A pipeline crawling welding robot

Abstract

The present invention relates to the technical field of welding robots, and in particular to a pipeline crawling welding robot, comprising a crawling seat, a fixed seat being fixedly connected to the crawling seat, a rotating frame being rotatably connected to one side of the fixed seat, an adjusting mechanism being rotatably connected inside the rotating frame, a water shield being rotatably connected to the adjusting mechanism, a welding equipment seat being rotatably connected inside the water shield, a transmission mechanism being rotatably connected inside the water shield, and a drainage and clearing mechanism being slidably provided inside the water shield. When the pipeline crawling welding robot welds the inner wall of a flowing water pipe, the water shield can be used to cover the position of the inner wall of the pipe to be welded, thereby 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 excessively rapid cooling, such as cracks, pores, etc. The robot can efficiently weld in a flowing water pipe, reduce manual intervention, and improve welding quality.

Description

Technical Field

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

[0002] The Pipe Crawling Welding Robot is an automated device specifically designed for welding operations inside pipelines, particularly in inaccessible or dangerous environments, such as those involved in the maintenance and construction of oil, gas, and chemical pipelines. Traditional manual welding within these confined pipes is often limited by space, posture, and field of view. Using a Pipe Crawling Welding Robot can significantly improve welding efficiency, reduce labor costs, and enhance safety and quality.

[0003] Pipeline crawling welding robots, a key application of automation technology, are gradually replacing traditional manual welding methods. They not only improve welding quality and efficiency, but also reduce safety risks and costs. With the continuous development and innovation of technology, these robots will be widely used in more fields in the future, promoting the intelligent and automated development of pipeline maintenance and construction.

[0004] When the pipe crawling welding robot is repairing 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 weld metal, and easily causing welding defects such as cracks and pores. The flowing water may not only cause the temperature of the welding area to change too quickly, resulting in a decrease in weld quality, 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 of the background technology and to propose a pipeline crawling welding robot.

[0007] In order to achieve the above purpose, 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 on 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 cleaning mechanism is slidably fitted inside the water shield.

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

[0009] Preferably, a motor A is fixedly installed in the fixing seat, and an output end of the motor A is fixedly connected 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, which is rotatably connected to the inner wall of the rotating frame, one end of the bidirectional worm is fixedly connected to the motor B, and two worm wheels are provided on the upper side of the bidirectional worm for meshing transmission. The worm wheels are rotatably connected to the inner wall of the rotating frame through a pin shaft, and 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 shield.

[0012] Preferably, a rubber sealing gasket 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, and 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 shield, and one end of the rotating shaft is fixedly connected to a gear, and the gear is meshed with the 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 fixed with a motor C, the motor C is connected and fixed with the inner wall of the water shield, the other end of the threaded rod is connected and fixed with a driving wheel, one side of the driving wheel is meshingly transmitted with a driven wheel, the driven wheel is connected and fixed with a transmission rod, a rotating sleeve is slidably fitted on the transmission rod, a concave-convex groove is provided on the rotating sleeve, a push-pull rod is slidably fitted on the concave-convex groove, the push-pull rod is slidably fitted 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 shield, 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 pipe crawling welding robot welds the inner wall of a flowing water pipe, it uses a water shield to cover the position of the pipe inner wall to be welded, and uses the transmission mechanism to drive the drainage plate to move, which can squeeze out the residual water in the water shield, forming an environment without flowing water for welding. By effectively isolating the flowing water, it prevents the water flow from interfering with the welding process, thereby reducing welding defects caused by rapid cooling, such as cracks and pores. The robot can weld efficiently 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. The 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, thereby increasing 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. During actual operation, the adjustment mechanism can help the operator quickly and accurately adjust the position and angle of the water shield, 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 This is a partial cross-sectional schematic diagram of the overall structure of a pipeline crawling welding robot according to the present invention;

[0022] Figure 3 This is a schematic structural diagram 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 base and a rotating frame structure of a pipeline crawling welding robot according to the present invention;

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

[0028] Figure 9 The present invention is a schematic cross-sectional view of the drainage and cleaning mechanism 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 removal mechanism; 101. Hydraulic rod; 102. Electric roller seat; 201. Motor A; 301. Motor B; 401. Bidirectional worm; 402. Worm gear; 403. Adjusting rod assembly; 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. Swinging sleeve; 802. Swinging sleeve; 803. Sleeve rod; 804. Pipe wall brush; 805. L-shaped rod; 806. Spring. DETAILED DESCRIPTION

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

[0031] like Figures 1-9The pipeline crawling welding robot shown 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 inside the rotating frame 3, a water shield 5 is rotatably connected on 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 and cleaning mechanism 8 is slidably fitted inside the water shield 5.

