Flexible track welding robot and welding method

Abstract

The invention provides a flexible track welding robot and a welding method. A flexible track welding robot comprises a clamp, a six-degree-of-freedom platform and a welding assembly, the six-degree-of-freedom platform is used for controlling the relative position between the welding assembly and a to-be-welded pipeline through telescopic pushing, one end of the six-degree-of-freedom platform is connected with the clamp, and the other end of the six-degree-of-freedom platform is connected with the welding assembly. The six-degree-of-freedom platform can control the relative position between the welding assembly and the to-be-welded pipeline through telescopic pushing, so that the axial and radial distance and angle between the welding assembly and a welding seam of the to-be-welded pipeline are adjusted, and the welding requirement is met. The position of the welding assembly can be directly adjusted to improve the mounting precision under the condition that the clamping precision of the clamp is not in place and the welding assembly and the welding seam deviate, so that the motion trail of the welding gun coincides with the welding seam, and the welding quality is guaranteed.

Description

Technical Field

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

[0002] During pipeline welding, a welding device with a pipeline clamp is usually used for the operation, and the movement of the welding gun along the weld can be completed by installing the welding gun on a mechanical arm and being driven by the mechanical arm, or by installing a slide rail around the pipeline and then installing the welding gun on the slide rail, so that the welding gun can slide along the slide rail to move along the weld to complete the welding. For example, the patent with publication number "CN110153532A" discloses a portable pipeline welding robot, including two car bodies with opposite outer walls of a circular tube, a roller is arranged at the bottom of the car body, the roller is magnetically connected to the circular tube, and speed control devices are connected to both sides of the car body. Chain, the speed chains of the two car bodies are connected by a tightening structure, a welding assembly is arranged on the car body, the welding assembly includes a transverse slider and a longitudinal slider, a clamp is arranged on the longitudinal slider, a welding gun is arranged in the clamp, a laser weld tracker is also arranged on the car body, the laser weld tracker, the welding assembly and the car body are all controlled by remote control; the chain wrapped around the outside of the pipe forms a track, the welding gun welds the weld in the car body which can slide along the track, but in the process of installing the track, there will be insufficient installation accuracy, so that the movement trajectory of the welding gun cannot coincide with the weld, thus affecting the welding quality. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a flexible track welding robot and a welding method in view of the deficiencies in the prior art.

[0004] The technical solution of the present invention to solve the above technical problems is as follows: a flexible track welding robot comprises: a clamp, a six-degree-of-freedom platform for controlling the relative position between the welding assembly and the pipe to be welded by telescopic pushing, and a welding assembly, one end of the six-degree-of-freedom platform is connected to the clamp, and the other end of the six-degree-of-freedom platform is connected to the welding assembly.

[0005] The beneficial effect of the technical solution of the present invention is that the six-degree-of-freedom platform can control the relative position between the welding assembly and the pipe to be welded by telescopic pushing, thereby adjusting the axial and radial distances and angles between the welding assembly and the weld of the pipe to be welded to meet the welding requirements. The six-degree-of-freedom platform is installed between the fixture and the welding assembly. When the clamping accuracy of the fixture is not in place, resulting in a deviation between the welding assembly and the weld, the position of the welding assembly can be directly adjusted to improve the installation accuracy, so that the movement trajectory of the welding gun coincides with the weld, and the welding quality is guaranteed. The technical problem that the installation position of the track cannot be adjusted, the installation accuracy cannot be guaranteed, and the welding quality is affected is solved.

[0006] Furthermore, the clamp comprises: a first clamp, a second clamp and a hydraulic cylinder, one end of the first clamp and the second clamp are hinged, and two ends of the hydraulic cylinder are hinged to the first clamp and the second clamp in a one-to-one correspondence.

[0007] The beneficial effect of adopting the above further technical solution is that the opening and closing action between the first clamp and the second clamp is driven by the extension and retraction of the hydraulic cylinder. When clamping, the first clamp and the second clamp are opened by contracting the hydraulic cylinder, and the welding robot is hoisted above the pipe to be welded by a crane, and the clamp is slowly lowered until the pipe to be welded is placed between the first clamp and the second clamp, and then the hydraulic cylinder is controlled to extend to close the first clamp and the second clamp, so that the pipe to be welded is clamped in the clamp.

