Modular all-position self-adaptive pipeline girth welding robot

Abstract

The invention relates to a modular all-position self-adaptive pipeline girth welding robot, and relates to the field of pipeline welding equipment, the modular all-position self-adaptive pipeline girth welding robot comprises a clamp module, a deviation adjusting module, a multi-dimensional moving module and a welding gun module, one end of the deviation adjusting module rotates around an X axis and / or a Z axis relative to the other end of the deviation adjusting module and is positioned, the clamp module is fixedly connected with one end of the deviation adjusting module, and the welding gun module is fixedly connected with the other end of the deviation adjusting module. The other end of the deviation adjusting module is fixedly connected with the multi-dimensional moving module, and the moving end of the multi-dimensional moving module is fixedly connected with the welding gun module. The multi-dimensional welding device has the beneficial effects that the clamp module is used for clamping the pipeline, and the angle of the deviation adjusting module is adjustable, so that the XZ plane of the multi-dimensional moving module can be adjusted to be parallel to the to-be-welded end face of the pipeline, the technical problem that deviation exists between the welding track and the actual welding end face can be effectively solved, and the welding precision is improved.

Description

Technical Field

[0001] The invention relates to the field of pipeline welding equipment, and in particular to a modular all-position adaptive pipeline girth welding robot. Background Art

[0002] During the pipeline welding process, a welding device with a pipeline clamp is usually used for the operation. The welding gun in the existing pipeline welding device is generally driven by a robot to move along the weld trajectory of the pipeline to complete the overall welding of the pipeline weld, or the relative position of the welding gun and the clamp is fixed, and the welding is completed by rotating the pipeline itself to generate a relative displacement between the welding gun and the welding gun.

[0003] However, whether it is because the robot travel is limited in the first method or the welding gun and the fixture are relatively fixed in the second method, high requirements are placed on the clamping accuracy of the fixture. For example, the Chinese invention patent with the publication number "CN112775529A" discloses a petroleum pipeline welding robot, including a lifting adjustment mechanism, an adaptive ring structure, an automatic spot welding head and a brush mechanism. A control component is connected to one side of the lifting adjustment mechanism, and the control component is used to control the lifting adjustment mechanism to adjust and tighten. The adaptive ring structure is connected to the other side of the lifting adjustment mechanism. The adaptive ring structure is used to adapt to annular pipes of different thicknesses. The automatic spot welding head is installed on the adaptive ring structure, and the brush mechanism is installed on the adaptive ring structure. However, in the actual operation process, due to the shape error or installation error of the pipeline, there will be a certain deflection between the motion trajectory of the welding gun relative to the pipeline and the end face of the pipeline to be welded, which will lead to a decrease in welding accuracy and greatly affect the quality of the weld. Summary of the invention

[0004] The technical problem to be solved by the present invention is how to align the welding gun with the end surface to be welded so as to improve the welding quality.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: a modular all-position adaptive pipeline girth welding robot, comprising a fixture module, an adjustment module, a multi-dimensional mobile module and a welding gun module, one end of the adjustment module rotates and positions around the X-axis and / or Z-axis relative to the other end thereof, the fixture module is fixedly connected to one end of the adjustment module, the other end of the adjustment module is fixedly connected to the multi-dimensional mobile module, and the mobile end of the multi-dimensional mobile module is fixedly connected to the welding gun module.

[0006] The beneficial effects of the present invention are as follows: the clamp module is used to clamp the pipe, and the angle of the deviation adjustment module is adjustable, so that the XZ plane of the multi-dimensional movable module can be adjusted to be parallel to the end face to be welded of the pipe, which can effectively solve the technical problem of deviation between the welding trajectory and the actual welding end face and improve the welding accuracy.

[0007] Based on the above technical solution, the present invention can also be improved as follows.

