Pipeline welding robot
By designing a pipeline welding robot with adjustable fixing brackets and clamping devices, the problem that pipeline welding equipment in a narrow space cannot be adapted is solved, efficient and accurate welding is achieved, and welding defects and slurry leakage problems in the shield machine are avoided.
Patent Information
- Application Number
- CN202411496001.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-25
- Publication Date
- 2024-12-10
AI Technical Summary
Existing pipeline welding equipment cannot adapt to pipeline welding operations in narrow spaces, resulting in poor welding quality and prone to defects such as pores, slag inclusions, arc pits, cracks, etc., and the unqualified pipeline welding in the shield machine will affect the mud circulation system. performance.
A pipeline welding robot is designed, using adjustable fixed bracket, clamping device and welding device, which can accurately position and welding the pipeline through angle adjustment mechanism and telescopic arm, including clamping mechanism, welding mechanism and wire feeding mechanism, which can be used to achieve the precise positioning and welding of the pipeline through the angle adjustment mechanism and the telescopic arm, including the clamping mechanism, welding mechanism and wire feeding mechanism, which can be used to achieve the accuracy of the pipe position and welding mechanism. Quickly adjust the pipe position in a narrow space and ensure welding quality.
Efficient and accurate pipeline welding in a narrow space is achieved, which avoids the occurrence of welding defects, improves welding operation efficiency, and ensures the quality of pipeline welding in the shield machine, avoids slurry leakage and environmental pollution.
Smart Images
Figure CN119098654A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of pipeline welding, and in particular to a pipeline welding robot. Background Art
[0002] In the prior art, the common method for automatic pipe welding is to grind the groove of the pipe to be welded, align and fix it at a certain interval, and then use a manual welding gun to perform circular welding. In this way, for pipes laid in a narrow space, it is easy to cause welding errors after taking them out, grinding the grooves, and realigning and fixing them for welding, especially for elbow welding. If they are placed back to the original position for welding, the welding quality is poor due to the narrow space, and defects such as pores, slag inclusions, arc pits, cracks, and arc scratches are likely to appear on the weld surface.
[0003] Specifically, during the excavation process, the slurry shield machine must transport special slurry to the excavation surface through the slurry pipeline to maintain pressure balance, which places high demands on the welding quality of the pipeline. However, the internal space of the shield machine is small, especially some small-diameter pipelines are laid in places that are inaccessible to personnel and equipment. When these pipelines need to be welded, they need to be disassembled and then welded, which is time-consuming. Secondly, they need to be repositioned after disassembly, and the assembly accuracy cannot be guaranteed. In the past, there have been cases of pipeline leakage due to unqualified pipeline welding on construction sites. Pipeline leakage will affect the overall performance of the mud circulation system. If it is not cleaned in time, the environment near the leakage area will be dirty and messy. In severe cases, it may cause shutdown, reducing customers' trust in product quality.
[0004] Therefore, it is necessary to provide a new pipeline welding robot to solve the above-mentioned technical problems. Summary of the invention
[0005] The main purpose of the present invention is to provide a pipeline welding robot, aiming to solve the problem that the existing pipeline welding equipment cannot adapt to pipeline welding operations in a narrow space.
[0006] To achieve the above-mentioned purpose, the pipeline welding robot proposed in the present invention is used to weld two pipelines to be welded in a narrow space, and the pipeline welding robot includes an adjustable fixed bracket, a clamping device and a welding device;
[0007] The adjustable fixed bracket comprises an angle adjustment mechanism and two telescopic arms arranged opposite to each other, wherein the two telescopic arms are respectively slidably arranged on the angle adjustment mechanism; the angle adjustment mechanism is used to adjust the angle between the two telescopic arms;
[0008] The clamping device comprises a first clamping mechanism and a second clamping mechanism, wherein the first clamping mechanism is connected to one of the telescopic arms and is used to clamp a pipeline to be welded, and the second clamping mechanism is connected to another of the telescopic arms and is used to clamp another pipeline to be welded;
[0009] The welding device is arranged on the first clamping mechanism, and is used for welding the annular weld between two pipelines to be welded.
[0010] Optionally, the angle adjustment mechanism comprises a first fixing rod, a second fixing rod and two fastening guide structures, the first fixing rod is hinged to the second fixing rod, and the two telescopic arms are slidably connected to the first fixing rod and the second fixing rod respectively;
[0011] The two fastening guide structures are arranged on both sides of the first fixed rod, and the fastening guide structure includes a fastening guide rail and a locking piece. The fastening guide rail is arranged on the first fixed rod, and an arc-shaped guide groove is provided on the fastening guide rail. A sliding space for the second fixed rod to pass through is formed between the two fastening guide rails; the locking piece can pass through the arc-shaped guide groove and be threadedly connected to the second fixed rod to limit the second fixed rod.
[0012] Optionally, the first clamping mechanism comprises an adapter, an upper clamping member and a lower clamping member, the upper clamping member is detachably connected to the telescopic arm through the adapter, the lower clamping member is detachably connected to the upper clamping member, and the lower clamping member cooperates with the upper clamping member to clamp a pipeline to be welded;
[0013] The second clamping mechanism includes an upper pipe clamp, a lower pipe clamp and two connecting blocks. The telescopic arm is slidably connected to the second fixed rod. The upper pipe clamp is detachably connected to the telescopic arm, and the two ends of the upper pipe clamp are respectively connected to the two ends of the lower pipe clamp through the connecting blocks. The upper pipe clamp and the lower pipe clamp cooperate to clamp another pipeline to be welded.
[0014] Optionally, the clamping device also includes a plurality of spring sheets, and the upper clamping member, the lower clamping member, the upper pipe clamp and the lower pipe clamp are respectively provided with at least three spring sheets arranged along the circumference of the pipe to be welded on the side facing the pipe to be welded; the spring sheets are provided with two elastic arms for abutting against the pipe to be welded, and the plurality of spring sheets cooperate to clamp the pipe to be welded.
