A flat-top conical steel pipe welding robot

Abstract

This invention relates to a welding robot for flat-topped conical steel pipes. The top of the steel pipe has a conical surface. The welding robot includes: a vehicle body; a permanent magnet wheel disposed within the vehicle body, the permanent magnet wheel extending partially to the bottom of the vehicle body and conforming to the top of the conical surface; and a welding mechanism fixedly installed on the side of the vehicle body. The welding mechanism is used to weld the steel pipe, realizing trackless circumferential automatic welding on the conical surface of the flat-topped conical steel pipe, thereby improving welding efficiency and welding quality.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, and specifically to a flat-top conical steel pipe welding robot. Background Technology

[0002] This invention relates to the field of steel pipe welding equipment technology, specifically to a flat-top conical steel pipe welding robot and its usage method.

[0003] Currently, welding robots are widely used in the circumferential welding of circular pipes. Track-mounted welding robots are semi-automatic welding systems that use a track to weld around the circumference of a steel pipe. However, track construction is relatively complicated, and welding efficiency and construction safety cannot be effectively improved. In offshore photovoltaic projects, to facilitate fixing to the legs of the photovoltaic platform, the top of the steel pipe piles is often made of flat-topped conical steel pipes, making track laying even more difficult. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects of the prior art and provide a flat-top conical steel pipe welding robot. The robot uses a flat-top conical permanent magnet wheel to adhere to the top of the flat-top conical steel pipe, allowing the vehicle body to adhere to and travel around the surface of the flat-top conical steel pipe in a circumferential manner. The welding mechanism then performs circumferential welding on the positions that need to be welded.

[0005] The technical solution to achieve the above objective is a flat-topped conical steel pipe welding robot, wherein the top of the steel pipe has a conical surface, and the welding robot includes:

[0006] Vehicle body;

[0007] A permanent magnet wheel is disposed within the vehicle body, a portion of which extends from the bottom of the vehicle body and conforms to the top of the conical surface; and

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

[0009] Furthermore, the permanent magnet wheel includes a first adsorption wheel and a second adsorption wheel arranged symmetrically to the first adsorption wheel. The first adsorption wheel and the second adsorption wheel are flat-topped conical shapes corresponding to the conical surface. The diameter of the second adsorption wheel is larger than the diameter of the first adsorption wheel. The conical surfaces of the first adsorption wheel and the second adsorption wheel are attached to the conical surface.

[0010] A connecting shaft connects the first adsorption wheel and the second adsorption wheel.

[0011] Furthermore, 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 surface, L is the thickness of the first adsorption wheel, and α is the angle of the conical surface.

[0014] Furthermore, 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] Where L1 is the distance between the first top surface and the second top surface.

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

[0018]

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

[0020] Furthermore, a servo motor is installed inside the vehicle body, and the servo motor drives the connecting shaft.

[0021] Furthermore, the welding mechanism includes a first robotic arm rotatably mounted on the side of the vehicle body, a second robotic arm rotatably mounted on the first robotic arm, and a telescopic rod telescopically mounted on the second robotic arm, with a welding torch fixedly mounted at the end of the telescopic rod away from the second robotic arm.

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

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

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

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

[0026] The vehicle body can be attracted and driven on the surface of the flat-top conical steel tube by the permanent magnet wheel adsorbing onto the top of the tube. The welding mechanism is used to weld the required positions. By controlling the size of the first and second adsorption wheels, the top of the vehicle body is kept in a horizontal position, so that the vehicle body can run circumferentially on the surface of the cone and the welding position is not easy to shift. Attached Figure Description

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

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

[0029] Figure 3 This is a diagram showing the size relationship between the first and second adsorption wheels of a flat-topped conical 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 torch; 61. First robotic arm; 62. Second robotic arm; 63. Telescopic rod; 64. Industrial camera. Detailed Implementation

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

[0032] See Figure 1 A flat-top conical steel pipe welding robot is disclosed, wherein the top of the steel pipe has a conical surface. The welding robot includes: a vehicle body 5, a permanent magnet wheel, and a welding mechanism; the permanent magnet wheel is disposed inside the vehicle body 5, and a portion of the permanent magnet wheel extends to the bottom of the vehicle body 5 and fits against the top of the conical surface; and the welding mechanism is fixedly installed on the side of the vehicle body 5, and the steel pipe is welded by the welding mechanism.

