Welding device

Abstract

The invention relates to the field of welding, and provides a welding device which is applied to a factory and comprises a moving unit, a mounting seat, a welding unit, a camera unit and a controller. The moving unit is configured to be capable of moving in the plant area; the mounting seat is mounted on the moving unit; the welding unit is arranged on the mounting seat; the camera shooting unit is arranged on the welding unit; the controller is used for controlling the welding device to work, and the controller is configured to be capable of being remotely controlled. The welding device is remotely controlled to reach the working area for welding, maintenance personnel can be effectively prevented from being exposed in a radiation environment for a long time, so that the safety of the operation personnel is improved, meanwhile, personnel rotation is not needed, and the maintenance efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of welding, and in particular to a welding device. Background Art

[0002] As a highly energy-intensive facility, nuclear power plants have high radiation in many areas, especially during equipment operation. When certain key equipment or pipelines in a nuclear power plant are damaged, maintenance work often requires the use of welding technology to repair them. Once equipment damage occurs and welding is required, its radiation may be further enhanced.

[0003] In the prior art, maintenance welding is usually performed by alternating personnel. However, manual shift welding is inefficient and has a long construction period, which affects the operating efficiency of the nuclear power plant. Secondly, repeated manual operations increase the risk of human errors and there are still certain safety hazards. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a welding device to improve safety.

[0005] In order to achieve the above-mentioned purpose and other related purposes, a welding device is used in a factory, comprising:

[0006] A mobile unit, wherein the mobile unit is configured to be movable within the plant area;

[0007] A mounting base, mounted on the mobile unit;

[0008] A welding unit, disposed on the mounting seat;

[0009] A camera unit, arranged at the welding unit;

[0010] A controller is used to control the welding device to work, and the controller is configured to be remotely controlled.

[0011] In a specific embodiment of the present invention, the mounting base includes a position adjustment unit, and the position adjustment unit is used to drive the welding unit to move in at least two directions.

[0012] In a specific embodiment of the present invention, a first direction, a second direction and a third direction are included which are perpendicular to each other, and the position adjustment unit is used to drive the welding unit to move in the first direction, the second direction and the third direction.

[0013] In a specific embodiment of the present invention, the position adjustment unit includes:

[0014] a first moving seat, the first moving seat being used to drive the welding unit to translate in the first direction;

[0015] A second moving seat, disposed on the first moving seat, the first moving seat being used to drive the welding unit to translate in the first direction;

[0016] A third movable seat is disposed on the second movable seat, the welding unit is disposed on the third movable seat, and the first movable seat is used for driving the welding unit to translate in the third direction.

[0017] In a specific embodiment of the present invention, the welding unit is used for welding a pipeline, and the welding unit comprises:

[0018] A base, mounted on the mounting seat;

[0019] A working rod, the working rod is used to be inserted into the inner lumen of the pipeline along a third direction;

[0020] A welding gun, arranged on the working rod, wherein the welding head of the welding gun is arranged along the radial direction of the working rod;

[0021] The rotating unit is used to drive the working rod to rotate around the third direction.

[0022] In a specific embodiment of the present invention, the camera unit includes an environment camera, and the environment camera faces the connection between the pipeline and the welding gun.

[0023] In a specific embodiment of the present invention, the camera unit includes a positioning camera, and the positioning camera faces the inner wall of the pipe.

[0024] In a specific embodiment of the present invention, the welding unit includes a telescopic unit for driving the positioning camera to enter or leave the interior of the pipe.

[0025] In a specific embodiment of the present invention, a plurality of positioning columns are evenly spaced around the working rod, and balls are provided at the ends of the positioning columns, and the balls are used to contact and support the inner wall of the pipe.

[0026] In a specific embodiment of the present invention, the mobile unit is a quadruped robot, and the mounting seat is arranged on the upper surface of the quadruped robot.

[0027] The present invention proposes a welding device, which can effectively prevent maintenance personnel from being exposed to a radiation environment for a long time by remotely controlling the welding device to reach a working area for welding, thereby improving the safety of the operators. At the same time, there is no need to rotate personnel, thereby improving maintenance efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0029] Figure 1 This is a schematic diagram of the maintenance environment;

[0030] Figure 2 is a schematic structural diagram of a welding device in one embodiment of the present invention;

[0031] Figure 3 is a schematic structural diagram of a mobile unit in one embodiment of the present invention;

[0032] Figure 4 is a schematic structural diagram of a position adjustment unit in one embodiment of the present invention;

[0033] Figure 5 is a schematic structural diagram of a welding unit in one embodiment of the present invention;

[0034] Figure 6 FIG. 4 is a schematic diagram of a working state of a welding unit in one embodiment of the present invention.

