All-position welding robot adaptable to different pipe diameters

Abstract

The present invention is an all-position welding robot adapted to different pipe diameters, and the all-position welding robot adapted to different pipe diameters comprises: a guide rail, which is used to be arranged around the outer circumference of the pipe fitting; a plurality of support rod assemblies, which are all arranged on the guide rail and are spaced apart along the circumference of the guide rail; the support rod assembly comprises a clamping member that can move radially along the guide rail, and the plurality of clamping members are all against the outer wall of the pipe fitting; a circumferential moving assembly, which can be arranged on the guide rail so as to move circumferentially along the guide rail; an axial moving assembly, which is arranged on the circumferential moving assembly, and a multi-degree-of-freedom mechanical arm is arranged on the axial moving assembly, and the axial moving assembly is used to adjust the position of the multi-degree-of-freedom mechanical arm relative to the axial direction of the pipe fitting; a welding gun, which is arranged on the multi-degree-of-freedom mechanical arm. The present invention solves the technical problems that the welding robot has poor adaptability to pipelines, insufficient welding capacity and low mobility.

Description

Technical Field

[0001] The present invention relates to the field of welding robot equipment, and in particular to an all-position welding robot adaptable to pipes of different diameters. Background Art

[0002] With the continuous improvement of industrial manufacturing levels, robotic welding technology is increasingly being used in fields such as pipeline engineering, petrochemicals, shipbuilding, and the nuclear industry. The working environment of pipeline welding is usually complex, and on-site construction is often limited by site conditions. Existing manual welding methods have problems such as low welding efficiency, high labor intensity, and unstable welding quality, which cannot meet the modern industry's demand for high-quality and high-efficiency welding. Currently, there are some welding robots for pipeline welding on the market, but they generally have the following shortcomings:

[0003] 1. Welding robots have poor adaptability to pipes: Existing welding robots are usually designed for pipes of fixed specifications. When welding pipes of different diameters, they need to make complex adjustments or even replace some parts, which increases the difficulty and time cost of operation and low welding efficiency.

[0004] 2. Insufficient welding capabilities of welding robots: Pipeline welding usually needs to be carried out in different positions, including horizontal welding, vertical welding, and inverted welding, etc. This requires the welding gun to be able to meet the requirements of changing different postures and positions; at the same time, many pipelines involve welding of intersecting lines. In order to ensure the quality of welding, the posture of the welding gun needs to be able to change at any time. Due to structural limitations, traditional welding robots have low degrees of freedom of welding guns, making it difficult to achieve the needs of full-position welding. For example, traditional gantry welding robots are generally hoisted on a gantry and can only weld from the top of the pipeline. When welding other positions of the pipeline, the pipeline needs to be rotated. This situation is not possible in many actual on-site pipeline construction projects.

[0005] 3. Welding robots have low mobility: Most existing welding robots are complex and bulky, making them difficult to install in narrow or obstructed construction sites. This limits their applicability in real-world scenarios. For example, traditional rail-mounted welding robots rely on pre-set tracks. Changing welding positions or adjusting paths requires rearranging the tracks, which is time-consuming and labor-intensive. Furthermore, some narrow spaces are inconvenient for laying tracks, making it difficult to deploy welding robots.

[0006] Therefore, the present invention proposes an all-position welding robot that is adaptable to pipes of different diameters to solve at least one of the above-mentioned technical problems. Summary of the Invention

[0007] The purpose of the present invention is to provide an all-position welding robot that can adapt to different pipe diameters. The support rod assembly can be adaptively adjusted according to the different pipe diameters of the pipes, ensuring that the welding robot can be assembled on pipes of different diameters and has better pipe adaptability.

[0008] Another object of the present invention is to provide an all-position welding robot that can adapt to pipes of different diameters. It can adapt to pipes of different diameters and can move circumferentially and axially along the pipe. While moving, the posture of the welding gun can be adjusted according to the welding angle requirements to achieve all-position and all-angle welding, effectively improving the flexibility and welding ability of the welding robot.