[0032] like Figure 3 As shown, a plurality of hydraulic rods 101 are fixedly connected to the crawling seat 1 in an annular structure, and the other end of the hydraulic rod 101 is fixedly connected to the electric roller seat 102. The hydraulic rod 101 is used to drive the electric roller seat 102 to press 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 fixedly connected to 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 base 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 provided on the upper side of the bidirectional worm 401 for meshing transmission. The worm wheels 402 are rotatably connected to the inner wall of the rotating frame 3 through a pin, and an adjustment rod group 403 is fixedly connected to the worm wheel 402. The other end of the adjustment rod group 403 is rotatably connected to a hinge seat 404, 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 gasket is fixedly provided on one side of the opening of the water shield 5, a one-way valve 501 is fixedly provided on one side of the water shield 5, an electric push rod 502 is fixedly provided on the inner wall of one side of the water shield 5, and a rack 503 is fixedly provided on 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 mounted on the welding device base 6. A rotating shaft 602 is fixedly mounted on the welding device base 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 mounted on one end of the rotating shaft 602. The gear 603 meshes with the rack 503 for transmission. When the rotating shaft 602 rotates, the rotating shaft 602 drives the connected welding device base 6 to flip, causing the laser welding device 601 to rotate to the upper side to weld the pipe.

[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 fixed with a motor C702, which is connected and fixed to the inner wall of the water shield 5. The other end of the threaded rod 701 is connected and fixed with a driving wheel 703. A driven wheel 704 is meshingly transmitted on one side of the driving wheel 703. A transmission rod 705 is connected and fixed to the driven wheel 704. A rotating sleeve 706 is slidingly provided on the transmission rod 705. A concave-convex groove 707 is provided on the rotating sleeve 706. A push-pull rod 708 is slidingly provided on the concave-convex groove 707. The push-pull rod 708 is slidably fitted with the inner wall of the water shield 5. 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 will drive the push-pull rod 708 to move back and forth through the concave-convex groove 707.

[0039] like Figure 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 slidingly 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, 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 water pipe needs to be repaired and welded, first use the hydraulic rod 101 to drive the electric roller seat 102 to press against the inner wall of the pipe, use the electric roller seat 102 to drive the device to move in the pipe, and then adjust the device 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. 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 to 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 pipe;

[0042] Then, the motor C702 is used to drive the connected threaded rod 701 to rotate, so that the threaded rod 701 drives the drain 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. At this time, the rotating sleeve 706 will drive the push-pull rod 708 to move back and forth through the concave-convex groove 707. 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. 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, cleaning the attachments on the inner wall of the pipe to ensure the quality of welding;

[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 merely illustrate the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline crawling welding robot, comprising a crawling seat (1), characterized in that: The crawling seat (1) is fixedly connected to a fixed seat (2), 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 the transmission mechanism (7) comprises a threaded rod (701), and the threaded rod (701) 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 C (702), and the motor C (702) 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 meshed and driven with a driven wheel (704), and the driven wheel (704) is connected and fixedly provided with a transmission rod (705), and a rotating sleeve (706) is provided on the transmission rod (705) in a sliding manner, and a concave-convex groove (707) is provided on the rotating sleeve (706). A push-pull rod (708) is provided on the concave-convex groove (707) in a sliding manner. The push-pull rod (708) is provided in a sliding manner with the inner wall of the water shield (5). The other end of the push-pull rod (708) is rotatably connected to a connecting rod (709). A drainage cleaning mechanism (8) is provided in the water shield (5) in a sliding manner. The drainage cleaning mechanism (8) includes a drainage plate (801). A rubber pad is fixedly provided on one side of the drainage plate (801). The drainage plate (801) is provided in a sliding manner with the inner wall of the water shield (5). One side of the drainage plate (801) is connected to a screw. The threaded rod (701) is provided with a threaded connection, and a swing sleeve (802) is provided in a rotationally connected manner at the middle of the drain plate (801), and a sleeve rod (803) is provided through the inner wall of the swing sleeve (802) in a sliding manner, and a pipe wall brush (804) is fixedly provided at the other end of the sleeve rod (803), and an L-shaped rod (805) is fixedly provided at one end of the swing sleeve (802), and the L-shaped rod (805) is rotationally connected to the connecting rod (709), and a spring (806) is fixedly provided between the bottom end of the sleeve rod (803) and the inner wall of the swing sleeve (802).

2. The pipeline crawling welding robot according to claim 1, characterized in that: A plurality of hydraulic rods (101) are connected and fixedly provided on the crawling seat (1) in an annular structure, and an electric roller seat (102) is connected and fixedly provided 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), and the adjusting mechanism (4) includes a bidirectional worm (401), the bidirectional worm (401) is rotatably connected to the inner wall of the rotating frame (3), one end of the bidirectional worm (401) is fixedly connected to the motor B (301), and two worm wheels (402) are meshingly driven on the upper side of the bidirectional worm (401), and the worm wheels (402) are rotatably connected to the inner wall of the rotating frame (3) through a pin shaft. An adjusting rod group (403) is fixedly connected to the worm wheel (402), and the other end of the adjusting rod group (403) is rotatably connected to a hinge seat (404), and the hinge seat (404) is fixedly connected to the water shield (5).

5. The pipeline crawling welding robot according to claim 1, characterized in that: A rubber sealing gasket is fixedly provided on one side of the opening of the water shield (5), a one-way valve (501) is fixedly provided on one side of the water shield (5), an electric push rod (502) is fixedly provided on the inner wall of one side of the water shield (5), a rack (503) is fixedly provided on the electric push rod (502), a laser welding device (601) is installed on the welding equipment seat (6), a rotating shaft (602) is fixedly provided on the welding equipment seat (6), both ends of the rotating shaft (602) are rotatably connected to the inner wall of the water shield (5), one end of the rotating shaft (602) is fixedly provided with a gear (603), and the gear (603) is meshed with the rack (503) for transmission.

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