A real-time collaborative perception robot pipeline adaptive welding system

Abstract

The present invention provides a real-time collaborative perception robot pipeline adaptive welding system, which includes a fixed frame, a turntable, a pulley, a lifting frame, a welding frame, a driving assembly, a first welding gun, a second welding gun and a weld tracker. The real-time collaborative perception robot pipeline adaptive welding system provided by the present invention, when welding the pipeline, fixes the spot-welded pipeline to the chuck, and during the rotation of the turntable, the weld tracker first detects the width of the inner ring weld of the pipeline, and controls the swing amplitude and swing position of the driving assembly through a controller to achieve the bottom welding at the weld. Then, the width of the outer ring weld of the pipeline is detected by the weld tracker, and the cover welding is achieved by controlling the swing amplitude and swing position of the driving assembly through a controller. Through a single clamping, the bottom and cover welding can be achieved. In addition, the welding process is uninterrupted, the operation is convenient, and the welding efficiency of pipeline welding is effectively improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline welding, and in particular relates to a real-time collaborative sensing robot pipeline adaptive welding system. Background Art

[0002] Welding is an important quality control point in construction projects, and pipeline welding technology is one of the indispensable processes in industrial manufacturing and construction. It is widely used in many fields such as petroleum, natural gas, chemical industry, water treatment, construction and factory prefabrication of pipelines. At present, pipelines are usually divided into base welding and cover welding during the welding process. Before pipeline welding, the connection between the two pipelines will be spot welded. After the spot welding is completed, the pipeline will be clamped on the rotating disk, and the position of the welding gun will be adjusted to perform base welding on the weld. After the base welding is completed, the welding gun for the cover welding is replaced, and the position of the welding gun is readjusted to perform the cover welding operation. During the welding process, the welding gun needs to be replaced and the position and parameters of the welding gun need to be adjusted for base welding and cover welding. The operation process is relatively complicated, which affects the welding efficiency of the pipeline. Summary of the invention

[0003] The embodiment of the present invention provides a real-time collaborative perception robot pipeline adaptive welding system, which aims to solve the problem in the prior art that the operation process of the pipeline during welding is complex and affects the welding efficiency.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is to provide a real-time collaborative perception robot pipeline adaptive welding system, including:

[0005] Fixed frame;

[0006] A turntable is rotatably arranged on the fixing frame, a chuck for fixing the pipeline is installed on the turntable, the chuck is coaxially arranged with the turntable, and when the axis of the turntable is arranged in a horizontal direction, the axis direction of the turntable is defined as a first direction;

[0007] A pulley is arranged on one side of the fixing frame, and the position of the pulley relative to the fixing frame has a degree of freedom of adjustment along a first direction;

[0008] A lifting frame is mounted on the pulley, and the position of the lifting frame on the pulley has a degree of freedom of adjustment in the height direction;

[0009] A welding frame, slidably disposed on the lifting frame along a first direction;

[0010] A driving assembly, installed between the welding frame and the lifting frame, and used to push the welding frame to move on the lifting frame;

[0011] A first welding gun, mounted on the welding frame, wherein a welding joint on the first welding gun is arranged toward the axis of the chuck;

[0012] A second welding gun, mounted on the welding frame and arranged at an angle with the first welding gun, wherein a welding joint on the second welding gun is arranged toward the axis of the chuck;

[0013] The weld tracker is installed on one side of the fixing frame and is used to detect the welds on the inner and outer rings of the pipeline.

[0014] In one possible implementation, a crossbeam is fixedly mounted on the welding frame, and the length direction of the crossbeam is arranged along the horizontal direction and perpendicular to the first direction. The first welding gun and the second welding gun are installed on the crossbeam at intervals along the length direction of the crossbeam, and the positions of the first welding gun and the second welding gun on the crossbeam have the freedom to be adjusted along the length direction of the crossbeam.

[0015] In one possible implementation, a moving block is respectively installed between the first welding gun and the second welding gun and the crossbeam, a rotating disk is installed on the moving block, the rotating disk has the freedom of adjustment along the pitch angle on the moving block, and the rotating axis of the rotating disk is arranged along the first direction, and the first welding gun and the second welding gun are respectively installed on the rotating disks on the two moving blocks.

[0016] In one possible implementation, the positions of the first welding gun and the second welding gun on the rotating disk have the freedom to be adjusted in a direction close to or away from the chuck axis.

[0017] In one possible implementation, the driving component includes:

[0018] A lead screw is rotatably arranged on the lifting frame, the length direction of the lead screw is arranged along the first direction, and the lead screw is threadedly connected to the welding frame;

[0019] A driving member is installed on the lifting frame, and a driving end of the driving member is drivingly connected to the lead screw for driving the lead screw to rotate.