[0033] In this invention, a preferred embodiment is as follows: the vehicle body 5 is placed on the conical surface of the flat-top conical steel pipe 1, and the vehicle body 5 is fixed by being attracted to the conical surface by a permanent magnet wheel. The welding mechanism is adjusted so that it is aligned with the position to be welded. The vehicle body 5 is started so that it moves and the welding mechanism performs welding.

[0034] Furthermore, the permanent magnet wheel consists of a magnetic guide wheel body, an annular permanent magnet, a protective ring, and a permanent magnet wheel end cap. It can be tightly attracted to the curved surface of the metal steel pipe and can bear an object with a weight more than 100 times its own weight in the attracted state. The permanent magnet wheel is used to fix the vehicle body 5 to the flat-top conical steel pipe 1 to prevent the vehicle body 5 from slipping off the conical surface.

[0035] Furthermore, the permanent magnet wheel includes a first adsorption wheel 21 and a second adsorption wheel 22 arranged symmetrically with respect to the first adsorption wheel 21. The first adsorption wheel 21 and the second adsorption wheel 22 are flat-topped conical shapes 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 in contact with the conical surface. A connecting shaft 23 connects the first adsorption wheel 21 and the second adsorption wheel 22. By setting two flat-topped conical first adsorption wheels 21 and the second adsorption wheel 22 of different sizes, with their axes collinear and their top and bottom surfaces perpendicular to the top surface of the steel pipe, the vehicle body 5 can move circumferentially along the surface of the steel pipe by the synchronous rolling of the first adsorption wheel 21 and the second adsorption wheel 22.

[0036] Furthermore, 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 surface, L is the thickness of the first adsorption wheel 21, and α is the angle of the conical surface.

[0039] Furthermore, 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 being smaller than the diameter of the second lower top surface, and the diameter d2 of the second upper top surface being:

[0040]

[0041] Where L1 is the distance between the first top surface and the second 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 the same as the inclination angle of the conical surface, both being α°. d1, d2, D1, and D2 are set sequentially using 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 sequentially, the vehicle body 5 is kept level, thereby avoiding deviation of the vehicle body 5 due to errors in the size settings of the first adsorption wheel 21 and the second adsorption wheel 22.

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

[0046] Furthermore, a battery pack 4 is installed inside the vehicle body 5, and the battery pack 4 is connected to the servo motor 2 via wires.

[0047] Furthermore, the welding mechanism includes a first robotic arm 61 rotatably mounted on the side of the vehicle body 5, a second robotic arm 62 rotatably mounted on the first robotic arm 61, and a telescopic rod 63 rotatably mounted on the second robotic arm 62. A welding torch 6 is fixedly mounted on the end of the telescopic rod 63 away from the second robotic arm 62. Preferably, the side of the vehicle body 5 is provided with a mounting end, and the first robotic arm 61 is rotatably mounted on this mounting end by means of a pin or bolt. The first robotic arm 61 and the second robotic arm 62 are connected by bolts or pins to form a joint, so that the first robotic arm 61 and the second robotic arm 62 can rotate freely in the vertical direction. The telescopic rod 63 is connected to the second robotic arm 62 to achieve axial retraction, thereby controlling the position and angle of the welding torch 6, which can meet the welding requirements of different welding positions.

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

[0049] Furthermore, the telescopic rod 63 is equipped with a clamp that holds the welding torch 6.

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

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

[0052] Furthermore, a control module 3 is provided inside 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 bidirectionally connected to an external PC. The control module 3 is fixed inside the vehicle body 5. The output terminals of the control module 3 are connected to the control terminals of the servo motor 2, stepper motor, robotic arm, telescopic rod 63, and welding torch 6, respectively. The input terminals of the control module 3 are connected to the output terminals of the industrial camera 64 and the gyroscope, respectively. Before welding, the industrial camera 64 acquires images below the welding position. The control module 3 sends the acquisition results to the external PC in real time and determines the relative relationship between the welding torch 6 and the welding position. Based on the gyroscope's monitoring results, the external PC controls the robotic arm and telescopic rod 63 to adjust the position of the welding torch 6 via the control module 3. Once in position, the external PC sets welding parameters via the control module 3, including welding voltage and current, the swing speed and amplitude of the welding torch 6, and travel speed, controlling the welding torch 6, stepper motor, and servo motor 2 to begin circumferential welding. The industrial camera 64 acquires weld images in real time, and the external PC judges the weld quality. When the weld quality does not meet the set requirements, the welding voltage, current and other parameters of subsequent welding are automatically adjusted by the control module 3.