[0035] Explanation of the reference numerals: 1. Pipe; 2. Wall; 10. Mobile unit; 11. Visual camera; 12. LiDAR; 13. Lighting lamp; 20. Welding unit; 21. Base; 22. Working rod; 23. Welding gun; 24. Rotating unit; 25. Positioning column; 26. Ball bearing; 30. Position adjustment unit; 31. First mobile seat; 32. Second mobile seat; 33. Third mobile seat; 40. Environmental camera; 50. Positioning camera; 60. Telescopic unit. DETAILED DESCRIPTION

[0036] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0037] It should be noted that the illustrations provided in the following embodiments are only used to schematically illustrate the basic concept of the present invention, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0038] During the operation of nuclear power plants, pipelines 1 are widely used in various key systems as key transport media. The reliability of these pipelines 1 directly affects the safety and stability of nuclear power plants. However, due to the small space and complex environment inside the walls 2, some pipelines 1 face different forms of damage risks during long-term operation. Especially in the narrow gaps between the walls 2, pipelines 1 are easily damaged by the combined effects of radiation, stress corrosion, thermal cycles and other factors. Figure 1 The figure shows a common pipeline 1 welding maintenance scenario, where two sections of pipeline 1 pass through two walls 2 respectively, and the area to be welded is located between the two walls 2.

[0039] Once these internal pipes 1 are damaged, they must be repaired as soon as possible to ensure the normal operation and safety of the nuclear power plant. Traditional repair methods usually require partial cutting and replacement of damaged pipes 1. However, since these pipes 1 are often in an environment with high radiation dose rates, the gaps between the walls 2 are narrow, and the operating space for personnel is limited, it is impossible to use conventional external butt welding methods to complete the repair of the pipes 1. Such environments limit the operating range of welding equipment and also pose severe challenges to the safe operation of maintenance personnel.

[0040] In order to prevent maintenance personnel from being exposed to high-irradiation environments for a long time, nuclear power plants currently generally adopt a shift system, arranging multiple welding maintenance personnel to take turns to enter the maintenance area to prevent personal cumulative radiation doses from exceeding the standard. However, this method has multiple defects: first, manual shift welding is inefficient and the construction cycle is long, which affects the operating efficiency of nuclear power plants; second, repeated manual operations increase the risk of human error. In addition, at this stage, there is no dedicated automated tool that can be remotely operated under such special conditions to achieve automatic welding repairs inside the pipeline 1.

[0041] like Figure 2-6 As shown, a welding device is used in a factory, and includes a moving unit 10, a mounting base, a welding unit 20, a camera unit and a controller.

[0042] The mobile unit 10 is configured to be able to move within the plant area and enter the location of the pipeline 1 that needs maintenance, ensuring that the equipment can move in and out freely in a complex and narrow environment.

[0043] like Figure 3As shown, the mobile unit 10 is a quadruped robot, and the mounting seat is arranged on the upper surface of the quadruped robot, that is, the mounting seat is arranged on the back of the quadruped robot. The quadruped robot as the mobile unit 10 has excellent flexibility and stability and can adapt to complex terrain and narrow spaces. Compared with traditional wheeled or tracked equipment, the quadruped robot can better cope with obstacles on uneven ground or in narrow gaps, ensuring that the equipment reaches the working area safely and stably.

[0044] The quadruped robot may be provided with a visual camera 11, a laser radar 12, a lighting lamp 13 and other devices. The visual camera 11 is used to capture images and video data of the surrounding environment, support target recognition, path planning and environmental monitoring, and improve the robot's autonomous navigation capability and intelligent decision-making capability, so that it can identify obstacles, track targets and perform complex visual tasks.

[0045] The LiDAR 12 creates a three-dimensional map of the environment by emitting laser beams and measuring the reflection time, achieving accurate distance measurement. It enhances the robot's spatial perception ability, helps it more accurately identify the position and shape of surrounding objects, and improves the efficiency of navigation and obstacle avoidance.

[0046] The lighting lamp 13 provides the necessary light source in low light conditions to enhance the performance of the camera and the sensor, ensuring that the robot can still perform effective visual perception and data collection in a dim environment, thereby improving the flexibility and reliability of its operation.

