Flat-top conical steel pipe welding robot

Abstract

The invention relates to a flat-topped conical steel pipe welding robot, a conical surface is formed at the top of a steel pipe, and the welding robot comprises a vehicle body; the permanent magnet wheel is arranged in the vehicle body, and part of the permanent magnet wheel extends to the bottom of the vehicle body and is attached to the top of the conical surface; and the welding mechanism is fixedly installed on the side portion of the vehicle body, the steel pipe is welded through the welding mechanism, trackless annular automatic welding on the conical surface of the flat-top conical steel pipe is achieved, and the welding efficiency and the welding quality are improved.

Description

Technical Field

[0001] The invention relates to the technical field of welding robots, in particular to a flat-top conical steel pipe welding robot. Background Art

[0002] The invention relates to the technical field of steel pipe welding equipment, in particular to a flat-top cone steel pipe welding robot and a use method thereof.

[0003] At present, welding robots are widely used in circular pipe welding. Track-type welding robots are semi-automatic track welding. Tracks are built on steel pipes, and then the track car carries the welding gun to weld around the circumference of the steel pipe. However, track construction is relatively troublesome, and welding efficiency and construction safety cannot be effectively improved. In offshore photovoltaic projects, in order to facilitate the fixation with the photovoltaic platform legs, the top of the steel pipe pile is often in the form of a flat-top conical steel pipe, which makes the laying of the track more difficult. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the prior art and provide a flat-top cone steel pipe welding robot, which is adsorbed on the top of the flat-top cone steel pipe by a flat-top cone permanent magnetic wheel, so that the vehicle body can adsorb and travel in a circle around the surface of the flat-top cone steel pipe, and perform circumferential welding on the position that needs welding through a welding mechanism.

[0005] The technical solution to achieve the above object is a flat-top conical steel pipe welding robot, the top of the steel pipe is formed with a conical surface, and the welding robot comprises:

[0006] Vehicle body;

[0007] A permanent magnet wheel is disposed in the vehicle body, wherein a portion of the permanent magnet wheel extends from the bottom of the vehicle body and fits the top of the conical surface; and

[0008] A welding mechanism is fixedly mounted on the side of the vehicle body, and the steel pipe is welded by the welding mechanism.

[0009] Furthermore, the permanent magnetic wheel includes a first adsorption wheel and a second adsorption wheel centrally symmetrically arranged with respect to the first adsorption wheel, the first adsorption wheel and the second adsorption wheel are flat-topped cones corresponding to the conical surface, the diameter of the second adsorption wheel is larger than the diameter of the first adsorption wheel, and the conical surfaces of the first adsorption wheel and the second adsorption wheel are in contact with the conical surface;

[0010] A connecting shaft is connected between the first adsorption wheel and the second adsorption wheel.

[0011] Further, the first adsorption wheel includes a first upper top surface and a first lower top surface, the diameter of the first upper top surface is smaller than the diameter of the first lower top surface, and the diameter D1 of the first lower top surface is:

[0012]

[0013] Wherein, d1 is the diameter of the first upper top surface, L is the thickness of the first adsorption wheel, and α is the angle of the conical surface.

[0014] Further, the second adsorption wheel includes a second upper top surface and a second lower top surface, the diameter of the second upper top surface is smaller than the diameter of the second lower top surface, and the diameter d2 of the second upper top surface is:

[0015]

[0016] Wherein, L1 is the distance between the first upper top surface and the second upper top surface.

[0017] Furthermore, the diameter D2 of the second lower top surface is:

[0018]

[0019] Wherein, L2 is the thickness of the second adsorption wheel.

[0020] Furthermore, a servo motor is provided in the vehicle body, and the servo motor drives and connects the connecting shaft.

[0021] Furthermore, the welding mechanism includes a first mechanical arm rotatably mounted on the side of the vehicle body, a second mechanical arm rotatably mounted on the first mechanical arm, and a telescopic rod telescopically mounted on the second mechanical arm, and a welding gun is fixedly mounted on one end of the telescopic rod away from the second mechanical arm.

[0022] Furthermore, an industrial camera is fixedly mounted on one end of the telescopic rod away from the second mechanical arm.

[0023] Furthermore, a stepper motor is installed on the telescopic rod, and the stepper motor drives the welding gun to swing.