[0008] Furthermore, the deviation adjustment module includes a Z-axis mounting plate, a deviation adjustment connecting plate, a first deviation adjustment telescopic mechanism, a second deviation adjustment telescopic mechanism and a fixture mounting plate, one end of the Z-axis mounting plate is hinged to one end of the deviation adjustment connecting plate, two ends of the first deviation adjustment telescopic mechanism are respectively hinged to the other end of the deviation adjustment connecting plate and the other end of the Z-axis mounting plate, one end of the fixture mounting plate is hinged to the other end of the deviation adjustment connecting plate, two ends of the second deviation adjustment telescopic mechanism are respectively hinged to the other end of the deviation adjustment connecting plate and the other end of the fixture mounting plate, the fixture module is fixedly connected to the fixture mounting plate, the multi-dimensional movable module is fixedly connected to the Z-axis mounting plate, and the first deviation adjustment telescopic mechanism is perpendicular to the second deviation adjustment telescopic mechanism.

[0009] The beneficial effect of adopting the above further scheme is that the angle of the XZ-axis plane of the multi-dimensional movable module can be adjusted by the two telescopic mechanisms on the deviation adjustment module to make it parallel and aligned with the weld end face of the pipeline, so that the movement trajectory of the welding gun module during welding coincides with the weld.

[0010] Furthermore, the deviation adjustment module also includes an axial adjustment moving mechanism, which includes an axial adjustment base and an axial adjustment slider. The axial adjustment base and the axial adjustment slider are slidably connected, the axial adjustment slider is fixedly connected to the fixture mounting plate, and the axial adjustment base is fixedly connected to the fixture module.

[0011] The beneficial effect of adopting the above further solution is that the axial adjustment movement mechanism can adjust the circumferential relative positions of the multi-dimensional movement module and the welding gun module and the pipeline, so that the welding gun module is in a suitable welding position.

[0012] Further, the multi-dimensional mobile module includes an X-axis mobile module, a Y-axis mobile module and a Z-axis mobile module, the Z-axis mobile module includes a slidably connected Z-axis mobile base and a Z-axis mobile slider, the Z-axis mobile base is fixedly connected to the deviation adjustment module, the X-axis mobile module includes a slidably connected X-axis mobile base and an X-axis mobile slider, the X-axis mobile base is fixedly connected to the Z-axis mobile slider, the Y-axis mobile module includes a Y-axis mobile base and a Y-axis mobile slider, the Y-axis mobile base is fixedly connected to the X-axis mobile slider, and the welding gun module is connected to the Y-axis mobile slider.

[0013] The beneficial effect of adopting the above further scheme is that the multi-dimensional mobile module includes an X-axis mobile module, a Y-axis mobile module and a Z-axis mobile module, which can drive the welding gun module to achieve three-degree-of-freedom movement, thereby moving to the required welding position. Specifically, through the linkage cooperation of the X and Z directions, the weld arc can be interpolated. The Y-axis mobile module is responsible for driving the welding gun module to move along the axial direction of the pipeline, which can realize Z-shaped oscillation during welding and adjust the axial position deviation during installation.

[0014] Furthermore, the multi-dimensional movable module also includes a turntable, which includes a turntable base and a turntable body that are rotatably connected, the turntable base is fixedly connected to the Y-axis movable slider, and the welding gun module is fixedly connected to the turntable body.

[0015] The beneficial effect of adopting the above further solution is that the turntable body rotates relative to the turntable base, thereby causing the welding gun module to rotate to a suitable welding angle.

[0016] Furthermore, the multi-dimensional mobile module also includes an extension plate, one end of which is fixedly connected to the X-axis moving slider, and the Y-axis moving base is fixedly connected to the other end of the extension plate.

[0017] The beneficial effect of adopting the above further solution is that the extension plate allows the Y-axis moving module to extend out of the X-axis moving module to avoid mutual interference, and allows the welding gun module to have a larger moving range.

[0018] Furthermore, the clamp module includes a first clamp, a second clamp and a clamp hydraulic cylinder, the middle part of the second clamp is fixedly connected to the deviation adjustment module, the middle part of the first clamp is hinged to one end of the second clamp, and the two ends of the clamp hydraulic cylinder are respectively hinged to the middle part of the second clamp and one end of the first clamp.

[0019] The beneficial effect of adopting the above further solution is that the opening and closing of the first clamping jaw and the second clamping jaw can be driven by the extension and retraction of the clamping jaw hydraulic cylinder. The first clamping jaw and the second clamping jaw can be opened by retracting the clamping jaw hydraulic cylinder, and the pipe to be welded can be placed in the clamp; the first clamping jaw and the second clamping jaw can be closed by controlling the extension of the clamping jaw hydraulic cylinder, so that the pipe to be welded can be clamped in the clamp.