[0047] The mounting base is mounted on the mobile unit 10 to fix the welding unit 20 and combine with the mobile unit 10 to provide a stable mounting platform for the welding unit 20 .

[0048] The welding unit 20 is arranged on the mounting seat to achieve high-precision welding of the inside and outside of the pipeline 1 and reduce human welding errors.

[0049] The camera unit is provided in the welding unit 20. The camera unit is used to monitor the welding process to ensure welding accuracy and safety. The camera unit can transmit the acquired picture information to the operator in real time, so that the operator can control the welding unit 20 to work.

[0050] The controller is used to control the operation of the welding device, and the controller is configured to be remotely controlled. The controller is used to control the operation of the entire welding device and coordinate the operation of the mobile unit 10, the welding unit 20 and the camera unit. Remote control is supported, and the device can be controlled by wireless control or wired control.

[0051] Wireless control increases the range of equipment movement and is particularly suitable for remote operation at different locations within a nuclear power plant.

[0052] Wired control in high radiation environment can reduce the interference of radiation on the signal and ensure the stability and security of the control signal.

[0053] Remote operation can prevent maintenance personnel from being exposed to high radiation environments for a long time. It supports both wireless and wired modes to improve adaptability and stability. It ensures the accuracy and safety of complex welding operations.

[0054] like Figure 4 As shown, the mounting base includes a position adjustment unit 30, and the position adjustment unit 30 is used to drive the welding unit 20 to move in at least two directions. The position adjustment unit 30 can ensure that the welding gun 23 can accurately align with the part to be welded by fine-tuning the position of the welding unit 20. This multi-directional adjustment function can compensate for deviations in the field environment and avoid welding errors caused by improper equipment movement or installation. Especially in a complex welding environment, accurate positioning of the welding gun 23 is the key to ensuring welding quality. Through the moving function of the position adjustment unit 30, the welding unit 20 can cover a larger working area and avoid frequent movement of the entire device. The welding unit 20 can be flexibly moved in two directions (such as horizontal and vertical directions), which means that operations on different welding points can be completed without repositioning the entire device, thereby improving work efficiency.

[0055] In a specific embodiment of the present invention, the position adjustment unit 30 is used to drive the welding unit 20 to move in the first direction, the second direction and the third direction, which are perpendicular to each other. Specifically, the first direction and the third direction are horizontal directions, and the second direction is a vertical direction. The movement in three directions allows the welding unit 20 to cover any position in a three-dimensional space. For welded parts with complex structures, such as large pipes 1, this three-dimensional movement can help the welding gun 23 quickly and accurately align the welding point, avoiding welding deviations caused by improper positions.

[0056] like Figure 4 As shown, the position adjustment unit 30 includes a first moving base 31 , a second moving base 32 and a third moving base 33 .

[0057] The first movable seat 31 is used to drive the welding unit 20 to translate in the first direction. The second movable seat 32 is disposed on the first movable seat 31, and the first movable seat 31 is used to drive the welding unit 20 to translate in the first direction. The third movable seat 33 is disposed on the second movable seat 32, and the welding unit 20 is disposed on the third movable seat 33, and the first movable seat 31 is used to drive the welding unit 20 to translate in the third direction.

[0058] This layered design enables the welding unit 20 to move independently in three directions, ensuring smooth control in all directions and enabling all-round precise positioning. The layered arrangement between each mobile seat helps maintain the stability of the system. In complex welding operations, each mobile seat performs horizontal and vertical movement tasks respectively, avoiding the errors and instability that may be caused when a single component performs multi-directional movement. This makes the welding process smoother and the welding quality more stable and reliable.

[0059] Among them, the first movable seat 31, the second movable seat 32 and the third movable seat 33 can be moved by linear drive units such as electric push rods, screw nuts, hydraulic rods, and pneumatic rods in cooperation with the track. Each movable seat is moved in cooperation with the track to ensure that the welding unit 20 can slide smoothly and accurately during the movement. The track design can prevent the welding unit 20 from deviating or shaking during the movement, thereby further improving the quality of welding and the stability of operation. Through the combination of multiple movable seats, the operator can remotely control the position of the welding unit 20 through programming or control system without manually adjusting each direction. This high degree of automation reduces manual intervention, not only improves work efficiency, but also reduces human errors. At the same time, the system can automatically adjust according to the welding path, making it more suitable for automated production lines.