[0024] Furthermore, a control module is provided in the vehicle body, and the control module controls the connection between the permanent magnet wheel and the welding mechanism.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] The permanent magnetic wheel is adsorbed on the top of the flat-top conical steel pipe, so that the vehicle body can be adsorbed and run on the surface of the flat-top conical steel pipe, and the welding mechanism is used to weld the positions that need to be welded. By controlling the sizes of the first adsorption wheel and the second adsorption wheel, it is ensured that the top of the vehicle body is in a horizontal position, thereby ensuring that the vehicle body can run in a circular direction on the cone surface and the welding position is not easily offset. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a rendering of the use of a flat-top conical steel pipe welding robot.

[0028] Figure 2 This is a bottom view of a flat-top conical steel pipe welding robot.

[0029] Figure 3 The figure is a size relationship diagram of a first adsorption wheel and a second adsorption wheel of a flat-top cone steel pipe welding robot.

[0030] Legend: 1. Flat-top conical steel pipe; 2. Servo motor; 21. First adsorption wheel; 22. Second adsorption wheel; 23. Connecting shaft; 3. Control module; 4. Battery pack; 5. Vehicle body; 6. Welding gun; 61. First robotic arm; 62. Second robotic arm; 63. Telescopic rod; 64. Industrial camera. DETAILED DESCRIPTION

[0031] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0032] See also Figure 1 A flat-top conical steel pipe welding robot, the top of the steel pipe is formed with a conical surface, the welding robot comprises: a car body 5, a permanent magnet wheel and a welding mechanism; the permanent magnet wheel is arranged in the car body 5, and a part of the permanent magnet wheel extends to the bottom of the car body 5 and fits the top of the conical surface; and the welding mechanism is fixedly installed on the side of the car body 5, and the steel pipe is welded by the welding mechanism.

[0033] In the present invention, a preferred implementation is: place the car body 5 on the conical surface of the flat-top conical steel pipe 1, fix the car body 5 by adsorbing it on the conical surface through the permanent magnetic wheel, adjust the welding mechanism so that the welding mechanism is aligned with the position to be welded, start the car body 5, move the car body 5, and the welding mechanism performs welding.

[0034] Furthermore, the permanent magnetic wheel is composed of a magnetic wheel body, a ring-shaped permanent magnet, a protective ring and a permanent magnetic wheel end cover. It can be tightly adsorbed on the curved surface of a metal steel pipe and carry objects that are more than a hundred times its own weight in the adsorbed state. The permanent magnetic wheel is used to fix the vehicle body 5 on the flat-top conical steel pipe 1 to prevent the vehicle body 5 from slipping off the conical surface.

[0035] Furthermore, the permanent magnetic wheel includes a first adsorption wheel 21 and a second adsorption wheel 22 which is centrally symmetrically arranged with respect to the first adsorption wheel 21. The first adsorption wheel 21 and the second adsorption wheel 22 are flat-topped cones corresponding to the conical surface. The diameter of the second adsorption wheel 22 is larger than the diameter of the first adsorption wheel 21. The conical surfaces of the first adsorption wheel 21 and the second adsorption wheel 22 are fitted to the conical surface. A connecting shaft 23 is connected between the first adsorption wheel 21 and the second adsorption wheel 22. By setting two first adsorption wheels 21 and second adsorption wheels 22 of different sizes and flat-topped cones, the axes of the first adsorption wheel 21 and the second adsorption wheel 22 are collinear and their upper and lower top surfaces are perpendicular to the top surface of the steel pipe. The first adsorption wheel 21 and the second adsorption wheel 22 are synchronously rolled and moved, thereby realizing that the vehicle body 5 moves in a circular direction along the surface of the steel pipe.

[0036] Further, the first adsorption wheel 21 includes a first upper top surface and a first lower top surface, the diameter of the first upper top surface is smaller than the diameter of the first lower top surface, and the diameter D1 of the first lower top surface is:

[0037]

[0038] Wherein, d1 is the diameter of the first upper top surface, L is the thickness of the first adsorption wheel 21, and α is the angle of the conical surface.

[0039] Further, the second adsorption wheel 22 includes a second upper top surface and a second lower top surface, the diameter of the second upper top surface is smaller than the diameter of the second lower top surface, and the diameter d2 of the second upper top surface is:

[0040]

[0041] Wherein, L1 is the distance between the first upper top surface and the second upper top surface.