[0020] Furthermore, the clamp module includes at least two clamping jaw hydraulic cylinders, and at least two clamping jaw hydraulic cylinders are arranged at intervals along the Y direction.

[0021] The beneficial effect of adopting the above further solution is: at least two clamping jaw hydraulic cylinders are provided to ensure that the first clamping jaw and the second clamping jaw have sufficient clamping force and the clamping force is uniform along the axial direction of the pipeline.

[0022] Furthermore, the inner walls of the first clamping jaw and the second clamping jaw are arc-shaped surfaces, and a flexible liner is fixed on the arc-shaped surfaces.

[0023] The beneficial effect of adopting the above further scheme is that after the first clamp and the second clamp clamp the pipe, the flexible lining can fit tightly on the outer wall of the pipe, and the flexible lining can play a buffering role to prevent the clamps from clamping the surface of the pipe to be welded.

[0024] Furthermore, it also includes a controller and a machine vision system, and the fixture module, the deviation adjustment module, the multi-dimensional moving module, the welding gun module and the machine vision system are all communicatively connected to the controller;

[0025] The machine vision system is used to obtain image data of the pipeline and the weld, and the controller is used to adjust the angle of the deviation adjustment module according to the image data, so that the XZ axis plane of the multi-dimensional moving module is parallel to the end face to be welded;

[0026] The controller is also used to control the clamp module to clamp or release the pipeline, and the controller is also used to control the multi-dimensional moving module to drive the welding gun module to move around the weld and weld.

[0027] The beneficial effect of adopting the above further scheme is that the machine vision system can scan the position of the pipeline and the weld and reconstruct the spatial shape and position of the end face. The controller can calculate the relative position correction value and control the angle of the deviation adjustment module to correct the clamping error.

[0028] The beneficial effects of the present invention include: the present invention adopts a scheme of combining a multi-dimensional mobile module and an adjustment module, which can realize the combination of high-precision motion characteristics. During the welding process, the multi-dimensional mobile module can drive the welding gun module to move along the circumference of the pipeline, and the adjustment module can be used to adaptively compensate for axial deviation and radial deviation according to forward-looking visual feedback. The end turntable of the multi-dimensional mobile module can adjust the inclination angle of the welding gun module to adapt to the welding pitch angle requirements at different positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A top view of a modular all-position adaptive pipeline girth welding robot of the present invention when clamping a pipeline;

[0030] Figure 2 This is a front view of a modular all-position adaptive pipeline girth welding robot clamping a pipeline according to the present invention;

[0031] Figure 3 A three-dimensional diagram of a modular all-position adaptive pipeline girth welding robot clamping a pipeline according to the present invention;

[0032] Figure 4 A three-dimensional diagram of the deflection adjustment module of the present invention;

[0033] Figure 5A three-dimensional diagram of the multi-dimensional mobile module of the present invention;

[0034] Figure 6 It is a partial enlarged view of the turntable of the present invention.

[0035] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0036] 1. Clamp module; 101. First clamp; 102. Second clamp; 103. Clamp hydraulic cylinder; 104. Flexible lining;

[0037] 2. Deflection adjustment module; 201. Z-axis mounting plate; 202. Deflection adjustment connecting plate; 203. Deflection adjustment first telescopic mechanism; 204. Deflection adjustment second telescopic mechanism; 205. Fixture mounting plate; 206. Axial adjustment moving mechanism;

[0038] 3. Multi-dimensional moving module; 301. X-axis moving module; 302. Y-axis moving module; 303. Z-axis moving module; 304. Turntable; 305. Extension plate;

[0039] 4. Welding gun module;

[0040] 100. Pipeline. DETAILED DESCRIPTION

[0041] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0042] like Figure 1-Figure 6 As shown, this embodiment provides a modular all-position adaptive pipeline girth welding robot, including a fixture module 1, an adjustment module 2, a multi-dimensional mobile module 3 and a welding gun module 4, one end of the adjustment module 2 rotates and is positioned around the X-axis and / or Z-axis relative to the other end thereof, the fixture module 1 is fixedly connected to one end of the adjustment module 2, the other end of the adjustment module 2 is fixedly connected to the multi-dimensional mobile module 3, and the mobile end of the multi-dimensional mobile module 3 is fixedly connected to the welding gun module 4.