[0060] like Figure 5 As shown, the welding unit 20 is used for welding the pipe 1, and the welding unit 20 includes a base 21, a working rod 22, a welding gun 23, and a rotating unit 24:

[0061] The base 21 is mounted on the mounting base, specifically, on the third movable base 33. The base 21 is used to provide stable support for the entire welding unit 20, so that the welding unit 20 can smoothly perform welding operations. By being mounted on the movable base, the base 21 can adjust the position of the welding unit 20 in space as the movable base moves, ensuring that the welding head can accurately align with the welding area of ​​the pipe 1, thereby improving welding accuracy and stability.

[0062] The working rod 22 is used to be inserted into the inner lumen of the pipe 1 along the third direction. The function of the working rod 22 is to carry the welding gun 23 and enable the welding gun 23 to enter the pipe 1 for welding. The working rod 22 is inserted into the pipe 1 along the third direction, and can penetrate into the inner lumen of the pipe 1 to achieve welding operations on the inner wall of the pipe 1. This design enables the device to perform internal welding tasks, and is particularly suitable for closed pipes 1 that cannot be welded externally. In addition, the combination of the working rod 22 and the welding gun 23 enables the welding point to be flexibly moved, thereby increasing the coverage of the welding operation.

[0063] The welding gun 23 is arranged on the working rod 22, and the welding head of the welding gun 23 is arranged along the radial direction of the working rod 22. The welding gun 23 can weld around the inner cavity of the pipeline 1, and is particularly suitable for cylindrical or annular welds inside the pipeline 1. After the working rod 22 is inserted into the pipeline 1, through the radial welding design, the welding gun 23 can complete all-round welding of the inner wall of the pipeline 1 without moving the entire device, ensuring the uniformity and strength of the weld.

[0064] The rotating unit 24 is used to drive the working rod 22 to rotate around the third direction. The rotating unit 24 can specifically be a motor-driven gear or belt for rotation, and the rotating unit 24 can complete at least 360° rotation to cover the entire pipe diameter. The function of the rotating unit 24 is to ensure that the welding gun 23 can rotate around the inner cavity of the pipeline 1, covering all positions of the pipeline 1, and realizing complete welding without dead ends. This is particularly important in the annular welding of the inner wall of the pipeline 1, ensuring the continuity and uniformity of the weld, while reducing the need to move the equipment. The rotating unit 24 includes a turntable, the working rod 22 is coaxially connected to the turntable, and the rotating unit 24 drives the turntable to rotate through a driving motor.

[0065] like Figure 5 As shown, the camera unit includes an environmental camera 40, and the environmental camera 40 faces the junction of the pipeline 1 and the welding gun 23. The environmental camera 40 can capture the junction of the pipeline 1 and the welding gun 23 in real time, and provide real-time monitoring of the welding process for the operator or the automation system. Through the camera, the formation process of the weld, the melting state of the welding material, and whether the relative position of the welding gun 23 and the pipeline 1 is accurate can be observed. Through real-time monitoring, the operator can promptly discover possible deviations or abnormalities in the welding process, avoid welding defects (such as misalignment, uneven welds, etc.), and thus improve the welding quality. For the automated welding system, the environmental camera 40 can transmit the captured image information to the control system as a visual feedback signal. The system can automatically analyze the relative position of the welding gun 23 and the pipeline 1 based on these images, and dynamically adjust the action of the welding gun 23 according to the welding state. The automated system can achieve adaptive control through the feedback of the environmental camera 40. For example, when the welding gun 23 deviates from the weld, the system can promptly adjust the position or angle of the welding gun 23 to ensure the accuracy of the welding process. This improves the automation and accuracy of welding and reduces human intervention.

[0066] In a specific embodiment of the present invention, the camera unit includes a positioning camera 50, and the positioning camera 50 is facing the inner wall of the pipe 1. The area to be welded can be observed by the positioning camera 50, so as to ensure that the welding gun 23 reaches the welding area. The positioning camera 50 can capture the image of the inner wall of the pipe 1 in real time, and determine the specific position of the area to be welded by image analysis. Due to the complexity of the inner wall of the pipe 1, the positioning camera 50 helps the welding system find the correct welding point to ensure that the welding gun 23 reaches the welding area. This precise positioning function can avoid misoperation caused by unclear identification of welding points and reduce welding errors such as misalignment or jump welding. At the same time, the starting point of the welding process is more accurate, which improves the overall quality of welding.

