Automatic welding device and system thereof

Abstract

The invention relates to the technical field of welding equipment, and provides an automatic welding device and a system thereof.The automatic welding device comprises a welding body, the welding body is provided with a driving frame and a positioning frame which are in ball joint, a walking mechanism is arranged on the driving frame, a first positioning ring and a second positioning ring are arranged on the positioning frame, and a welding mechanism is arranged at the ball joint position of the driving frame and the positioning frame; the walking mechanism drives the welding body to move in the pipe, after the welding positioning frame passes through the pipe connecting position, the first positioning ring and the second positioning ring limit the welding body, and the welding mechanism is located at the pipe connecting position to weld the pipe. And the driving frame and the positioning frame are in ball joint, so that the welding mechanism can adapt to welding of connecting positions of various angles in the pipe, and the application range is widened.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to an automatic welding device and a system thereof. Background Art

[0002] With the rapid development of the manufacturing industry, many welding working environments are not suitable for workers to operate, and the demand for automatic welding devices is increasing. For example, Chinese patent CN110508984A discloses an automatic welding robot and an automatic welding method thereof. The solution realizes automation by moving the welding robot in a coaxially arranged first tube body and a second tube body, and then welding the first tube body and the second tube body together.

[0003] However, in the above scheme, the welding robot can only be used when welding two coaxially arranged pipes. It cannot be used when welding two pipes at different angles. The application scenario is too limited. Therefore, there is an urgent need for a welding device that can adapt to various connection angles of pipes. Summary of the invention

[0004] Based on this, it is necessary to provide an automatic welding device and its system to address the problem that the existing welding equipment cannot adapt to the special angles of the pipe in a timely manner.

[0005] The above purpose is achieved through the following technical solutions: An automatic welding device, comprising: A welding body, the welding body comprising a positioning frame and a driving frame, the two being spherically connected together by a connecting rod; A walking mechanism, wherein the walking mechanism comprises a plurality of driving wheels, wherein the plurality of driving wheels are rotatably arranged on the outer periphery of the driving frame, the plurality of driving wheels abut against the inner wall of the pipe, and the plurality of driving wheels can drive the driving frame to move in the pipe; A welding mechanism, the welding mechanism comprising a rotating ring and a welding head, the rotating ring is rotatably arranged at the ball joint position of the positioning frame and the driving frame, the welding head is located on the outer circumferential surface of the rotating ring and can be extended and retracted along the radial direction of the rotating ring; A first positioning ring and a second positioning ring, wherein the first positioning ring and the second positioning ring are coaxially and spaced apart on the positioning frame, and a limiting assembly is arranged on the first positioning ring and the second positioning ring. After the first positioning ring and the second positioning ring pass through the bending part of the pipe, the limiting assembly limits the positioning frame, and the rotating ring is located at the connection part of the pipe.

[0006] Furthermore, the limiting assembly includes a first adjusting wheel and a second adjusting wheel, the first adjusting wheel is rotatably arranged on the outer periphery of the first positioning ring and can move radially along the first positioning ring, the second adjusting wheel is rotatably arranged on the outer periphery of the second positioning ring and can move radially along the second positioning ring, and the first adjusting wheel and the second adjusting wheel can stop rotating to limit the welding body.

[0007] Furthermore, a control component is provided between the first positioning ring and the second positioning ring, and the control component can control the extension and retraction amount of the first adjusting wheel and the second adjusting wheel to lock or release the rotation of the first adjusting wheel and the second adjusting wheel.

[0008] Furthermore, sensors are provided on the first adjusting wheel and the second adjusting wheel, and the sensors can sense the distances between the first adjusting wheel and the second adjusting wheel and the outer periphery of the first positioning ring and the outer periphery of the second positioning ring respectively.

[0009] Furthermore, a rotating assembly is provided on the welding body, and the rotating assembly is used to drive the rotating body to rotate around its own axis.

[0010] Furthermore, the rotating assembly includes two driving rings, which are coaxial with the positioning frame and the driving frame respectively. Telescopic parts are symmetrically hinged on both sides of the rotating ring. The other end of the telescopic parts is fixedly connected to the driving ring and distributed along the axial direction of the driving ring. The rotation of the driving ring drives the rotating ring to rotate.