[0043] The clamp module 1 is used to clamp the pipe 100, and the angle of the deviation adjustment module 2 is adjustable, so that the XZ plane of the multi-dimensional mobile module 3 can be adjusted to be parallel to the end face to be welded of the pipe 100, which can effectively solve the technical problem of deviation between the welding trajectory and the actual welding end face and improve the welding accuracy.

[0044] Specifically, Figures 1 to 3 As shown, in the description of this embodiment, the Y axis is parallel to the axial direction of the pipeline 100, and the X axis, the Y axis and the Z axis are perpendicular to each other.

[0045] On the basis of the above technical solution, the deviation adjustment module 2 may optionally be a structure such as a multi-degree-of-freedom robotic arm or a universal shaft. In one specific embodiment, the deviation adjustment module 2 includes a Z-axis mounting plate 201, a deviation adjustment connecting plate 202, a first deviation adjustment telescopic mechanism 203, a second deviation adjustment telescopic mechanism 204 and a fixture mounting plate 205, one end of the Z-axis mounting plate 201 is hinged to one end of the deviation adjustment connecting plate 202, two ends of the first deviation adjustment telescopic mechanism 203 are respectively hinged to the other end of the deviation adjustment connecting plate 202 and the other end of the Z-axis mounting plate 201, one end of the fixture mounting plate 205 is hinged to the other end of the deviation adjustment connecting plate 202, two ends of the second deviation adjustment telescopic mechanism 204 are respectively hinged to the other end of the deviation adjustment connecting plate 202 and the other end of the fixture mounting plate 205, the fixture module 1 is fixedly connected to the fixture mounting plate 205, the multi-dimensional movable module 3 is fixedly connected to the Z-axis mounting plate 201, and the first deviation adjustment telescopic mechanism 203 is perpendicular to the second deviation adjustment telescopic mechanism 204.

[0046] The angle of the XZ-axis plane of the multi-dimensional moving module 3 can be adjusted by two telescopic mechanisms on the deviation adjustment module 2 to make it parallel and aligned with the weld end face of the pipeline, so that the movement trajectory of the welding gun module 4 coincides with the weld during welding.

[0047] Specifically, Figure 4 As shown, the first telescopic mechanism 203 for adjusting deflection is perpendicular to the second telescopic mechanism 204 for adjusting deflection. The first telescopic mechanism 203 for adjusting deflection is arranged along the Y direction, and the second telescopic mechanism 204 for adjusting deflection is arranged along the X direction.

[0048] Optionally, the first telescopic mechanism 203 for adjusting the deviation is a cylinder, a hydraulic cylinder, a linear motor or a mechanical telescopic rod. The second telescopic mechanism 204 for adjusting the deviation is a cylinder, a hydraulic cylinder, a linear motor or a mechanical telescopic rod.

[0049] Based on any of the above schemes, the deviation adjustment module 2 also includes an axial adjustment moving mechanism 206, and the axial adjustment moving mechanism 206 includes an axial adjustment base and an axial adjustment slider, the axial adjustment base and the axial adjustment slider are slidably connected, the axial adjustment slider is fixedly connected to the fixture mounting plate 205, and the axial adjustment base is fixedly connected to the fixture module 1.

[0050] The axial adjustment movement mechanism 206 can adjust the circumferential relative positions of the multi-dimensional movement module 3 and the welding gun module 4 and the pipeline 100, so that the welding gun module 4 is in a suitable welding position.

[0051] Specifically, the axial adjustment movement mechanism 206 also includes an adjustment motor that drives the axial adjustment slider to move linearly back and forth. Alternatively, the relative position of the axial adjustment slider and the axial adjustment base is manually adjusted, and then the two are locked and positioned by a locking structure.