[0015] Optionally, the outer circumferences of the upper clamping member and the lower clamping member are both provided with racks arranged along the circumference of the center of the pipeline to be welded, and the racks on the upper clamping member and the lower clamping member are spliced to form a gear ring;
[0016] The welding device comprises a driving mechanism and a welding mechanism, wherein the driving mechanism comprises a sliding body and a driving assembly, wherein the sliding body can make a circular motion along the upper clamping member and the lower clamping member, and an installation space is formed in the sliding body; the driving assembly comprises a first driving member, a driving wheel, a first transmission wheel and a second transmission wheel, wherein the first driving member is arranged on the sliding body, the driving wheel rotates, the first transmission wheel and the second transmission wheel are both rotatably arranged in the installation space, and the driving wheel is connected to the output end of the first driving member; the first transmission wheel is meshed with the driving wheel; the second transmission wheel is coaxially arranged with the first transmission wheel, and the second transmission wheel is meshed with the gear ring;
[0017] The welding mechanism is arranged on the driving mechanism, and is used for welding two pipelines to be welded.
[0018] Optionally, the sliding body includes an upper sliding member and a lower sliding member, the upper sliding member forms the installation space, the lower sliding member is detachably connected to the upper sliding member, a sliding groove connected to the installation space is formed on the lower sliding member, the second transmission wheel extends into the sliding groove and engages with the gear ring; limiting grooves are respectively provided on the inner walls on both sides of the sliding groove, and the upper clamping member or the lower clamping member slides with the two limiting grooves on both side edges along the first direction.
[0019] Optionally, the welding mechanism includes a lateral movement component, a telescopic drive member and a welding gun, the lateral movement component includes a fixed seat, a screw rod, a slider and a second drive member, the fixed seat is connected to the sliding body, and the screw rod is rotatably set on the fixed seat; the slider is sleeved on the screw rod and threadedly connected to the screw rod; the second drive member is arranged on the fixed seat, and the output end of the second drive member is connected to the screw rod, and the second drive member can drive the screw rod to drive the slider to move along the first direction; the telescopic drive member is arranged on the slider, and the output end of the telescopic drive member is connected to the welding gun, and the telescopic drive member can drive the welding gun to approach or move away from the pipeline to be welded.
[0020] Optionally, the pipeline welding robot further includes a gas storage device and a gas supply pipeline, and the gas storage device is connected to the welding gun through the gas supply pipeline.
[0021] Optionally, the pipeline welding robot also includes a weld tracking device and a control device, the weld tracking device is arranged on the slider, and the weld tracking device is used to locate the position of the annular weld between two pipelines to be welded; the control device is electrically connected to the weld tracking device and the welding device respectively.
[0022] Optionally, the pipeline welding robot further comprises a wire feeding device, the wire feeding device comprises a wire storage tray, welding wire and a wire feeding mechanism, the wire storage tray is detachably arranged on the angle adjustment mechanism, the welding wire is wound in the wire storage tray, and one end of the welding wire extends out from an opening of the wire storage tray and is connected to the welding gun through the wire feeding mechanism;
[0023] The wire feeding mechanism includes a fixed frame, a wire feeding drive and two wire feeding wheels, wherein the fixed frame is arranged on the adjustable fixed bracket, and the fixed frame forms a wire feeding space; the wire feeding drive is arranged on the fixed frame; the two wire feeding wheels are rotatably arranged in the wire feeding space, and the two wire feeding wheels are in rolling contact, and the outer periphery of the wire feeding wheel is provided with a groove for the welding wire to pass through; one wire feeding wheel is connected to the output shaft of the wire feeding drive, and the wire feeding drive drives the wire feeding wheel to drive the other wire feeding wheel to rotate synchronously, so that the two wire feeding wheels cooperate to pull the welding wire out of the wire storage disk.
[0024] In the technical solution of the present invention, the first clamping mechanism and the second clamping mechanism in the clamping device are respectively used to clamp two pipelines to be welded, and the first clamping mechanism and the second clamping mechanism are respectively connected to the angle adjustment mechanism through telescopic arms. The angle adjustment mechanism adjusts the welding angle of the two pipelines to be welded clamped by the first clamping mechanism and the second clamping mechanism by adjusting the angle between the two telescopic arms. In addition, the two telescopic arms can also slide along the angle adjustment mechanism to accurately position the two pipelines to be welded; after the adjustment is completed, the annular weld is welded by the welding device. The pipeline welding robot of the present invention occupies a small space. It only needs to set the two pipelines to be welded on the first clamping mechanism and the second clamping mechanism respectively. The relative position between the two pipelines to be welded in the narrow space can be quickly adjusted by using an adjustable fixed bracket, so as to adapt to the pipeline welding operation in the narrow space. When multiple pipelines are set in the narrow space, the pipeline welding robot can also be used to weld them separately, which effectively improves the welding operation efficiency while ensuring the welding quality. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.
[0026] Figure 1 Schematic diagram of the structure of the pipeline welding robot in the embodiment of the present invention;
[0027] Figure 2This is a schematic diagram of the structure of a pipeline welding robot welding a straight pipe in an embodiment of the present invention;
[0028] Figure 3 Schematic diagram of the structure of the pipeline welding robot when welding a bent pipe in an embodiment of the present invention;
[0029] Figure 4 It is a schematic diagram of the structure of an adjustable fixing bracket in an embodiment of the present invention;
[0030] Figure 5 is a schematic diagram of the structure of the clamping device in an embodiment of the present invention, Figure 5 (a) is a schematic diagram of the structure of the first clamping mechanism. Figure 5 (b) is a schematic structural diagram of the second clamping mechanism;
[0031] Figure 6 This is a schematic diagram of the structure of a pipeline welding robot welding a large-diameter pipeline in an embodiment of the present invention;
[0032] Figure 7 An exploded view of the driving mechanism and the first clamping mechanism in an embodiment of the present invention;
[0033] Figure 8 It is a structural schematic diagram of a welding mechanism in an embodiment of the present invention;
[0034] Fig. 9 It is a structural schematic diagram of a wire feeding mechanism in an embodiment of the present invention;
[0035] Fig.10 This is a schematic diagram of the operation of a pipeline welding robot in a shield machine according to an embodiment of the present invention;
[0036] Fig.11 for Fig.10 Enlarged view of part I in .
