A large-diameter shrimp elbow welding robot and its control method

Abstract

This invention belongs to the field of curved welding technology, specifically relating to a large-diameter shrimp-shaped pipe welding robot and its control method. The invention includes a ground rail arranged parallel to the X-axis, a movable gantry that moves in conjunction with the ground rail, a telescopic welding device mounted on the movable gantry via a Y-axis translation mechanism, and a fixed lifting device and a movable lifting device installed within the moving space of the movable gantry and parallel to the ground rail. Both the fixed and movable lifting devices have displacement devices installed at their output ends. The shrimp-shaped pipe to be welded is positioned between the two displacement devices. The telescopic welding device of this invention only has a telescopic degree of freedom along the Z-axis and a rotational degree of freedom of the welding head itself. It uses a relatively independent ground rail and translation device, which, in conjunction with the movable gantry, enables the telescopic welding device to move along the X and Y axes, solving the problems of poor stability, difficult control programming, and large welding errors in existing technologies.

Description

Technical Field

[0001] This invention belongs to the field of curved welding technology, specifically relating to a large-diameter shrimp-shaped pipe bending welding robot and its control method. Background Technology

[0002] Shrimp bends are pipe fittings that play a crucial role in pipeline design. They are made by welding multiple shrimp-shaped sections sequentially. The stability of this welding directly affects the mechanical properties of the shrimp bend and indirectly its service life. The welding of multiple sections in the production of large-diameter shrimp bends is complex. Traditional welding requires auxiliary equipment and manual labor. However, the manual involvement introduces uncertainties, making it difficult to guarantee the uniformity and continuity of the weld. Furthermore, the fumes, gases, and harmful particles generated during welding can pose health risks to workers' respiratory systems.

[0003] To reduce human intervention, various welding robots have emerged on the market. For example, the applicant's prior patent, CN118682374A, describes a large-diameter pipe bending welding robot and its control method. This robot uses a four-degree-of-freedom welding robot to weld small pipes. While this solves the problem of human intervention, the welding part requires four degrees of freedom to weld small sections at different locations. This makes the control programming difficult, the stability hard to control, and the cumulative error from multiple degrees of freedom is large, which can easily lead to inaccurate welding positions. The applicable size of the small pipes is limited by the welding part, thus limiting its applicability. In addition, the welding area depends on the structure of the welding part, which cannot meet more welding requirements. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects in the existing technology and provide a large-diameter shrimp-shaped pipe welding robot and its control method for realizing automated welding.

[0005] The technical solution adopted by this invention to solve its technical problem is:

[0006] As a first aspect, a large-diameter shrimp-shaped pipe welding robot includes a ground rail arranged parallel to the X-axis direction, a movable gantry frame that moves in conjunction with the ground rail, a telescopic welding device mounted on the movable gantry frame via a Y-axis translation mechanism, and a fixed lifting device and a movable lifting device installed within the moving space of the movable gantry frame and arranged parallel to the ground rail direction; both the fixed lifting device and the movable lifting device have displacement devices installed at their output ends; the shrimp-shaped pipe to be welded is positioned between the two displacement devices.

[0007] The telescopic welding device includes a welding frame fixedly installed at the output end of the Y-axis translation mechanism, a primary bending frame fixedly installed with the welding frame, a secondary bending frame and a tertiary bending frame sequentially sleeved within the primary bending frame along the Z-axis direction, a telescopic reduction motor installed on the primary bending frame, a telescopic transmission gear coaxially arranged with the output shaft of the telescopic reduction motor, a telescopic transmission rack fixedly arranged on the secondary bending frame and cooperating with the telescopic transmission gear, and a welding assembly installed on the lower end face of the tertiary bending frame; the primary bending frame and the secondary bending frame, as well as the secondary bending frame and the tertiary bending frame, are slidably connected by sliding modules; the primary bending frame, the secondary bending frame, and the tertiary bending frame are driven by a belt drive unit.

[0008] Furthermore, the belt drive unit includes:

[0009] The first and second fixed shafts are symmetrically arranged at the upper and lower ends of the secondary bending frame;

[0010] The first pulley is mounted on the first fixed shaft;

[0011] The second pulley is mounted on the second fixed shaft;

[0012] A timing belt is wound between the first pulley and the second pulley;

[0013] The synchronous belt is fixedly connected to the first-stage bending frame and the third-stage bending frame by pressure plate clamps.

[0014] Furthermore, the mobile lifting device includes a mobile base frame fixedly installed on the ground, a sliding mounting plate slidably connected to the base frame via an X-axis sliding assembly, a lifting base arm vertically installed on the sliding mounting plate, a lifting guide arm installed side by side with the lifting base arm on the sliding mounting plate, a lifting electric cylinder vertically installed on the sliding mounting plate, and a lifting frame installed on the telescopic end of the lifting electric cylinder.

[0015] The inner side of the lifting guide arm is provided with a lifting guide groove, and at least one lifting guide wheel is installed on both sides of the lifting frame; the lifting guide wheel rolls and guides within the lifting guide groove.

[0016] Furthermore, the X-axis sliding assembly includes two X-axis slide rails symmetrically arranged on the movable base along the X-axis direction, an X-axis slider that cooperates with the X-axis slide rails and is fixedly installed on the lower end face of the sliding mounting plate, an X-axis rack fixedly installed on the movable base corresponding to the two X-axis slide rails, an X-axis limiting block fixedly installed on the movable base corresponding to the end of the X-axis rack, an X-axis moving motor installed on the sliding mounting plate, and an X-axis gear coaxially arranged with the output shaft of the X-axis moving motor.

[0017] The X-axis rack is arranged parallel to the X-axis slide rail, and the X-axis gear meshes with the X-axis rack for transmission.