[0020] In one possible implementation, a mounting frame for mounting the weld tracker is also fixedly mounted on the pulley, an adjustment block is mounted on the mounting frame, the position of the adjustment block on the mounting frame has the freedom to be adjusted along a first direction, the weld tracker is mounted on the adjustment block, and the position of the weld tracker on the adjustment block has the freedom to be adjusted along a pitch angle.

[0021] In one possible implementation, a support frame for mounting a weld tracker is fixedly mounted on the fixed frame, a fixed block is mounted on the support frame, the position of the fixed block on the support frame has the freedom to be adjusted along a first direction, the weld tracker is mounted on the fixed block, and the position of the weld tracker on the fixed block has the freedom to be adjusted along a pitch angle.

[0022] In a possible implementation, a translation frame is further installed on the lifting frame, the position of the translation frame on the lifting frame has a degree of freedom to be adjusted along a horizontal direction and perpendicular to the first direction, and the welding frame is installed on the translation frame.

[0023] In one possible implementation, a flip frame is also mounted on the fixed frame, the turntable is rotatably arranged on the flip frame, the position of the flip frame on the fixed frame has the freedom to be adjusted along the pitch angle, and the hinge axis of the flip frame on the fixed frame is arranged along the horizontal direction and perpendicular to the first direction.

[0024] In a possible implementation, a worm wheel is fixedly mounted on the flip frame, a worm is rotatably mounted on the fixed frame and is meshed with the worm wheel, and a power element for driving the worm wheel to rotate is also fixedly mounted on the fixed frame.

[0025] The scheme shown in the embodiment of the present application, compared with the prior art, is provided with a fixed frame, a turntable is rotatably provided on the fixed frame, and a chuck for clamping the pipe is installed on the turntable. The pulley is slidably provided on one side of the fixed frame along the first direction, a lifting frame is installed on the pulley, a welding frame is installed on the lifting frame, and the welding frame can reciprocate along the first direction on the lifting frame through the driving of the driving assembly. In addition, a first welding gun and a second welding gun are installed on the welding frame, the first welding gun is used for bottom welding, and the second welding gun is used for cover welding. In addition, a weld tracker is installed on one side of the turntable on the fixed frame. In the present application, when welding the pipeline, by fixing the spot-welded pipeline to the chuck, and adjusting the pipeline position so that the weld is within the detection range of the weld tracker, the turntable is rotating, and the weld tracker first detects the width of the inner ring weld of the pipeline and feeds back to the controller. The controller controls the swing amplitude and swing position of the driving assembly according to the width of the weld at the detection position when the detection position moves to the first welding gun, so as to realize the bottom welding at the weld. After the base welding is completed, the weld tracker detects the width of the outer weld of the pipeline and feeds it back to the controller. The controller controls the swing amplitude and swing position of the drive assembly according to the width of the weld at the detection position when the detection position moves to the second welding gun to achieve the cover welding. The base and cover welding can be achieved through a single clamping. In addition, the welding process is uninterrupted and easy to operate, which effectively improves the welding efficiency of pipeline welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the structure of a real-time collaborative perception robot pipeline adaptive welding system provided by an embodiment of the present invention;

[0027] Figure 2 A schematic diagram of the installation structure of a first welding gun and a second welding gun provided in an embodiment of the present invention;

[0028] Figure 3 A schematic diagram of the installation structure of a welding frame provided in an embodiment of the present invention;

[0029] Figure 4 A schematic diagram of the installation structure of a weld tracker provided in an embodiment of the present invention;

[0030] Figure 5 A schematic diagram of the installation structure of the turnover frame provided in an embodiment of the present invention.

[0031] Description of reference numerals:

[0032] 1. Fixed frame; 11. Flip frame; 111. Worm gear; 112. Worm; 113. Power part; 2. Turntable; 3. Chuck; 4. Pulley; 41. Mounting frame; 411. Adjustment block; 42. Support frame; 421. Fixed block; 5. Lifting frame; 6. Translation frame; 7. Welding frame; 71. First welding gun; 72. Second welding gun; 73. Crossbeam; 731. Fixed beam; 732. Sliding beam; 733. Moving block; 734. Rotating disk; 8. Weld seam tracker; 9. Drive assembly; 91. Lead screw; 92. Drive part. DETAILED DESCRIPTION