[0054] The following describes the usage process of the flat-top conical steel pipe welding robot of the present invention.

[0055] First, the vehicle body 5 is placed on the flat-topped conical steel pipe 1 to be welded. The welding torch 6 is installed on the welding torch 6 clamp and a CO2 gas protection pipeline is installed. Before welding, the industrial camera 64 acquires images below the welding point. The control module 3 sends the acquisition results to the external PC in real time and determines the relative relationship between the welding torch 6 and the welding position. Based on the monitoring results of the gyroscope, the external PC controls the robotic arm and telescopic rod 63 through the control module 3 to adjust the position of the welding torch 6 to the connection between the flat-topped conical steel pipe 1 and the platform support leg, driving the welding torch 6 to descend to the starting position of the weld. After it is moved into place, the external PC sets the welding parameters through the control module 3, including welding voltage and current, swing speed and amplitude of the welding torch 6, and walking speed, and controls the welding torch 6, stepper motor, and servo motor 2 to start working. The vehicle body 5 moves at a constant speed to perform circumferential welding operations. The industrial camera 64 acquires weld images 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 subsequent welding. After welding is completed, the welding torch 6 and servo motor 2 are stopped, and the welding torch 6 is moved away from the working position by the robotic arm, and the vehicle body 5 is retrieved.

[0056] The present invention has been described in detail above with reference to the accompanying drawings and embodiments. Those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details in the embodiments should not be construed as limiting the present invention, and the scope of protection of the present invention shall be defined by the appended claims.

Claims

1. A flat-top conical steel pipe welding robot, the top of the steel pipe being formed with a conical surface, characterized in that, The welding robot comprises: a vehicle body; a permanent magnet wheel arranged in the vehicle body, the permanent magnet wheel extending partially on the bottom of the vehicle body and abutting against the top of the conical surface; and a welding mechanism fixedly installed on the side of the vehicle body, the welding mechanism being used to weld the steel pipe; the permanent magnet wheel comprises a first adsorption wheel and a second adsorption wheel arranged in central symmetry with the first adsorption wheel, the first adsorption wheel and the second adsorption wheel being flat-top conical surfaces corresponding to the conical surface, the diameter of the second adsorption wheel being greater than that of the first adsorption wheel, and the conical surfaces of the first adsorption wheel and the second adsorption wheel abutting against the conical surface; a connecting shaft is connected between the first adsorption wheel and the second adsorption wheel; the first adsorption wheel comprises a first upper top surface and a first lower top surface, the diameter of the first upper top surface being smaller than that of the first lower top surface, the diameter D1 of the first lower top surface being: ； wherein d1 is the diameter of the first upper top surface, L is the thickness of the first adsorption wheel, and a is the angle of the conical surface; the second adsorption wheel comprises a second upper top surface and a second lower top surface, the diameter of the second upper top surface being smaller than that of the second lower top surface, and the diameter d2 of the second upper top surface being: ； wherein L1 is the distance between the first upper top surface and the second upper top surface; the diameter D2 of the second lower top surface is: ； wherein L2 is the thickness of the second adsorption wheel.

2. A flat-topped conical steel pipe welding robot according to claim 1, characterized in that: A servo motor is arranged in the vehicle body, and the servo motor drives the connecting shaft.

3. The flat-top conical steel pipe welding robot according to claim 1, characterized in that: The welding mechanism comprises a first mechanical arm rotatably installed on the side of the vehicle body, a second mechanical arm rotatably installed on the first mechanical arm, and an extendable and retractable telescopic rod installed on the second mechanical arm, and an end of the telescopic rod away from the second mechanical arm is fixedly installed with a welding gun.

4. A flat-topped conical steel pipe welding robot according to claim 3, characterized in that: An industrial camera is fixedly installed on the end of the telescopic rod away from the second mechanical arm.

5. A flat-topped conical steel pipe welding robot according to claim 3, characterized in that: A stepping motor is installed on the telescopic rod, and the stepping motor drives the welding gun to swing.

6. The flat-topped conical 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 permanent magnet wheel and the welding mechanism.

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