[0042] Furthermore, the diameter D2 of the second lower top surface is:

[0043]

[0044] Wherein, L2 is the thickness of the second adsorption wheel 22. Preferably, the angle of the conical surface of the first adsorption wheel 21 and the second adsorption wheel 22 is consistent with the inclination angle of the conical surface, which is α°. d1, d2, D1 and D2 are set in sequence by a calculation formula. Preferably, the order of the first adsorption wheel 21 and the second adsorption wheel 22 from top to bottom of the conical surface is the first upper top surface, the first lower top surface, the second upper top surface and the second lower top surface. By setting them in sequence, the vehicle body 5 is kept horizontal, thereby avoiding the deviation of the vehicle body 5 due to the error in the size setting of the first adsorption wheel 21 and the second adsorption wheel 22.

[0045] Furthermore, a servo motor 2 is provided in the vehicle body 5, and the servo motor 2 drives the connecting shaft 23. Preferably, a transmission gear is provided on the connecting shaft 23, and the output end of the servo motor 2 is meshed with the transmission gear to control the first adsorption wheel 21 and the second adsorption wheel 22 to rotate.

[0046] Furthermore, a battery pack 4 is disposed in the vehicle body 5 , and the battery pack 4 is connected to the servo motor 2 via a wire.

[0047] Further, the welding mechanism includes a first mechanical arm 61 rotatably mounted on the side of the vehicle body 5, a second mechanical arm 62 rotatably mounted on the first mechanical arm 61, and a telescopic rod 63 rotatably mounted on the second mechanical arm 62, and a welding gun 6 is fixedly mounted on one end of the telescopic rod 63 away from the second mechanical arm 62. Preferably, a mounting end is provided on the side of the vehicle body 5, and the first mechanical arm 61 can be rotatably mounted on the mounting end by a latch or a bolt, and the first mechanical arm 61 and the second mechanical arm 62 are connected by a bolt or a latch to achieve free rotation in the vertical direction, and the telescopic rod 63 is connected to the second mechanical arm 62 to achieve axial contraction, thereby controlling the position and angle of the welding gun 6, and meeting the welding requirements of different welding positions.

[0048] Furthermore, the first robotic arm 61 and the second robotic arm 62 are provided with gyroscope sensors to collect the robotic arm posture signals in real time.

[0049] Furthermore, a clamp is provided on the telescopic rod 63 , and the clamp clamps the welding gun 6 .

[0050] Furthermore, an industrial camera 64 is fixedly mounted on one end of the telescopic rod 63 away from the second mechanical arm 62. The industrial camera 64 is fixed below the fixture and can observe the position of the welding gun 6 and collect weld images in real time.

[0051] Furthermore, a stepper motor is installed on the telescopic rod 63, and the stepper motor drives the welding gun 6 to swing. Driven by the stepper motor, the welding gun 6 swings back and forth. The stepper motor adopts servo control, and the stepper motor can be adjusted in real time according to the feedback amount to achieve precise control of the swing start and stop position, swing speed, and swing amplitude of the welding gun 6 fixture.

[0052] Furthermore, a control module 3 is provided in the vehicle body 5, and the control module 3 controls the connection between the permanent magnet wheel and the welding mechanism.

[0053] Preferably, the control module 3 is wirelessly and bidirectionally connected to the external PC, the control module 3 is fixed inside the vehicle body 5, and the output end of the control module 3 is respectively connected to the control end of the servo motor 2, the control end of the stepper motor, the control end of the mechanical arm, the control end of the telescopic rod 63, and the control end of the welding gun 6; the input end of the control module 3 is respectively connected to the output end of the industrial camera 64 and the output end of the gyroscope. Before welding, the industrial camera 64 collects the image below the welding, and the control module 3 sends the collection result to the external PC in real time, and judges the relative relationship between the welding gun 6 and the welding position. The external PC controls the mechanical arm and the telescopic rod 63 to adjust the position of the welding gun 6 through the control module 3 according to the monitoring result of the gyroscope. After moving to the position, the external PC sets the welding parameters through the control module 3, including the welding voltage and current, the swing speed and swing amplitude of the welding gun 6, the walking speed, etc., controls the welding gun 6, the stepper motor, and the servo motor 2 to start working, and performs the circumferential welding operation. The industrial camera 64 collects the weld image in real time, and judges the weld quality through the external PC. When the weld quality does not meet the set requirements, the control module 3 automatically adjusts the welding voltage, current and other parameters of the subsequent welding.

[0054] The following is an explanation of the use process of the flat-top cone steel pipe welding robot of the present invention.