[0033] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0034] Please also read Figures 1 to 5The real-time collaborative sensing robot pipeline adaptive welding system provided by the present invention is now described. The real-time collaborative sensing robot pipeline adaptive welding system includes a fixed frame 1, a turntable 2, a pulley 4, a lifting frame 5, a welding frame 7, a driving assembly 9, a first welding gun 71, a second welding gun 72 and a weld tracker 8. The turntable 2 is rotatably arranged on the fixed frame 1, and a chuck 3 for fixing the pipeline is installed on the turntable 2. The chuck 3 is coaxially arranged with the turntable 2. When the axis of the turntable 2 is arranged in the horizontal direction, the axis direction of the turntable 2 is defined as the first direction; the pulley 4 is arranged on one side of the fixed frame 1, and the position of the pulley 4 relative to the fixed frame 1 has the freedom to be adjusted in the first direction; the lifting frame 5 is installed on the pulley 4, and the position of the lifting frame 5 on the pulley 4 has the freedom to be adjusted in the height direction; the welding frame 7 is slidably arranged on the lifting frame 5 along the first direction; the driving assembly 9 is installed between the welding frame 7 and the lifting frame 5, and is used to push the welding frame 7 to move on the lifting frame 5; the first welding gun 71 is installed on the welding frame 7, and the welding joint on the first welding gun 71 is arranged toward the axis of the chuck 3; the second welding gun 72 is installed on the welding frame 7, and is arranged at an angle with the first welding gun 71, and the welding joint on the second welding gun 72 is arranged toward the axis of the chuck 3; the weld tracker 8 is installed on one side of the fixed frame 1, and is used to detect the welds on the inner and outer rings of the pipeline.

[0035] Compared with the prior art, the real-time collaborative perception robot pipeline adaptive welding system provided in this embodiment is provided with a fixed frame 1, a turntable 2 is rotatably provided on the fixed frame 1, and a chuck 3 for clamping the pipeline is installed on the turntable 2. The pulley 4 is slidably provided on one side of the fixed frame 1 along the first direction, and a lifting frame 5 is installed on the pulley 4, and a welding frame 7 is installed on the lifting frame 5. The welding frame 7 can reciprocate along the first direction on the lifting frame 5 through the drive of the driving assembly 9. In addition, a first welding gun 71 and a second welding gun 72 are installed on the welding frame 7, and the first welding gun 71 is used for bottom welding, and the second welding gun 72 is used for cover welding. In addition, a weld tracker 8 is installed on one side of the turntable 2 on the fixed frame 1. In the present application, when welding the pipeline, the spot-welded pipeline is fixed to the chuck 3, and the pipeline position is adjusted so that the weld is within the detection range of the weld tracker 8. During the rotation of the turntable 2, the weld tracker 8 first detects the width of the inner ring weld of the pipeline and feeds back to the controller. The controller controls the swing amplitude and swing position of the drive assembly 9 according to the width of the weld at the detection position when the detection position moves to the first welding gun 71, so as to achieve the bottom welding at the weld. After the bottom welding is completed, the width of the outer ring weld of the pipeline is detected by the weld tracker 8, and the feedback is given to the controller. The controller controls the swing amplitude and swing position of the drive assembly 9 according to the width of the weld at the detection position when the detection position moves to the second welding gun 72, so as to achieve the cover welding. Through a single clamping, the bottom and cover welding can be achieved. In addition, the welding process is uninterrupted, the operation is convenient, and the welding efficiency of pipeline welding is effectively improved.

[0036] Specifically, in this embodiment, the weld tracker 8 and the method for the controller to control the drive assembly 9 both adopt the existing technology, which will not be elaborated here. The weld tracker 8 is electrically connected to the controller, and the controller is electrically connected to the drive end of the drive assembly 9. It is used to control the working state of the drive end. During the welding process, the welding joints of the first welding gun 71 and the second welding gun 72 are both arranged along the radial direction of the pipeline. By detecting the angle between the position of the weld tracker 8 and the first welding gun 71 and the second welding gun 72 and combining the inner diameter and outer diameter of the pipeline, it can be calculated that when the weld tracker 8 detects a certain length of the weld, the first welding gun 71 or the second welding gun is started to switch between the working state and the stop state.

[0037] Specifically, in this embodiment, the weld tracker is also used to detect the position and length of the weld, and convert the weld detection position information into a signal and transmit it to the controller. The controller controls the driving component 9 to drive the welding frame 7 to move to the corresponding position, and controls the amplitude of the reciprocating motion of the welding frame 7 along the first direction during the welding process to move with the detected weld width, thereby realizing automatic welding operations.

[0038] Preferably, in this embodiment, during the pipeline welding process, the weld tracker 8 first detects the width and length of the weld on the inner wall of the pipeline. Then, the welding base operation is performed. After the base operation is completed, the weld tracker 8 detects the width and length of the weld on the outer wall of the pipeline, and then performs the cover welding operation. This prevents the pipeline from being deformed during the base welding process and affecting the subsequent cover operation.