[0037] Description of Figure Numbers:
[0038] 1. Adjustable fixed bracket, 1.1. Angle adjustment mechanism, 1.1.1. First fixed rod, 1.1.2. Second fixed rod, 1.1.3. Fastening guide rail, A1. Arc guide groove, 1.1.4. Locking member, 1.1.5. Sliding space, 1.1.6. Telescopic adjustment member, 1.2. Telescopic arm, 2. Clamping device, 2.1. First clamping mechanism, 2.1.1. Adapter, 2.1.2. Upper clamping member, 2.1.3. Lower clamping member, 2.2. Second clamping mechanism, 2.2.1. Upper pipe clamp, 2.2.2. Lower pipe clamp, 2.2.3. Connecting block, 2.3. Shrapnel, 2.3.1. Elastic arm, 2.4. Gear ring, 3. Welding device, 3.1. Driving mechanism, 3.1.1. Sliding body , B1, upper sliding member, B2, lower sliding member, B21, slide groove, 3.1.2, driving assembly, C1, first driving member, C2, driving wheel, C3, first transmission wheel, C4, second transmission wheel, 3.2, welding mechanism, 3.2.1, lateral movement assembly, D1, fixed seat, D2, screw rod, D3, slider, D4, second driving member, 3.2.2, telescopic driving member, 3.2.3, welding gun, 3.2.4, welding gun clamp, 4, gas storage device, 5, gas supply pipeline, 6, wire feeding device, 6.1, wire storage tray, 6.2, welding wire, 6.3, wire feeding mechanism, 6.3.1, fixed frame, 6.3.2, wire feeding driving member, 6.3.3, wire feeding wheel, E1, groove, 7, pipeline to be welded, 8, shield machine.
[0039] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION
[0040] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways that are defined and covered.
[0041] The present invention provides a pipeline welding robot, aiming to solve the problem that pipeline welding equipment cannot adapt to pipeline welding operations in a narrow space.
[0042] The present embodiment provides a pipeline welding robot, which is used to weld two pipelines 7 to be welded in a narrow space. These narrow spaces are mainly located at the bottom of the shield body of a slurry shield machine 8 and at the air cushion chamber. The pipelines at the bottom of the shield machine 8 are generally densely arranged, especially for the earth pressure-slurry dual-mode shield machine 8. Due to the additional installation of a screw machine, the space at the bottom of the shield body is smaller, which is more inconvenient for personnel to operate; the interior of the air cushion chamber is directly between the front and rear partitions of the shield body, and the horizontal space is small. When personnel enter, they need to pass through the man cabin, which is inconvenient to carry a large number of tools. At the same time, since the air cushion chamber has a certain degree of airtightness, it also has a certain impact on the welding work of the welders.
[0043] The common method for automatic pipeline welding is to grind the groove of the pipeline to be welded, align and fix it at a certain interval, and then use a manual welding gun to perform circular welding. The main reason for welding grooves is to ensure that the weld is penetrated on the workpiece, especially when welding thicker materials. By opening a groove at the joint, it can ensure that the arc can penetrate the root of the weld, penetrate it, and obtain good weld formation and facilitate slag removal; in addition, the groove can also play a role in adjusting the ratio of base metal and filler metal, which is especially important when welding alloy steel.
[0044] Before welding, the pipeline needs to be pre-installed, the installation error is determined to determine the cutting position of the pipeline, and then it is placed back to the original position for welding after cutting. Some bifurcated pipelines also need to readjust the bifurcation angle. In this way, for pipelines laid in a narrow space, it is easy to produce welding errors after taking them out and grinding the grooves, realigning and fixing them for welding, especially for elbow welding. If they are placed back to the original position for welding, the welding quality will be poor due to the narrow space.
[0045] like Figures 1 to 3 As shown, the pipeline welding robot includes an adjustable fixed bracket 1, a clamping device 2 and a welding device 3; the adjustable fixed bracket 1 includes an angle adjustment mechanism 1.1 and two oppositely arranged telescopic arms 1.2, and the two telescopic arms 1.2 are respectively slidably arranged on the angle adjustment mechanism 1.1; the angle adjustment mechanism 1.1 is used to adjust the angle between the two telescopic arms 1.2; the clamping device 2 includes a first clamping mechanism 2.1 and a second clamping mechanism 2.2, the first clamping mechanism 2.1 is connected to one telescopic arm 1.2, the first clamping mechanism 2.1 is used to clamp a pipeline 7 to be welded, the second clamping mechanism 2.2 is connected to another telescopic arm 1.2, and the second clamping mechanism 2.2 is used to clamp another pipeline 7 to be welded; the welding device 3 is arranged on the first clamping mechanism 2.1, and the welding device 3 is used to weld the annular weld between two pipelines 7 to be welded.