[0052] On the basis of any of the above schemes, the multi-dimensional mobile module 3 includes an X-axis mobile module 301, a Y-axis mobile module 302 and a Z-axis mobile module 303, the Z-axis mobile module 303 includes a slidably connected Z-axis mobile base and a Z-axis mobile slider, the Z-axis mobile base is fixedly connected to the deviation adjustment module 2, the X-axis mobile module 301 includes a slidably connected X-axis mobile base and an X-axis mobile slider, the X-axis mobile base is fixedly connected to the Z-axis mobile slider, the Y-axis mobile module 302 includes a Y-axis mobile base and a Y-axis mobile slider, the Y-axis mobile base is fixedly connected to the X-axis mobile slider, and the welding gun module 4 is connected to the Y-axis mobile slider.

[0053] The multi-dimensional moving module 3 includes an X-axis moving module 301, a Y-axis moving module 302 and a Z-axis moving module 303, which can drive the welding gun module 4 to achieve three-degree-of-freedom movement, thereby moving to the desired welding position. Specifically, through the linkage of the X and Z directions, a weld arc can be interpolated. The Y-axis moving module 302 is responsible for driving the welding gun module 4 to move axially along the pipe 100, which can achieve Z-shaped oscillation during welding and adjust the axial position deviation during installation.

[0054] Specifically, the X-axis moving module 301 also includes an X-axis motor that drives the X-axis moving slider to move linearly, or, alternatively, manually adjust the relative position of the X-axis moving slider and the X-axis moving base, and then lock the two in place through a locking structure.

[0055] Specifically, the Y-axis moving module 302 also includes a Y-axis motor that drives the Y-axis moving slider to move linearly, or, alternatively, manually adjust the relative position of the Y-axis moving slider and the Y-axis moving base, and then lock the two in place through a locking structure.

[0056] Specifically, the Z-axis moving module 303 also includes a Z-axis motor that drives the Z-axis moving slider to move linearly, or, alternatively, manually adjust the relative position of the Z-axis moving slider and the Z-axis moving base, and then lock the two in place through a locking structure.

[0057] Specifically, the Z-axis movable base is fixedly connected to the Z-axis mounting plate 201 .

[0058] Specifically, the Y-axis moving slider is the moving end of the multi-dimensional moving module 3 .

[0059] Based on any of the above schemes, the multi-dimensional mobile module 3 also includes a turntable 304, the turntable 304 includes a turntable base and a turntable body that are rotatably connected, the turntable base is fixedly connected to the Y-axis moving slider, and the welding gun module 4 is fixedly connected to the turntable body.

[0060] The turntable body rotates relative to the turntable base, thereby rotating the welding gun module 4 to a suitable welding angle.

[0061] Specifically, the rotating shaft of the turntable 304 is arranged along the Y direction, the end face of the turntable body is parallel to the end face of the pipeline, and the welding gun module 4 is arranged along the radial direction of the turntable body. The Y-axis moving module 302 drives the turntable 304 to move axially along the pipeline 100, and the Y-axis stroke can be 200mm or other strokes, that is, it can achieve Z-shaped oscillation during welding, and it also has a large adjustment ability for the axial position deviation during installation. At the same time, the turntable 304 is installed parallel to the end face of the pipeline 100, driving the welding gun module 4 to rotate, so that it always maintains a direction perpendicular to the axial direction of the pipeline during welding.

[0062] Specifically, the turntable 304 further includes a turntable motor for driving the turntable body to rotate, or, alternatively, the relative angle between the turntable body and the turntable base is manually adjusted, and then the two are locked in place by a locking structure.

[0063] Based on any of the above solutions, the multi-dimensional mobile module 3 also includes an extension plate 305, one end of the extension plate 305 is fixedly connected to the X-axis moving slider, and the Y-axis moving base is fixedly connected to the other end of the extension plate 305.

[0064] The extension plate 305 allows the Y-axis moving module 302 to extend out of the X-axis moving module 301 to avoid mutual interference and allows the welding gun module 4 to have a larger moving range.

[0065] Specifically, the length of the extension plate 305 is equal to the length of the X-axis moving base.

[0066] Specifically, in order to reduce the X-axis inertia, the X-axis moving base is connected to the Z-axis moving slider, and then the X-axis moving slider is connected to the Y-axis moving base through the extension plate 305, thereby driving the turntable 304 at the end to move along the X-axis direction. The mass of the Z-axis moving slider of the Z-axis moving module 303 is much smaller than the Z-axis moving base, so fixing the Z-axis moving base and moving the Z-axis moving slider can reduce the X-axis inertia.