[0039] Specifically, in this embodiment, a guide rail for the movement of the trolley 4 is fixedly installed on one side of the fixed frame 1, a roller is rotatably arranged on the trolley 4, the roller is rotatably arranged on the guide rail, and a limit block for limiting the movement of the roller is detachably installed on the guide rail. Thus, the limit block realizes the fixing of the position of the trolley 4.

[0040] Specifically, in this embodiment, a gear bar is fixedly mounted on the pulley 4, the length direction of the gear bar is arranged in the vertical direction, and a gear meshing with the gear bar is rotatably arranged on the lifting frame 5. A motor for driving the gear to rotate is also installed on the lifting frame 5, and the lifting frame 5 can be driven to move up and down by starting the motor.

[0041] Preferably, in this embodiment, the axis of the turntable 2 is coaxially arranged with the axis of the chuck 3. When the axis of the turntable 2 is arranged in the horizontal direction, the orientations of the welding joints of the first welding gun 71 and the second welding gun 72 are both arranged in the radial direction of the turntable 2. At the same time, the orientation of the detection end of the weld tracker 8 is also arranged in the radial direction of the turntable 2. The welding length and the welding starting point and end point of the first welding gun 71 and the second welding gun 72 can be effectively calculated through the outer diameter and inner diameter of the pipeline.

[0042] In some embodiments, the welding frame 7 can be used as follows: Figure 1 , Figure 2 See also Figure 1 , Figure 2 A crossbeam 73 is fixedly mounted on the welding frame 7, and the length direction of the crossbeam 73 is arranged along the horizontal direction and perpendicular to the first direction. The first welding gun 71 and the second welding gun 72 are installed on the crossbeam 73 at intervals along the length direction of the crossbeam 73, and the positions of the first welding gun 71 and the second welding gun 72 on the crossbeam 73 have the freedom to be adjusted along the length direction of the crossbeam 73. A crossbeam 73 is fixedly mounted on the welding frame 7, and the first welding gun 71 and the second welding gun 72 are installed on the crossbeam 73 along the length direction of the crossbeam 73, respectively, and the positions of the first welding gun 71 and the second welding gun 72 on the crossbeam 73 can be adjusted along the length direction of the crossbeam 73. The axial direction of the welding joint pipe of the first welding gun 71 and the second welding gun 72 can be achieved by adjusting the positions of the first welding gun 71 and the second welding gun 72 on the crossbeam 73. Ensure the stability of welding.

[0043] In some embodiments, the cross beam 73 may be formed as follows: Figure 1 , Figure 2See also Figure 1 , Figure 2 A moving block 733 is installed between the first welding gun 71 and the second welding gun 72 and the crossbeam 73, respectively. A rotating disk 734 is installed on the moving block 733. The rotating disk 734 has a degree of freedom to adjust along the pitch angle on the moving block 733, and the rotating axis of the rotating disk 734 is arranged along the first direction. The first welding gun 71 and the second welding gun 72 are respectively installed on the rotating disks 734 on the two moving blocks 733. A moving block 733 is slidably arranged on the crossbeam 73 along the length direction of the crossbeam 73, and a gear bar is fixedly installed on one side of the crossbeam 73, and the length direction of the gear bar is arranged along the length direction of the crossbeam 73. A gear that meshes with the gear bar is rotatably arranged on the moving block 733, and a handle that is convenient for rotating the gear is fixedly installed on the gear. The gear can be driven to move on the gear bar by rotating the handle, thereby realizing the movement of the moving block 733. A rotating disk 734 is also installed on the moving block 733, and the axis of the rotating disk 734 on the moving block 733 is arranged along the first direction. A worm 112 is rotatably mounted on the crossbeam 73, and a worm wheel 111 is fixedly mounted on the rotating disk 734. The worm wheel 111 is coaxially arranged with the rotating disk 734, and the worm 112 and the worm wheel 111 are meshed with each other. The worm 112 can be rotated to drive the worm wheel 111 to rotate, thereby adjusting the angle of the rotating disk 734. In the present application, the positions of the first welding gun 71 and the second welding gun 72 on the crossbeam 73 can be adjusted, and at the same time, the angles of the first welding gun 71 and the second welding gun 72 can also be adjusted. The positions of the first welding gun 71 and the second welding gun 72 can be adjusted during the welding process according to pipes of different sizes to ensure a certain welding treatment.

