in use, the welding equipment can only perform circular welding around the pipeline, and cannot perform linear welding along the gap of the pipeline, which makes the welding equipment less practical. SUMMARY

[0005] Therefore, the present application provides a multi-joint pipeline welding manipulator, which has a movable rotating assembly, which can convert the working state during welding of the pipeline, so that the welding equipment can change from circular welding to linear welding, thereby improving the practicability of the device and making the device more widely applicable.

[0006] The application provides a multi-joint pipeline welding manipulator, which has the advantages that the multi-joint pipeline welding manipulator is provided with a rotating assembly, a connecting assembly and a multi-joint welding manipulator, and the rotating assembly is arranged on the installation mechanism, the connecting assembly is arranged on the installation mechanism, and the multi-joint welding manipulator is arranged on the installation mechanism.

[0007] Further, the installation mechanism comprises a side rod, a moving groove and a connecting groove.

[0008] Further, the rotating assembly comprises a rotating plate, a movable groove and a mounting plate.

[0009] Further, the rotating assembly comprises a fixing block and an elastic block.

[0010] Further, the connecting assembly comprises a main rod and adjusting grooves; the main rod is in a strip-shaped structure; the adjusting grooves are symmetrically arranged on the two sides of the interior of the main rod and penetrate the bottom side and the two ends of the main rod.

[0011] Further, the connecting assembly comprises a main rod and adjusting grooves; the main rod is in a strip-shaped structure; the adjusting grooves are symmetrically arranged on the two sides of the interior of the main rod and penetrate the bottom side and the two ends of the main rod.

[0012] Further, the connecting assembly comprises a main rod and adjusting grooves; the main rod is in a strip-shaped structure; the adjusting grooves are symmetrically arranged on the two sides of the interior of the main rod and penetrate the bottom side and the two ends of the main rod.

[0013] Further, the connecting assembly comprises a main rod and adjusting grooves; the main rod is in a strip-shaped structure; the adjusting grooves are symmetrically arranged on the two sides of the interior of the main rod and penetrate the bottom side and the two ends of the main rod.

[0014] Beneficial effects

[0015] In the present application, the connecting assembly and the contact part are arranged, the arc-shaped inner groove is arranged in the contact piece, the two sets of limiting blocks are slidably arranged on the two sides of the inner groove, the screw rod with the nut is arranged on the outer end of the limiting block, the arc-shaped clamping block is arranged on the outer end of the supporting rod, the clamping block is slidably arranged in the middle position of the inner groove, and the end of the fixed screw on the contact piece is inserted into the clamping block, in use, the position of the limiting block in the inner groove is adjusted according to the length of the welding seam, after the adjustment is completed, the nut is tightened to fix the limiting block in the inner groove, so that the moving range of the clamping block on the supporting rod in the inner groove is limited, and the position of the welding equipment on the outer side of the pipeline is limited, the welding equipment can prevent excessive welding on the pipeline, and the welding precision of the welding device can be improved.

[0016] In the application, the installation mechanism and the rotating assembly are arranged, two groups of side rods are arranged at the two ends of the bottom of the main body, the rectangular blocks on the side rods are slidably connected with the sliding grooves in the main body through elastic members, a connecting groove is formed in the middle of the side rod, the rotating plate is movably installed at the bottom of the main body, the rotating plate is arranged between the two groups of side rods, four groups of rectangular fixing blocks are arranged at the outer ends of the rotating plate, and wedge-shaped elastic blocks are slidably installed in the inner two sides of the fixing blocks through elastic members, the fixing blocks on the two sides of the rotating plate are inserted into the connecting grooves in the side rods, and the elastic blocks at the two ends of the fixing blocks are inserted into the rectangular grooves in the inner two sides of the connecting grooves, during use, when the rotating plate is in a transverse state, the mounting plate provided with the welding mechanical arm can move left and right on the rotating plate, so that the purpose of annular welding of the pipeline is achieved, when the rotating plate is in a longitudinal state, the mechanical arm can move forward and backward on the rotating plate, so that the purpose of straight seam welding of the pipeline is achieved, and through the equipment, the device can change the state according to different use scenes. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings of the embodiments will be briefly introduced below. The drawings described in the following description only relate to some embodiments of the application, and are not a limitation on the application.

[0018] In the drawings:

[0019] Figure 1 A perspective structural schematic view according to an embodiment of the application is shown.

[0020] Figure 2 A bottom view structural schematic view according to an embodiment of the application is shown.