[0018] Furthermore, the Y-axis translation mechanism includes a translation frame, a translation reduction motor mounted on the translation frame, a translation gear coaxially arranged with the output shaft of the translation reduction motor, a translation rack fixedly mounted on the crossbeam of the moving gantry along the Y-axis direction, and a guide assembly mounted on the translation frame;

[0019] The translation rack and the translation gear are driven together, and the welding frame and the translation frame are fixedly connected by a connecting plate.

[0020] Furthermore, the guiding component includes:

[0021] Several upper guide wheels are installed on the translation frame and are guided and engaged with the upper end face of the crossbeam of the movable gantry frame;

[0022] Several lower guide wheels are installed on the translation frame and are guided and engaged with the lower end face of the crossbeam of the movable gantry frame;

[0023] At least one side guide frame is mounted on the translation frame, and a side guide wheel is mounted on the side guide frame; the side guide wheel is in lateral guiding engagement with the crossbeam of the movable gantry.

[0024] Furthermore, the displacement device includes a rotary assembly connected to the mobile lifting device and / or the fixed lifting device for driving the shrimp-shaped bend to be welded to rotate, a pitch mechanism installed at the output end of the rotary assembly for driving the pitch adjustment of the shrimp-shaped bend to be welded, and an adjustable clamp installed at the output end of the pitch mechanism.

[0025] The shrimp-shaped bend to be welded is sleeved on the outside of the adjustable clamp, and the adjustable clamp abuts against the inner wall of the shrimp-shaped bend to be welded.

[0026] Furthermore, the pitch mechanism includes a slewing base plate installed at the output end of the slewing assembly, pitch side plates symmetrically fixed on both sides of the slewing base plate, a pitch frame rotatably installed between the two pitch side plates, a transmission gear set symmetrically installed on both sides of the pitch frame, and a pitch reduction motor installed on one of the pitch side plates.

[0027] The output shaft of the pitch reduction motor is coupled with one of the transmission gear sets to drive the pitch frame to pitch along the Y-axis.

[0028] Furthermore, the adjustable clamp includes:

[0029] The adjusting disc is fixedly mounted on the pitch frame via a connecting plate;

[0030] The adjustment cavity is formed by an opening in the middle of the adjustment disc and the mounting surface of the pitch frame;

[0031] Two adjusting sliders are slidably installed inside the adjusting cavity; each of the two adjusting sliders is provided with a support column extending out of the adjusting disc;

[0032] A turntable is rotatably mounted on the pitch frame, and both adjusting sliders are connected to the turntable via a transmission link.

[0033] An adjusting electric push rod is provided, wherein the fixed end and the telescopic end of the adjusting electric push rod are respectively fixedly installed on the two adjusting sliders;

[0034] The two transmission connecting rods are diagonally connected to the corresponding adjusting sliders.

[0035] Secondly, the control method for a large-diameter shrimp-shaped pipe bending welding robot described above includes the following steps:

[0036] Step 1: Install one end of the shrimp-shaped bend to be welded on the displacement device on one side, and control the adjustable clamp to adapt to the diameter of the shrimp-shaped bend to be welded, so as to support one end of the shrimp-shaped bend to be welded.

[0037] Step 2: Spot weld multiple sections of the shrimp-shaped bend to be welded for pre-fixation, forming a weld ring between two adjacent sections;

[0038] Step 3: Control the mobile lifting device to adjust the distance between the fixed lifting device and the mobile lifting device to the length of the shrimp-shaped bend to be welded, and fix the other end of the shrimp-shaped bend to the displacement device on the other side.

[0039] Step 4: Control the pitch freedom of the moving lifting device, the fixed lifting device, and the two displacement devices so that the plane of the corresponding weld ring of the shrimp-shaped bend to be welded is parallel to the vertical plane.

[0040] Step 5: Based on the position of the weld ring to be welded, start the moving gantry frame to move the telescopic welding device to the set position in the X-axis direction, and control the Y-axis translation mechanism to adjust the position of the telescopic welding device on the Y-axis;

[0041] Step Six: Control the telescopic reduction motor to rotate, driving the welding assembly to move downwards until it aligns with the position of the weld ring to be welded. Simultaneously start the two position devices and the welding assembly, driving the shrimp-shaped bend to be welded to rotate while welding, until the welding of one weld ring is completed.

[0042] Step 7: Repeat steps 5 and 6 to complete the welding of the remaining weld rings in sequence;

[0043] Step 8: Initiate the reset process to reset the large-diameter shrimp-shaped pipe welding robot and disassemble the welded shrimp-shaped pipe.

[0044] The beneficial effects of the large-diameter shrimp-shaped pipe bending welding robot and its control method of the present invention are as follows:

[0045] The telescopic welding device designed in this invention has only a telescopic degree of freedom along the Z-axis and a rotational degree of freedom for the welding head itself. It features a relatively independent ground rail and translation device, which, in conjunction with a moving gantry, enables the telescopic welding device to move along the X and Y axes. This abandons the traditional idea that the more degrees of freedom the welding part has, the better. By separating the X and Y axis degrees of freedom from the welding part, it solves the problem of manual intervention and addresses the issues of poor stability, difficult control programming, and large cumulative welding errors caused by multiple degrees of freedom in existing technologies. Simultaneously, by using sequentially nested primary, secondary, and tertiary bending frames, and through sliding modules and belt drive units, the welding assembly achieves three levels of telescopic movement along the Z-axis, ensuring sufficient vertical movement distance. Combined with the ground rail, moving gantry, and translation mechanism, this significantly increases the welding area that this pipe-bending welding robot can weld.