[0044] In a preferred embodiment, the crossbeam 73 includes a fixed beam 731 fixedly mounted on the welding frame 7 and a sliding beam 732 slidably mounted on the fixed beam 731 along the first direction. The first welding gun 71 and the second welding gun 72 are mounted on the fixed beam 731 and the sliding beam 732 respectively. During the welding process, the first welding gun 71 is located in front of the second welding gun 72. A screw connected to the sliding beam 732 is also rotatably mounted on the welding frame 7, and a synchronous motor for driving the screw to rotate is also mounted on the welding frame 7. The synchronous motor is electrically connected to the controller, and the working state of the synchronous motor can be controlled by the controller. Through the setting of the sliding beam 732, the position of the second welding gun 72 relative to the first welding gun 71 in the first direction can be freely adjusted. During the pipeline welding process, by adjusting the positions of the first welding gun 71 and the second welding gun 72, the welding joints of the first welding gun 71 and the second welding gun 72 are all arranged along the radial direction of the pipeline, so that the relative positions of the detection position of the weld tracker 8 and the first welding gun 71 and the second welding gun 72 can be determined according to the sizes of the inner diameter and outer diameter of the pipeline. Therefore, the weld seams of the outer ring and the inner ring of the pipeline are detected simultaneously during the detection process of the weld seam tracker 8, the position of the first welding gun 71 is adjusted by adjusting the position of the welding frame 7 through the driving component 9, and the position of the second welding gun 72 is adjusted by compensating the displacement of the sliding beam 732 along the first direction. When welding the pipeline, the first welding gun 71 and the second welding gun 72 can be operated synchronously, the first welding gun 71 performs base welding at the front, and the second welding gun 72 performs cover welding at the back, which effectively improves the welding efficiency during the pipeline welding process.

[0045] Specifically, in the present embodiment, the first welding gun 71 and the holiday welding gun 72 are arranged at an angle along the circumferential direction of the turntable 2 .

[0046] In some embodiments, the first welding gun 71 and the second welding gun 72 can be used as follows: Figure 2 See the structure shown. Figure 2 The positions of the first welding gun 71 and the second welding gun 72 on the rotating disk 734 have the freedom to be adjusted in the direction close to or away from the axis of the chuck 3. An adjustment seat is fixedly installed on the rotating disk 734, and a mounting plate for mounting the first welding gun 71 or the second welding gun 72 is slidably arranged on the adjustment seat. A lead screw 91 is rotatably arranged on the adjustment seat, and the lead screw 91 is threadedly connected to the mounting plate, and the length direction of the lead screw 91 is arranged along the radial direction of the rotating disk 734. The position of the first welding gun 71 or the second welding gun 72 can be adjusted by rotating the lead screw 91. The structure is simple and the operation is convenient.

[0047] Preferably, in this embodiment, a synchronous motor for rotating the lead screw 91 is also installed on the adjustment seat, and the synchronous motor is electrically connected to the controller. When the first welding gun 71 is required to work, the synchronous motor corresponding to the first welding gun 71 can be controlled to drive the first welding gun 71 to move toward the direction close to the pipeline, and the synchronous motor corresponding to the second welding gun 72 can be controlled to drive the second welding gun 72 to move away from the pipeline; when the second welding gun 72 is working, the first welding gun 71 and the second welding gun 72 are controlled by the controller to move in opposite directions. At the same time, the positions of the working states of the first welding gun 71 and the second welding gun 72 can be adjusted accordingly according to different pipelines during the welding process.

[0048] In some embodiments, the drive assembly 9 may be configured as follows: Figure 3 See the structure shown. Figure 3 The driving assembly 9 includes a lead screw 91 and a driving member 92. The lead screw 91 is rotatably arranged on the lifting frame 5, the length direction of the lead screw 91 is arranged along the first direction, and the lead screw 91 is threadedly connected to the welding frame 7; the driving member 92 is installed on the lifting frame 5, and the driving end of the driving member 92 is transmission-connected with the lead screw 91, which is used to drive the lead screw 91 to rotate. A hanging part for hanging on the lifting frame 5 is arranged on the welding frame 7, the hanging part is slidably arranged on the lifting frame 5 along the first direction, and the hanging part is threadedly connected with the lead screw, the driving member 92 is a synchronous motor, and the driving end of the driving member 92 is transmission-connected with the lead screw 91, and the welding frame 7 can be driven to move along the first direction on the lifting frame 5 through the driving member 92.

[0049] Specifically, in this embodiment, the initial positions of the first welding gun 71 and the second welding gun 72 can be calibrated by adjusting the position of the welding frame 7 before welding. During the welding process, the controller controls the working state of the driving member 92 according to the position and width of the weld detected by the weld tracker 8, so that the welding frame 7 synchronously drives the first welding gun 71 and the second welding gun 72 to move during the movement along the first direction, thereby realizing the operation of adjusting the position of the first welding gun 71 or the second welding gun 72 in real time according to the detection result of the weld tracker 8.