[0009] The purpose of the present invention can be achieved by adopting the following scheme:

[0010] The present invention provides an all-position welding robot that can adapt to different pipe diameters, which is used for welding pipe fittings. The all-position welding robot that can adapt to different pipe diameters includes:

[0011] An annular guide rail, the guide rail being used to be arranged around the outer periphery of the pipe along the circumference of the pipe;

[0012] A plurality of support rod assemblies, each of the plurality of support rod assemblies is disposed on the guide rail and is spaced apart along the circumference of the guide rail;

[0013] The support rod assembly includes a clamping member that can move radially along the guide rail, and the positions of the clamping members in the plurality of support rod assemblies in the radial direction of the guide rail are adjusted respectively so that the plurality of clamping members are in contact with the outer wall of the pipe;

[0014] a circumferentially movable assembly, the circumferentially movable assembly being movably disposed on the guide rail along the circumference of the guide rail so as to adjust the position of the circumferentially movable assembly relative to the pipe;

[0015] an axially movable assembly, the axially movable assembly being disposed on the circumferentially movable assembly, the axially movable assembly being provided with a multi-degree-of-freedom robotic arm, the axially movable assembly being used to drive the multi-degree-of-freedom robotic arm to move axially along the guide rail to adjust the axial position of the multi-degree-of-freedom robotic arm relative to the pipe;

[0016] A welding gun is arranged on the multi-degree-of-freedom robotic arm.

[0017] In a preferred embodiment of the present invention, the guide rail has a plurality of arc segments, and the plurality of arc segments are sequentially connected end to end to form the annular guide rail.

[0018] In a preferred embodiment of the present invention, in two adjacent arc segments, the end of one arc segment is provided with a first plug block, and the end of the other arc segment is provided with a first slot;

[0019] When two adjacent arc segments are in a connected state, the first inserting block is inserted into the first slot, and the first inserting block is fixedly connected to the first slot at an inserting position by a first bolt.

[0020] In a preferred embodiment of the present invention, the support rod assembly includes:

[0021] A guide light rod, on which a first mounting seat is slidably provided along an extension direction of the guide light rod;

[0022] a threaded rod, the threaded rod being arranged parallel to the guide light rod, the threaded rod having a second mounting seat, the second mounting seat being screwed onto the threaded rod, the threaded rod being connected to a power device to drive the threaded rod to rotate;

[0023] a first connecting block and a second connecting block, wherein the clamping member is provided on the first connecting block, the two ends of the guide light rod are fixedly connected to the first connecting block and the second connecting block respectively, and the two ends of the threaded rod are rotatably connected to the first connecting block and the second connecting block respectively;

[0024] The first mounting seat and the second mounting seat are both fixedly connected to the guide rail, and the guide light rod and the threaded rod both extend along the radial direction of the guide rail.

[0025] In a preferred embodiment of the present invention, the clamping member includes a splint and a pad, one side surface of the splint is connected to the first connecting block, and the pad is arranged on the other opposite side surface of the splint, and the pad fits tightly against the outer wall of the pipe to increase the friction between the two.

[0026] In a preferred embodiment of the present invention, the clamping member includes multiple clamps, one side edge of two adjacent clamps are connected and there is a preset bending angle between the two clamps, and the extension direction of the connection line between the two adjacent clamps is parallel to the axial direction of the pipe.

[0027] In a preferred embodiment of the present invention, the guide rail includes an annular guide rail body and a gear ring, wherein the gear ring is arranged around the outer periphery of the guide rail body along the circumference of the guide rail body and is connected to the guide rail body;

[0028] The circumferential movement assembly includes a first side wall plate and a second side wall plate, the first side wall plate having a first plate surface and a second plate surface facing each other, a rotatable driving gear and a first driving motor being provided on the first plate surface, the first driving motor being connected to the driving gear through a transmission structure, the teeth of the driving gear being engaged with the teeth of the gear ring, and the first driving motor providing driving force for the rotation of the driving gear, thereby driving the first side wall plate to move circumferentially along the guide rail;

[0029] The second side wall plate is connected to the first plate surface via a limiting connecting plate, and the axial moving component is arranged on the second side wall plate.

[0030] In a preferred embodiment of the present invention, the first plate is provided on a rotating shaft parallel to the axial direction of the guide rail, and the driving gear is provided on the rotating shaft;

[0031] The transmission structure includes a first transmission gear and a second transmission gear. The first transmission gear is arranged on the output shaft of the first drive motor, and the second transmission gear is arranged on the rotating shaft. The teeth on the first transmission gear are meshed with the teeth on the second transmission gear.

