Pipeline crawling welding robot

Abstract

The invention relates to the technical field of welding robots, in particular to a pipeline crawling welding robot which comprises a crawling seat, a fixing seat is fixedly connected to the crawling seat, a rotating frame is rotatably connected to one side of the fixing seat, an adjusting mechanism is rotatably connected to the interior of the rotating frame, and a water retaining cover is rotatably connected to the adjusting mechanism. A water retaining cover is arranged in the pipeline crawling welding robot, a welding equipment base is rotatably connected in the water retaining cover, a transmission mechanism is rotatably connected in the water retaining cover, and a drainage removing mechanism is arranged in the water retaining cover in a sliding fit mode. An environment without flowing water is formed for welding, flowing water is effectively isolated, water flow is prevented from interfering with the welding process, welding defects such as cracks and air holes caused by too fast cooling are reduced, a robot can conduct welding efficiently in a flowing water pipeline, manual intervention is reduced, and the welding quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of welding robots, and in particular to a pipeline crawling welding robot. Background Art

[0002] The pipeline crawling welding robot is an automated device specially designed for welding operations inside pipelines, especially in inaccessible or dangerous environments, such as the maintenance and construction of oil, gas, and chemical pipelines. Traditional manual welding work in these narrow pipelines is often limited by space, posture, vision, and other aspects. The use of pipeline crawling welding robots can greatly improve welding efficiency, reduce labor costs, and improve operation safety and welding quality.

[0003] As an important application of automation technology, pipeline crawling welding robots are gradually replacing traditional manual welding methods, which can not only improve welding quality and efficiency, but also reduce safety hazards and costs. With the continuous development and innovation of technology, this type of robot will be widely used in more fields in the future, promoting the intelligent and automated process of pipeline maintenance and construction.

[0004] When the pipe crawling welding robot performs repair welding on the inside of the drain pipe, there will be flowing water in the pipe. Since the existing pipe crawling welding robot is not convenient to set up a sealed welding environment in the pipe with flowing water, the flowing water will take away the heat from the welding area, causing the welding process temperature to be too low, thereby affecting the melting and cooling process of the welding metal, and easily causing welding defects such as cracks, pores, etc. The flowing water may not only cause the temperature in the welding area to change too quickly, resulting in a decrease in the quality of the weld, but may also hinder the gas protection during welding, resulting in welding defects.

[0005] In summary, the prior art lacks a technology for sealing welding when a welding robot welds in a water pipe. Summary of the invention

[0006] The purpose of the present invention is to solve the shortcomings existing in the background technology and to propose a pipeline crawling welding robot.

[0007] In order to achieve the above objectives, the technical solution adopted by the present invention is: a pipeline crawling welding robot, including a crawling seat, a fixed seat is fixedly connected to the crawling seat, a rotating frame is rotatably connected to one side of the fixed seat, an adjustment mechanism is rotatably connected inside the rotating frame, a water shield is rotatably connected to the adjustment mechanism, a welding equipment seat is rotatably connected inside the water shield, a transmission mechanism is rotatably connected inside the water shield, and a drainage and clearing mechanism is slidably provided inside the water shield.

[0008] Preferably, a plurality of hydraulic rods are connected and fixedly arranged in an annular structure on the crawling seat, and an electric roller seat is connected and fixedly arranged at the other end of the hydraulic rods.

[0009] Preferably, a motor A is installed and fixed in the fixing seat, and an output end of the motor A is connected and fixed to the rotating frame.

[0010] Preferably, a motor B is fixedly installed inside one end of the rotating frame close to the fixed seat.

[0011] Preferably, the adjustment mechanism includes a bidirectional worm gear, which is rotatably connected to the inner wall of the rotating frame, one end of the bidirectional worm gear is fixedly connected to the motor B, two worm wheels are meshingly arranged on the upper side of the bidirectional worm gear, and the worm wheel is rotatably connected to the inner wall of the rotating frame through a pin shaft, an adjusting rod group is fixedly connected to the worm wheel, and the other end of the adjusting rod group is rotatably connected to a hinge seat, and the hinge seat is fixedly connected to the water retaining cover.

[0012] Preferably, a rubber sealing pad is fixedly provided on one side of the opening of the water shield, a one-way valve is connected and fixedly provided on one side of the water shield, an electric push rod is fixedly provided on the inner wall of one side of the water shield, and a rack is fixedly provided on the electric push rod.