[0021] Figure 3 An exploded structural schematic view according to an embodiment of the application is shown.

[0022] Figure 4 A partial sectional view structural schematic view according to an embodiment of the application is shown.

[0023] Figure 5 A view according to an embodiment of the application is shown by Figure 4 An enlarged structural schematic view of A part is shown.

[0024] Figure 6 An installation mechanism sectional view structural schematic view according to an embodiment of the application is shown.

[0025] Figure 7 A partial connection structural schematic view according to an embodiment of the application is shown.

[0026] Figure 8 A connection assembly structural schematic view according to an embodiment of the application is shown.

[0027] Figure 9 A rotational assembly exploded structural schematic diagram according to an embodiment of the present application is shown.

[0028] List of reference signs

[0029] 1, mounting mechanism;

[0030] 101, main body; 1011, sliding groove;

[0031] 102, side rod; 1021, moving groove; 1022, connecting groove;

[0032] 2, rotational assembly;

[0033] 201, rotating plate; 2011, movable groove; 2012, mounting plate;

[0034] 202, fixed block; 2021, elastic block;

[0035] 3, connecting assembly;

[0036] 301, main rod; 3011, adjusting groove;

[0037] 302, support rod; 3021, clamping and block;

[0038] 4, contact part;

[0039] 401, contact piece; 4011, fixing bolt; 4012, inner groove;

[0040] 402, limiting block; 4021, limiting screw. DETAILED DESCRIPTION

[0041] In order to make the purpose, scheme and advantages of the technical scheme of the present application more clear, the technical scheme of the present application embodiment will be described clearly and completely in the following with reference to the drawings of the specific embodiments of the present application.

[0042] Embodiment: please refer to Figures 1 to 9 shown:

[0043] The present application provides a kind of multi-joint pipeline welding manipulator, comprising: installation mechanism 1;Installation mechanism 1 includes main body 101 and sliding groove 1011, main body 101 middle is provided with circular through hole;Sliding groove 1011 is provided with two groups, and sliding groove 1011 is set in the inner end of the two sides of main body 101, and sliding groove 1011 penetrates the two sides of main body 101;Rotary assembly 2 is provided on installation mechanism 1, the rotating plate 201 of rotary assembly 2 is at the lower end of main body 101, and the cylindrical structure outside rotating plate 201 is rotatably connected with the circular through hole in main body 101, rotating plate 201 is between the two groups of side bars 102 outside main body 101, and the fixed block 202 in the outer end of rotating plate 201 is inserted into the connecting groove 1022 in side bar 102, and the elastic block 2021 in fixed block 202 is engaged with the rectangular slot in connecting groove 1022;Two groups of connecting assemblies 3 are provided on installation mechanism 1, the main rod 301 of connecting assembly 3 is provided on the two sides of main body 101, and the main rod 301 is at the upper end of side bar 102, and the support rod 302 outside main rod 301 is slidably connected with the moving groove 1021 in side bar 102, and the support rod 302 is threadedly connected with the screw in moving groove 1021;Two groups of contact parts 4 are provided on connecting assembly 3, and the contact piece 401 of contact part 4 is at the outer bottom side of support rod 302, and the inner groove 4012 in contact piece 401 is slidably connected with the catch block 3021 at the outer end of support rod 302, and the end of fixed bolt 4011 outside contact piece 401 is inserted into the inner side of catch block 3021.

[0044] As shown in the figure, Figure 6 The installation mechanism 1 comprises: side bar 102, moving groove 1021 and connecting groove 1022;Side bar 102 is provided with two groups, and side bar 102 is symmetrically provided on the bottom of main body 101, and the upper end of side bar 102 is provided with a rectangular protruding structure, which is slidably connected with sliding groove 1011 through elastic element;Moving groove 1021 is provided with two groups, and moving groove 1021 is symmetrically provided inside the two sides of side bar 102, and moving groove 1021 penetrates the two sides of side bar 102, and the screw with reverse thread is rotatably installed in the two groups of moving grooves 1021;Connecting groove 1022 is provided in the middle position inside side bar 102, and connecting groove 1022 penetrates the two ends of side bar 102, and two groups of rectangular grooves are symmetrically provided inside connecting groove 1022, the rectangular side bar 102 is provided, the support rod 302 can be slidably installed at the lower end of the side bar 102, the rectangular moving groove 1021 is provided, and the screw in the moving groove 1021 is threadedly connected with the support rod 302, so that the support rod 302 can move in the side bar 102 when the screw is rotated, and the rectangular connecting groove 1022 is provided, which can fix the rotating plate 201 between the two groups of side bars 102 by inserting the fixed block 202 outside the rotating plate 201 into the connecting groove 1022.