[0032] In a preferred embodiment of the present invention, a first slide rail and a driving structure are further provided on the first plate surface, the first driving motor can be slidably provided on the first slide rail, the driving end of the driving structure is connected to the first driving motor, and the driving structure is used to drive the first driving motor to slide along the first slide rail to control the teeth on the first transmission gear to engage or disengage with the teeth on the second transmission gear.

[0033] In a preferred embodiment of the present invention, the first drive motor and the second transmission gear are respectively located on both sides of the limiting connecting plate, and the first transmission gear passes over the limiting connecting plate and is located on the same side of the limiting connecting plate as the second transmission gear;

[0034] When the first drive motor slides along the first slide rail toward the second transmission gear, the first drive motor slides to a position where it abuts the limiting connecting plate, and the first transmission gear moves to a position where the teeth thereon mesh with the teeth on the second transmission gear.

[0035] In a preferred embodiment of the present invention, a guide limiting ring is provided on the outer wall of the guide rail body along its circumference, the guide limiting ring having a first side wall surface and a second side wall surface opposite to each other in the radial direction of the guide rail, and the guide limiting ring further having a first end surface and a second end surface opposite to each other in the axial direction of the guide rail;

[0036] The circumferential movement assembly further includes two first mounting plates spaced apart along the axial direction of the guide rail, the first mounting plates being connected to the second plate surface of the first side wall plate, and the two first mounting plates being respectively located on the upper and lower sides of the guide limiting ring;

[0037] The first mounting plate is provided with a plurality of limiting guide wheels, and the plurality of limiting guide wheels are arranged in at least two rows, and a gap is left between the two rows of limiting guide wheels. The upper part of the guide limiting ring is located between the two rows of limiting guide wheels of the upper first mounting plate, and the outer walls of the two rows of limiting guide wheels are in rolling contact with the upper part of the first side wall surface and the upper part of the second side wall surface respectively; the lower part of the guide limiting ring is located between the two rows of limiting guide wheels of the lower first mounting plate, and the outer walls of the two rows of limiting guide wheels are in rolling contact with the lower part of the first side wall surface and the lower part of the second side wall surface respectively.

[0038] In a preferred embodiment of the present invention, the first mounting plate has a plurality of movable guide wheels, and the movable guide wheels on the two first mounting plates are in rolling contact with the first end surface and the second end surface respectively.

[0039] In a preferred embodiment of the present invention, the limiting guide wheel is rotatably disposed on a plate surface of a second mounting plate, and the second mounting plate is connected to the first mounting plate.

[0040] In a preferred embodiment of the present invention, the surface of the first mounting plate is perpendicular to the surface of the first side wall plate;

[0041] A second plug-in block is provided at the edge of the first mounting plate, a second slot is provided on the first side wall plate, the second plug-in block is inserted into the second slot, and a connecting piece is provided between the first mounting plate and the first side wall plate, and the first mounting plate and the first side wall plate are fixedly connected to the connecting piece by second bolts respectively.

[0042] In a preferred embodiment of the present invention, the axial movement assembly includes:

[0043] a second slide rail extending axially along the guide rail, the second slide rail being disposed on the circumferentially movable assembly, a screw being disposed on one side of the second slide rail, a slider being disposed on the second slide rail, and the slider being threadedly connected to the screw;

[0044] The second drive motor is arranged at one end of the second slide rail, and the output shaft of the second drive motor is connected to one end of the screw rod to provide driving force for the slider to slide along the second slide rail.

[0045] In a preferred embodiment of the present invention, the multi-degree-of-freedom robotic arm is a three-degree-of-freedom robotic arm;

[0046] And / or, the fixed part of the multi-degree-of-freedom robotic arm is connected to the slider, and the movable part of the multi-degree-of-freedom robotic arm is connected to the welding gun.