[0067] like Figure 5 As shown, the welding unit 20 includes a telescopic unit 60 for driving the positioning camera 50 to enter or leave the interior of the pipe 1. When the welding gun 23 reaches the welding area, the positioning camera 50 can be driven out of the interior of the pipe 1 by the telescopic unit 60 to avoid damage to the positioning camera 50 caused by the high temperature generated during welding. The telescopic unit 60 can be a linear drive unit such as an electric push rod, a screw nut mechanism, a pneumatic rod, a hydraulic rod, etc. The telescopic unit 60 allows the positioning camera 50 to quickly evacuate from the high-temperature welding area after completing the welding positioning task, avoiding direct exposure to factors such as high temperature, sparks, and spatters generated during welding that may cause damage to the camera. Through this design, the service life of the positioning camera 50 is effectively extended, and the equipment damage or maintenance requirements caused by high temperature are reduced. This not only saves maintenance costs, but also reduces downtime and improves the overall use efficiency of the equipment. The telescopic unit 60 can flexibly drive the positioning camera 50 to achieve rapid entry and exit of the positioning camera 50. In particular, when precision drive devices such as electric push rods and screw nut mechanisms are used, the position of the positioning camera 50 can be accurately controlled to ensure that the camera can accurately observe the area to be welded. The positioning camera 50 can accurately enter the welding area and evacuate quickly and safely after completing the task. The high-precision linear drive mechanism of the telescopic unit 60 ensures the accuracy of the camera position, avoiding over-extension or retraction, thereby improving the positioning accuracy before welding.

[0068] like Figure 5 , 6 As shown, a plurality of positioning columns 25 are evenly spaced around the working rod 22, and balls 26 are arranged at the ends of the positioning columns 25, and the balls 26 are used to contact and support the inner wall of the pipe 1. The length of the positioning columns 25 is adjustable to adapt to different pipe diameters, and the positioning columns 25 are arranged to ensure that the working rod 22 is coaxial with the pipe 1. The balls 26 are universal balls 26, which ensure that the working rod 22 can rotate and move axially in the pipe 1.

[0069] By evenly arranging a plurality of positioning posts 25 around the working rod 22 and by designing the positioning posts 25 to be adjustable in length, the positioning posts 25 can be adjusted according to different pipe diameters, ensuring that the working rod 22 always remains coaxial with the inner wall of the pipe 1. The even distribution and adjustability of the positioning posts 25 ensure that the working rod 22 maintains a central position in pipes 1 of different pipe diameters, avoiding the problem of uneven welding due to deviation from the center, thereby improving the accuracy and consistency of the welding operation.

[0070] The ends of the positioning posts 25 are provided with universal balls 26, which can flexibly contact and roll with the inner wall of the pipe 1 to support the rotation and axial movement of the working rod 22. Since the universal balls 26 can roll freely in multiple directions, the friction is reduced, ensuring that the working rod 22 can rotate and move easily. By reducing friction, the universal balls 26 make the movement of the working rod 22 in the pipe 1 smoother, avoiding jamming or poor movement caused by excessive friction. In particular, when the working rod 22 needs to be moved and positioned multiple times during the welding process, the role of the universal balls 26 can significantly improve the operating efficiency and accuracy.

[0071] In summary, the present invention provides a welding device that can be remotely operated and adapted to high radiation dose environments. By remotely controlling the welding device, maintenance personnel no longer need to rotate frequently, which reduces the time of exposure to the radiation environment and improves work efficiency. In addition, the precise control and real-time monitoring of the welding process effectively reduce human errors and ensure the high quality of the repair of the pipeline 1. The invention not only improves the maintenance efficiency of nuclear power plants, but also improves the safety of operators, providing a strong guarantee for the safe operation of nuclear power plants.

[0072] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

[0073] In the description herein, many specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of the specific details or with other devices, systems, components, methods, components, materials, parts, etc. In other cases, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

[0074] References throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout this specification do not necessarily refer to the same embodiment. In addition, the particular features, structures, or characteristics of any specific embodiment of the invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be possible in light of the teachings herein and are to be considered part of the spirit and scope of the invention.

[0075] It should also be understood that one or more of the elements shown in the figures may also be implemented in a more separate or more integrated manner, or even removed because they are inoperable in certain circumstances or provided because they may be useful depending on the application.