[0011] Furthermore, the driving wheel is connected to the welding body via a telescopic cylinder, and the telescopic cylinder can be extended and retracted to enable the driving wheel to always abut against the inner wall of the pipe.

[0012] The present invention also provides an automatic welding system, which is applicable to the above-mentioned automatic welding device. The automatic welding system includes an acquisition module, a processing module and an execution module: The acquisition module is used to acquire the diameter of the inner wall of the pipe and the bending angle of the pipe; The processing module is used to calculate the welding trajectory; The execution module is used to control the welding head to weld the pipe according to the welding trajectory.

[0013] The beneficial effects of the present invention are: The present invention provides an automatic welding device and a system thereof. Through the ball joint arrangement of a driving frame and a positioning frame, a welding body can be welded in a pipe at a special angle. Whenever a first positioning ring and a second positioning ring pass through a connection of the pipe, the expansion and contraction amounts of a first adjusting wheel and a second adjusting wheel on the first positioning ring and the second positioning ring will change. When the first positioning ring and the second positioning ring pass through the connection, the expansion and contraction amounts of the first adjusting wheel and the second adjusting wheel gradually recover. When the expansion and contraction amounts of the two are the same, the welding mechanisms are both located at the connection of the pipe, which is convenient for the welding mechanism to weld the connection of the pipe, greatly improving the use range of the automatic welding device. In addition, the welding mechanism can calculate the welding trajectory according to the diameter of the inner wall of the pipe and the bending angle of the pipe, so that the welding mechanism can weld the connection of the pipe more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic structural diagram of an automatic welding device provided by an embodiment of the present invention; Figure 2 for Figure 1 An enlarged view of part A of the automatic welding device provided in one embodiment; Figure 3 A diagram of a first working state of an automatic welding device provided by an embodiment of the present invention; Figure 4 A diagram of a second working state of an automatic welding device provided by an embodiment of the present invention; Figure 5 A schematic diagram of an automatic welding system provided by the present invention.

[0015] in: 100. Pipes; 200, positioning frame; 210, control assembly; 220, first adjusting wheel; 230, second adjusting wheel; 300, driving frame; 310, driving wheel; 400, welding mechanism; 410, rotating ring; 420, welding head; 430, driving ring; 440, first telescopic member; 450, second telescopic member. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0017] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the orientation or position relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientation or position relationship shown in the accompanying drawings, which is 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 to the present invention.

[0018] 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.

[0019] Refer to the following Figure 1-Figure 5 An automatic welding device and a system thereof are described in detail in one embodiment of the present application.

[0020] An automatic welding device is suitable for welding two pipes 100 connected together at a special angle, comprising a welding body, the welding body having a positioning frame 200 and a driving frame 300, and the two are ball-jointed together. In this embodiment, the two are connected by a ball-jointed rod, that is, a connecting rod is provided on the positioning frame 200, and a connecting rod is also provided on the driving frame 300, and the two connecting rods are ball-jointed. A walking mechanism is provided on the driving frame 300, and the walking mechanism is used to drive the welding body to move in the pipe 100. A welding mechanism 400 is provided at the ball-jointed position of the welding body, and the welding mechanism 400 is used to weld the connection of the pipe 100.

[0021] A first positioning ring and a second positioning ring are provided on the positioning frame 200 of the welding body. The first positioning ring and the second positioning ring are coaxial and spaced apart. The first positioning ring and the second positioning ring have the same size. When the welding body passes through the bending part in the pipe 100, the first positioning ring passes through the bending part first, and then the second positioning ring passes through the bending part. When the first positioning ring and the second positioning ring pass through the bending part, they will be subjected to the force of the inner wall of the pipe 100. A limiting assembly is provided on the first positioning ring and the second positioning ring. If the angle between the connecting rod on the positioning frame 200 and the connecting rod on the driving frame 300 is consistent with the bending angle of the pipe 100, the welding mechanism 400 is located at the ball joint position of the connecting rod, that is, the welding mechanism 400 is just located at the position where the pipe 100 is connected, and the limiting assemblies on the first positioning ring and the second positioning ring limit the first positioning ring and the second positioning ring, so that the position of the positioning frame 200 is fixed, that is, the position of the welding body is fixed, and the welding mechanism 400 starts welding, thereby improving the welding accuracy of the welding mechanism 400.