[0067] Based on any of the above schemes, the clamp module 1 includes a first clamp 101, a second clamp 102 and a clamp hydraulic cylinder 103, the middle part of the second clamp 102 is fixedly connected to the adjustment module 2, the middle part of the first clamp 101 is hinged to one end of the second clamp 102, and the two ends of the clamp hydraulic cylinder 103 are respectively hinged to the middle part of the second clamp 102 and one end of the first clamp 101.

[0068] The opening and closing of the first clamping jaw 101 and the second clamping jaw 102 can be driven by the extension and retraction of the clamping jaw hydraulic cylinder 103. During clamping, the first clamping jaw 101 and the second clamping jaw 102 can be opened by retracting the clamping jaw hydraulic cylinder 103, and the welding robot is hoisted above the pipe 100 to be welded by a crane, and the welding robot is slowly lowered until the pipe 100 to be welded is placed in the first clamping jaw 101 and the second clamping jaw 102. Then, the clamping jaw hydraulic cylinder 103 is controlled to extend to close the first clamping jaw 101 and the second clamping jaw 102, so that the pipe 100 to be welded is clamped in the fixture.

[0069] On the basis of any of the above solutions, the clamp module 1 includes at least two clamping jaw hydraulic cylinders 103, and the at least two clamping jaw hydraulic cylinders 103 are arranged at intervals along the Y direction.

[0070] At least two clamping jaw hydraulic cylinders 103 are provided to ensure that the first clamping jaw 101 and the second clamping jaw 102 have sufficient clamping force and the clamping force is uniform along the axial direction of the pipe 100 .

[0071] On the basis of any of the above solutions, the inner walls of the first clamping jaw 101 and the second clamping jaw 102 are arc-shaped surfaces, and a flexible liner 104 is fixed on the arc-shaped surfaces.

[0072] After the first clamp 101 and the second clamp 102 clamp the pipe 100, the flexible lining 104 can fit tightly against the outer wall of the pipe 100, and the relative clamping force applied by the first clamp 101 and the second clamp 102 to the pipe 100 can be evenly transmitted to the surface of the pipe 100 through the buffering effect of the flexible lining 104, thereby preventing the surface of the pipe 100 from being damaged and forming an indentation due to uneven force between the clamp and the pipe 100 when the clamp module 1 clamps the pipe 100.

[0073] On the basis of any of the above solutions, it also includes a controller and a machine vision system, and the fixture module 1, the deviation adjustment module 2, the multi-dimensional moving module 3, the welding gun module 4 and the machine vision system are all communicatively connected to the controller;

[0074] The machine vision system is used to obtain image data of the pipe 100 and the weld, and the controller is used to adjust the angle of the deviation adjustment module 2 according to the image data, so that the XZ axis plane of the multi-dimensional moving module 3 is parallel to the end face to be welded;

[0075] The controller is also used to control the clamp module 1 to clamp or release the pipe 100, and the controller is also used to control the multi-dimensional moving module 3 to drive the welding gun module 4 to move around the weld and weld.

[0076] The machine vision system can scan the position of the pipeline and the weld and reconstruct the spatial shape and position of the end face. The controller can calculate the relative position correction value and control the angle of the deviation adjustment module 2 to correct the clamping error.

[0077] In this embodiment, due to the shape error of the pipeline 100, the deformation of the flexible lining 104 and the hoisting error, the clamping position of the welding robot will have a certain error. There may be a certain deflection between the XZ plane of the multidimensional mobile module 3 and the end face to be welded. At this time, the welding groove of the pipeline 100 is a spatial curve compared to the multidimensional mobile module 3. Although the robot arm can be controlled to follow the trajectory by spatial interpolation, this method increases the difficulty of control on the one hand, and the frequent adjustment of each axis will also reduce the accuracy of the movement. Therefore, in this embodiment, the deviation adjustment module 2 is installed between the clamp module 1 and the multidimensional mobile module 3, and the posture of the multidimensional mobile module 3 can be adjusted after clamping, so that its XZ axis plane is parallel to the end face of the pipeline 100, and the axial position can be adjusted so that the welding gun module 4 is aligned with the welding groove in the axial position.