[0045] As shown in the figure, Figures 4-5As shown, the rotating assembly 2 comprises: a rotating plate 201, a movable groove 2011 and a mounting plate 2012; the upper end of the rotating plate 201 is provided with a cylindrical structure; the movable groove 2011 is provided with two groups, and the movable groove 2011 is symmetrically arranged on the two sides of the inside of the rotating plate 201, the movable groove 2011 penetrates the two sides of the rotating plate 201, and the inside of the movable groove 2011 is provided with a driving screw connected with a motor; the mounting plate 2012 is arranged at the bottom of the rotating plate 201, and the upper end of the mounting plate 2012 is slidably connected with the movable groove 2011, and the upper end of the mounting plate 2012 is threadedly connected with the screw in the movable groove 2011, and the bottom of the mounting plate 2012 is provided with a multi-joint welding mechanical arm; the rotating plate 201 is arranged, the mounting plate 2012 is slidably arranged at the bottom of the rotating plate 201, the rectangular movable groove 2011 is arranged, the mounting plate 2012 is movably mounted to the bottom of the rotating plate 201 through the movable groove 2011, the U-shaped mounting plate 2012 is arranged, the welding arm with joints is arranged at the bottom of the mounting plate 2012, the fixed block 202 and the elastic block 2021; the fixed block 202 is provided with four groups, and the fixed block 202 is arranged at the middle position of the four edges outside the rotating plate 201, and the inside of the fixed block 202 is provided with a rectangular groove on both sides; the elastic block 2021 is slidably mounted in the rectangular groove on both sides of the inside of the fixed block 202 through the elastic member, the rectangular fixed block 202 is arranged, the fixed block 202 is inserted into the connecting groove 1022 of the side rod 102, so that the rotating plate 201 and the side rod 102 are fixed, the wedge-shaped elastic block 2021 is arranged, and the elastic block 2021 is inserted into the rectangular groove on both sides of the inside of the connecting groove 1022, so that the fixed block 202 is fixed in the connecting groove 1022.

[0046] As shown in the figure, Figure 8 The connecting assembly 3 comprises: a main rod 301 and an adjusting groove 3011; the main rod 301 is in a long strip structure; the adjusting groove 3011 is provided with two groups, and the adjusting groove 3011 is arranged on the inside of the main rod 301, and the adjusting groove 3011 penetrates the bottom side and both ends of the main rod 301; the main rod 301 is arranged, the two groups of supporting rods 302 are connected, the T-shaped adjusting groove 3011 is arranged, the supporting rod 302 is slidably mounted into the adjusting groove 3011, so that the supporting rod 302 is movably connected with the main rod 301, the supporting rod 302 and the clamping block 3021; the supporting rod 302 is provided with two groups, and the supporting rod 302 is symmetrically arranged at the bottom of the two sides of the main rod 301, and the upper end of the supporting rod 302 is slidably connected with the adjusting groove 3011; the clamping block 3021 is arranged at the bottom outside of the supporting rod 302, and a circular through groove is arranged in the inside of the clamping block 3021, the long strip supporting rod 302 is arranged, the contact piece 401 is mounted at the end of the supporting rod 302, the arc-shaped clamping block 3021 is arranged, and the clamping block 3021 is slidably mounted into the inner groove 4012, so that the supporting rod 302 is movably connected with the contact piece 401.

[0047] As shown in the figure, Figure 7As shown, the contact part 4 comprises: a contact piece 401, a fixing bolt 4011 and an inner groove 4012; the contact piece 401 is in an arc shape, and a convex structure is equidistantly arranged outside the contact piece 401, and a magnetic block is arranged inside the convex structure; the fixing bolt 4011 is threadedly installed at a middle position outside the contact piece 401; the inner groove 4012 is arranged inside the contact piece 401, and the inner groove 4012 penetrates through both sides and an outer end of the contact piece 401; the arc-shaped contact piece 401 is arranged, the device can be fixed to the pipeline by clamping the contact piece 401 to both sides of the pipeline, the fixing bolt 4011 is arranged, the clamp block 3021 can be fixed on the contact piece 401 by inserting the fixing bolt 4011 into the circular hole inside the clamp block 3021 when the clamp block 3021 is inserted into the inner groove 4012, the arc-shaped inner groove 4012 is arranged, the support rod 302 can be guided when moving on the contact piece 401 by slidingly installing the clamp block 3021 into the inner groove 4012, a limiting block 402 and a limiting screw rod 4021; the limiting block 402 is provided in two groups, and is slidingly installed at both sides of the inner groove 4012; the limiting screw rod 4021 is fixedly installed outside the limiting block 402, penetrates through the contact piece 401, and a nut is threadedly installed outside the limiting screw rod 4021; the arc-shaped limiting block 402 is arranged, and the movement of the clamp block 3021 in the inner groove 4012 can be limited, the limiting screw rod 4021 is arranged, and the limiting block 402 can be fixed in the inner groove 4012 by tightening the nut outside the limiting screw rod 4021.