[0046] This invention places the shrimp-shaped bend to be welded between a fixed lifting device and a movable lifting device. The distance between the movable lifting device and the fixed lifting device is adjusted using an X-axis sliding component, allowing the invention to weld shrimp-shaped bends of different lengths. Simultaneously, the positioning device uses an adjustable electric push rod to drive two adjusting sliders to move within the adjusting cavity. A transmission link drives a turntable to rotate, enabling the two adjusting sliders to move simultaneously closer or further apart. Supporting columns on the adjusting sliders support the inner wall of the shrimp-shaped bend, thus supporting and repositioning shrimp-shaped bends of different diameters. This solves the problem in existing technologies where the applicable size of the shrimp-shaped bend is limited by the welding section, restricting its applicability. Furthermore, the welding area depends on the structure of the welding section, failing to meet a wider range of welding requirements. Attached Figure Description

[0047] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0048] Figure 1 This is a perspective view of the large-diameter shrimp-shaped pipe bending welding robot according to an embodiment of the present invention.

[0049] Figure 2 This is a schematic diagram of the telescopic welding device in an embodiment of the present invention.

[0050] Figure 3 yes Figure 2 Top view.

[0051] Figure 4 This is a schematic diagram of the welding assembly in an embodiment of the present invention.

[0052] Figure 5 This is a schematic diagram of the translation mechanism in an embodiment of the present invention.

[0053] Figure 6 This is a partial exploded view of the translation mechanism in an embodiment of the present invention.

[0054] Figure 7 This is a diagram showing the installation of the movable gantry frame and the ground rail in an embodiment of the present invention.

[0055] Figure 8 This is a schematic diagram of the structure of the movable lifting device in an embodiment of the present invention.

[0056] Figure 9 This is a partial structural schematic diagram of the mobile lifting device in an embodiment of the present invention.

[0057] Figure 10 This is a first-view perspective perspective view of the displacement device in an embodiment of the present invention.

[0058] Figure 11 This is a second-view perspective perspective view of the displacement device in an embodiment of the present invention.

[0059] Figure 12 This is a flowchart of the control method for a large-diameter shrimp-shaped pipe bending welding robot according to an embodiment of the present invention.

[0060] In the diagram: 1. Ground rail; 2. Moving gantry frame; 21. Gantry frame mounting plate; 22. Gantry column; 23. Crossbeam; 24. Traveling device; 3. Translation mechanism; 31. Translation frame; 32. Translation reduction motor; 33. Translation gear; 34. Translation rack; 35. Guide assembly; 351. Upper guide wheel; 352. Lower guide wheel; 353. Side guide frame; 354. Side guide wheel; 4. Telescopic welding device; 41. Welding. 42. Frame, Level 1 Bending Frame, 43. Level 2 Bending Frame, 44. Level 3 Bending Frame, 45. Telescopic Gear Motor, 46. Telescopic Transmission Gear, 47. Telescopic Transmission Rack, 48. Welding Assembly, 481. Welding Support Plate, 482. Welding Rotary Motor, 483. Rotary Flange, 484. Welding Gun, 49. Belt Drive Unit, 491. First Fixed Shaft, 493. First Pulley, 495. Synchronous Belt, 496. Pressure Plate Clamp, 410. Sliding Module, 5. Fixed Lifting Device, 6. Mobile Lifting Device, 61. Mobile Base Frame, 62. X-Axis Sliding Assembly, 621. X-Axis Slide Rail, 622. X-Axis Rack, 623. X-Axis Limit Block, 624. X-Axis Moving Motor, 63. Sliding Mounting Plate, 64. Lifting Base Arm, 65. Lifting Guide Arm, 66. Lifting Electric Cylinder, 67. Lifting Frame, 68. Lifting Guide Slot, 69. Lifting Guide Wheel 7. Positioning device; 71. Rotary assembly; 72. Pitch mechanism; 721. Rotary base plate; 722. Pitch side plate; 723. Transmission gear set; 724. Pitch reduction motor; 725. Pitch frame; 73. Adjustable clamp; 731. Adjusting disc; 733. Adjusting cavity; 734. Adjusting slider; 735. Support column; 736. Turntable; 737. Transmission connecting rod; 738. Adjusting electric push rod; 8. Shrimp bend tube. Detailed Implementation

[0061] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0062] In this embodiment, the X-axis, Y-axis, and Z-axis directions are all indicated by the appendix. Figure 1 For reference, such as Figures 1-11The embodiment of the large-diameter shrimp-shaped pipe welding robot of the present invention shown includes a ground rail 1 arranged parallel to the X-axis, a movable gantry 2 that moves in conjunction with the ground rail 1, a telescopic welding device 4 installed on the movable gantry 2 via a Y-axis translation mechanism 3, and a fixed lifting device 5 and a movable lifting device 6 installed in the moving space of the movable gantry 2 and arranged parallel to the ground rail 1; both the fixed lifting device 5 and the movable lifting device 6 have displacement devices 7 installed at their output ends; the shrimp-shaped pipe to be welded is placed between the two displacement devices 7. The telescopic welding device 4 includes a welding frame 41 fixedly installed at the output end of the Y-axis translation mechanism 3, a primary bending frame 42 fixedly installed with the welding frame 41, a secondary bending frame 43 and a tertiary bending frame 44 sequentially sleeved within the primary bending frame 42 along the Z-axis direction, a telescopic reduction motor 45 installed on the primary bending frame 42, a telescopic transmission gear 46 coaxially arranged with the output shaft of the telescopic reduction motor 45, a telescopic transmission rack 47 fixedly arranged on the secondary bending frame 43 and cooperating with the telescopic transmission gear 46, and a welding assembly 48 installed on the lower end face of the tertiary bending frame 44; the primary bending frame 42 and the secondary bending frame 43, and the secondary bending frame 43 and the tertiary bending frame 44 are all slidably connected by a sliding module 410; the primary bending frame 42, the secondary bending frame 43, and the tertiary bending frame 44 are driven by a belt drive unit 49.