[0022] Through the ball joint setting of the positioning frame 200 and the driving frame 300, the welding body can be welded in the pipe 100 at a special angle. Whenever the first positioning ring and the second positioning ring pass through the pipe 100 and the axes of the first positioning ring and the second positioning ring coincide with the internal axis of the pipe 100 after passing through the connection, the welding mechanism 400 is located at the connection of the pipe 100, which is convenient for the welding mechanism 400 to weld the connection of the pipe 100, thereby greatly improving the use range of the automatic welding device.

[0023] Specifically, the limiting assembly includes a first adjusting wheel 220 and a second adjusting wheel 230. The first adjusting wheel 220 is arranged on the outer periphery of the first positioning ring and can be extended and retracted along the radial direction of the first positioning ring. The second adjusting wheel 230 is arranged on the outer periphery of the second positioning ring and can be extended and retracted along the radial direction of the second positioning ring. Figure 2 , Figure 3 and Figure 4 As shown, there are three first adjustment wheels 220 and three second adjustment wheels 230, and they are evenly distributed. The first adjustment wheels 220 and the second adjustment wheels 230 are extended to abut against the inner wall of the pipe 100, and the three first adjustment wheels 220 and the three second adjustment wheels 230 can make the first positioning ring and the second positioning ring maintain the coaxial state with the pipe 100 before passing through the connection of the pipe 100. When the first positioning ring and the second positioning ring successively pass through the bending part of the pipe 100, that is, the connection part of the pipe 100, the first adjustment wheel 220 on the first positioning ring and the second adjustment wheel 230 on the second positioning ring are affected by the curved inner wall of the connection part of the pipe 100 and shrink or extend.

[0024] like Figure 3As shown, when the positioning frame 200 does not pass through the connection of the pipe 100, the axis of the positioning frame 200 coincides with the axis of the pipe 100, and the expansion and contraction amounts of the first adjusting wheel 220 and the second adjusting wheel 230 on the first positioning ring and the second positioning ring are the same, that is, the distance between the first adjusting wheel 220 and the outer periphery of the first positioning ring abutting on the inner wall of the pipe 100 and the distance between the second adjusting ring and the outer periphery of the second positioning ring abutting on the inner wall of the pipe 100 are the same, and when the positioning frame 200 passes through the connection of the pipe 100, the axis of the positioning frame 200 deflects, and the deflection direction is the same as the bending direction of the connection of the pipe 100, for example Figure 3 The left side of the middle pipe 100 bends downward to the left, and the first positioning ring and the second positioning ring move from right to left to pass through the connection of the pipe 100. At this time, the positioning frame 200 deflects downward to the left with the ball joint position as the center of the circle. Figure 3 When the first adjusting wheel 220 (taking the direction of the first adjusting wheel 220 as an example) passes through the side wall below the tube 100, the first adjusting wheel 220 will separate from the horizontal side wall below the tube 100 and gradually extend so as to abut against the inclined side wall below the tube 100; and the first adjusting wheel 220 above the first positioning ring will separate from the horizontal side wall above the tube 100 and gradually shorten so as to abut against the inclined side wall above the tube 100. Similarly, the expansion and contraction of the second adjusting wheel 230 on the subsequent second positioning ring is also the same, which will not be described in detail here. Figure 4 As shown, as the first positioning ring and the second positioning ring gradually move to the lower left of the pipe 100, the expansion and contraction amounts of the first adjusting wheel 220 on the first positioning ring and the second adjusting wheel 230 on the second positioning ring gradually return to normal, that is, the expansion and contraction amounts gradually become the same, thereby causing the axes of the first positioning ring and the second positioning ring to gradually coincide with the axes of a section at the lower left of the pipe 100. When the expansion and contraction amounts of the first adjusting wheel 220 and the second adjusting wheel 230 are the same, the axes of the first positioning ring and the second positioning ring completely coincide with the axes of a section at the lower left of the pipe 100. At this time, the ball joint position of the positioning frame 200 and the driving frame 300 of the welding body is just located at the connection of the pipe 100, and the first adjusting wheel 220 and the second adjusting wheel 230 are locked, thereby limiting the welding body to facilitate the welding operation of the welding mechanism 400.