[0046] In actual operation, the first clamping mechanism 2.1 and the second clamping mechanism 2.2 in the clamping device 2 are used to clamp the two pipelines to be welded 7 respectively, and the first clamping mechanism 2.1 and the second clamping mechanism 2.2 are connected to the angle adjustment mechanism 1.1 through the telescopic arm 1.2 respectively. The angle adjustment mechanism 1.1 adjusts the welding angle of the two pipelines to be welded 7 clamped by the first clamping mechanism 2.1 and the second clamping mechanism 2.2 by adjusting the angle between the two telescopic arms 1.2. In addition, the two telescopic arms 1.2 can also slide along the angle adjustment mechanism 1.1 to accurately position the two pipelines to be welded 7; after the adjustment is completed, the annular weld is welded by the welding device 3. The pipeline welding robot of this embodiment occupies a small space. It only needs to set two pipelines 7 to be welded on the first clamping mechanism 2.1 and the second clamping mechanism 2.2 respectively. The relative position between the two pipelines 7 to be welded in the narrow space can be quickly adjusted by using the adjustable fixing bracket 1. When multiple pipelines are set in the narrow space, the pipeline welding robot can also be used to weld them separately, so as to adapt to the pipeline welding operation in the narrow space, effectively improve the welding operation efficiency while ensuring the welding quality. In addition, the pipeline welding robot in this embodiment is applied to the narrow space of the shield machine 8, which can effectively avoid leakage caused by unqualified pipeline welding and affect the overall performance of the mud circulation system.
[0047] like Figure 4 As shown, the angle adjustment mechanism 1.1 includes a first fixed rod 1.1.1, a second fixed rod 1.1.2 and two fastening guide structures. The first fixed rod 1.1.1 is hinged to the second fixed rod 1.1.2, and the two telescopic arms 1.2 are slidably connected to the first fixed rod 1.1.1 and the second fixed rod 1.1.2 respectively; the two fastening guide structures are arranged on both sides of the first fixed rod 1.1.1, and the fastening guide structure includes a fastening guide rail 1.1.3 and a locking member 1.1.4. The fastening guide rail 1.1.3 is arranged on the first fixed rod 1.1.1, and an arc guide groove A1 is provided on the fastening guide rail 1.1.3, and a sliding space 1.1.5 for the second fixed rod 1.1.2 to pass through is formed between the two fastening guide rails 1.1.3; the locking member 1.1.4 can pass through the arc guide groove A1 and be threadedly connected to the second fixed rod 1.1.2 to limit the second fixed rod 1.1.2. When welding two pipelines to be welded 7 set at different angles, the operator can first set the two pipelines to be welded 7 on the first clamping mechanism 2.1 and the second clamping mechanism 2.2 respectively, and then rotate the first fixing rod 1.1.1 or the second fixing rod 1.1.2 along the arc guide groove A1 to adjust the relative position between the two pipelines to be welded 7, and align the welding grooves of the two pipelines to be welded 7 by moving the telescopic arm 1.2, and can adjust the width of the annular weld to facilitate welding and ensure welding quality, thereby being able to adapt to pipeline welding needs in different situations.
[0048] The angle adjustment mechanism 1.1 also includes a telescopic adjustment member 1.1.6, the output end of which is connected to the telescopic arm 1.2, and the telescopic adjustment member 1.1.6 can drive the telescopic arm 1.2 to slide along the first fixed rod 1.1.1 or the second fixed rod 1.1.2. The telescopic adjustment member 1.1.6 can be a locking handle, and the two sides of the telescopic arm 1.2 respectively form sliding rods arranged opposite to each other, and one sliding rod corresponds to a locking handle. The first fixed rod 1.1.1 and the second fixed rod 1.1.2 are both provided with two adjustment grooves arranged along their length directions and corresponding to the sliding rods, and the sliding rods are respectively slidably arranged in the corresponding adjustment grooves. The locking handle passes through the adjustment slot and is threadedly connected to the telescopic arm 1.2; when adjusting the telescopic arm 1.2, you only need to loosen the locking handles on both sides to move the telescopic arm 1.2 along the adjustment slot. After the adjustment is completed, tighten the locking handles on both sides to limit the sliding rod of the telescopic arm 1.2 to the specified position of the adjustment slot; the telescopic adjustment member 1.1.6 can also be a telescopic motor, which is arranged on the first fixed rod 1.1.1 or the second fixed rod 1.1.2, and the output end of the telescopic motor is connected to the telescopic arm 1.2, and the telescopic motor can drive the telescopic arm 1.2 to move along the length direction of the first fixed rod 1.1.1 or the second fixed rod 1.1.2.
[0049] like Figure 5 and Figure 6 As shown, the first clamping mechanism 2.1 includes an adapter 2.1.1, an upper clamping member 2.1.2 and a lower clamping member 2.1.3, the upper clamping member 2.1.2 is detachably connected to the telescopic arm 1.2 through the adapter 2.1.1, the lower clamping member 2.1.3 is detachably connected to the upper clamping member 2.1.2, and the lower clamping member 2.1.3 cooperates with the upper clamping member 2.1.2 to clamp a pipeline 7 to be welded; the second clamping mechanism 2.2 It includes an upper pipe clamp 2.2.1, a lower pipe clamp 2.2.2 and two connecting blocks 2.2.3. The telescopic arm 1.2 is slidably connected to the second fixed rod 1.1.2. The upper pipe clamp 2.2.1 is detachably connected to the telescopic arm 1.2, and the two ends of the upper pipe clamp 2.2.1 are respectively connected to the two ends of the lower pipe clamp 2.2.2 through the connecting blocks 2.2.3. The upper pipe clamp 2.2.1 and the lower pipe clamp 2.2.2 cooperate to clamp another pipeline 7 to be welded.
[0050] The first clamping mechanism 2.1 is connected to the telescopic arm 1.2 through the adapter 2.1.1, so that there is a certain distance between the upper clamping member 2.1.2 and the lower clamping member 2.1.3 and the telescopic arm 1.2 to avoid interference with the telescopic arm 1.2 during welding operation; the first clamping mechanism 2.1 and the second clamping mechanism 2.2 are respectively detachably connected to the telescopic arm 1.2, so that when welding pipelines 7 of different sizes to be welded, the first clamping mechanism 2.1 corresponding to the size of the pipeline 7 to be welded can be replaced to realize the welding of pipelines of different commonly used diameters such as DN100, DN150, DN200, DN250, DN300, DN350, DN400, DN450, and DN500.