[0050] In some embodiments, the weld tracker 8 may be configured as follows: Figure 1 See the structure shown. Figure 1, a mounting frame 41 for mounting the weld tracker 8 is also fixedly mounted on the pulley 4, an adjustment block 411 is mounted on the mounting frame 41, the position of the adjustment block 411 on the mounting frame 41 has the freedom to be adjusted along the first direction, the weld tracker 8 is mounted on the adjustment block 411, and the position of the weld tracker 8 on the adjustment block 411 has the freedom to be adjusted along the pitch angle. A mounting frame 41 is also mounted on the pulley 4, the mounting frame 41 extends in the direction close to the fixed frame 1, an adjustment block 411 is mounted at the end of the mounting frame 41, the adjustment block 411 is fixedly mounted on the fixed frame 1 by bolts, and an oblong through hole for fixing to the mounting frame 41 is also provided on the adjustment block 411, the length direction of the oblong through hole is arranged along the first direction, so that the position of the adjustment block 411 can be fine-tuned along the first direction on the mounting frame 41. A fixing rod is fixedly mounted on the adjustment block 411, and the length direction of the fixing rod is arranged along the horizontal direction and perpendicular to the first direction. A fixing seat for fixing the weld tracker 8 is installed at the end of the fixing rod. The fixing seat is sleeved on the outside of the fixing rod and can rotate on the fixing rod along the axis of the fixing rod and slide along the length direction of the fixing rod. A tightening piece is also threadedly connected to the fixing seat. The end of the tightening piece can be against the fixing rod to fix the fixing seat on the fixing rod, so as to achieve the pitch angle adjustment of the weld tracker 8 on the mounting frame 41. The position and detection angle of the weld tracker 8 can be fine-tuned to ensure the stability of the detection position of the weld tracker 8.

[0051] Specifically, in this embodiment, the weld tracker 8 is mounted on the trolley 4 through the mounting frame 41, so that the weld tracker 8 and the first welding gun 71 and the second welding gun 72 are all mounted on the trolley 4. When the trolley 4 moves to the working position, the relative position adjustment of the weld tracker 8 and the first welding gun 71 and the second welding gun 72 is avoided. When the pipeline is fixed to the chuck 3, the position can be freely clamped and fixed. At the same time, by adjusting the position of the trolley 4, the requirement of clamping multiple pipelines at one time for welding can be met.

[0052] In another embodiment, the weld tracker 8 can be used as follows: Figure 4 See the structure shown. Figure 4A support frame 42 for mounting the weld tracker 8 is fixedly mounted on the fixed frame 1, a fixed block 421 is mounted on the support frame 42, and the position of the fixed block 421 on the support frame 42 has the freedom to be adjusted along the first direction, the weld tracker 8 is mounted on the fixed block 421, and the position of the weld tracker 8 on the fixed block 421 has the freedom to be adjusted along the pitch angle. A support frame 42 is mounted on the fixed frame 1, a fixed block 421 is fixedly mounted on the support frame 42 by bolts, and an oblong through hole for fixing to the support frame 42 is also provided on the fixed block 421, and the length direction of the oblong through hole is arranged along the first direction, so that the position of the fixed block 421 on the support frame 42 can be fine-tuned along the first direction. A mounting rod is fixedly mounted on the fixed block 421, and the length direction of the mounting rod is arranged along the horizontal direction and perpendicular to the first direction. A fixture for fixing the weld tracker 8 is installed at the end of the mounting rod. The fixture is sleeved on the outside of the mounting rod and can rotate on the mounting rod along the axis of the mounting rod and slide on the mounting rod along the length direction of the mounting rod. A tightening piece is also threadedly connected to the fixture. The end of the tightening piece can be against the mounting rod to fix the fixture on the mounting rod, thereby achieving pitch angle adjustment of the weld tracker 8 on the mounting frame 41. The position and detection angle of the weld tracker 8 can be fine-tuned to ensure the stability of the detection position of the weld tracker 8.

[0053] Specifically, in this embodiment, the weld tracker 8 is installed on the fixed frame 1 through the support frame 42. During the welding process, when the driving assembly 9 drives the welding frame 7 to move back and forth, it is easy to cause the pulley 4 to shake. By installing the weld tracker 8 on the fixed frame 1, it can be avoided that when the pulley 4 shakes, the weld tracker 8 is prevented from affecting the accuracy of the weld position detection on the pipeline. Ensure the stability of the welding process.