[0025] In order to realize the function that the first adjusting wheel 220 and the second adjusting wheel 230 can be extended and retracted, the first adjusting wheel 220 is connected to the first positioning ring through a first spring, and the two are also connected through a guide rod, so that the first adjusting wheel 220 can be extended and retracted along the radial direction of the first positioning ring; the second adjusting wheel 230 is connected to the second positioning ring through a second spring, and the setting of the first spring and the second spring enables the first adjusting wheel 220 and the second adjusting wheel 230 to move along the radial direction of the first positioning ring and the second positioning ring, thereby enabling the first positioning ring and the second positioning ring to pass through the connection of the pipe 100.

[0026] In a further implementation, a control component 210 is provided between the first positioning ring and the second positioning ring, and the control component 210 can synchronously control the expansion and contraction amount of the first adjusting wheel 220 on the first positioning ring and the expansion and contraction amount of the second adjusting wheel 230 on the second positioning ring, and the expansion and contraction amount is different from the expansion and contraction amount of the first adjusting wheel 220 through the first spring. The expansion and contraction through the first spring and the second spring is caused by the connection between the first positioning ring and the second positioning ring through the pipe 100, and the expansion and contraction amount of the first adjusting wheel 220 and the second adjusting wheel 230 controlled by the control component 210 is different from the above. Specifically, the control component 210 includes a telescopic rod, which is located on the first positioning ring and the second positioning ring, and is distributed along the radial direction of the first positioning ring and the second positioning ring. The telescopic rod on the first positioning ring is connected to the first adjusting wheel 220, and the telescopic rod on the second positioning ring is connected to the second adjusting wheel 230.

[0027] It should be noted that the control component 210 synchronously controls the extension and retraction amounts of the multiple first adjustment wheels 220 and the multiple second adjustment wheels 230 through multiple telescopic rods to adapt to different diameters of the pipe 100. It can be understood that the larger the diameter of the pipe 100, the longer the first adjustment wheel 220 and the second adjustment wheel 230 are extended; the smaller the diameter of the pipe 100, the shorter the first adjustment wheel 220 and the second adjustment wheel 230 are retracted. The control component 210 simultaneously controls the extension and retraction of the first adjusting wheel 220 and the second adjusting wheel 230, so that the first adjusting wheel 220 and the second adjusting wheel 230 are both in contact with the inner wall of the pipe 100. When the first positioning ring and the second positioning ring have passed through the connection of the pipe 100, and the axes of the first positioning ring and the second positioning ring coincide with the internal axis after passing through the connection of the pipe 100, the control component 210 further controls the extension of the first adjusting wheel 220 and the second adjusting wheel 230, so that the first adjusting wheel 220 and the second adjusting wheel 230 continuously compress the first spring and the second spring, thereby preventing the first adjusting wheel 220 and the second adjusting wheel 230 from rolling, and thus making the first positioning ring and the second positioning ring fix the welding body in the pipe 100 and no longer move. During the welding process of the welding mechanism 400, the welding body does not deviate, which ensures that the welding mechanism 400 does not deviate in the welding trajectory, so that the automatic welding device can weld the connection of the pipe 100 more accurately.

[0028] Furthermore, sensors are provided on the first adjusting wheel 220 and the second adjusting wheel 230 , and the sensors can sense the distance between the first adjusting wheel 220 and the first positioning ring and the distance between the second adjusting wheel 230 and the second positioning ring.