[0051] The two ends of the upper clamping member 2.1.2 form cavities, and mounting holes are provided on both sides of the cavities. The two ends of the lower clamping member 2.1.3 form plugs matching the cavities. Fig.10 and Fig.11 As shown, when assembling the pipeline 7 to be welded, first remove the lower clamping piece 2.1.3 and the lower pipe clamp 2.2.2 from the pipeline welding robot, and set the upper clamping piece 2.1.2 on a pipeline 7 to be welded in a narrow space, and then remove the two plugs of the lower clamping piece 2.1.3 into the corresponding cavities of the upper clamping piece 2.1.2, and connect and fix them with the upper clamping piece 2.1.2 by bolts, so as to cooperate with the upper clamping piece 2.1.2 to clamp the pipeline 7 to be welded, and then use the lower pipe clamp to fix the pipeline 7 to be welded. 2.2.2 and the connecting block 2.2.3 clamp another pipeline 7 to be welded between the upper pipe clamp 2.2.1 and the lower pipe clamp 2.2.2 to achieve fixed clamping of the two pipelines 7 to be welded, and are not limited by the narrow space. After the welding is completed, the operator only needs to disassemble the lower clamp 2.1.3 and the lower pipe clamp 2.2.2, and then move the pipeline welding robot along the welded pipeline to the next position to be welded, and then the welding of the next pipeline 7 to be welded can be carried out, thereby adapting to the pipeline welding operation in a narrow space. In another example of this embodiment, the two ends of the lower clamp 2.1.3 respectively form a cavity, and the two sides of the cavity are provided with mounting holes, and the two ends of the upper clamp 2.1.2 respectively form plugs matching the cavity.
[0052] The clamping device 2 further comprises a plurality of spring pieces 2.3, and the upper clamping member 2.1.2, the lower clamping member 2.1.3, the upper pipe clamp 2.2.1 and the lower pipe clamp 2.2.2 are respectively provided with at least three spring pieces 2.3 arranged along the circumference of the pipe 7 to be welded on the side facing the pipe 7 to be welded; the spring pieces 2.3 are provided with two elastic arms 2.3.1 for abutting against the pipe 7 to be welded, and the plurality of spring pieces 2.3 cooperate to clamp the pipe 7 to be welded. The provision of the spring pieces 2.3 can reserve movement space for the welding device 3 to make circular motion, and avoid interference with the pipe 7 to be welded, and the elastic arms 2.3.1 have a certain elasticity, which is convenient for the splicing of the upper and lower clamping members 2.1.3 and the upper and lower pipe clamps 2.2.2, and can also adapt to different pipes of similar sizes, reduce the replacement of the first clamping mechanism 2.1 and the second clamping mechanism 2.2, and improve the practicality of the pipe welding robot.
[0053] Specifically, the outer periphery of the upper clamping member 2.1.2 and the lower clamping member 2.1.3 are both provided with racks arranged along the central circumference of the pipeline to be welded 7, and the racks on the upper clamping member 2.1.2 and the lower clamping member 2.1.3 are spliced to form a gear ring 2.4; the welding device 3 includes a driving mechanism 3.1 and a welding mechanism 3.2, the driving mechanism 3.1 includes a sliding body 3.1.1 and a driving assembly 3.1.2, the sliding body 3.1.1 can make a circular motion along the upper clamping member 2.1.2 and the lower clamping member 2.1.3, and an installation space is formed in the sliding body 3.1.1; the driving assembly 3.1.2 includes The first driving member C1, the driving wheel C2, the first transmission wheel C3 and the second transmission wheel C4, the first driving member C1 is arranged on the sliding body 3.1.1, the driving wheel C2 rotates, the first transmission wheel C3 and the second transmission wheel C4 are both rotated and arranged in the installation space, and the driving wheel C2 is connected to the output end of the first driving member C1; the first transmission wheel C3 is meshed with the driving wheel C2; the second transmission wheel C4 is coaxially arranged with the first transmission wheel C3, and the second transmission wheel C4 is meshed with the ring gear 2.4; the welding mechanism 3.2 is arranged on the driving mechanism 3.1, and the welding mechanism 3.2 is used to weld two pipelines 7 to be welded.
[0054] The first driving member C1 drives the first transmission wheel C3 to drive the second transmission wheel C4 to rotate through the driving wheel C2, and the second transmission wheel C4 is meshed with the ring gear 2.4. When the second transmission wheel C4 rotates, the ring gear 2.4 can apply a reaction force to the second transmission wheel C4, thereby pushing the driving assembly 3.1.2 and the sliding body 3.1.1 to move along the gear, so that the welding mechanism 3.2 arranged on the driving mechanism 3.1 can weld the annular weld between the two pipelines 7 to be welded, without disassembling the pipelines 7 to be welded for welding, which is beneficial to improving the working efficiency; and avoiding the defects such as pores, slag inclusions, arc pits, cracks, arc scratches, etc. on the weld surface due to the limitation of narrow space when the operator uses the existing welding equipment for welding.
[0055] The clamping device 2 also includes a rod seat and a connecting handle. A cavity is formed in the rod seat, and through holes are respectively opened on both sides. The adapter seat 2.1.1 and the upper tube clamp 2.2.1 are both provided with a rod seat. One end of the connecting arm is arranged in the cavity of the rod seat and is connected to the rod seat through the connecting handle, thereby realizing a detachable connection between the connecting arm and the first clamping mechanism 2.1 and the second clamping mechanism 2.2.