[0013] Preferably, a laser welding device is installed on the welding equipment seat, a rotating shaft is fixedly connected to the welding equipment seat, both ends of the rotating shaft are rotatably connected to the inner wall of the water retaining cover, one end of the rotating shaft is fixedly connected to a gear, and the gear is meshed with a rack for transmission.

[0014] Preferably, the transmission mechanism includes a threaded rod, which is rotatably connected to the inner wall of the water shield, one end of the threaded rod is connected and fixedly provided with a motor C, the motor C is connected and fixedly provided with the inner wall of the water shield, the other end of the threaded rod is connected and fixedly provided with a driving wheel, one side of the driving wheel is meshingly transmitted with a driven wheel, the driven wheel is connected and fixedly provided with a transmission rod, the transmission rod is slidably provided with a rotating sleeve, the rotating sleeve is provided with a concave-convex groove, a push-pull rod is slidably provided on the concave-convex groove, the push-pull rod is slidably provided with the inner wall of the water shield, and the other end of the push-pull rod is rotatably connected with a connecting rod.

[0015] Preferably, the drainage cleaning mechanism includes a drain plate, a rubber pad is fixedly provided on one side of the drain plate, the drain plate is slidingly fitted with the inner wall of the water retaining cover, one side of the drain plate is threadedly connected to the threaded rod, a swing sleeve is rotatably provided in the middle of the drain plate, a sleeve rod is slidingly provided through the inner wall of the swing sleeve, a pipe wall brush is fixedly provided on the other end of the sleeve rod, an L-shaped rod is fixedly provided on one end of the swing sleeve, the L-shaped rod is rotatably connected to the connecting rod, and a spring is fixedly provided between the bottom end of the sleeve rod and the inner wall of the swing sleeve.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. When the pipeline crawling welding robot welds the inner wall of a flowing water pipe, a water shield can be used to cover the position of the inner wall of the pipe to be welded, and the transmission mechanism can be used to drive the drainage plate to move, so as to squeeze out the residual water in the water shield, forming an environment without flowing water for welding. By effectively isolating the flowing water, the water flow is prevented from interfering with the welding process, thereby reducing welding defects caused by excessive cooling, such as cracks and pores. The robot can efficiently weld in the flowing water pipe, reduce manual intervention, and improve welding quality;

[0018] 2. By arranging a pipe wall brush on the drain plate, the transmission mechanism can drive the drain plate to move and drain water while the pipe wall brush can move back and forth to brush the inner wall of the pipe to be welded, which can effectively remove the dirt in the pipe and ensure that the inner wall of the pipe is smooth and free of dirt during welding, thereby reducing welding defects. A clean inner wall of the pipe is conducive to good adhesion and fusion of welding materials, ensuring the strength and sealing of the welded joint;

[0019] 3. By setting up a flippable welding equipment seat, the welding equipment can be protected before drainage to increase its service life. At the same time, by setting up a rotating rotating frame and an adjustment mechanism, different parts of the inner wall of the pipe can be fully and evenly covered as needed to avoid welding leaks or other adverse conditions. In actual operation, the adjustment mechanism can help the operator quickly and accurately adjust the position and angle of the water retaining cover, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of a pipeline crawling welding robot according to the present invention;

[0021] Figure 2 It is a partial cross-sectional schematic diagram of the overall structure of a pipeline crawling welding robot of the present invention;

[0022] Figure 3 This is a schematic diagram of the structure of a crawling seat of a pipeline crawling welding robot according to the present invention;

[0023] Figure 4 This is a schematic cross-sectional view of a fixed seat and a rotating frame structure of a pipeline crawling welding robot according to the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of an adjustment mechanism of a pipeline crawling welding robot according to the present invention;

[0025] Figure 6 This is a schematic cross-sectional view of a water shield structure of a pipeline crawling welding robot according to the present invention;

[0026] Figure 7 This is a structural schematic diagram of a welding equipment base of a pipeline crawling welding robot according to the present invention;

[0027] Figure 8 It is a schematic diagram of the transmission mechanism structure of a pipeline crawling welding robot of the present invention;

[0028] Fig. 9 The present invention is a schematic cross-sectional view of the drainage and clearing mechanism structure of a pipeline crawling welding robot.