[0078] Specifically, after the welding robot of this embodiment is installed on the pipe 100 to be welded, the positional relationship and angle between the XZ-axis plane of the multi-dimensional mobile module 3 and the weld end face of the pipe 100 can be checked by the machine vision system. If there is a deviation, the angle of the XZ-axis plane of the multi-dimensional mobile module 3 can be adjusted by the two telescopic mechanisms on the deviation adjustment module 2 to make it parallel and aligned with the weld end face of the pipe, so that the motion trajectory of the welding gun module 4 during welding coincides with the weld, ensuring sufficient welding quality and welding accuracy.

[0079] Due to the use of an automatic clamping system (clamp module 1), an adjustment module 2 and a machine vision system, almost no workers are required to participate in the operation. During operation, the welding robot can be hoisted from above the pipeline 100 by a crane. A flexible connection is used between the crane and the robot to ensure that the welding robot can adaptively adjust its position according to the shape and position of the pipeline 100 when clamping the pipeline 100. When hoisting the welding robot, the worker can hoist the robot to the approximate position by naked eye observation, and control the clamp module 1 to clamp the pipeline 100 after hoisting in place.

[0080] After the clamping is completed, the robot arm guides the machine vision system to scan the pipe 100 and reconstruct the spatial shape and position of the end face. The controller calculates the correction value through the pipe end face position and the robot position parameters, and sends a signal to the deviation adjustment module 2 to adjust the length or position of the first deviation adjustment telescopic mechanism 203, the second deviation adjustment telescopic mechanism 204 and the axial adjustment moving mechanism 206, so as to correct the clamping error. After completing a correction, the machine vision system will scan the pipe 100 again to ensure that the clamping error has met the requirements of robot automatic welding. If the error still exceeds the set threshold, it will continue to adjust until the clamping accuracy requirements are met. After the deviation adjustment is completed, the machine vision system continues to scan the groove and reconstruct the weld. The controller performs path planning according to the weld parameters and controls the multi-dimensional mobile module 3 and the welding gun module 4 to start welding.

[0081] During welding, the molten pool tracking system provides real-time feedback on the shape of the welding pool and monitors the welding process. After completing a weld, the multi-dimensional mobile module 3 returns to its initial position. During the return process, the machine vision system will scan the weld once to evaluate the welding quality and intelligently adjust the welding parameters according to the effect of the previous weld to ensure the welding quality. Repeating the above process, the multi-dimensional mobile module 3 and the welding gun module 4 finally complete the entire filling and covering operation. The controller controls the jaws of the fixture module 1 to open, and the crane lifts the welding robot to complete the disassembly of the welding robot.

[0082] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "X", "Y", "Z", "axial", "radial", "circumferential", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0083] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0084] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0085] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0086] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A modular all-position adaptive pipeline girth welding robot, characterized in that: The invention comprises a fixture module (1), an offset adjustment module (2), a multi-dimensional movable module (3) and a welding gun module (4); one end of the offset adjustment module (2) is rotated and positioned around an X-axis and / or a Z-axis relative to the other end thereof; the fixture module (1) is fixedly connected to one end of the offset adjustment module (2); the other end of the offset adjustment module (2) is fixedly connected to the multi-dimensional movable module (3); and the movable end of the multi-dimensional movable module (3) is fixedly connected to the welding gun module (4).

2. The modular all-position adaptive pipeline girth welding robot according to claim 1, characterized in that: The deviation adjustment module (2) comprises a Z-axis mounting plate (201), a deviation adjustment connecting plate (202), a first deviation adjustment telescopic mechanism (203), a second deviation adjustment telescopic mechanism (204) and a fixture mounting plate (205), one end of the Z-axis mounting plate (201) is hinged to one end of the deviation adjustment connecting plate (202), two ends of the first deviation adjustment telescopic mechanism (203) are respectively hinged to the other end of the deviation adjustment connecting plate (202) and the other end of the Z-axis mounting plate (201), and the fixture mounting plate (205) is hinged to the other end of the deviation adjustment connecting plate (202). 5) is hinged to the other end of the deflection adjusting connecting plate (202), and the two ends of the second deflection adjusting telescopic mechanism (204) are respectively hinged to the other end of the deflection adjusting connecting plate (202) and the other end of the fixture mounting plate (205), the fixture module (1) is fixedly connected to the fixture mounting plate (205), the multi-dimensional movable module (3) is fixedly connected to the Z-axis mounting plate (201), and the first deflection adjusting telescopic mechanism (203) is perpendicular to the second deflection adjusting telescopic mechanism (204).