[0048] The specific use mode and role of the embodiment are as follows:

[0049] In the present application, as Figures 1-9As shown in the drawings, the two groups of side rods 102 are movably mounted to the bottom of the main body 101, then the rectangular blocks on the side rods 102 are slidably connected with the sliding grooves 1011 in the main body 101 through elastic members, the rotating plate 201 is rotatably mounted to the bottom of the main body 101, so that the rotating plate 201 is between the two groups of side rods 102, four groups of rectangular fixed blocks 202 are arranged at the outer ends of the rotating plate 201, the elastic blocks 2021 are movably mounted to the inside two ends of the fixed blocks 202 through elastic members, the fixed blocks 202 on the two sides of the rotating plate 201 are inserted into the connecting grooves 1022 in the side rods 102, then the elastic blocks 2021 at the two ends of the fixed blocks 202 are inserted into the rectangular grooves in the inside two sides of the connecting grooves 1022, the mounting plates 2012 are mounted to the bottom of the rotating plate 201 through the movable grooves 2011, then the multi-joint welding mechanical arm is fixed to the bottom of the mounting plate 2012, the support rods 302 are movably mounted in the moving grooves 1021 in the side rods 102 through screws, the two groups of support rods 302 are movably connected through the main rod 301, the contact pieces 401 are mounted to the bottom of the support rods 302, the arc-shaped inner grooves 4012 are formed in the contact pieces 401, the arc-shaped clamping blocks 3021 are arranged at the outer ends of the support rods 302, the clamping blocks 3021 are slidably mounted to the middle positions of the inner grooves 4012, and the ends of the fixed bolts 4011 on the contact pieces 401 are inserted into the clamping blocks 3021, two groups of limiting blocks 402 are slidably mounted to the inside two sides of the inner grooves 4012, the screws with nuts are arranged at the outer ends of the limiting blocks 402, the positions of the limiting blocks 402 in the inner grooves 4012 are adjusted, after the adjustment is completed, the nuts are tightened to fix the limiting blocks 402 in the inner grooves 4012, the pipe is placed on the bottom of the main body 101, the support rods 302 are moved, so that the contact pieces 401 are clamped to the two ends of the pipe, and the magnetic blocks in the contact pieces 401 are attracted to the pipe, the fixed bolts 4011 are rotated and removed from the contact pieces 401, the main body 101 is rotated, so that the clamping blocks 3021 of the support rods 302 move in a ring along the inner grooves 4012, and the welding mechanical arm at the bottom of the mounting plate 2012 welds the pipe in a ring.

Claims

1. A multi-joint type pipe welding robot characterized by comprising: Include: Mounting mechanism (1), the mounting mechanism (1) includes main body (101) and sliding groove (1011), the main body (101) is opened with circular through hole in the middle; The sliding groove (1011) is provided with two groups, and the sliding groove (1011) is opened in the inner end of the two sides of main body (101), and the sliding groove (1011) penetrates the two sides of main body (101); Rotating assembly (2) is provided on the mounting mechanism (1), rotating assembly (2) includes rotating plate (201), movable slot (2011) and mounting plate (2012); The cylindrical structure is provided on the upper end of rotating plate (201), rotating plate (201) is at the lower end of main body (101), and the cylindrical structure outside rotating plate (201) is rotatably connected with the circular through hole in main body (101), and rotating plate (201) is between the two groups of side bars (102) outside main body (101); The movable slot (2011) is provided with two groups, and the movable slot (2011) is symmetrically opened in the two sides inside rotating plate (201), the movable slot (2011) penetrates the two sides of rotating plate (201), and the movable slot (2011) is provided with drive screw connected with motor inside; The mounting plate (2012) is provided at the bottom of rotating plate (201), and the upper end of mounting plate (2012) is slidably connected with movable slot (2011), and the upper end of mounting plate (2012) is threadedly connected with the screw inside movable slot (2011), the bottom of mounting plate (2012) is provided with multi-joint welding mechanical arm, and the fixed block (202) outside rotating plate (201) is inserted into the connecting groove (1022) in the side bar (102), and the elastic block (2021) in the fixed block (202) is engaged with the rectangular slot in the connecting groove (1022); Two groups of connecting assemblies (3) are provided on the mounting mechanism (1), the main rod (301) of connecting assembly (3) is provided on the two sides of main body (101), and the main rod (301) is at the upper end of side bar (102), and the supporting rod (302) outside main rod (301) is slidably connected with the moving slot (1021) inside side bar (102), and the supporting rod (302) is threadedly connected with the screw inside moving slot (1021); Two groups of contact parts (4) are provided on the connecting assembly (3), and the contact piece (401) of contact part (4) is at the outer bottom side of supporting rod (302), and the inner groove (4012) in contact piece (401) is slidably connected with the catch block (3021) outside the outer end of supporting rod (302), and the end of fixed bolt (4011) outside contact piece (401) is inserted into the inner side of catch block (3021).