[0047] As described above, the characteristics and advantages of the all-position welding robot of the present invention that is adaptable to different pipe diameters are:

[0048] A guide rail is provided on the periphery of the pipe to be welded and along the circumference of the pipe, and a plurality of support rod assemblies are provided on the guide rail at intervals, and each support rod assembly has a clamping member that can move radially along the guide rail. Before welding, the positions of the clamping members in the plurality of support rod assemblies in the radial direction of the guide rail can be adjusted respectively so that the plurality of clamping members are all against the outer wall of the pipe, thereby ensuring that a stable relative position is maintained between the guide rail and the pipe. The provision of the plurality of support rod assemblies enables the welding robot of the present application to adapt to the clamping and welding of pipes of different diameters. When welding pipes of different diameters, there is no need to make complicated adjustments, let alone replace parts, thereby reducing the difficulty of operation, reducing time costs, and improving welding efficiency.

[0049] In addition, the welding gun is arranged on a multi-degree-of-freedom robotic arm, and the multi-degree-of-freedom robotic arm can carry the welding gun and adjust its posture according to the needs of the welding position and angle to complete welding at different positions and angles, which is especially suitable for welding complex welds such as intersection lines on pipe fittings; the multi-degree-of-freedom robotic arm is arranged on the axial moving component, and the axial moving component is arranged on the circumferential moving component, which can be moved circumferentially along the guide rail through the circumferential moving component, so as to adjust the position of the circumferential moving component relative to the pipe fitting (that is, adjust the position of the welding gun on the circumferential direction of the pipe fitting), and drive the multi-degree-of-freedom robotic arm to change its axial position relative to the guide rail (that is, adjust the axial position of the welding gun on the pipe fitting) through the axial moving component, so as to realize arbitrary adjustment of different positions of the welding gun on the pipe fitting. In the present invention, the circumferential moving component, the axial moving component and the multi-degree-of-freedom robotic arm are coordinated to enable the welding robot to achieve full-position and full-angle welding, effectively improving the flexibility and welding ability of the welding robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The following drawings are intended only to illustrate and explain the present invention, and are not intended to limit the scope of the present invention.

[0051] Figure 1 This is a three-dimensional diagram of the all-position welding robot adapted to different pipe diameters in the welding state of pipe fittings;

[0052] Figure 2 This is a partial schematic diagram of two adjacent arc segments in the all-position welding robot adapted to different pipe diameters of the present invention when they are split;

[0053] Figure 3 This is a schematic structural diagram of the support rod assembly in the all-position welding robot adapted to different pipe diameters of the present invention;

[0054] Figure 4 This is a front cross-sectional view of a support rod assembly in an all-position welding robot adapted to different pipe diameters according to the present invention;

[0055] Figure 5 This is a schematic structural diagram of a circumferentially movable assembly in an all-position welding robot adapted to different pipe diameters according to the present invention;

[0056] Figure 6 This is a partial schematic diagram of the first side wall plate and the first mounting plate of the all-position welding robot adapted to different pipe diameters of the present invention in a separated state;

[0057] Figure 7 This is a schematic diagram of the installation position of the limiting guide wheel in the all-position welding robot adapted to different pipe diameters of the present invention;

[0058] Figure 8 This is a schematic structural diagram of the first wall surface of the first side wall plate in the all-position welding robot adapted to different pipe diameters of the present invention.

[0059] The accompanying drawings in the present invention are:

[0060] 1. Guide rail; 101. Arc segment;

[0061] 1011. First plug-in block; 1012. First slot;

[0062] 1013. First bolt; 1014. First nut;

[0063] 1015, through hole; 102, guide rail body;

[0064] 103. Guide limiting ring; 1031. First end face;

[0065] 1032. First side wall surface; 104. Ring gear;

[0066] 2. Support rod assembly; 201. Clamping member;

[0067] 2011, plywood; 2012, connecting wire;

[0068] 2013, spacer; 202, guide light rod;

[0069] 203. Threaded rod; 204. First mounting seat;

[0070] 205. Second mounting seat; 206. First connecting block;

[0071] 2061, first blind hole; 2062, first through hole;

[0072] 207. Second connecting block; 2071. Second blind hole;

[0073] 2072, second through hole; 208, first locking screw;

[0074] 209. Second locking screw; 210. First thrust bearing;

[0075] 211. Second thrust bearing; 212. Second nut;

[0076] 213. Third nut; 3. Circumferential moving assembly;

[0077] 301, first side wall plate; 3011, second slot;

[0078] 302. Driving gear; 303. First driving motor;

[0079] 304. Second side wall plate; 3041. First connecting column;

[0080] 305. Limiting connecting plate; 306. First transmission gear;