[0008] Furthermore, a lifting ear is provided at the top of the first clamping jaw; the first clamping jaw and the second clamping jaw are both arc-shaped structures, and a buffer component is provided on the inner arc surface of the first clamping jaw and the second clamping jaw.

[0009] The beneficial effect of adopting the above further technical solution is: the first clamp and the second clamp are arc-shaped structures, and can just clamp the pipe to be welded in the middle after closing. The inner arc surfaces of the first clamp and the second clamp are provided with buffer components, and the buffer components can match the pipe to be welded. When the first clamp and the second clamp clamp the pipe to be welded in the middle, the buffer components can fit tightly on the outer wall of the pipe to be welded. The relative clamping force applied by the first clamp and the second clamp to the pipe to be welded can be evenly transmitted to the surface of the pipe to be welded through the buffering effect of the buffer components, thereby preventing the surface of the pipe to be welded from being damaged and forming an indentation due to uneven force between the clamp and the pipe when the clamp clamps the pipe. The inner arc of the clamp is the same as the outer diameter of the steel pipe. During the clasping process, automatic centering can be achieved to ensure that the clamping position is relatively fixed each time.

[0010] Furthermore, the six-degree-of-freedom platform includes: six servo electric cylinders, an upper platform and a lower platform, the upper platform is connected to the welding assembly, the lower platform is connected to the fixture, and the two ends of the servo electric cylinder are hinged to the upper platform and the lower platform through universal hinges in a one-to-one correspondence.

[0011] The beneficial effect of adopting the above further technical solution is: with the help of the telescopic movement of the six servo electric cylinders, the platform can complete the movement of six degrees of freedom (X, Y, Z, α, β, γ) in space, thereby simulating various spatial movement postures.

[0012] Furthermore, the universal hinge is a Hooke's hinge.

[0013] The beneficial effect of adopting the above further technical solution is that the servo electric cylinder is connected to the upper and lower platforms by a Hooke's hinge, and the movement is stable and smooth, the rigidity is good, and the strength is high.

[0014] Furthermore, the servo electric cylinder includes: a servo motor and a transmission screw, and the servo motor is connected to the transmission screw; the six servo electric cylinders are all connected to a motion platform control system.

[0015] The beneficial effect of adopting the above further technical solution is that the servo electric cylinder is composed of a servo motor, a high-precision transmission screw, etc., which is a mechatronic transmission component with high precision and high reliability. The control system can be used to independently control the extension and contraction of the six servo electric cylinders, thereby controlling the relative position of the annular track and the weld, such as the axial distance between the annular track and the weld, and the angle between the annular track and the weld.

[0016] Furthermore, the welding assembly includes: an annular track and a welding machine, the welding machine is slidably mounted on the annular track, the annular track is connected to the six-degree-of-freedom platform; a laser displacement sensor is installed on the annular track.

[0017] The beneficial effect of adopting the above further technical solution is that the welding machine can go around the pipe to be welded along the circular track to complete the overall welding of the weld. The six-degree-of-freedom platform is installed between the fixture and the circular track. When the clamping accuracy of the fixture is not in place, resulting in a deviation between the circular track and the weld, the position of the circular track can be directly adjusted to improve the installation accuracy, so that the movement trajectory of the welding gun coincides with the weld, thereby ensuring the welding quality.

[0018] In addition, the present invention also provides a welding method, based on a flexible track welding robot described in any one of the above items, the welding method includes: S1, hoisting the clamp to the top of the steel pipe to be welded by a crane; S2, embracing the steel pipe by the clamp; S3, identifying the weld groove by a laser displacement sensor to obtain the position to be welded; S4, calculating the compensation amount according to the position to be welded; S5, adjusting the position of the welding assembly according to the compensation amount; S6, judging whether the centering of the welding assembly meets the requirements; S7, when the centering of the welding assembly meets the requirements, performing welding operations through the welding assembly.