[0076] In addition, unless otherwise explicitly indicated, any marking arrows in the drawings should be regarded as exemplary only and not limiting. In addition, unless otherwise indicated, the term "or" used herein is generally intended to mean "and / or". In the case where the term is not clear because it is anticipated that the ability to separate or combine is provided, the combination of components or steps will also be regarded as indicated.

[0077] As used in the description herein and throughout the claims that follow, "a", "an", and "the" include plural references unless otherwise indicated. Likewise, as used in the description herein and throughout the claims that follow, the meaning of "in" includes "in" and "on" unless otherwise indicated.

[0078] The above description of the illustrated embodiments of the present invention (including the contents described in the Abstract) is not intended to be an exhaustive list or to limit the present invention to the precise form disclosed herein. Although specific embodiments of the present invention and examples of the present invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention as will be recognized and appreciated by those skilled in the art. As noted, these modifications may be made to the present invention in accordance with the above description of the embodiments described in the present invention, and these modifications will be within the spirit and scope of the present invention.

[0079] Systems and methods have been generally described herein as details that aid in understanding the present invention. In addition, various specific details have been given to provide an overall understanding of embodiments of the present invention. However, those skilled in the relevant art will recognize that embodiments of the present invention may be practiced without one or more of the specific details, or may be practiced using other devices, systems, accessories, methods, components, materials, parts, etc. In other cases, well-known structures, materials, and / or operations are not specifically shown or described in detail to avoid confusion with various aspects of embodiments of the present invention.

[0080] Thus, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the foregoing disclosure, and it should be understood that in some cases, some features of the invention will be employed without the corresponding use of other features without departing from the scope and spirit of the proposed invention. Thus, many modifications may be made to adapt a particular environment or material to the essential scope and spirit of the invention. The invention is not intended to be limited to the specific terms used in the claims below and / or the specific embodiments disclosed as the best mode contemplated for carrying out the invention, but the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Thus, the scope of the invention will be determined solely by the appended claims.

Claims

1. A welding device, characterized in that: Applied in factory areas, including: A mobile unit, wherein the mobile unit is configured to be movable within the plant area; A mounting base, mounted on the mobile unit; A welding unit, disposed on the mounting seat; A camera unit, arranged at the welding unit; A controller is used to control the welding device to work, and the controller is configured to be remotely controlled.

2. The welding device according to claim 1, characterized in that: The mounting seat comprises a position adjustment unit, and the position adjustment unit is used to drive the welding unit to move in at least two directions.

3. The welding device according to claim 2, characterized in that: It comprises a first direction, a second direction and a third direction which are perpendicular to each other, and the position adjustment unit is used to drive the welding unit to move in the first direction, the second direction and the third direction.

4. The welding device according to claim 3, characterized in that: The position adjustment unit comprises: a first moving seat, the first moving seat being used to drive the welding unit to translate in the first direction; A second moving seat, disposed on the first moving seat, the first moving seat being used to drive the welding unit to translate in the first direction; A third movable seat is disposed on the second movable seat, the welding unit is disposed on the third movable seat, and the first movable seat is used for driving the welding unit to translate in the third direction.

5. The welding device according to claim 3, characterized in that: The welding unit is used for welding pipelines, and the welding unit comprises: A base, mounted on the mounting seat; A working rod, the working rod is used to be inserted into the inner lumen of the pipeline along a third direction; A welding gun, arranged on the working rod, wherein the welding head of the welding gun is arranged along the radial direction of the working rod; The rotating unit is used to drive the working rod to rotate around the third direction.

6. The welding device according to claim 5, characterized in that: The camera unit comprises an environment camera, and the environment camera faces the connection between the pipeline and the welding gun.

7. The welding device according to claim 5, characterized in that: The camera unit includes a positioning camera, and the positioning camera faces the inner wall of the pipe.

8. The welding device according to claim 7, characterized in that: The welding unit includes a telescopic unit for driving the positioning camera into or out of the interior of the pipe.

9. The welding device according to claim 8, characterized in that: A plurality of positioning columns are evenly spaced around the working rod, and balls are arranged at the ends of the positioning columns. The balls are used to contact and support the inner wall of the pipe.

10. The welding device according to claim 1, characterized in that: The mobile unit is a quadruped robot, and the mounting seat is arranged on the upper surface of the quadruped robot.

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