2. The multi-jointed pipe welding robot as set forth in claim 1, wherein: The mounting mechanism (1) comprises: side rods (102), moving grooves (1021) and connecting grooves (1022); the side rods (102) are provided in two groups, and the side rods (102) are symmetrically arranged at the bottom of the main body (101), and the upper end of the side rod (102) is provided with a rectangular protruding structure, which is slidably connected with the sliding groove (1011) through an elastic element; the moving grooves (1021) are provided in two groups, and the moving grooves (1021) are symmetrically arranged inside the side rods (102) on both sides, and the moving grooves (1021) penetrate through the two sides of the side rods (102), and the two groups of moving grooves (1021) are rotatably arranged with the screw rods with reverse threads; the connecting grooves (1022) are arranged at the middle positions inside the side rods (102), and the connecting grooves (1022) penetrate through the two ends of the side rods (102), and two groups of rectangular grooves are symmetrically arranged inside the connecting grooves (1022).

3. The multi-jointed pipe welding robot as claimed in claim 1, wherein: The rotating assembly (2) comprises: fixed blocks (202) and elastic blocks (2021); the fixed blocks (202) are provided in four groups, and the fixed blocks (202) are arranged at the middle positions of the four edges of the rotating plate (201) outside, and the fixed blocks (202) are provided with rectangular grooves inside both sides; the elastic blocks (2021) are slidably arranged in the rectangular grooves inside both sides of the fixed blocks (202) through elastic elements.

4. The multi-jointed pipe welding robot as set forth in claim 1, wherein: The connecting assembly (3) comprises: main rods (301) and adjusting grooves (3011); the main rod (301) is in a long strip structure; the adjusting grooves (3011) are provided in two groups, and the adjusting grooves (3011) are arranged inside both sides of the main rod (301), and the adjusting grooves (3011) penetrate through the bottom side and both ends of the main rod (301).

5. The multi-jointed pipe welding robot according to claim 4, wherein: The connecting assembly (3) comprises: support rods (302) and clamping blocks (3021); the support rods (302) are provided in two groups, and the support rods (302) are symmetrically arranged at the bottom of the main rod (301) on both sides, and the upper end of the support rod (302) is slidably connected with the adjusting groove (3011); the clamping block (3021) is arranged outside the bottom of the support rod (302), and a circular through groove is arranged inside the clamping block (3021).

6. The multi-jointed pipe welding robot as claimed in claim 1, wherein: The contact part (4) comprises: a contact piece (401), a fixing bolt (4011) and an inner groove (4012); the contact piece (401) is in an arc structure, and the contact piece (401) is provided with protruding structures at equal intervals outside, and the protruding structures are provided with magnetic blocks inside; the fixing bolt (4011) is threadedly arranged at the middle position outside the contact piece (401); the inner groove (4012) is arranged inside the contact piece (401), and the inner groove (4012) penetrates through both sides and the outer end of the contact piece (401).

7. A multi-jointed pipe welding robot as claimed in claim 6, characterized in that: The contact part (4) further comprises limiting blocks (402) and limiting screws (4021); the limiting blocks (402) are provided in two groups, and are slidingly installed on the two sides of the inner groove (4012); the limiting screws (4021) are fixedly installed on the outer sides of the limiting blocks (402), penetrate through the contact piece (401), and the limiting screws (4021) are externally screw-mounted with nuts.

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