[0056] like Figure 7 As shown, the sliding body 3.1.1 includes an upper sliding member B1 and a lower sliding member B2. The upper sliding member B1 forms an installation space. The lower sliding member B2 is detachably connected to the upper sliding member B1. A slide groove B21 connected to the installation space is formed on the lower sliding member B2. The second transmission wheel C4 extends into the slide groove B21 and engages with the gear ring 2.4. Limiting grooves are respectively provided on the inner walls on both sides of the slide groove B21, and the upper clamping member 2.1.2 or the lower clamping member 2.1.3 slides with the two limiting grooves along the two side edges of the first direction. The sliding body 3.1.1 realizes sliding cooperation with the upper and lower clamping parts 2.1.3 through two limit grooves, and the side of the lower sliding part B2 facing the ring gear 2.4 forms an arc surface matching the contour of the ring gear 2.4. When the sliding body 3.1.1 slides, the arc surface can play an avoidance role, and the slide groove B21 can allow the ring gear 2.4 to pass through. The upper sliding part B1 and the lower sliding part B2 are detachably connected, so that the lower sliding part B2 matching the pipeline can be replaced when welding pipelines of different sizes.
[0057] like Figure 8 As shown, the welding mechanism 3.2 includes a lateral movement component 3.2.1, a telescopic driving member 3.2.2 and a welding gun 3.2.3. The lateral movement component 3.2.1 includes a fixed seat D1, a screw rod D2, a slider D3 and a second driving member D4. The fixed seat D1 is connected to the sliding body 3.1.1, and the screw rod D2 is rotatably arranged on the fixed seat D1; the slider D3 is sleeved on the screw rod D2 and is threadedly connected to the screw rod D2; the second driving member D4 is arranged on the fixed seat D1, and the output end of the second driving member D4 is connected to the screw rod D2, and the second driving member D4 can drive the screw rod D2 to drive the slider D3 to move along the first direction; the telescopic driving member 3.2.2 is arranged on the slider D3, and the output end of the telescopic driving member 3.2.2 is connected to the welding gun 3.2.3, and the telescopic driving member 3.2.2 can drive the welding gun 3.2.3 to approach or move away from the pipeline 7 to be welded. The welding mechanism 3.2 also includes a welding gun clamp 3.2.4, and the welding gun 3.2.3 is connected to the output end of the telescopic drive member 3.2.2 through the welding gun clamp 3.2.4. The second drive member D4 can drive the telescopic drive member 3.2.2 to move along the first direction through the slider D3, so as to facilitate the welding gun 3.2.3 to be aligned with the annular weld, and the telescopic drive member 3.2.2 can realize the up and down movement of the welding gun 3.2.3, so as to adjust the position of the welding gun 3.2.3 relative to the welding pipeline 7.
[0058] In addition, the pipeline welding robot also includes a gas storage device 4 and a gas supply pipeline 5, and the gas storage device 4 is connected to the welding gun 3.2.3 through the gas supply pipeline 5. The gas storage device 4 is used to supply gas to the welding gun 3.2.3 without connecting to an external gas source, thereby improving the flexibility of the pipeline welding robot, and the gas storage device 4 is easy for operators to carry and convenient for entering and exiting narrow spaces.
[0059] The pipeline welding robot also includes a weld tracking device and a control device. The weld tracking device is arranged on the slider D3. The weld tracking device is used to locate the position of the annular weld between the two pipelines to be welded 7. The control device is electrically connected to the weld tracking device and the welding device 3 respectively. The weld tracking system includes a laser displacement sensor, which can locate the position of the annular weld and obtain specific parameters, and can feed back the specific parameters to the control device. The control device can control and adjust the position of the welding gun 3.2.3 in real time through the specific parameters fed back by the weld tracking system, and control the circumferential movement of the driving mechanism 3.1 to realize the welding of the entire annular weld.
[0060] like Fig. 9 As shown, the pipeline welding robot also includes a wire feeding device 6, which includes a wire storage tray 6.1, a welding wire 6.2 and a wire feeding mechanism 6.3. The wire storage tray 6.1 is detachably arranged on the angle adjustment mechanism 1.1, and the welding wire 6.2 is wound in the wire storage tray 6.1, and one end of the welding wire 6.2 extends out from the opening of the wire storage tray 6.1 and is connected to the welding gun 3.2.3 through the wire feeding mechanism 6.3; the wire feeding mechanism 6.3 includes a fixed frame 6.3.1, a wire feeding drive member 6.3.2 and two wire feeding wheels 6.3.3, and the fixed frame 6.3.1 is arranged on the adjustable fixed bracket 1, and the fixed frame 6.3.1 is arranged on the adjustable fixed bracket 1. The frame 6.3.1 forms a wire feeding space; the wire feeding drive member 6.3.2 is arranged on the fixed frame 6.3.1; the two wire feeding wheels 6.3.3 are both rotatably arranged in the wire feeding space, and the two wire feeding wheels 6.3.3 are in rolling contact, and the outer periphery of the wire feeding wheels 6.3.3 is provided with a groove E1 for the welding wire 6.2 to pass through; one wire feeding wheel 6.3.3 is connected to the output shaft of the wire feeding drive member 6.3.2, and the wire feeding drive member 6.3.2 drives the wire feeding wheel 6.3.3 to drive the other wire feeding wheel 6.3.3 to rotate synchronously, so that the two wire feeding wheels 6.3.3 cooperate to pull the welding wire 6.2 out of the wire storage tray 6.1. The welding wire 6.2 is pulled out of the wire storage tray 6.1 under the action of the two wire feeding wheels 6.3.3 and is delivered to the welding gun 3.2.3, without the need for manual wire feeding, which effectively ensures welding efficiency, and the wire storage tray 6.1 is detachably arranged on the angle adjustment mechanism 1.1, so that a new wire storage tray 6.1 can be replaced when the welding wire 6.2 is used up, ensuring the continuity of the welding operation. Preferably, the wire feeding mechanism 6.3 is arranged on the first fixed rod 1.1.1, and the wire storage tray 6.1 is arranged on the second fixed rod 1.1.2, so as to adapt to the angle change of the angle adjustment mechanism 1.1, and can reduce the bending of the welding wire 6.2 between the wire feeding mechanism 6.3 and the welding gun 3.2.3, so as to ensure the smoothness of wire feeding.