[0029] It should be noted that the above-mentioned sensor can be a laser rangefinder, and the laser rangefinder can also be set on the outer circumference of the first positioning ring and the second positioning ring. The laser rangefinder emits rays to the first adjusting wheel 220 or the second adjusting wheel 230, so as to detect the distances of the first adjusting wheel 220 and the second adjusting wheel 230 from the first positioning ring and the second positioning ring respectively. For example, when the first positioning ring and the second positioning ring move in the pipe 100 and do not pass through the connection, the laser rangefinder detects that the distances between the first adjusting wheel 220 and the second adjusting wheel 230 and the first positioning ring and the second positioning ring should be constant. If a slight fluctuation occurs, it means that there are some tiny impurities inside the pipe; when the first positioning ring and the second positioning ring pass through the connection of the pipe 100, the first adjusting wheel The expansion and contraction amount of the first adjusting wheel 220 and the second adjusting wheel 230 will change significantly, that is, the distance detected by the laser rangefinder will fluctuate greatly. After the first positioning ring and the second positioning ring have completely passed through the connection of the pipe 100, the expansion and contraction amount of the first adjusting wheel 220 and the second adjusting wheel 230 will gradually become smooth. In other words, when the fluctuation gradually becomes smooth, it means that the first positioning ring and the second positioning ring have completely passed through the connection of the pipe 100. When no fluctuation occurs, it means that the axis of the first positioning ring and the second positioning ring has coincided with the internal axis of another section of the pipe 100. At this time, the ball joint position between the positioning frame 200 and the driving frame 300 is also located at the connection of the pipe 100, and the welding mechanism 400 at the ball joint position is also located at the connection of the pipe 100.

[0030] Specifically, the welding mechanism 400 includes a rotating ring 410 and a welding head 420. The rotating ring 410 is rotatably set at the ball joint position of the welding body positioning frame 200 and the driving frame 300. The welding head 420 is connected to the outer peripheral surface of the rotating ring 410, and the welding head 420 can be extended and retracted on the rotating ring 410 along the radial direction of the rotating ring 410. The connection of the pipe 100 is in the same plane as the rotating ring 410. The rotating ring 410 drives the welding head 420 to rotate, and the welding head 420 can weld the connection of the pipe 100.

[0031] Among them, the beveled surface formed by cutting one end of the pipe 100 at a certain angle is an ellipse, and is connected to another pipe 100 cut at the same angle. Therefore, the track formed at the connection of the pipe 100 is also an ellipse. Therefore, before starting welding, it is necessary to obtain the elliptical track equation of the connection so that the welding head 420 moves along the track and welds the connection. The elliptical welding track needs to be calculated based on the diameter D of the inner wall of the pipe 100 and the bending angle θ of the pipe 100 (the angle between the axes of the two pipes 100 is the bending angle). The specific track equation is: The welding trajectory of the welding head 420 is calculated according to the equation, and the welding head 420 welds the connection.

[0032] It should be noted that a PLC control program or a computer program can be used to perform logical processing on the obtained diameter D and the bending angle θ, specifically, the data is substituted into the above trajectory equation to obtain the elliptical trajectory of the connection of the pipe 100, that is, the welding trajectory to be welded. In addition, it is also possible to directly input the diameter D and the bending angle θ instead of obtaining the diameter D and the bending angle θ.

[0033] In addition, the PLC control program or computer program can also record the data of the laser rangefinder and execute according to the set program. For example, when the data fluctuation of the laser rangefinder suddenly increases and then gradually decreases and tends to be flat, and finally stops fluctuating, the set program assumes that the first positioning ring and the second positioning ring pass through the connection of the pipe 100 and the axes of the first positioning ring and the second positioning ring coincide with the axis of the pipe 100 after passing through the connection, that is, the welding mechanism 400 is also located at the connection of the pipe 100 at this time. Therefore, the PLC control program or computer control program first sends a signal to extend the telescopic rod to fix the first positioning ring and the second positioning ring in the pipe 100 to prevent movement, and then sends a signal to start the welding mechanism 400, and the welding mechanism 400 welds the connection of the pipe 100 according to the trajectory equation.

[0034] In a further embodiment, a rotating assembly is disposed on the welding body, and the rotating assembly is used to drive the rotating ring 410 to rotate around its own axis.