[0029] The following are marked in the figure: 1. crawling seat; 2. fixed seat; 3. rotating frame; 4. adjusting mechanism; 5. water shield; 6. welding equipment seat; 7. transmission mechanism; 8. drainage and clearing mechanism; 101. hydraulic rod; 102. electric roller seat; 201. motor A; 301. motor B; 401. bidirectional worm; 402. worm wheel; 403. adjusting rod group; 404. hinge seat; 501. one-way valve; 502. electric push rod; 503. rack; 601, laser welding equipment; 602, rotating shaft; 603, gear; 701, threaded rod; 702, motor C; 703, driving wheel; 704, driven wheel; 705, transmission rod; 706, rotating sleeve; 707, concave-convex groove; 708, push-pull rod; 709, connecting rod; 801, drain plate; 802, swing sleeve; 802, swing sleeve; 803, sleeve rod; 804, pipe wall brush; 805, L-shaped rod; 806, spring. DETAILED DESCRIPTION

[0030] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0031] like Figure 1-Figure 9A pipeline crawling welding robot shown in the figure includes a crawling seat 1, a fixed seat 2 is fixedly connected to the crawling seat 1, a rotating frame 3 is rotatably connected to one side of the fixed seat 2, an adjusting mechanism 4 is rotatably connected to the rotating frame 3, a water shield 5 is rotatably connected to the adjusting mechanism 4, a welding equipment seat 6 is rotatably connected to the water shield 5, a transmission mechanism 7 is rotatably connected to the water shield 5, and a drainage cleaning mechanism 8 is slidably provided in the water shield 5.

[0032] like Figure 3 As shown, the crawling seat 1 is connected and fixedly provided with a plurality of hydraulic rods 101 in an annular structure, and the other end of the hydraulic rod 101 is connected and fixedly provided with an electric roller seat 102. The hydraulic rod 101 is used to drive the electric roller seat 102 to abut against the inner wall of the pipeline, and the electric roller seat 102 is used to drive the device to move in the pipeline.

[0033] like Figure 4 As shown, a motor A201 is fixedly installed in the fixing seat 2, and the output end of the motor A201 is connected and fixedly installed with the rotating frame 3. The motor A201 drives the rotating frame 3 to rotate, so that the water shield 5 is aligned with the position to be welded.

[0034] like Figure 4 As shown, a motor B301 is fixedly installed inside one end of the rotating frame 3 close to the fixed seat 2.

[0035] like Figure 5 As shown, the adjustment mechanism 4 includes a bidirectional worm 401, which is rotatably connected to the inner wall of the rotating frame 3, one end of which is fixedly connected to the motor B301, and two worm wheels 402 are arranged on the upper side of the bidirectional worm 401 for meshing transmission, and the worm wheels 402 are rotatably connected to the inner wall of the rotating frame 3 through a pin shaft, and an adjustment rod group 403 is connected and fixedly arranged on the worm wheel 402, and a hinge seat 404 is rotatably connected to the other end of the adjustment rod group 403, and the hinge seat 404 is fixedly connected to the water shield 5. The motor B301 drives the bidirectional worm 401 to rotate, so that the bidirectional worm 401 drives the adjustment rod group 403 connected to the two worm wheels 402 to rotate, so that the other end of the adjustment rod group 403 drives the water shield 5 to move.

[0036] like Figure 6 As shown, a rubber sealing pad is fixedly connected to one side of the opening of the water shield 5, a one-way valve 501 is connected and fixedly installed on one side of the water shield 5, an electric push rod 502 is fixedly connected to the inner wall of one side of the water shield 5, and a rack 503 is fixedly connected to the electric push rod 502. The electric push rod 502 drives the connected rack 503 to move, so that the rack 503 drives the rotating shaft 602 connected to the gear 603 to rotate.

[0037] like Figure 7As shown, a laser welding device 601 is installed on the welding device seat 6, and a rotating shaft 602 is fixedly connected to the welding device seat 6. Both ends of the rotating shaft 602 are rotatably connected to the inner wall of the water shield 5, and a gear 603 is fixedly connected to one end of the rotating shaft 602. The gear 603 is meshed with the rack 503 for transmission. When the rotating shaft 602 rotates, the rotating shaft 602 drives the connected welding device seat 6 to flip, so that the laser welding device 601 rotates to the upper side to weld the pipeline.