[0063] The telescopic welding device 4 designed in this invention has only a telescopic degree of freedom along the Z-axis and a rotational degree of freedom of the welding head itself. It is equipped with a relatively independent ground rail 1 and translation device, which, in conjunction with the moving gantry 2, enables the telescopic welding device 4 to move along the X and Y axes. This abandons the traditional idea that the more degrees of freedom the welding part has, the better, by separating the X and Y axis degrees of freedom from the welding part. This solves both the problem of manual intervention and the problems of poor stability, difficult control programming, and large cumulative welding errors caused by multiple degrees of freedom in the welding part in existing technologies. Simultaneously, by using the sequentially nested first-stage bending frame 42, second-stage bending frame 43, and third-stage bending frame 44, and through the sliding module 410 and belt drive unit 49, the welding assembly 48 achieves three-stage telescopic movement along the Z-axis, ensuring sufficient vertical movement distance for the welding assembly 48. Combined with the ground rail 1, moving gantry 2, and translation mechanism 3, this significantly increases the welding area that this pipe bending robot can weld.

[0064] like Figure 2 and Figure 3As shown, the belt drive unit 49 in this embodiment includes a first fixed shaft 491 and a second fixed shaft symmetrically arranged at the upper and lower ends of the secondary bending frame 43, a first pulley 493, a second pulley, and a synchronous belt 495. The first pulley 493 is mounted on the first fixed shaft 491, the second pulley is mounted on the second fixed shaft, and the synchronous belt 495 is wound between the first pulley 493 and the second pulley. The synchronous belt 495 is fixedly connected to the primary bending frame 42 and the tertiary bending frame 44 by a pressure plate clamp 496. The sliding module 410 in this embodiment includes a first sliding module 410 disposed between the primary bending frame 42 and the secondary bending frame 43, and a second sliding module 410 disposed between the secondary bending frame 43 and the tertiary bending frame 44. The first sliding module 410 includes two first Z-axis slide rails arranged parallel to the Z-axis on the secondary bending frame 43 and a first Z-axis slider fixedly mounted on the primary bending frame 42, and the first Z-axis slider slides in cooperation with the first Z-axis slide rails. The second sliding module 410 includes two second Z-axis slide rails arranged parallel to the Z-axis on the third-level bending frame 44 and a second Z-axis slider fixedly installed on the second-level bending frame 43, wherein the second Z-axis slider slides in cooperation with the second Z-axis slide rails.

[0065] When in use, the telescopic reduction motor 45 is started, which drives the telescopic transmission gear 46 to rotate, thereby driving the secondary bending frame, which is fixedly installed with the telescopic transmission rack 47, to move along the Z-axis. With the cooperation of the belt transmission unit 49, the welding assembly 48 is driven to move up and down through the first sliding module 410 and the second sliding module 410.

[0066] As a preferred embodiment, see [link to previous document]. Figure 4 In this embodiment, the welding assembly 48 includes a welding support plate 481 mounted on the lower end face of the three-stage bending frame 44, a welding rotary motor 482 mounted on the welding support plate 481, a rotary flange 483 coaxially arranged with the output shaft of the welding rotary motor 482, and a welding torch 484 mounted on the rotary flange 483. In use, the welding angle of the welding torch 484 can be adjusted by starting the welding rotary motor 482 according to specific usage requirements.

[0067] like Figure 5 and Figure 6As shown, the Y-axis translation mechanism 3 in this embodiment includes a translation frame 31, a translation reduction motor 32 mounted on the translation frame 31, a translation gear 33 coaxially arranged with the output shaft of the translation reduction motor 32, a translation rack 34 fixedly mounted on the crossbeam 23 of the moving gantry 2 along the Y-axis direction, and a guide assembly 35 mounted on the translation frame 31. The translation rack 34 and the translation gear 33 are in a transmission engagement, and the welding frame 41 is fixedly connected to the translation frame 31 through a connecting plate. The guide assembly 35 includes: a plurality of upper guide wheels 351, a plurality of lower guide wheels 352, at least one side guide frame 353 mounted on the translation frame 31, and a side guide wheel 354 mounted on the side guide frame 353. Specifically, a number of upper guide wheels 351 are mounted on the translation frame 31 and are guided and engaged with the upper end face of the crossbeam 23 of the moving gantry frame 2; a number of lower guide wheels 352 are mounted on the translation frame 31 and are guided and engaged with the lower end face of the crossbeam 23 of the moving gantry frame 2; at least one side guide frame 353 is mounted on the translation frame 31 and a side guide wheel 354 is mounted on the side guide frame 353; the side guide wheel 354 is guided and engaged with the side of the crossbeam 23 of the moving gantry frame 2.

[0068] As one implementation method, such as Figure 7 As shown, the movable gantry 2 in this embodiment includes two symmetrically arranged gantry mounting plates 21, two gantry columns 22 mounted on the two gantry mounting plates 21, a crossbeam 23 mounted between the two gantry columns 22, and a traveling device 24 mounted on the gantry mounting plates and the ground rail. The traveling device 24 includes several moving wheels that cooperate with the ground rail 1 mounted on the lower end surfaces of the two gantry mounting plates 21. A gantry moving motor is mounted on the gantry mounting plates 21, a gantry moving gear is mounted on the output shaft of the gantry moving motor, and a gantry moving rack that cooperates with the gantry moving gear is mounted along the extension direction of the ground rail 1. When it is necessary to move the movable gantry 2, the gantry moving motor is started. Through the cooperation of the gantry moving gear and the gantry moving rack, the gantry mounting plates 21 are driven to move linearly relative to the ground rail 1 via the moving wheels, that is, the position of the welding component 48 in the X-axis direction of the shrimp-shaped bend 8 to be welded is changed.