[0019] The beneficial effect of the technical solution of the present invention is that the inner arc of the clamp is the same as the outer diameter of the steel pipe, and automatic centering can be achieved during the clasping process to ensure that the clamping position is relatively fixed each time. After the clamp is clamped, the laser displacement sensor on the track scans the weld groove, and the position information is input into the control system. After calculation, the compensation amount is output, and the track is automatically centered to reach the working position. This process may require multiple scans and adjustments until the track centering meets the requirements. The six-degree-of-freedom platform can control the relative position between the welding assembly and the pipe to be welded by telescopic pushing, thereby adjusting the axial and radial distances and angles between the welding assembly and the weld of the pipe to be welded to meet the welding requirements. The six-degree-of-freedom platform is installed between the clamp and the welding assembly, and the position of the welding assembly can be directly adjusted to improve the installation accuracy when the clamping accuracy of the clamp is not in place, resulting in deviation between the welding assembly and the weld, so that the motion trajectory of the welding gun coincides with the weld to ensure the welding quality. Solve the technical problems that the installation position of the track cannot be adjusted, the installation accuracy cannot be guaranteed, and the welding quality is affected.

[0020] Further, after step S6, the method includes: S8, when the centering of the welding assembly does not meet the requirements, returning to step S4; in step S5, adjusting the position of the welding assembly includes: axial adjustment of the annular track and radial adjustment of the annular track.

[0021] The beneficial effect of adopting the above-mentioned further technical solution is: a six-degree-of-freedom platform is installed between the fixture and the annular track, so that when the clamping accuracy of the fixture is not in place, resulting in a deviation between the annular track and the weld, the position of the annular track can be directly adjusted to improve the installation accuracy, so that the movement trajectory of the welding gun coincides with the weld, thereby ensuring the welding quality.

[0022] Further, step S4 includes: S41, collecting the actual position of the welding component; S42, judging whether the actual position of the welding component is the same as the position to be welded; S43, when the actual position of the welding component is different from the position to be welded, calculating the compensation amount according to the actual position of the welding component and the position to be welded.

[0023] The beneficial effect of adopting the above-mentioned further technical solution is: after the fixture is clamped, the laser displacement sensor on the track scans the weld groove, the position information is input into the control system, and the compensation amount is output after calculation. The track is automatically centered and reaches the working position. This process may require multiple scans and adjustments until the track centering meets the requirements.

[0024] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1This is one of the structural schematic diagrams of the flexible track welding robot provided in an embodiment of the present invention.

[0026] Figure 2 The second structural schematic diagram of the flexible track welding robot provided in an embodiment of the present invention.

[0027] Figure 3 This is one of the schematic diagrams of the working process of the flexible track welding robot provided in an embodiment of the present invention.

[0028] Figure 4 The second schematic diagram of the working process of the flexible track welding robot provided in an embodiment of the present invention.

[0029] Figure 5 The third schematic diagram of the working process of the flexible track welding robot provided in an embodiment of the present invention.

[0030] Figure 6 The fourth schematic diagram of the working process of the flexible track welding robot provided in an embodiment of the present invention.

[0031] Figure 7 The fifth schematic diagram of the working process of the flexible track welding robot provided in an embodiment of the present invention.

[0032] Figure 8 The sixth schematic diagram of the working process of the flexible track welding robot provided in an embodiment of the present invention.

[0033] Fig. 9 This is one of the schematic flow charts of the welding method provided in the embodiment of the present invention.

[0034] Fig.10 The second schematic flowchart of the welding method provided in the embodiment of the present invention.

[0035] Explanation of the accompanying drawings: 1. Clamp; 11. First clamp; 12. Second clamp; 13. Hydraulic cylinder; 2. Six-degree-of-freedom platform; 21. Servo electric cylinder; 22. Upper platform; 23. Lower platform; 24. Universal hinge; 3. Welding assembly; 31. Annular track; 32. Welding machine. DETAILED DESCRIPTION

[0036] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The embodiments given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0037] like Figures 1 to 8As shown, an embodiment of the present invention provides a flexible track welding robot, comprising: a clamp 1, a six-degree-of-freedom platform 2 for controlling the relative position between the welding assembly and the pipe to be welded by telescopic pushing, and a welding assembly 3, one end of the six-degree-of-freedom platform 2 is connected to the clamp 1, and the other end of the six-degree-of-freedom platform 2 is connected to the welding assembly 3.