[0081] 307. Second transmission gear; 308. Rotating shaft;

[0082] 309, first slide rail; 310, mounting block;

[0083] 311. Driving structure; 312. Connecting rod;

[0084] 313. Connecting plate; 314. First mounting plate;

[0085] 3141, second plug-in block; 315, connecting piece;

[0086] 316. Second bolt; 317. Moving guide wheel;

[0087] 318. Position limiting guide wheel; 319. Second mounting plate;

[0088] 320, second connecting column; 321, third connecting column;

[0089] 4. Axial movement assembly; 401. Second slide rail;

[0090] 402, screw rod; 403, slider;

[0091] 404. Second drive motor; 5. Multi-degree-of-freedom robotic arm;

[0092] 6. Welding gun; 7. Pipe fittings. DETAILED DESCRIPTION

[0093] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. After reading the present invention, modifications of various equivalent forms of the present invention by those skilled in the art all fall within the scope defined by the claims attached to this application.

[0094] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may be an element centered thereon. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an element centered thereon. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementations.

[0095] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0096] Implementation Method

[0097] like Figures 1 to 8 As shown, the present invention provides an all-position welding robot that can adapt to different pipe diameters, which is used to weld pipe fittings 7. The all-position welding robot that can adapt to different pipe diameters includes: a guide rail 1 in a circular shape, which is used to be arranged on the outer periphery of the pipe fitting 7 along the circumference of the pipe fitting 7; a plurality of support rod assemblies 2, which are all arranged on the guide rail 1 and are spaced and evenly distributed along the circumference of the guide rail 1; the support rod assemblies 2 include clamping members 201 that can move radially along the guide rail 1, and by adjusting the positions of the clamping members 201 in the plurality of support rod assemblies 2 in the radial direction of the guide rail 1 respectively, so that the plurality of clamping members 201 are all against the outer wall of the pipe fitting 7, Thereby ensuring the stable position between the welding robot and the pipe fitting 7; the circumferential moving component 3, the circumferential moving component 3 can be arranged on the guide rail 1 so as to be movable along the circumference of the guide rail 1 to adjust the circumferential position of the circumferential moving component 3 relative to the pipe fitting 7; the axial moving component 4, the axial moving component 4 is arranged on the circumferential moving component 3, and a multi-degree-of-freedom robotic arm 5 is arranged on the axial moving component 4, and the axial moving component 4 is used to drive the multi-degree-of-freedom robotic arm 5 to move axially along the guide rail 1 to adjust the axial position of the multi-degree-of-freedom robotic arm 5 relative to the pipe fitting 7; the welding gun 6, the welding gun 6 is arranged on the multi-degree-of-freedom robotic arm 5, and the welding operation is performed by the welding gun 6.

[0098] In the present invention, a guide rail 1 is arranged on the outer circumference of the pipe fitting 7 to be welded and along the circumference of the pipe fitting 7 (the guide rail 1 and the outer wall of the pipe fitting 7 are not in contact with each other, but have a certain spacing), and a plurality of support rod assemblies 2 are arranged at intervals on the guide rail 1, and each support rod assembly 2 has a clamping member 201 that can move radially along the guide rail 1. Before the pipe fitting 7 is welded by the welding gun 6, the positions of the clamping members 201 in the plurality of support rod assemblies 2 in the radial direction of the guide rail 1 can be adjusted respectively, so that the plurality of clamping members 201 are all against the outer wall of the pipe fitting 7, thereby ensuring that a stable relative position is maintained between the guide rail 1 and the pipe fitting 7. The guide rail 1 serves as the basis for connecting the welding robot and the pipe fitting 7. The positioning and installation of the welding robot can be completed by simply assembling the guide rail 1 on the pipe fitting 7. There is no need to move the pipe fitting 7 or adjust the position of the pipe fitting 7, so that the welding robot of the present invention can be applied to any pipe fitting 7 welding scenario, has a wider range of applications, and does not require preliminary preparation work for welding, which does not require a lot of manpower and material resources.

[0099] Through the setting of multiple support rod assemblies 2, the welding robot of the present application can adapt to the clamping and welding of pipe fittings 7 of different diameters. When welding pipe fittings 7 of different diameters, there is no need to make complicated adjustments, and there is no need to replace parts, which reduces the difficulty of operation, reduces time cost, and improves welding efficiency.