[0038] like Figure 8 As shown, the transmission mechanism 7 includes a threaded rod 701, which is rotatably connected to the inner wall of the water shield 5. One end of the threaded rod 701 is connected and fixedly provided with a motor C702, and the motor C702 is connected and fixedly provided with the inner wall of the water shield 5. The other end of the threaded rod 701 is connected and fixedly provided with a driving wheel 703, and one side of the driving wheel 703 is meshingly transmitted with a driven wheel 704. The driven wheel 704 is connected and fixedly provided with a transmission rod 705, and a rotating sleeve 706 is slidably provided on the transmission rod 705. The rotating sleeve 706 is provided with a concave-convex groove 707, and a push-pull rod 708 is slidably provided on the concave-convex groove 707. The push-pull rod 708 is slidably provided with the inner wall of the water shield 5, and the other end of the push-pull rod 708 is rotatably connected with a connecting rod 709. The motor C702 drives the connected threaded rod 701 to rotate, so that the threaded rod 701 will drive the drainage plate 801 to move, and the water in the water shield 5 will be discharged through the one-way valve 501. At the same time, the threaded rod 701 will drive the connected driving wheel 703 to rotate, so that the driving wheel 703 drives the transmission rod 705 connected to the driven wheel 704 to rotate, so that the transmission rod 705 will drive the rotating sleeve 706 to rotate. At this time, the rotating sleeve 706 can drive the push-pull rod 708 to move back and forth through the concave-convex groove 707.

[0039] like Fig. 9 As shown, the drainage cleaning mechanism 8 includes a drainage plate 801, one side of the drainage plate 801 is connected and fixed with a rubber pad, the drainage plate 801 is slidably matched with the inner wall of the water retaining cover 5, one side of the drainage plate 801 is threadedly connected with the threaded rod 701, the middle part of the drainage plate 801 is rotatably connected with a swing sleeve 802, the inner wall of the swing sleeve 802 is penetrated by a sleeve rod 803 that is slidably matched, the other end of the sleeve rod 803 is connected and fixed with a pipe wall brush 804, one end of the swing sleeve 802 is connected and fixed with an L-shaped rod 805, the L-shaped rod 805 is rotatably connected with the connecting rod 709, and a spring 806 is connected and fixed between the bottom end of the sleeve rod 803 and the inner wall of the swing sleeve 802. The push-pull rod 708 will drive the L-shaped rod 805 to swing back and forth through the connecting rod 709, so that the L-shaped rod 805 can drive the connected swing sleeve 802 to swing back and forth. At this time, the spring 806 will make the pipe wall brush 804 connected to the sleeve rod 803 close to the inner wall of the pipe to clean the attachments on the inner wall of the pipe.

[0040] Working principle: When the inner wall of a pipe with flowing water needs to be repaired and welded, firstly, the hydraulic rod 101 is used to drive the electric roller seat 102 to press against the inner wall of the pipe, and the electric roller seat 102 is used to drive the device to move in the pipe, and then the device is adjusted according to the position to be welded;

[0041] First, the motor A201 is used to drive the rotating frame 3 to rotate so that the water shield 5 is aligned with the position to be welded, and then the motor B301 is used to drive the bidirectional worm 401 to rotate, so that the bidirectional worm 401 drives the adjusting rod group 403 connected with the two worm wheels 402 to rotate, so that the other end of the adjusting rod group 403 drives the water shield 5 to move and cover the position to be welded on the inner wall of the pipeline;

[0042] Then, the motor C702 is used to drive the connected threaded rod 701 to rotate, so that the threaded rod 701 drives the drainage plate 801 to move, and the water in the water shield 5 is discharged through the one-way valve 501;

[0043] At the same time, the threaded rod 701 will drive the connected driving wheel 703 to rotate, so that the driving wheel 703 drives the transmission rod 705 connected to the driven wheel 704 to rotate, so that the transmission rod 705 will drive the rotating sleeve 706 to rotate, and at this time the rotating sleeve 706 can drive the push-pull rod 708 to move back and forth through the concave-convex groove 707, and at this time the push-pull rod 708 will drive the L-shaped rod 805 to swing back and forth through the connecting rod 709, so that the L-shaped rod 805 can drive the connected swing sleeve 802 to swing back and forth, and at this time the spring 806 will make the pipe wall brush 804 connected to the sleeve rod 803 close to the inner wall of the pipe, clean the attachments on the inner wall of the pipe, and ensure the welding quality;

[0044] Then, the electric push rod 502 is used to drive the connected rack 503 to move, so that the rack 503 drives the rotating shaft 602 connected to the gear 603 to rotate. At this time, the rotating shaft 602 will drive the connected welding equipment seat 6 to flip, so that the laser welding equipment 601 rotates to the upper side to weld the pipeline.