[0035] Specifically, the rotating assembly includes a driving ring 430, which is rotatably arranged on the welding body. The driving ring 430 is directly driven by a driving source (not shown in the figure). There are also two driving rings 430, which are respectively mounted on the connecting rods of the positioning frame 200 and the driving frame 300, and the axes of the two driving rings 430 coincide with the axes of the connecting rods of the positioning frame 200 and the driving frame 300, respectively. Telescopic parts are arranged on both sides of the rotating ring 410, and the telescopic parts are sliding rods. A spring is arranged inside the sliding rod. The sliding rod is in an extended state in the initial state, and will shorten when the sliding rod is subjected to a force. For the convenience of description, as shown in FIG. Figure 3As shown, the telescopic members on both sides of the rotating ring 410 are named as the first telescopic member 440 and the second telescopic member 450 respectively. The left end of the first telescopic member 440 is fixedly connected to the right end face of the left driving ring 430 and the first telescopic member 440 is distributed along the axial direction of the left driving ring 430. The right end of the first telescopic member 440 is hinged on the right end face of the rotating ring 410, and the first telescopic member 440 can only swing along the radial direction of the rotating ring 410 with the hinge position as the center of the circle; similarly, the right end of the second telescopic member 450 is fixedly connected to the left end of the right driving ring 430 The first telescopic member 440 and the second telescopic member 450 are fixedly connected and the second telescopic member 450 is distributed along the axial direction of the right driving ring 430. The left end of the second telescopic member 450 is hinged to the right end of the rotating ring 410, and the second telescopic member 450 can only swing in the radial direction of the rotating ring 410 with the hinge position as the center of the circle. At the same time, the first telescopic member 440 and the second telescopic member 450 are symmetrically arranged at the hinge positions on the rotating ring 410, so that when the driving ring 430 rotates, the rotating ring 410 can be driven to rotate around the axis of the rotating ring 410 through the first telescopic member 440 and the second telescopic member 450.

[0036] In this embodiment, there are two first telescopic members 440 and two second telescopic members 450, and the fixed connection positions of the two first telescopic members 440 and the two second telescopic members 450 on the two driving rings 430 are symmetrical about the center of the two driving rings 430. When the welding body passes through the connection of the pipe 100, since the positioning frame 200 and the driving frame 300 are ball-connected through two connecting rods, the positioning frame 200 and the driving frame 300 will deflect with the ball-connected position as the center of the circle, such as Figure 3 to Figure 4 The state changes, the driving ring 430 on the left side rotates synchronously with the positioning frame 200, and the first telescopic member 440 fixedly connected to the right rotating ring 410 rotates with the hinge position of the first telescopic member 440 and the rotating ring 410 as the center of the circle. Since the hinge position of the second telescopic member 450 on the right side of the rotating ring 410 and the hinge position of the rotating ring 410 and the hinge position of the first telescopic member 440 are symmetrically arranged with respect to the rotating ring 410, the length change of the second telescopic member 450 on the right side is the same as the length change of the first telescopic member 440 on the left side. That is to say, when the positioning frame 200 passes through the connection position and the rotating ring 410 is located at the connection of the pipe 100, the rotating ring 410 is always on the bisector of the angle formed by the two connecting rods under the action of the first telescopic member 440 and the second telescopic member 450. Therefore, after the welding body stops moving, the plane where the rotating ring 410 is located just coincides with the plane of the connection of the pipe 100. In other words, the rotating ring 410 is always located on the same plane as the connection of the pipe 100, and then when the rotating ring 410 rotates, the welding head 420 can weld the connection of the pipe 100.

[0037] Specifically, the traveling mechanism includes a plurality of driving wheels 310 , which abut against the inner wall of the pipe 100 , and the plurality of driving wheels 310 can drive the welding body to move in the pipe 100 .

[0038] In a further embodiment, a plurality of driving wheels 310 can be extended and retracted in the radial direction of the tube 100, and the amount of extension and retraction of the driving wheel 310 in the radial direction of the tube 100 is positively correlated with the diameter of the tube 100. It can be understood that when the diameter of the tube 100 is larger, the amount of extension and retraction of the driving wheel 310 on the driving frame 300 is larger; when the diameter of the tube 100 is smaller, the amount of extension and retraction of the driving wheel 310 on the driving frame 300 is smaller. The driving wheel 310 on the driving frame 300 can adapt to different diameters of the tube 100, so that the automatic welding device of the present invention can weld tubes 100 of various diameters, thereby improving the scope of application of the automatic welding device.

[0039] The specific working process of an automatic welding device of the present application is described in combination with the above embodiments: Adjustment according to the pipe 100 diameter: The automatic welding device is placed in the pipe 100 to be welded, and the driving wheel 310 is adjusted to abut against the inner wall of the pipe 100 according to the diameter of the pipe 100, so that the axis of the driving frame 300 of the welding body and the axis of the pipe 100 are in the same straight line. The first adjusting wheel 220 and the second adjusting wheel 230 are extended under the action of the control component 210 and abut against the inner wall of the pipe 100, so that the axis of the positioning frame 200 of the welding body and the axis of the pipe 100 are in the same straight line.