[0100] In addition, the welding gun 6 is arranged on the multi-degree-of-freedom robotic arm 5. The multi-degree-of-freedom robotic arm 5 can carry the welding gun 6 and adjust its posture according to the welding position and angle requirements on the pipe fitting 7 to complete welding at different positions and angles. It is especially suitable for welding complex welds such as intersection lines on the pipe fitting 7; the multi-degree-of-freedom robotic arm 5 is arranged on the axial moving component 4, and the axial moving component 4 is arranged on the circumferential moving component 3. It can be moved circumferentially along the guide rail 1 through the circumferential moving component 3, so as to adjust the circumferential position of the circumferential moving component 3 relative to the pipe fitting 7 (that is, adjust the circumferential position of the welding gun 6 on the pipe fitting 7). The multi-degree-of-freedom robotic arm 5 is driven by the axial moving component 4 to change its axial position relative to the guide rail 1 (that is, adjust the axial position of the welding gun 6 on the pipe fitting 7), so as to realize arbitrary adjustment of different positions of the welding gun 6 on the pipe fitting 7. In the present invention, the circumferential moving component 3, the axial moving component 4 and the multi-degree-of-freedom robotic arm 5 cooperate to enable the welding robot to achieve full-position and full-angle welding, effectively improving the flexibility and welding ability of the welding robot.

[0101] In the present invention, the pipe fitting 7 can be, but is not limited to, a pipe or a circular tube, and can also be other circular tubular structural parts that require welding. Of course, the specific form of the pipe fitting 7 is not limited to the above examples. Persons skilled in the art may make other changes based on the technical essence of this application. However, as long as the structural parts have the same or similar structure as the pipe in this application and require welding, they should be covered by the scope of protection of this application.

[0102] During the actual welding process, the clamping members 201 in the multiple support rod assemblies 2 can be controlled to be at the same position in the radial direction of the guide rail 1 (i.e., the multiple clamping members 201 are at the same distance from the axis of the guide rail 1), so that the pipe 7 and the guide rail 1 are in a coaxial state during welding. Of course, the clamping members 201 in the multiple support rod assemblies 2 can also be controlled to be at different positions in the radial direction of the guide rail 1 (i.e., the multiple clamping members 201 are at unequal distances from the axis of the guide rail 1) according to actual needs. In this case, the pipe 7 and the guide rail 1 are in an eccentric state, and the distance between one side of the guide rail 1 and the pipe 7 is greater than the distance between the other opposite side of the guide rail 1 and the pipe 7. In this case, the position of the welding gun 6 in the circumferential direction of the guide rail 1 can be adjusted according to actual needs. By adjusting the non-equal lengths of the multiple support rod assemblies 2, the adjustability and actual adaptability of the welding gun 6 are improved, ensuring that the welding gun 6 can be accurately aligned with the welding position for welding. For example, when the multi-degree-of-freedom robotic arm 5 is in a fully extended or retracted state, the welding gun 6 still cannot reach the preset welding position. The welding gun 6 can then reach the preset welding position by adjusting the non-equal lengths of the multiple support rod assemblies 2 as a supplement to the multi-degree-of-freedom robotic arm 5.

[0103] In an optional embodiment of the present invention, Figure 1 、 Figure 2 As shown, the guide rail 1 has a plurality of arc segments 101 , and the plurality of arc segments 101 are sequentially connected end to end to form a circular guide rail 1 .

[0104] Specifically, there are four arc segments 101, and the lengths of the four arc segments 101 are the same. Before the welding operation, in order to facilitate transportation and installation of the circumferential moving component 3 on the guide rail 1, the four arc segments 101 can be connected in pairs, or three arc segments 101 can be connected. After the circumferential moving component 3 is installed, all the arc segments 101 are connected end to end to form a circular guide rail 1.