[0061] Taking welding straight pipe as an example, the specific operation steps are as follows:
[0062] Step 1: Place two pipelines 7 to be welded on the first clamping mechanism 2.1 and the second clamping mechanism 2.2 respectively;
[0063] Step 2: Adjust the telescopic amount of the two telescopic arms 1.2 according to the actual welding situation to adjust the annular weld. After determining the position, tighten the locking handle to fix the telescopic arms 1.2 on the first fixing rod 1.1.1 and the second fixing rod 1.1.2 respectively;
[0064] Step 3: Use the lateral moving assembly 3.2.1 and the telescopic driving member 3.2.2 to adjust the position of the welding gun 3.2.3 so that the welding gun 3.2.3 is aligned with the annular weld;
[0065] Step 4: Start the welding gun 3.2.3 and the wire feeding mechanism 6.3 to perform welding operations.
[0066] Taking the welding of pipe bending as an example, the specific operation steps are different from those of welding straight pipes:
[0067] Between step one and step two, the process also includes: rotating the second fixing rod 1.1.2 to drive the locking member 1.1.4 to slide along the fastening guide rail 1.1.3; after the second fixing rod 1.1.2 is rotated along the rotating shaft to the elbow welding angle, the locking member 1.1.4 is tightened and fixed to fix the pipeline welding angle, thereby completing the elbow welding operation.
[0068] When the diameter of the pipeline 7 to be welded is changed, the first clamping mechanism 2.1 and the second clamping mechanism 2.2 can be replaced with the corresponding size of the pipeline, and then the above steps are repeated to perform the welding operation.
[0069] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.
Claims
1. A pipeline welding robot for welding two pipelines to be welded in a narrow space (7), It is characterized in that The pipeline welding robot comprises an adjustable fixed bracket (1), a clamping device (2) and a welding device (3); The adjustable fixed bracket (1) comprises an angle adjustment mechanism (1.1) and two telescopic arms (1.2) arranged opposite to each other, wherein the two telescopic arms (1.2) are respectively slidably arranged on the angle adjustment mechanism (1.1); the angle adjustment mechanism (1.1) is used to adjust the angle between the two telescopic arms (1.2); The clamping device (2) comprises a first clamping mechanism (2.1) and a second clamping mechanism (2.2), wherein the first clamping mechanism (2.1) is connected to one of the telescopic arms, and the first clamping mechanism (2.1) is used to clamp a pipeline (7) to be welded, and the second clamping mechanism (2.2) is connected to another of the telescopic arms (1.2), and the second clamping mechanism (2.2) is used to clamp another pipeline (7) to be welded; The welding device (3) is arranged on the first clamping mechanism (2.1), and the welding device (3) is used for welding the annular weld between two pipelines (7) to be welded.
2. The pipeline welding robot according to claim 1, It is characterized in that The angle adjustment mechanism (1.1) comprises a first fixing rod (1.1.1), a second fixing rod (1.1.2) and two fastening guide structures, the first fixing rod (1.1.1) and the second fixing rod (1.1.2) are hinged, and the two telescopic arms are respectively slidably connected to the first fixing rod (1.1.1) and the second fixing rod (1.1.2); The two fastening guide structures are arranged on both sides of the first fixing rod (1.1.1), and the fastening guide structure comprises a fastening guide rail (1.1.3) and a locking member (1.1.4); the fastening guide rail (1.1.3) is arranged on the first fixing rod (1.1.1), and an arc-shaped guide groove (A1) is provided on the fastening guide rail (1.1.3); a sliding space (1.1.5) for the second fixing rod (1.1.2) to pass through is formed between the two fastening guide rails (1.1.3); the locking member (1.1.4) can pass through the arc-shaped guide groove (A1) and be threadedly connected to the second fixing rod (1.1.2) to limit the second fixing rod (1.1.2).
3. The pipeline welding robot according to claim 2, It is characterized in that The first clamping mechanism (2.1) comprises an adapter seat (2.1.1), an upper clamping piece (2.1.2) and a lower clamping piece (2.1.3); the upper clamping piece (2.1.2) is detachably connected to the telescopic arm (1.2) via the adapter seat (2.1.1); the lower clamping piece (2.1.3) is detachably connected to the upper clamping piece (2.1.2); and the lower clamping piece (2.1.3) cooperates with the upper clamping piece (2.1.2) to clamp a pipeline (7) to be welded; The second clamping mechanism (2.2) comprises an upper pipe clamp (2.2.1), a lower pipe clamp (2.2.2) and two connecting blocks (2.2.3); the telescopic arm (1.2) is slidably connected to the second fixing rod (1.1.2); the upper pipe clamp (2.2.1) is detachably connected to the telescopic arm (1.2); and the two ends of the upper pipe clamp (2.2.1) are respectively connected to the two ends of the lower pipe clamp (2.2.2) through the connecting blocks (2.2.3); the upper pipe clamp (2.2.1) and the lower pipe clamp (2.2.2) cooperate to clamp another pipeline (7) to be welded.
4. The pipeline welding robot according to claim 3, It is characterized in that The clamping device (2) further comprises a plurality of spring sheets (2.3); the upper clamping member (2.1.2), the lower clamping member (2.1.3), the upper pipe clamp (2.2.1) and the lower pipe clamp (2.2.2) are respectively provided with at least three spring sheets (2.3) arranged along the circumference of the pipe (7) to be welded on the side facing the pipe (7) to be welded; the spring sheets (2.3) are provided with two elastic arms (2.3.1) for abutting against the pipe (7) to be welded, and the plurality of spring sheets (2.3) cooperate to clamp the pipe (7) to be welded.