[0045] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A pipeline crawling welding robot, comprising a crawling seat (1), characterized in that: A fixed seat (2) is fixedly connected to the crawling seat (1), a rotating frame (3) is rotatably connected to one side of the fixed seat (2), an adjusting mechanism (4) is rotatably connected inside the rotating frame (3), a water shield (5) is rotatably connected to the adjusting mechanism (4), a welding equipment seat (6) is rotatably connected inside the water shield (5), a transmission mechanism (7) is rotatably connected inside the water shield (5), and a drainage clearing mechanism (8) is slidably provided inside the water shield (5).

2. A pipeline crawling welding robot according to claim 1, characterized in that: A plurality of hydraulic rods (101) are connected and fixedly arranged in an annular structure on the crawling seat (1), and an electric roller seat (102) is connected and fixedly arranged at the other end of the hydraulic rod (101).

3. The pipeline crawling welding robot according to claim 1, characterized in that: A motor A (201) is fixedly installed in the fixing seat (2), and an output end of the motor A (201) is connected and fixedly arranged with the rotating frame (3).

4. The pipeline crawling welding robot according to claim 1, characterized in that: A motor B (301) is fixedly installed inside one end of the rotating frame (3) close to the fixed seat (2).

5. The pipeline crawling welding robot according to claim 1, characterized in that: The adjusting mechanism (4) comprises a bidirectional worm (401), the bidirectional worm (401) being rotatably connected to the inner wall of the rotating frame (3), one end of the bidirectional worm (401) being fixedly connected to the motor B (301), two worm wheels (402) being meshingly arranged on the upper side of the bidirectional worm (401), the worm wheels (402) being rotatably connected to the inner wall of the rotating frame (3) via a pin shaft, an adjusting rod group (403) being fixedly connected to the worm wheel (402), the other end of the adjusting rod group (403) being rotatably connected to a hinge seat (404), and the hinge seat (404) being fixedly connected to the water shield (5).

6. The pipeline crawling welding robot according to claim 1, characterized in that: A rubber sealing pad is fixedly connected to one side of the opening of the water shield (5), a one-way valve (501) is connected and fixedly provided through one side of the water shield (5), an electric push rod (502) is fixedly connected to the inner wall of one side of the water shield (5), and a rack (503) is fixedly connected to the electric push rod (502).

7. The pipeline crawling welding robot according to claim 1, characterized in that: A laser welding device (601) is installed on the welding device seat (6); a rotating shaft (602) is fixedly connected to the welding device seat (6); both ends of the rotating shaft (602) are rotatably connected to the inner wall of the water shield (5); a gear (603) is fixedly connected to one end of the rotating shaft (602); and the gear (603) is meshed with the rack (503) for transmission.

8. The pipeline crawling welding robot according to claim 1, characterized in that: The transmission mechanism (7) comprises a threaded rod (701), the threaded rod (701) being rotatably connected to the inner wall of the water shield (5), one end of the threaded rod (701) being connected and fixedly provided with a motor C (702), the motor C (702) being connected and fixedly provided with the inner wall of the water shield (5), the other end of the threaded rod (701) being connected and fixedly provided with a driving wheel (703), one side of the driving wheel (703) being meshingly transmission-equipped with a driven wheel (704), A transmission rod (705) is fixedly connected to the driven wheel (704), a rotating sleeve (706) is slidably provided on the transmission rod (705), a concave-convex groove (707) is provided on the rotating sleeve (706), a push-pull rod (708) is slidably provided on the concave-convex groove (707), the push-pull rod (708) is slidably provided on the inner wall of the water shield (5), and a connecting rod (709) is rotatably connected to the other end of the push-pull rod (708).

9. The pipeline crawling welding robot according to claim 1, characterized in that: The drainage cleaning mechanism (8) comprises a drainage plate (801), one side of the drainage plate (801) is connected and fixedly provided with a rubber pad, the drainage plate (801) is slidably matched with the inner wall of the water shield (5), one side of the drainage plate (801) is threadedly connected with the threaded rod (701), a swing sleeve (802) is rotatably connected to the middle of the drainage plate (801), a sleeve rod (803) is slidably fitted through the inner wall of the swing sleeve (802), a pipe wall brush (804) is connected and fixedly provided at the other end of the sleeve rod (803), one end of the swing sleeve (802) is connected and fixedly provided with an L-shaped rod (805), the L-shaped rod (805) is rotatably connected with the connecting rod (709), and a spring (806) is connected and fixedly provided between the bottom end of the sleeve rod (803) and the inner wall of the swing sleeve (802).

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