[0038] The beneficial effect of the technical solution of the present invention is that the six-degree-of-freedom platform can control the relative position between the welding assembly and the pipe to be welded by telescopic pushing, thereby adjusting the axial and radial distances and angles between the welding assembly and the weld of the pipe to be welded to meet the welding requirements. The six-degree-of-freedom platform is installed between the fixture and the welding assembly. When the clamping accuracy of the fixture is not in place, resulting in a deviation between the welding assembly and the weld, the position of the welding assembly can be directly adjusted to improve the installation accuracy, so that the movement trajectory of the welding gun coincides with the weld, and the welding quality is guaranteed. The technical problem that the installation position of the track cannot be adjusted, the installation accuracy cannot be guaranteed, and the welding quality is affected is solved.

[0039] A flexible track welding robot provided in an embodiment of the present invention can be a flexible track welding robot that can automatically clamp and adjust the position of the fixture, which can solve the technical problems in the prior art that the installation position of the track cannot be adjusted, the installation accuracy cannot be guaranteed, and the welding quality is affected.

[0040] Compared with the prior art, the beneficial effects of the present invention include at least one of the following:

[0041] The flexible track welding robot (a flexible track welding robot) with automatic clamping and adjustment of the fixture position of the present invention adopts a six-degree-of-freedom platform to be installed between the fixture and the circular track. When the clamping accuracy of the fixture is not in place, resulting in a deviation between the circular track and the weld, the position of the circular track can be directly adjusted to improve the installation accuracy, so that the movement trajectory of the welding gun coincides with the weld, thereby ensuring the welding quality.

[0042] like Figures 1 to 8 As shown, further, the clamp 1 includes: a first clamp 11, a second clamp 12 and a hydraulic cylinder 13, one end of the first clamp 11 and the second clamp 12 are hinged, and both ends of the hydraulic cylinder 13 are hinged to the first clamp 11 and the second clamp 12 in a one-to-one correspondence.

[0043] The beneficial effect of adopting the above further technical solution is that the opening and closing action between the first clamp and the second clamp is driven by the extension and retraction of the hydraulic cylinder. When clamping, the first clamp and the second clamp are opened by contracting the hydraulic cylinder, and the welding robot is hoisted above the pipe to be welded by a crane, and the clamp is slowly lowered until the pipe to be welded is placed between the first clamp and the second clamp, and then the hydraulic cylinder is controlled to extend to close the first clamp and the second clamp, so that the pipe to be welded is clamped in the clamp.

[0044] like Figures 1 to 8 As shown, further, a lifting ear is provided at the top of the first clamping jaw 11; the first clamping jaw 11 and the second clamping jaw 12 are both arc-shaped structures, and buffer components are provided on the inner arc surfaces of the first clamping jaw 11 and the second clamping jaw 12.

[0045] The beneficial effect of adopting the above further technical solution is: the first clamp and the second clamp are arc-shaped structures, and can just clamp the pipe to be welded in the middle after closing. The inner arc surfaces of the first clamp and the second clamp are provided with buffer components, and the buffer components can match the pipe to be welded. When the first clamp and the second clamp clamp the pipe to be welded in the middle, the buffer components can fit tightly on the outer wall of the pipe to be welded. The relative clamping force applied by the first clamp and the second clamp to the pipe to be welded can be evenly transmitted to the surface of the pipe to be welded through the buffering effect of the buffer components, thereby preventing the surface of the pipe to be welded from being damaged and forming an indentation due to uneven force between the clamp and the pipe when the clamp clamps the pipe. The inner arc of the clamp is the same as the outer diameter of the steel pipe. During the clasping process, automatic centering can be achieved to ensure that the clamping position is relatively fixed each time.

[0046] like Figures 1 to 8 As shown, further, the six-degree-of-freedom platform 2 includes: six servo electric cylinders 21, an upper platform 22 and a lower platform 23, the upper platform 22 is connected to the welding assembly 3, the lower platform 23 is connected to the fixture 1, and the two ends of the servo electric cylinder 21 are hinged to the upper platform 22 and the lower platform 23 through a universal hinge 24 in a one-to-one correspondence.

[0047] The beneficial effect of adopting the above further technical solution is: with the help of the telescopic movement of the six servo electric cylinders, the platform can complete the movement of six degrees of freedom (X, Y, Z, α, β, γ) in space, thereby simulating various spatial movement postures.