[0069] See Figure 8As shown, the mobile lifting device 6 in this embodiment includes a mobile base frame 61 fixedly installed on the ground, a sliding mounting plate 63 slidably connected to the base frame via an X-axis sliding assembly 62, a lifting base arm 64 vertically installed on the sliding mounting plate 63, a lifting guide arm 65 installed side-by-side with the lifting base arm 64 on the sliding mounting plate 63, a lifting electric cylinder 66 vertically installed on the sliding mounting plate 63, and a lifting frame 67 installed at the telescopic end of the lifting electric cylinder 66. A lifting guide groove 68 is provided on the inner side of the lifting guide arm 65, and at least one lifting guide wheel 69 is installed on both sides of the lifting frame 67; the lifting guide wheel 69 rolls and guides within the lifting guide groove 68. It should be further noted that, except for the moving part, the structure of the lifting part of the fixed lifting device 5 in this embodiment is completely the same as the lifting structure of the mobile lifting device 6, and the specific structure of the fixed lifting device 5 will not be described in detail here.

[0070] like Figure 9 As shown, in this embodiment, the X-axis sliding assembly 62 includes two X-axis slide rails 621 symmetrically arranged on a movable base 61 along the X-axis direction, an X-axis slider that cooperates with the X-axis slide rails 621 and is fixedly installed on the lower end face of a sliding mounting plate 63, an X-axis rack 622 fixedly installed on the movable base 61 corresponding to the two X-axis slide rails 621, an X-axis limiting block 632 fixedly installed on the movable base 61 corresponding to the end of the X-axis rack 622, an X-axis moving motor 624 installed on the sliding mounting plate 63, and an X-axis gear coaxially arranged with the output shaft of the X-axis moving motor 624. The X-axis rack 622 is arranged parallel to the X-axis slide rails 621, and the X-axis gear meshes with the X-axis rack 622 for transmission. In practical use, the two X-axis slide rails 621 and the X-axis rack 622 are all fixed to the movable base 61 by bolts. The X-axis slider is fixedly installed on the lower end face of the sliding mounting plate 63. The cooperation between the X-axis slide rail 621 and the X-axis slider guides the linear motion of the X-axis rack 622 and the X-axis gear. The rotation of the X-axis moving motor 624 drives the X-axis gear to move linearly along the X-axis rack 622, thereby driving the entire lifting mechanism to move linearly. The lifting base arm 64 is fixed to the sliding mounting plate 63 by bolts. The lifting guide arm 65 is installed side by side with the lifting base arm 64. The extension and retraction of the lifting electric cylinder 66 drives the lifting frame 67 to move linearly in the vertical direction. Lifting guide wheels 69 are installed on both sides of the lifting frame 67. A vertical lifting guide groove 68 is opened on the inner side of the lifting guide arm 65. During the lifting and lowering process of the lifting frame 67, the lifting guide wheels 69 roll in the lifting guide groove 68 to ensure that the lifting direction of the lifting frame 67 is always in a vertical state. This guides and limits the lifting direction of the lifting frame 67, thereby ensuring the installation stability of the shrimp-shaped bend 8 to be welded.

[0071] It should be further noted that the lifting base arm 64 in this embodiment is provided with at least one support leg on its side, and several reinforcing supports are provided on the side of the connecting plate used for connecting the pitch frame 725 and the adjusting disc 731, which effectively improves the stability of the shrimp-shaped bend to be welded under high load.

[0072] To prevent excessive movement in each linear motion, limit blocks are installed at the corresponding installation positions of each rack to restrict the relative movement of the gears. The positions of the limit blocks can be adaptively set according to the specific rack position and rack length. Here, the positions of the limit blocks are not limited one by one.

[0073] In one specific embodiment, the movable lifting device 6 is located at one end of the shrimp-shaped bend 8 to be welded, and the fixed lifting device 5 is located at the other end of the shrimp-shaped bend 8 to be welded. Both ends are fixed by the displacement device 7. During the welding process, the movable lifting device 6 and the fixed lifting device 5 work together to provide lifting and lowering for the shrimp-shaped bend 8. It can also move in the X-axis direction through the first sliding component. The movable gantry 2 is set on the ground rail 1 to realize the position change of the welding component 48 in the X-axis direction. The Y-axis translation mechanism 3 is installed on the crossbeam 23 of the movable gantry 2 to realize the translation of the welding component 48 in the Y-axis direction. The multi-stage bending frame, telescopic transmission gear 46, telescopic transmission rack 47, sliding module 410 and belt transmission unit 49 are set to realize the telescopic movement of the welding component 48 in the Z-axis direction, so that the welding component 48 can weld large-diameter shrimp-shaped bends 8 of different sizes.

[0074] The displacement device 7 in this embodiment includes a rotary assembly 71 connected to the movable lifting device 6 and / or the fixed lifting device 5 for rotating the shrimp-shaped bend 8 to be welded; a pitch mechanism 72 installed at the output end of the rotary assembly 71 for adjusting the pitch of the shrimp-shaped bend 8 to be welded; and an adjustable clamp 73 installed at the output end of the pitch mechanism 72. The shrimp-shaped bend 8 to be welded is sleeved on the outside of the adjustable clamp 73, and the adjustable clamp 73 abuts against the inner wall of the shrimp-shaped bend 8 to be welded. See details below. Figure 10 .