[0054] In some embodiments, the lifting frame 5 can be used as follows: Figure 1 , Figure 2 and Figure 3 See also Figure 1 , Figure 2 and Figure 3, the lifting frame 5 is also equipped with a translation frame 6, and the position of the translation frame 6 on the lifting frame 5 has the freedom to be adjusted in the horizontal direction and perpendicular to the first direction, and the welding frame 7 is installed on the translation frame 6. The translation frame 6 is slidably arranged on the lifting frame 5 in the horizontal direction and perpendicular to the first direction. A rack is also fixedly installed on the translation frame 6, and a gear is rotatably arranged on the lifting frame 5, and the gear and the rack are meshed with each other. In addition, a driving motor for driving the gear to rotate is also installed on the lifting frame 5. When the driving motor drives the gear to rotate, the position of the translation frame 6 on the lifting frame 5 can be adjusted. In addition, the welding frame 7 is installed on the translation frame 6, and the position of the welding frame 7 in the horizontal direction and perpendicular to the first direction can be adjusted by setting the translation frame 6. Therefore, combined with the moving direction of the lifting frame 5 and the pulley 4, the positions of the first welding gun 71 and the second welding gun 72 can be freely adjusted in three-dimensional space to be suitable for welding of pipes of different specifications and sizes and welding at different welding positions. It is convenient for the assembly and debugging of the equipment during on-site installation.

[0055] In some embodiments, the fixing frame 1 may be used as follows: Figure 5 See the structure shown. Figure 5 , a flip frame 11 is also installed on the fixed frame 1, and the turntable 2 is rotatably arranged on the flip frame 11. The position of the flip frame 11 on the fixed frame 1 has the freedom to adjust along the pitch angle, and the hinge axis of the flip frame 11 on the fixed frame 1 is arranged in the horizontal direction and perpendicular to the first direction. The axis of the rotating shaft of the flip frame 11 on the fixed frame 1 is arranged in the horizontal direction and perpendicular to the first direction, so that the flip frame 11 flips along the pitch angle on the fixed frame 1. The turntable 2 is installed on the flip frame 11, and a gear ring is fixedly installed on the turntable 2. A gear meshing with the gear ring is rotatably arranged on the flip frame 11, and a driving motor for driving the gear to rotate is also installed on the flip frame 11, and the turntable 2 can be driven to rotate by the driving motor. And through the setting of the flip frame 11, the angle of the clamped pipe on the chuck 3 can be driven. When the pipe and the flange are welded, the pipe can be flipped to avoid interference between welding guns, and it is more suitable to weld the state of the flange or pipe according to the welding environment on site.

[0056] In some embodiments, the flip frame 11 can be used as follows: Figure 5 See the structure shown. Figure 5A worm wheel 111 is fixedly mounted on the flip frame 11, a worm 112 is rotatably mounted on the fixed frame 1 and is meshed with the worm wheel 111, and a power piece 113 for driving the worm 112 to rotate is also fixedly mounted on the fixed frame 1. The flip frame 11 is mounted with a worm wheel 111 on the rotating shaft on the fixed frame 1, and the worm wheel 111 is coaxially arranged with the rotating shaft on the flip frame 11, the flip frame 11 is fixedly connected with the rotating shaft, and the power piece 113 is a motor, so that when the worm 112 is driven to rotate by the power piece 113, the flip frame 11 can be driven to flip along the pitch angle. In order to adjust the flip angle of the flip frame 11, the flip frame 11 is fixed to the fixed frame 1 by using the self-locking principle of the worm wheel 111 and the worm 112. The structure is simple, and the angle of the flip frame 11 is easy to adjust.

[0057] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A real-time collaborative perception robot pipeline adaptive welding system, characterized in that: include: Fixed frame (1); A turntable (2) is rotatably arranged on the fixing frame (1), a chuck (3) for fixing the pipeline is installed on the turntable (2), the chuck (3) is coaxially arranged with the turntable (2), and when the axis of the turntable (2) is arranged in a horizontal direction, the axis direction of the turntable (2) is defined as a first direction; A pulley (4) is arranged on one side of the fixing frame (1), and the position of the pulley (4) relative to the fixing frame (1) has a degree of freedom of adjustment along a first direction; A lifting frame (5) is installed on the pulley (4), and the position of the lifting frame (5) on the pulley (4) has a degree of freedom of adjustment in the height direction; A welding frame (7) is slidably arranged on the lifting frame (5) along a first direction; A driving assembly (9) is installed between the welding frame (7) and the lifting frame (5) and is used to push the welding frame (7) to move on the lifting frame (5); A first welding gun (71) is mounted on the welding frame (7), wherein a welding joint on the first welding gun (71) is arranged toward the axis of the chuck (3); A second welding gun (72) is mounted on the welding frame (7) and is arranged at an angle to the first welding gun (71), wherein the welding joint on the second welding gun (72) is arranged toward the axis of the chuck (3); A weld tracker (8), mounted on one side of the fixing frame (1), for detecting welds on the inner and outer rings of the pipeline; The pulley (4) is also fixedly mounted with a mounting frame (41) for mounting the weld tracker (8); an adjustment block (411) is mounted on the mounting frame (41); the position of the adjustment block (411) on the mounting frame (41) has a degree of freedom to be adjusted along a first direction; the weld tracker (8) is mounted on the adjustment block (411); and the position of the weld tracker (8) on the adjustment block (411) has a degree of freedom to be adjusted along a pitch angle; the adjustment block (411) is provided with a mounting frame (411) for fixing to the mounting frame (41); 1), the length direction of the oblong through hole is arranged along the first direction, a fixing rod is fixedly installed on the adjustment block (411), the length direction of the fixing rod is arranged along the horizontal direction and perpendicular to the first direction, a fixing seat for fixing the weld tracker (8) is installed at the end of the fixing rod, the fixing seat is sleeved on the outer side of the fixing rod, and can rotate on the fixing rod along the axis of the fixing rod and slide along the length direction of the fixing rod, and a tightening piece is also threadedly connected to the fixing seat, and the end of the tightening piece can be abutted against the fixing rod, so as to fix the fixing seat on the fixing rod.