[0048] like Figures 1 to 8 As shown, further, the universal hinge 24 is a Hooke's hinge.

[0049] The beneficial effect of adopting the above further technical solution is that the servo electric cylinder is connected to the upper and lower platforms by a Hooke's hinge, and the movement is stable and smooth, the rigidity is good, and the strength is high.

[0050] Furthermore, the servo electric cylinder 21 includes: a servo motor and a transmission screw, and the servo motor is connected to the transmission screw; the six servo electric cylinders are all connected to a motion platform control system.

[0051] The beneficial effect of adopting the above further technical solution is that the servo electric cylinder is composed of a servo motor, a high-precision transmission screw, etc., which is a mechatronic transmission component with high precision and high reliability. The control system can be used to independently control the extension and contraction of the six servo electric cylinders, thereby controlling the relative position of the annular track and the weld, such as the axial distance between the annular track and the weld, and the angle between the annular track and the weld.

[0052] like Figures 1 to 8 As shown, further, the welding assembly 3 includes: an annular track 31 and a welder 32, the welder 32 is slidably mounted on the annular track 31, and the annular track 31 is connected to the six-degree-of-freedom platform 2; a laser displacement sensor is installed on the annular track 31.

[0053] The beneficial effect of adopting the above further technical solution is that the welding machine can go around the pipe to be welded along the circular track to complete the overall welding of the weld. The six-degree-of-freedom platform is installed between the fixture and the circular track. When the clamping accuracy of the fixture is not in place, resulting in a deviation between the circular track and the weld, the position of the circular track can be directly adjusted to improve the installation accuracy, so that the movement trajectory of the welding gun coincides with the weld, thereby ensuring the welding quality.

[0054] The flexible orbital welding robot (flexible orbital welding robot) for automatic clamping and adjustment of the position of the fixture provided in an embodiment of the present invention includes a fixture, a six-degree-of-freedom platform and a welding assembly, wherein the six-degree-of-freedom platform is installed between the fixture and the welding assembly, and the six-degree-of-freedom platform can control the relative position between the welding assembly and the pipe to be welded by telescopic pushing, thereby adjusting the axial and radial distance and angle between the welding assembly and the weld seam of the pipe to be welded to meet the welding requirements.

[0055] The clamp may include a first jaw, a second jaw and a hydraulic cylinder which are rotatably connected by a pin shaft. The two ends of the hydraulic cylinder are rotatably connected to the first jaw and the second jaw respectively. The opening and closing action between the first jaw and the second jaw can be driven by the extension and contraction of the hydraulic cylinder. During clamping, the first jaw and the second jaw are opened by contracting the hydraulic cylinder. The welding robot (flexible track welding robot) is hoisted above the pipe to be welded (which can be a steel pipe) by a crane, and the clamp is slowly lowered until the pipe to be welded is placed between the first jaw and the second jaw. The hydraulic cylinder is then controlled to extend to close the first jaw and the second jaw, thereby clamping the pipe to be welded in the clamp.

[0056] Furthermore, the first clamp and the second clamp are arc-shaped structures, and can just clamp the pipe to be welded in the middle after closing. A flexible liner (buffer component) is provided on the inner arc surface of the first clamp and the second clamp, and the flexible liner can be rubber. The flexible liner can match the pipe to be welded. When the first clamp and the second clamp clamp the pipe to be welded in the middle, the flexible liner can fit tightly on the outer wall of the pipe to be welded. The relative clamping force applied by the first clamp and the second clamp to the pipe to be welded can be evenly transmitted to the surface of the pipe to be welded through the buffering effect of the flexible liner, thereby preventing the surface of the pipe to be welded from being damaged and forming an indentation due to uneven force between the clamp and the pipe when the clamp clamps the pipe.

[0057] Furthermore, the six-degree-of-freedom platform is composed of six servo electric cylinders, six universal hinges (Hooke's hinges) on the upper and lower platforms. The upper platform is fixedly connected to the circular track, and the lower platform is fixed on the fixture. With the help of the telescopic movement of the six servo electric cylinders, the platform can complete the movement of six degrees of freedom (X, Y, Z, α, β, γ) in space, so as to simulate various spatial motion postures.