[0075] like Figure 11 As shown, the pitch mechanism 72 in this embodiment includes a rotary base plate 721 installed at the output end of the rotary assembly 71, pitch side plates 722 symmetrically fixed on both sides of the rotary base plate 721, a pitch frame 725 rotatably installed between the two pitch side plates 722, a transmission gear set 723 symmetrically installed on both sides of the pitch frame 725, and a pitch reduction motor 724 installed on one pitch side plate 722. The output shaft of the pitch reduction motor 724 is engaged with a transmission gear set to drive the pitch frame 725 to pitch along the Y-axis.

[0076] The adjustable clamp 73 includes: an adjusting disc 731, an adjusting cavity 733, two adjusting sliders 734, a turntable 736, and an adjusting electric push rod 738. The adjusting disc 731 is fixedly mounted on the pitch frame 725 via a connecting plate. The adjusting cavity 733 is formed by an opening in the middle of the adjusting disc 731 and the mounting surface of the pitch frame 725. The two adjusting sliders 734 are slidably mounted in the adjusting cavity 733. Each of the two adjusting sliders 734 is provided with a support post 735 extending out of the adjusting disc 731. The turntable 736 is rotatably mounted on the pitch frame 725, and the two adjusting sliders 734 are connected to the turntable 736 via a transmission link 737. The fixed end and the telescopic end of the adjusting electric push rod 738 are respectively fixedly mounted on the two adjusting sliders 734. The connection points of the two transmission links 737 and the corresponding adjusting sliders 734 are diagonally related.

[0077] In this embodiment, the shrimp-shaped bend 8 to be welded is placed between the fixed lifting device 5 and the movable lifting device 6. The distance between the movable lifting device 6 and the fixed lifting device 5 is adjusted using the X-axis sliding component 62 in the movable lifting device 6, making the invention applicable to welding shrimp-shaped bends 8 of different lengths. At the same time, the displacement device 7 of the invention uses an adjusting electric push rod 738 to drive two adjusting sliders 734 to move within the adjusting cavity 733. The drive rod 737 drives the turntable 736 to rotate, realizing the simultaneous movement of the two adjusting sliders 734 towards or away from each other. The supporting column 735 on the adjusting slider 734 supports the inner wall of the shrimp-shaped bend 8, thereby supporting and displacing shrimp-shaped bends 8 of different diameters. This solves the problem that the size of the applicable shrimp-shaped bend 8 in the prior art is limited by the welding part, which restricts the scope of application. At the same time, the welding area depends on the structure of the welding part, which cannot meet more welding requirements.

[0078] Based on the control method of the large-diameter shrimp-shaped pipe bending welding robot mentioned above, such as Figure 10 As shown, it includes the following steps:

[0079] Step 1: Install one end of the shrimp-shaped bend 8 to be welded on the displacement device 7 on one side, and control the adjustable clamp 73 to adapt to the diameter of the shrimp-shaped bend 8 to support one end of the shrimp-shaped bend 8 to be welded.

[0080] Step 2: Spot weld multiple sections of the shrimp-shaped bend 8 to be welded for pre-fixation, forming a weld ring between two adjacent sections;

[0081] Step 3: Control the movable lifting device 6 to adjust the distance between the fixed lifting device 5 and the movable lifting device 6 to the length of the shrimp-shaped bend 8 to be welded, and fix the other end of the shrimp-shaped bend 8 to the displacement device 7 on the other side.

[0082] Step 4: Control the pitch freedom of the movable lifting device 6, the fixed lifting device 5 and the two displacement devices 7 so that the plane of the corresponding weld ring of the shrimp-shaped bend 8 to be welded is parallel to the vertical plane.

[0083] Step 5: Based on the position of the weld ring to be welded, start the moving gantry 2 to move the telescopic welding device 4 to the set position in the X-axis direction, and control the Y-axis translation mechanism 3 to adjust the position of the telescopic welding device 4 on the Y-axis;

[0084] Step 6: Control the telescopic reduction motor 45 to rotate, driving the welding component 48 to move downward until it aligns with the position of the weld ring to be welded. Simultaneously start the two position devices 7 and the welding component 48, driving the shrimp-shaped bend 8 to be welded to rotate while welding, until the welding of one weld ring is completed.

[0085] Step 7: Repeat steps 5 and 6 to complete the welding of the remaining weld rings in sequence;

[0086] Step 8: Initiate the reset process to reset the large-diameter shrimp-shaped pipe welding robot and disassemble the completed shrimp-shaped pipe 8.

[0087] The control principle of this invention is as follows: Assuming that the shrimp-shaped bend 8 to be welded consists of seven sections, which are sequentially arranged along the positive X direction as the first shrimp section, the second shrimp section, the third shrimp section, the fourth shrimp section, and so on up to the seventh shrimp section, before the welding operation, multiple shrimp sections are pre-fixed by spot welding, and a weld seam ring is formed between two adjacent shrimp sections. The distance between the fixed lifting device 5 and the movable lifting device 6 is adjusted to suit the length of the shrimp-shaped bend 8 to be welded. One end of the shrimp-shaped bend 8 to be welded is installed on the displacement device 7 on one side. The adjustable clamp 73 is controlled to adapt to the diameter of the shrimp-shaped bend 8 to support one end of the shrimp-shaped bend 8 to be welded. The other end of the shrimp-shaped bend 8 to be welded is fixedly installed to the displacement device 7 on the other side, that is, the other end of the shrimp-shaped bend 8 to be welded is supported by the corresponding adjustable clamp 73.