[0040] Start the walking mechanism: The driving wheel 310 is started, so that the driving wheel 310 drives the welding body to move inside the pipe 100 toward the position where the pipe 100 is connected. During the movement, the first adjusting wheel 220 first passes through the connection of the pipe 100. Figure 3 to Figure 4As shown in the state change, the first adjusting wheel 220 on the first positioning ring will expand and contract along the radial direction of the first positioning ring, and the expansion and contraction is achieved by the first spring. Then the second adjusting wheel 230 passes through the connection of the pipe 100, and the second adjusting wheel 230 on the second positioning ring will expand and contract along the radial direction of the second positioning ring, and the expansion and contraction is achieved by the second spring. When the first adjusting wheel 220 and the second adjusting wheel 230 have both passed through the connection of the pipe 100, and the telescopic amount of the first adjusting wheel 220 and the second adjusting wheel 230 has recovered to the state of not passing through the connection of the pipe 100, that is, the distance between the first adjusting wheel 220 and the first positioning ring is the same as the distance between the second adjusting wheel 230 and the second positioning ring, then it means that the axis of the positioning frame 200 of the welding body coincides with the axis of the pipe 100. In this process, the data fluctuations of the sensors on the first positioning ring and the second positioning ring, that is, the laser rangefinder, change from sudden increase to decrease to flattening and finally stop fluctuating, indicating that the welding mechanism 400 is already located at the connection position of the pipe 100. After the PLC control program or the computer control program obtains the data change, it sends a signal to extend the telescopic rod of the control component 210, thereby locking the first adjusting wheel 220 and the second adjusting wheel 230, thereby limiting the welding body.

[0041] Start welding mechanism 400: The PLC control program or computer control program then obtains the welding trajectory of the welding head 420 based on the obtained diameter D of the pipe 100 and the bending angle θ of the pipe 100, and then sends a signal to enable the welding head 420 of the welding mechanism 400 to weld the connection of the pipe 100 when the rotating ring 410 rotates.

[0042] The present application also provides an automatic welding system, which is applied to the above-mentioned automatic welding device. The automatic welding system includes an acquisition module, a processing module and an execution module. The acquisition module is used to acquire the inner wall diameter D of the pipe 100 and the bending angle θ of the pipe 100. The processing module calculates a welding trajectory based on the data acquired by the sensing module. The execution module controls the welding head 420 to perform precise welding, and includes the following specific steps: Step S100: Start the walking mechanism to obtain the diameter D of the inner wall of the pipe 100.

[0043] Among them, the acquisition module includes a distance sensor (not shown in the figure), which can be a laser rangefinder or other sensors for detecting distance. The distance sensor is arranged on the driving frame 300 of the welding body. When the welding body moves in the pipe 100, the distance sensor acquires the diameter D of the inner wall of the pipe 100.

[0044] Step S200: The welding body is limited after passing through the connection of the pipe 100, and the bending angle θ of the connection of the pipe 100 is obtained.

[0045] Among them, after the positioning frame 200 passes through the connection of the pipe 100, the positioning frame 200 limits the welding body, and the bending angle θ of the connection of the pipe 100 is obtained by the rotation angle of the positioning frame 200. An instrument for detecting the deflection angle can be set on the positioning frame 200, such as a wiggler or a laser displacement sensor (for angle measurement) and other instruments, which can detect the deflection angle of the positioning frame 200, thereby obtaining the bending angle θ of the connection of the pipe 100.

[0046] Step S300: Calculate the welding trajectory that the welding mechanism 400 needs to weld at the connection of the pipe 100 according to the obtained inner wall diameter D of the pipe 100 and the bending angle θ at the connection of the pipe 100.

[0047] Specifically, the processing module is based on the elliptical trajectory equation of the cutting surface: The welding trajectory is calculated, and the processing module is a PLC control program or a computer control program.