[0058] The six-degree-of-freedom platform is mainly composed of a servo electric cylinder, upper and lower tables and a control system. The servo electric cylinder is a high-precision, high-reliability mechatronic transmission component composed of a servo motor, a high-precision transmission screw (ball screw and planetary roller screw), etc.

[0059] The servo electric cylinder is connected to the upper and lower platforms with a Hooke hinge, which has smooth and stable movement, good rigidity and high strength. Generally, the lower table is fixed to the ground, and the upper table is connected to the moving parts as a motion platform. The motion platform control system includes: control cabinet, industrial computer, multi-axis motion control card, servo drive and wiring and touch screen, etc., using full digital control technology.

[0060] The welding assembly includes a circular track and a welding machine. The welding machine is slidably connected to the circular track. The welding machine can circle the pipe to be welded along the circular track to complete the overall welding of the weld. The upper table of the six-degree-of-freedom platform is fixedly connected to the circular track, and the lower table is fixedly connected to the fixture. Both ends of the servo electric cylinder of the six-degree-of-freedom platform are hinged to the upper and lower tables. The control system can be used to independently control the extension and retraction of the six servo electric cylinders, thereby controlling the relative position of the circular track and the weld, such as the axial distance between the circular track and the weld, and the angle between the circular track and the weld.

[0061] like Fig. 9 As shown, in addition, the present invention further provides a welding method, based on a flexible track welding robot as described in any one of the above, the welding method comprises: S1, hoisting the clamp to the top of the steel pipe to be welded by a crane; S2, embracing the steel pipe by the clamp;

[0062] S3. Identify the weld groove through the laser displacement sensor to obtain the position to be welded; S4. Calculate the compensation amount according to the position to be welded; S5. Adjust the position of the welding assembly according to the compensation amount; S6. Determine whether the centering of the welding assembly meets the requirements; S7. When the centering of the welding assembly meets the requirements, perform welding operations through the welding assembly.

[0063] The beneficial effect of the technical solution of the present invention is that the inner arc of the clamp is the same as the outer diameter of the steel pipe, and automatic centering can be achieved during the clasping process to ensure that the clamping position is relatively fixed each time. After the clamp is clamped, the laser displacement sensor on the track scans the weld groove, and the position information is input into the control system. After calculation, the compensation amount is output, and the track is automatically centered to reach the working position. This process may require multiple scans and adjustments until the track centering meets the requirements. The six-degree-of-freedom platform can control the relative position between the welding assembly and the pipe to be welded by telescopic pushing, thereby adjusting the axial and radial distances and angles between the welding assembly and the weld of the pipe to be welded to meet the welding requirements. The six-degree-of-freedom platform is installed between the clamp and the welding assembly, and the position of the welding assembly can be directly adjusted to improve the installation accuracy when the clamping accuracy of the clamp is not in place, resulting in deviation between the welding assembly and the weld, so that the motion trajectory of the welding gun coincides with the weld to ensure the welding quality. Solve the technical problems that the installation position of the track cannot be adjusted, the installation accuracy cannot be guaranteed, and the welding quality is affected.

[0064] like Fig.10 As shown, 1. Crane hoisting; 2. Clamping jaws embrace steel pipes; 3. Laser displacement sensor identifies weld grooves; 4. Axial adjustment of the annular track; 5. Radial adjustment of the annular track; 6. Determine whether the track centering meets the requirements; 7. If yes, welding operation is carried out; 8. If not, return to step 4.

[0065] Further, after step S6, the method includes: S8, when the centering of the welding assembly does not meet the requirements, returning to step S4; in step S5, adjusting the position of the welding assembly includes: axial adjustment of the annular track and radial adjustment of the annular track.

[0066] The beneficial effect of adopting the above-mentioned further technical solution is: a six-degree-of-freedom platform is installed between the fixture and the annular track, so that when the clamping accuracy of the fixture is not in place, resulting in a deviation between the annular track and the weld, the position of the annular track can be directly adjusted to improve the installation accuracy, so that the movement trajectory of the welding gun coincides with the weld, thereby ensuring the welding quality.

[0067] Further, step S4 includes: S41, collecting the actual position of the welding component; S42, judging whether the actual position of the welding component is the same as the position to be welded; S43, when the actual position of the welding component is different from the position to be welded, calculating the compensation amount according to the actual position of the welding component and the position to be welded.