5. The pipeline welding robot according to claim 4, It is characterized in that The outer circumferences of the upper clamping piece (2.1.2) and the lower clamping piece (2.1.3) are both provided with racks arranged along the central circumference of the pipeline (7) to be welded, and the racks on the upper clamping piece (2.1.2) and the lower clamping piece (2.1.3) are spliced to form a gear ring (2.4); The welding device (3) comprises a driving mechanism (3.1) and a welding mechanism (3.2); the driving mechanism (3.1) comprises a sliding body (3.1.1) and a driving assembly (3.1.2); the sliding body (3.1.1) is capable of performing circular motion along the upper clamping member (2.1.2) and the lower clamping member (2.1.3); an installation space is formed in the sliding body (3.1.1); the driving assembly (3.1.2) comprises a first driving member (C1), a driving wheel (C2), a first transmission wheel (C3) and a second transmission wheel ( The first driving member (C1) is arranged on the sliding body (3.1.1), the driving wheel (C2) rotates, the first transmission wheel (C3) and the second transmission wheel (C4) are both arranged in the installation space, and the driving wheel (C2) is connected to the output end of the first driving member (C1); the first transmission wheel (C3) is meshed with the driving wheel (C2); the second transmission wheel (C4) is coaxially arranged with the first transmission wheel (C3), and the second transmission wheel (C4) is meshed with the gear ring (2.4); The welding mechanism (3.2) is arranged on the driving mechanism (3.1), and the welding mechanism (3.2) is used for welding two pipelines (7) to be welded.
6. The pipeline welding robot according to claim 5, It is characterized in that The sliding body (3.1.1) comprises an upper sliding member (B1) and a lower sliding member (B2), the upper sliding member (B1) forms the installation space, the lower sliding member (B2) is detachably connected to the upper sliding member (B1), a sliding groove (B21) connected to the installation space is formed on the lower sliding member (B2), the second transmission wheel (C4) extends into the sliding groove (B21) and meshes with the gear ring (2.4); the inner walls on both sides of the sliding groove (B21) are respectively provided with limiting grooves, and the upper clamping member (2.1.2) or the lower clamping member (2.1.3) slides and cooperates with the two limiting grooves at the two side edges along the first direction.
7. The pipeline welding robot according to claim 6, It is characterized in that The welding mechanism (3.2) comprises a transverse movement component (3.2.1), a telescopic driving member (3.2.2) and a welding gun (3.2.3); the transverse movement component (3.2.1) comprises a fixed seat (D1), a screw rod (D2), a sliding block (D3) and a second driving member (D4); the fixed seat (D1) is connected to the sliding body (3.1.1); the screw rod (D2) is rotatably arranged on the fixed seat (D1); the sliding block (D3) is sleeved on the screw rod (D2) and is threadedly connected to the screw rod (D2); the second driving member (D4) is arranged on the fixed seat (D1), and the output end of the second driving member (D4) is connected to the screw rod (D2), and the second driving member (D4) can drive the screw rod (D2) to drive the slider (D3) to move along the first direction; the telescopic driving member (3.2.2) is arranged on the slider (D3), and the output end of the telescopic driving member (3.2.2) is connected to the welding gun (3.2.3), and the telescopic driving member (3.2.2) can drive the welding gun (3.2.3) to approach or move away from the pipeline (7) to be welded.
8. The pipeline welding robot according to claim 7, It is characterized in that The pipeline welding robot also includes a gas storage device (4) and a gas supply pipeline (5), and the gas storage device (4) is connected to the welding gun (3.2.3) through the gas supply pipeline (5).
9. The pipeline welding robot according to claim 7, It is characterized in that, The pipeline welding robot also includes a weld tracking device and a control device. The weld tracking device is arranged on the slider (D3) and is used to locate the position of the annular weld between two pipelines (7) to be welded. The control device is electrically connected to the weld tracking device and the welding device (3) respectively.
10. The pipeline welding robot according to any one of claims 1 to 6, It is characterized in that The pipeline welding robot also includes a wire feeding device (6), the wire feeding device (6) including a wire storage tray (6.1), a welding wire (6.2) and a wire feeding mechanism (6.3), the wire storage tray (6.1) being detachably arranged on the angle adjustment mechanism (1.1), the welding wire (6.2) being wound in the wire storage tray (6.1), and one end of the welding wire (6.2) extending out from an opening of the wire storage tray (6.1) and connected to the welding gun (3.2.3) through the wire feeding mechanism (6.3); The wire feeding mechanism (6.3) comprises a fixed frame (6.3.1), a wire feeding drive member (6.3.2) and two wire feeding wheels (6.3.3); the fixed frame (6.3.1) is arranged on the adjustable fixed support (1), and the fixed frame (6.3.1) forms a wire feeding space; the wire feeding drive member (6.3.2) is arranged on the fixed frame (6.3.1); the two wire feeding wheels (6.3.3) are both rotatably arranged in the wire feeding space, and the two wire feeding wheels (6.3 .3) rolling contact, the outer periphery of the wire feeding wheel (6.3.3) is provided with a groove (E1) for the welding wire (6.2) to pass through; one of the wire feeding wheels (6.3.3) is connected to the output shaft of the wire feeding drive member (6.3.2), and the wire feeding drive member (6.3.2) drives the wire feeding wheel (6.3.3) to drive the other wire feeding wheel (6.3.3) to rotate synchronously, so that the two wire feeding wheels (6.3.3) cooperate to pull the welding wire (6.2) out of the wire storage disk (6.1).
Citation Information
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