[0048] Among them, the PCL control program or the computer control program obtains the measurement data of the laser rangefinder on the first positioning ring and the second positioning ring. If the data fluctuation of the laser rangefinder obtained suddenly increases, then decreases, and stops fluctuating after becoming flat, it means that the first positioning ring and the second positioning ring pass through the connection of the pipe 100, and the axes of the first positioning ring and the second positioning ring have coincided with the internal axis of the pipe 100 after passing through the connection. At this time, the welding mechanism 400 is already located at the connection position of the pipe 100. After obtaining the data change, the PLC control program or the computer control program sends a signal to extend the telescopic rod of the control component 210 and then lock the first adjustment wheel 220 and the second adjustment wheel 230, and at the same time stop the rotation of the driving wheel 310, so that the positioning frame 200 and the driving frame 300 are tightly locked in the pipe 100, and then a signal is sent to start the welding mechanism 400, and the welding mechanism 400 welds the connection of the pipe 100 according to the welding trajectory.

[0049] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0050] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An automatic welding device, characterized in that: include: A welding body, the welding body comprising a positioning frame and a driving frame, the two being spherically connected together by a connecting rod; A walking mechanism, wherein the walking mechanism comprises a plurality of driving wheels, wherein the plurality of driving wheels are rotatably arranged on the outer periphery of the driving frame, the plurality of driving wheels abut against the inner wall of the pipe, and the plurality of driving wheels can drive the driving frame to move in the pipe; A welding mechanism, the welding mechanism comprising a rotating ring and a welding head, the rotating ring is rotatably arranged at the ball joint position of the positioning frame and the driving frame, the welding head is located on the outer circumferential surface of the rotating ring and can be extended and retracted along the radial direction of the rotating ring; A first positioning ring and a second positioning ring, wherein the first positioning ring and the second positioning ring are coaxially and spaced apart on the positioning frame, and a limiting assembly is arranged on the first positioning ring and the second positioning ring. After the first positioning ring and the second positioning ring pass through the bending part of the pipe, the limiting assembly limits the positioning frame, and the rotating ring is located at the connection part of the pipe.

2. The automatic welding device according to claim 1, characterized in that: The limiting assembly includes a first adjusting wheel and a second adjusting wheel. The first adjusting wheel is rotatably arranged on the outer periphery of the first positioning ring and can move radially along the first positioning ring. The second adjusting wheel is rotatably arranged on the outer periphery of the second positioning ring and can move radially along the second positioning ring. The first adjusting wheel and the second adjusting wheel can stop rotating to limit the welding body.

3. The automatic welding device according to claim 2, characterized in that: A control component is disposed between the first positioning ring and the second positioning ring, and the control component can control the extension and retraction amount of the first adjusting wheel and the second adjusting wheel to lock or release the rotation of the first adjusting wheel and the second adjusting wheel.

4. The automatic welding device according to claim 2, characterized in that: The first adjusting wheel and the second adjusting wheel are also provided with sensors, and the sensors can sense the distances between the first adjusting wheel and the second adjusting wheel and the outer periphery of the first positioning ring and the outer periphery of the second positioning ring respectively.

5. The automatic welding device according to claim 1, characterized in that: The welding body is provided with a rotating assembly, and the rotating assembly is used to drive the rotating body to rotate around its own axis.

6. The automatic welding device according to claim 5, characterized in that: The rotating assembly includes two driving rings, which are coaxial with the positioning frame and the driving frame respectively. Telescopic parts are symmetrically hinged on both sides of the rotating ring. The other end of the telescopic parts is fixedly connected to the driving ring and distributed along the axial direction of the driving ring. The rotation of the driving ring drives the rotating ring to rotate.

7. The automatic welding device according to claim 1, characterized in that: The driving wheel is connected to the welding body via a telescopic cylinder, and the telescopic cylinder can be extended and retracted to enable the driving wheel to always abut against the inner wall of the pipe.

8. An automatic welding system, characterized in that: The automatic welding system is applied to the automatic welding device according to any one of claims 1 to 7, and the automatic welding system comprises an acquisition module, a processing module and an execution module; The acquisition module is used to acquire the diameter of the inner wall of the pipe and the bending angle of the pipe; The processing module is used to calculate the welding trajectory; The execution module is used to control the welding head to weld the pipe according to the welding trajectory.

Images