[0068] The beneficial effect of adopting the above-mentioned further technical solution is: after the fixture is clamped, the laser displacement sensor on the track scans the weld groove, the position information is input into the control system, and the compensation amount is output after calculation. The track is automatically centered and reaches the working position. This process may require multiple scans and adjustments until the track centering meets the requirements.

[0069] The main working process of the six-degree-of-freedom track device (flexible track welding robot) is as follows: the crane lifts the device above the steel pipe. Due to the limited adjustment range of the six-degree-of-freedom platform, the device needs to be initially adjusted in the axial direction of the steel pipe during lifting. The inner arc of the clamp is the same as the outer diameter of the steel pipe. During the clamping process, automatic centering can be achieved to ensure that the clamping position is relatively fixed each time. After the fixture is clamped, the laser displacement sensor on the track (annular track) scans the weld groove, and the position information is input into the control system. After calculation, the compensation amount is output, and the track is automatically centered to reach the working position. This process may require multiple scans and adjustments until the track centering meets the requirements.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible track welding robot, characterized in that: include: A fixture, a six-degree-of-freedom platform for controlling the relative position between a welding assembly and a pipe to be welded by telescopic pushing, and a welding assembly, wherein one end of the six-degree-of-freedom platform is connected to the fixture, and the other end of the six-degree-of-freedom platform is connected to the welding assembly.

2. A flexible track welding robot according to claim 1, characterized in that: The clamp comprises: a first clamp, a second clamp and a hydraulic cylinder. One end of the first clamp and the second clamp are hinged, and two ends of the hydraulic cylinder are hinged to the first clamp and the second clamp in a one-to-one correspondence.

3. A flexible track welding robot according to claim 2, characterized in that: A lifting ear is provided on the top of the first clamping jaw; both the first clamping jaw and the second clamping jaw are arc-shaped structures, and buffer components are provided on the inner arc surfaces of the first clamping jaw and the second clamping jaw.

4. A flexible track welding robot according to claim 1, characterized in that: The six-degree-of-freedom platform includes: six servo electric cylinders, an upper platform and a lower platform, the upper platform is connected to the welding assembly, the lower platform is connected to the fixture, and the two ends of the servo electric cylinder are hinged to the upper platform and the lower platform via universal hinges in a one-to-one correspondence.

5. A flexible track welding robot according to claim 4, characterized in that: The universal hinge is a Hooke's hinge.

6. A flexible track welding robot according to claim 4, characterized in that: The servo electric cylinder comprises: a servo motor and a transmission screw, wherein the servo motor is connected to the transmission screw; and the six servo electric cylinders are all connected to a motion platform control system.

7. The flexible track welding robot according to claim 1, characterized in that: The welding assembly comprises: an annular track and a welding machine, wherein the welding machine is slidably mounted on the annular track, and the annular track is connected to the six-degree-of-freedom platform; a laser displacement sensor is mounted on the annular track.

8. A welding method, characterized in that: A flexible track welding robot according to any one of claims 1 to 7, the welding method comprising: S1. Use a crane to hoist the fixture above the position where the steel pipe is to be welded; S2. Clamp the steel pipe with a clamp; S3, identifying the weld groove through a laser displacement sensor to obtain the position to be welded; S4. Calculate the compensation amount according to the position to be welded; S5. Adjust the position of the welding assembly according to the compensation amount; S6. Determine whether the centering of the welding assembly meets the requirements; S7. When the centering of the welding assembly meets the requirements, welding work is carried out through the welding assembly.

9. A welding method according to claim 8, characterized in that: The process after step S6 includes: S8, when the centering of the welding assembly does not meet the requirements, returning to step S4; in step S5, adjusting the position of the welding assembly includes: axial adjustment of the annular track and radial adjustment of the annular track.

10. A welding method according to claim 8, characterized in that: Step S4 includes: S41, collecting the actual position of the welding assembly; S42, determining whether the actual position of the welding assembly is the same as the position to be welded; S43. When the actual position of the welding assembly is different from the position to be welded, a compensation amount is calculated according to the actual position of the welding assembly and the position to be welded.

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