[0088] First, by controlling the pitch freedom of the mobile lifting device 6, the fixed lifting device 5, and the two position-changing devices 7, the plane containing the corresponding weld seam ring of the shrimp-shaped bend 8 to be welded is made parallel to the vertical plane. Based on the position of the weld seam ring, the mobile gantry 2 is activated to move the telescopic welding device 4 to a set position in the X-axis direction. The Y-axis translation mechanism 3 is controlled to adjust the position of the telescopic welding device 4 on the Y-axis. The telescopic reduction motor 45 is controlled to rotate, driving the welding assembly 48 to move downwards until it aligns with the weld seam ring position. Simultaneously, the two position-changing devices 7 and the welding assembly 48 are activated, causing the shrimp-shaped bend 8 to be welded to rotate while welding. The process continues until one weld ring is completed, then steps five and six are repeated for the remaining weld rings. This control method does not require complex control of the welding assembly 48; it only requires adjusting the plane and vertical plane of the weld ring to be welded for parallelism. Control is simple. During welding, the welding assembly 48 does not need to move or align. Simultaneously, only the two positioners 7 are controlled to rotate the weld ring, changing its welding position in real time. Compared to existing control methods, this invention significantly improves welding speed and reduces the problem of poor welding results caused by the flow of welding fluid during long welding processes. Furthermore, adjacent weld rings are welded sequentially, reducing cumbersome reciprocating motion and further shortening welding time.

[0089] Furthermore, the control method of the present invention welds the weld ring to be welded parallel to the vertical plane, ensuring that any section of the weld is always vertically downward during welding, and the welding component 48 does not need to move during the entire welding process of a weld ring to be welded, thus avoiding movement errors and greatly improving welding accuracy.

[0090] It should be understood that the specific embodiments described above are for illustrative purposes only and are not intended to limit the scope of the invention. Obvious variations or modifications derived from the spirit of the invention are still within the protection scope of the invention.

Claims

1. A large-diameter shrimp-shaped pipe bending and welding robot, characterized in that: It includes a ground rail (1) arranged parallel to the X-axis, a movable gantry (2) that moves in conjunction with the ground rail (1), a telescopic welding device (4) installed on the movable gantry (2) via a Y-axis translation mechanism (3), and a fixed lifting device (5) and a movable lifting device (6) installed in the moving space of the movable gantry (2) and arranged parallel to the direction of the ground rail (1); both the fixed lifting device (5) and the movable lifting device (6) are equipped with displacement devices (7) at their output ends; the shrimp-shaped bend to be welded is placed between the two displacement devices (7); The telescopic welding device (4) includes a welding frame (41) fixedly installed at the output end of the Y-axis translation mechanism (3), a first-stage bending frame (42) fixedly installed with the welding frame (41), a second-stage bending frame (43) and a third-stage bending frame (44) sequentially sleeved in the first-stage bending frame (42) along the Z-axis direction, a telescopic reduction motor (45) installed on the first-stage bending frame (42), a telescopic transmission gear (46) coaxially arranged with the output shaft of the telescopic reduction motor (45), a telescopic transmission rack (47) fixedly arranged on the second-stage bending frame (43) and cooperating with the telescopic transmission gear (46), and a welding assembly (48) installed on the lower end face of the third-stage bending frame (44); the first-stage bending frame (42) is a welding frame (41) fixedly installed at the output end of the Y-axis translation mechanism (3), a first-stage bending frame (42) fixedly installed with ... second-stage bending frame (42) fixedly installed with the Y-axis translation mechanism (3), a third-stage bending frame (42) fixedly installed with the Y-axis translation mechanism (3), a third-stage bending frame (42) fixedly installed with the Y-axis translation mechanism (3), a third-stage bending frame (42) fixedly installed with the Y The first-stage bending frame (42) and the second-stage bending frame (43), as well as the second-stage bending frame (43) and the third-stage bending frame (44), are slidably connected by a sliding module (410); the first-stage bending frame (42), the second-stage bending frame (43), and the third-stage bending frame (44) are driven by a belt drive unit (49); the displacement device (7) includes a rotary assembly (71) connected to the movable lifting device (6) and / or the fixed lifting device (5) for driving the shrimp-shaped bend (8) to be welded to rotate, a pitch mechanism (72) installed at the output end of the rotary assembly (71) for driving the shrimp-shaped bend (8) to be welded to pitch adjustment, and an adjustable clamp (73) installed at the output end of the pitch mechanism (72); The shrimp-shaped bend (8) to be welded is sleeved on the outside of the adjustable clamp (73), and the adjustable clamp (73) abuts against the inner wall of the shrimp-shaped bend (8) to be welded. The pitch mechanism (72) includes a rotary base plate (721) installed at the output end of the rotary assembly (71), pitch side plates (722) symmetrically fixed on both sides of the rotary base plate (721), a pitch frame (725) rotatably installed between the two pitch side plates (722), a transmission gear set (723) symmetrically installed on both sides of the pitch frame (725), and a pitch reduction motor (724) installed on one of the pitch side plates (722). The output shaft of the pitch reduction motor (724) is engaged with a transmission gear set (723) to drive the pitch frame (725) to pitch along the Y-axis.

2. The large-diameter shrimp-shaped pipe bending welding robot according to claim 1, characterized in that, The belt drive unit (49) includes: The first fixed shaft (491) and the second fixed shaft are symmetrically arranged at the upper and lower ends of the secondary bending frame (43); The first pulley (493) is mounted on the first fixed shaft (491); The second pulley is mounted on the second fixed shaft; A synchronous belt (495) is wound between the first pulley (493) and the second pulley; The synchronous belt (495) is fixedly connected to the first-level bending frame (42) and the third-level bending frame (44) by a pressure plate clamp (496).