[0055] First, the vehicle body 5 is placed on the flat-top conical steel pipe 1 to be welded, the welding gun 6 is installed on the welding gun 6 fixture, and the CO2 gas protection pipeline is installed. Before welding, the industrial camera 64 collects the image below the welding, and the control module 3 sends the collection result to the external PC in real time, and judges the relative relationship between the welding gun 6 and the welding position. The external PC controls the mechanical arm and the telescopic rod 63 to adjust the position of the welding gun 6 to the connection between the flat-top conical steel pipe 1 and the platform leg through the control module 3 according to the monitoring result of the gyroscope, and drives the welding gun 6 to descend to the starting position of the weld. After moving into place, the external PC sets the welding parameters through the control module 3, including welding voltage and current, the swing speed and swing amplitude of the welding gun 6, the walking speed, etc., controls the welding gun 6, the stepper motor, and the servo motor 2 to start working, and the vehicle body 5 walks at a uniform speed to perform circumferential welding operations. The industrial camera 64 collects the weld image in real time, and judges the weld quality through the external PC. When the weld quality does not meet the set requirements, the welding voltage, current and other parameters of the subsequent welding are automatically adjusted through the control module 3. After welding is completed, the welding gun 6 and the servo motor 2 are controlled to stop working, and the welding gun 6 is controlled by the robot arm to leave the working position and the vehicle body 5 is recovered.

[0056] The present invention is described in detail above in conjunction with the embodiments of the accompanying drawings. A person skilled in the art can make various variations of the present invention according to the above description. Therefore, certain details in the embodiments should not constitute a limitation of the present invention, and the scope of protection of the present invention shall be defined by the scope of the attached claims.

Claims

1. A flat-top conical steel pipe welding robot, wherein the top of the steel pipe is formed with a conical surface, characterized in that: The welding robot comprises: Vehicle body; A permanent magnet wheel is disposed in the vehicle body, wherein a portion of the permanent magnet wheel extends from the bottom of the vehicle body and fits the top of the conical surface; and A welding mechanism is fixedly mounted on the side of the vehicle body, and the steel pipe is welded by the welding mechanism.

2. The flat-top cone steel pipe welding robot according to claim 1, characterized in that: The permanent magnetic wheel comprises a first adsorption wheel and a second adsorption wheel centrally symmetrically arranged with respect to the first adsorption wheel, the first adsorption wheel and the second adsorption wheel are flat-topped cones corresponding to the conical surface, the diameter of the second adsorption wheel is larger than the diameter of the first adsorption wheel, and the conical surfaces of the first adsorption wheel and the second adsorption wheel are in contact with the conical surface; A connecting shaft is connected between the first adsorption wheel and the second adsorption wheel.

3. The flat-top cone steel pipe welding robot according to claim 2 is characterized in that: The first adsorption wheel includes a first upper top surface and a first lower top surface, the diameter of the first upper top surface is smaller than the diameter of the first lower top surface, and the diameter D1 of the first lower top surface is: Wherein, d1 is the diameter of the first upper top surface, L is the thickness of the first adsorption wheel, and α is the angle of the conical surface.

4. The flat-top cone steel pipe welding robot according to claim 3 is characterized in that: The second adsorption wheel includes a second upper top surface and a second lower top surface, the diameter of the second upper top surface is smaller than the diameter of the second lower top surface, and the diameter d2 of the second upper top surface is: Wherein, L1 is the distance between the first upper top surface and the second upper top surface.

5. The flat-top cone steel pipe welding robot according to claim 4 is characterized in that: The diameter D2 of the second lower top surface is: Wherein, L2 is the thickness of the second adsorption wheel.

6. The flat-top cone steel pipe welding robot according to claim 2, characterized in that: A servo motor is arranged in the vehicle body, and the servo motor drives and connects the connecting shaft.

7. The flat-top cone steel pipe welding robot according to claim 1, characterized in that: The welding mechanism includes a first mechanical arm rotatably mounted on the side of the vehicle body, a second mechanical arm rotatably mounted on the first mechanical arm, and a telescopic rod telescopically mounted on the second mechanical arm, and a welding gun is fixedly mounted on one end of the telescopic rod away from the second mechanical arm.

8. The flat-top cone steel pipe welding robot according to claim 7, characterized in that: An industrial camera is fixedly mounted on one end of the telescopic rod away from the second mechanical arm.

9. The flat-top cone steel pipe welding robot according to claim 7, characterized in that: A stepper motor is installed on the telescopic rod, and the stepper motor drives the welding gun to swing.

10. The flat-top cone steel pipe welding robot according to claim 1, characterized in that: A control module is arranged in the vehicle body, and the control module controls the connection between the permanent magnet wheel and the welding mechanism.

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