3. The modular all-position adaptive pipeline girth welding robot according to claim 2, characterized in that: The deviation adjustment module (2) also includes an axial adjustment movable mechanism (206), and the axial adjustment movable mechanism (206) includes an axial adjustment base and an axial adjustment slider, the axial adjustment base and the axial adjustment slider are slidably connected, the axial adjustment slider is fixedly connected to the fixture mounting plate (205), and the axial adjustment base is fixedly connected to the fixture module (1).

4. The modular all-position adaptive pipeline girth welding robot according to claim 1, characterized in that: The multi-dimensional moving module (3) comprises an X-axis moving module (301), a Y-axis moving module (302) and a Z-axis moving module (303); the Z-axis moving module (303) comprises a slidably connected Z-axis moving base and a Z-axis moving slider; the Z-axis moving base is fixedly connected to the deviation adjustment module (2); the X-axis moving module (301) comprises a slidably connected X-axis moving base and an X-axis moving slider; the X-axis moving base is fixedly connected to the Z-axis moving slider; the Y-axis moving module (302) comprises a Y-axis moving base and a Y-axis moving slider; the Y-axis moving base is fixedly connected to the X-axis moving slider; and the welding gun module (4) is connected to the Y-axis moving slider.

5. The modular all-position adaptive pipeline girth welding robot according to claim 4, characterized in that: The multi-dimensional movable module (3) also includes a turntable (304), and the turntable (304) includes a turntable base and a turntable body that are rotatably connected. The turntable base is fixedly connected to the Y-axis movable slider, and the welding gun module (4) is fixedly connected to the turntable body.

6. The modular all-position adaptive pipeline girth welding robot according to claim 4, characterized in that: The multi-dimensional moving module (3) further comprises an extension plate (305), one end of which is fixedly connected to the X-axis moving slider, and the Y-axis moving base is fixedly connected to the other end of the extension plate (305).

7. The modular all-position adaptive pipeline girth welding robot according to claim 1, characterized in that: The clamp module (1) comprises a first clamp (101), a second clamp (102) and a clamp hydraulic cylinder (103); the middle part of the second clamp (102) is fixedly connected to the deviation adjustment module (2); the middle part of the first clamp (101) is hinged to one end of the second clamp (102); and the two ends of the clamp hydraulic cylinder (103) are respectively hinged to the middle part of the second clamp (102) and one end of the first clamp (101).

8. The modular all-position adaptive pipeline girth welding robot according to claim 7, characterized in that: The clamp module (1) comprises at least two clamping jaw hydraulic cylinders (103), and the at least two clamping jaw hydraulic cylinders (103) are arranged at intervals along the Y direction.

9. The modular all-position adaptive pipeline girth welding robot according to claim 7, characterized in that: The inner walls of the first clamping jaw (101) and the second clamping jaw (102) are arc-shaped surfaces, and a flexible lining (104) is fixed on the arc-shaped surfaces.

10. A modular all-position adaptive pipeline girth welding robot according to any one of claims 1 to 9, characterized in that: It also includes a controller and a machine vision system, wherein the fixture module (1), the deviation adjustment module (2), the multi-dimensional moving module (3), the welding gun module (4) and the machine vision system are all communicatively connected to the controller; The machine vision system is used to obtain image data of the pipeline (100) and the weld, and the controller is used to adjust the angle of the deviation adjustment module (2) according to the image data, so that the XZ axis plane of the multi-dimensional moving module (3) is parallel to the end face to be welded; The controller is also used to control the clamp module (1) to clamp or release the pipe (100), and the controller is also used to control the multi-dimensional moving module (3) to drive the welding gun module (4) to move around the welding seam and weld.

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