3. The large-diameter shrimp-shaped pipe bending welding robot according to claim 1, characterized in that: The mobile lifting device (6) includes a mobile base frame (61) fixedly installed on the ground, a sliding mounting plate (63) slidably connected to the base frame via an X-axis sliding assembly (62), a lifting base arm (64) vertically installed on the sliding mounting plate (63), a lifting guide arm (65) installed side by side with the lifting base arm (64) on the sliding mounting plate (63), a lifting electric cylinder (66) vertically installed on the sliding mounting plate (63), and a lifting frame (67) installed at the telescopic end of the lifting electric cylinder (66). The lifting guide arm (65) has a lifting guide groove (68) on its inner side, and at least one lifting guide wheel (69) is installed on both sides of the lifting frame (67); the lifting guide wheel (69) rolls and guides within the lifting guide groove (68).

4. The large-diameter shrimp-shaped pipe bending welding robot according to claim 3, characterized in that: The X-axis sliding assembly (62) includes two X-axis slide rails (621) symmetrically arranged on the movable base (61) along the X-axis direction, an X-axis slider that cooperates with the X-axis slide rails (621) and is fixedly installed on the lower end face of the sliding mounting plate (63), an X-axis rack (622) fixedly installed on the movable base (61) between the two X-axis slide rails (621), an X-axis limiting block (632) fixedly installed on the movable base (61) corresponding to the end of the X-axis rack (622), an X-axis moving motor (624) installed on the sliding mounting plate (63), and an X-axis gear coaxially arranged with the output shaft of the X-axis moving motor (624). The X-axis rack (622) is arranged parallel to the X-axis slide rail (621), and the X-axis gear meshes with the X-axis rack (622) for transmission.

5. The large-diameter shrimp-shaped pipe bending welding robot according to claim 1, characterized in that: The Y-axis translation mechanism (3) includes a translation frame (31), a translation reduction motor (32) mounted on the translation frame (31), a translation gear (33) coaxially arranged with the output shaft of the translation reduction motor (32), a translation rack (34) fixedly mounted on the crossbeam (23) of the moving gantry (2) along the Y-axis direction, and a guide assembly (35) mounted on the translation frame (31). The translation rack (34) is driven by the translation gear (33), and the welding frame (41) is fixedly connected to the translation frame (31) through a connecting plate.

6. The large-diameter shrimp-shaped pipe bending welding robot according to claim 5, characterized in that, The guide component (35) includes: Several upper guide wheels (351) are installed on the translation frame (31) and are guided and engaged with the upper end face of the crossbeam (23) of the moving gantry frame (2); Several lower guide wheels (352) are installed on the translation frame (31) and are guided and engaged with the lower end face of the crossbeam (23) of the moving gantry frame (2); At least one side guide frame (353) is installed on the translation frame (31) and a side guide wheel (354) is installed on the side guide frame (353); the side guide wheel (354) is in lateral guide engagement with the crossbeam (23) of the movable gantry (2).

7. The large-diameter shrimp-shaped pipe bending welding robot according to claim 1, characterized in that, The adjustable clamp (73) includes: The adjusting disc (731) is fixedly mounted on the pitch frame (725) via a connecting plate; The adjustment cavity (733) is formed by an opening in the middle of the adjustment disc (731) and the mounting surface of the pitch frame (725); Two adjusting sliders (734) are slidably installed in the adjusting cavity (733); each of the two adjusting sliders (734) is provided with a support column (735) extending out of the adjusting disc (731). The turntable (736) is rotatably mounted on the pitch frame (725), and both of the adjusting sliders (734) are connected to the turntable (736) via a transmission link (737). An adjusting electric push rod (738) is provided, wherein the fixed end and the telescopic end of the adjusting electric push rod (738) are respectively fixedly installed on the two adjusting sliders (734); The two transmission links (737) are diagonally connected to the corresponding adjusting sliders (734).

8. The control method for a large-diameter shrimp-shaped pipe bending welding robot according to claim 1, characterized in that, Includes the following steps: Step 1: Install one end of the shrimp bend (8) to be welded on the displacement device (7) on one side, and control the adjustable clamp (73) to adapt to the diameter of the shrimp bend (8) to be welded, so as to support one end of the shrimp bend (8) to be welded. Step 2: Spot weld and pre-fix multiple sections of the shrimp-shaped bend (8) to be welded, forming a weld ring between two adjacent sections; Step 3: Control the mobile lifting device (6), adjust the distance between the fixed lifting device (5) and the mobile lifting device (6) to the length of the shrimp bend (8) to be welded, and fix the other end of the shrimp bend (8) to the displacement device (7) on the other side. Step 4: Control the pitch freedom of the moving lifting device (6), the fixed lifting device (5) and the two displacement devices (7) so that the plane of the corresponding weld ring of the shrimp bend (8) to be welded is parallel to the vertical plane. Step 5: Based on the position of the weld ring to be welded, start the moving gantry (2) to move the telescopic welding device (4) to the set position in the X-axis direction, and control the Y-axis translation mechanism (3) to adjust the position of the telescopic welding device (4) on the Y-axis; Step 6: Control the telescopic deceleration motor (45) to rotate, drive the welding assembly (48) to move downward until it corresponds to the position of the weld ring to be welded, and simultaneously start the two position devices (7) and the welding assembly (48) to drive the shrimp bend (8) to be welded to rotate while welding, until the welding of one weld ring is completed; Step 7: Repeat steps 5 and 6 to complete the welding of the remaining weld rings in sequence; Step 8: Start the reset process to reset the large-diameter shrimp bend welding robot and disassemble the shrimp bend (8) after welding.

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