2. The real-time collaborative perception robot pipeline adaptive welding system according to claim 1, characterized in that: A crossbeam (73) is fixedly mounted on the welding frame (7), the length direction of the crossbeam (73) is arranged along the horizontal direction and perpendicular to the first direction, the first welding gun (71) and the second welding gun (72) are installed on the crossbeam (73) at intervals along the length direction of the crossbeam (73), and the positions of the first welding gun (71) and the second welding gun (72) on the crossbeam (73) have the freedom to be adjusted along the length direction of the crossbeam (73).

3. The real-time collaborative perception robot pipeline adaptive welding system according to claim 2 is characterized in that: A moving block (733) is respectively installed between the first welding gun (71) and the second welding gun (72) and the crossbeam (73); a rotating disk (734) is installed on the moving block (733); the rotating disk (734) has a degree of freedom for adjustment along a pitch angle on the moving block (733); and a rotating axis of the rotating disk (734) is arranged along a first direction; the first welding gun (71) and the second welding gun (72) are respectively installed on the rotating disks (734) on the two moving blocks (733).

4. The real-time collaborative perception robot pipeline adaptive welding system according to claim 3 is characterized in that: The positions of the first welding gun (71) and the second welding gun (72) on the rotating disk (734) have the freedom to be adjusted in a direction close to or away from the axis of the chuck (3).

5. The real-time collaborative perception robot pipeline adaptive welding system according to claim 1, characterized in that: The driving assembly (9) comprises: A lead screw (91) is rotatably arranged on the lifting frame (5), the length direction of the lead screw (91) is arranged along a first direction, and the lead screw (91) is threadedly connected to the welding frame (7); A driving member (92) is mounted on the lifting frame (5); a driving end of the driving member (92) is drivingly connected to the lead screw (91) for driving the lead screw (91) to rotate.

6. The real-time collaborative perception robot pipeline adaptive welding system according to claim 1, characterized in that: A support frame (42) for mounting a weld tracker (8) is fixedly mounted on the fixed frame (1), a fixed block (421) is mounted on the support frame (42), the position of the fixed block (421) on the support frame (42) has the freedom to be adjusted along a first direction, the weld tracker (8) is mounted on the fixed block (421), and the position of the weld tracker (8) on the fixed block (421) has the freedom to be adjusted along a pitch angle.

7. The real-time collaborative perception robot pipeline adaptive welding system according to claim 1, characterized in that: A translation frame (6) is also installed on the lifting frame (5); the position of the translation frame (6) on the lifting frame (5) has a degree of freedom that can be adjusted in a horizontal direction and perpendicular to a first direction; and the welding frame (7) is installed on the translation frame (6).

8. The real-time collaborative perception robot pipeline adaptive welding system according to claim 1, characterized in that: A flip frame (11) is also mounted on the fixed frame (1), the turntable (2) is rotatably mounted on the flip frame (11), the position of the flip frame (11) on the fixed frame (1) has a degree of freedom for adjustment along a pitch angle, and the hinge axis of the flip frame (11) on the fixed frame (1) is arranged along a horizontal direction and perpendicular to a first direction.

9. The real-time collaborative perception robot pipeline adaptive welding system according to claim 8, characterized in that: A worm wheel (111) is fixedly mounted on the flip frame (11), a worm (112) is rotatably mounted on the fixed frame (1) and is meshed with the worm wheel (111), and a power member (113) for driving the worm (112) to rotate is also fixedly mounted on the fixed frame (1).

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