[0105] Further, such as Figure 2 As shown, in two adjacent arc segments 101, at least one first plug-in block 1011 is provided at the end of one arc segment 101, and a first slot 1012 adapted to the first plug-in block 1011 is provided at the end of the other arc segment 101. When the two adjacent arc segments 101 are connected, the first plug-in block 1011 on one arc segment 101 is inserted into the first slot 1012 on the other arc segment 101, and the first plug-in block 1011 and the first slot 1012 are respectively provided with interconnected through holes 1015. A first bolt 1013 is inserted into the through hole 1015 at the plug-in position of the first plug-in block 1011 and the first slot 1012, and a first nut 1014 is screwed on the head of the first bolt 1013, so that the two adjacent arc segments 101 are fixedly connected by the first bolt 1013.

[0106] In an optional embodiment of the present invention, Figure 1 、 Figure 3 and Figure 4 As shown, the support rod assembly 2 includes a guide light rod 202, a threaded rod 203, a first connecting block 206 and a second connecting block 207. The guide light rod 202 is provided with a first mounting seat 204 that can slide along its extension direction. The threaded rod 203 is arranged parallel to the guide light rod 202. The threaded rod 203 has a second mounting seat 205. The second mounting seat 205 is provided with a threaded hole. The second mounting seat 205 is screwed to the threaded rod 203 through the threaded hole. One end of the threaded rod 203 is connected to the power device. The threaded rod 203 is connected to the guide rail 1 to drive the threaded rod 203 to rotate. The clamping member 201 is mounted on the first connecting block 206. The two ends of the guide light rod 202 are fixedly connected to the first connecting block 206 and the second connecting block 207, respectively. The two ends of the threaded rod 203 are rotatably connected to the first connecting block 206 and the second connecting block 207, respectively. The first mounting seat 204 and the second mounting seat 205 are respectively fixedly connected to the guide rail 1 by bolts, and both the guide light rod 202 and the threaded rod 203 extend radially along the guide rail 1. The threaded rod 203 is driven to rotate by a power device. Since the second mounting seat 205 on the threaded rod 203 is fixedly mounted on the guide rail 1, the threaded rod 203 simultaneously moves axially (i.e., moves radially along the guide rail 1) as it rotates, thereby achieving the purpose of radially adjusting the clamping member 201 along the guide rail 1. The guide light rod 202 serves as a guide to ensure the stable movement of the clamping member 201.

[0107] In the present invention, the power device may be, but is not limited to, a motor, the output shaft of which is connected to one end of the threaded rod 203. Of course, other power devices are also possible, and the specific form of the power device is not limited to the above example. Those skilled in the art may make other changes based on the technical essence of this application. However, as long as the function of the motor in this application is the same as that of providing driving force for the rotation of the threaded rod 203, they should be covered within the scope of protection of this application.

[0108] Specifically, such as Figure 3 and Figure 4 As shown, the first connecting block 206 has a first blind hole 2061, and the second connecting block 207 has a second blind hole 2071. The two ends of the guide light rod 202 are respectively inserted into the first blind hole 2061 and the second blind hole 2071. The guide light rod 202 is fixedly connected to the first connecting block 206 by a first locking screw 208, and the guide light rod 202 is fixedly connected to the second connecting block 207 by a second locking screw 209. The screwing direction of the first locking screw 208 and the second locking screw 209 is perpendicular to the extension direction of the guide light rod 202, thereby achieving circumferential locking of the guide light rod 202 and ensuring that the guide light rod 202 does not rotate circumferentially.

[0109] In addition, the first connecting block 206 also has a first through hole 2062, and the second connecting block 207 also has a second through hole 2072. The two ends of the threaded rod 203 can be rotatably inserted into the first through hole 2062 and the second through hole 2072, respectively, and the two ends of the threaded rod 203 are respectively tightened with a second nut 212 and a third nut 213 to achieve axial locking of the threaded rod 203 and ensure that the threaded rod 203 can rotate circumferentially.

[0110] Further, such as Figure 4 As shown, at least one first thrust bearing 210 is provided in the first through hole 2062, and at least one second thrust bearing 211 is provided in the second through hole 2072. The two ends of the threaded rod 203 are respectively connected to the first thrust bearing 210 and the second thrust bearing 211 to ensure that the threaded rod 203 can rotate stably and smoothly, thereby extending the service life of the threaded rod 203.

[0111] Further, such as Figure 3 and Figure 4 As shown, the clamping member 201 includes a clamping plate 2011 and a sheet-like pad 2013. One side of the clamping plate 2011 is connected to the first connecting block 206, and the pad 2013 is disposed on the other opposite side of the clamping plate 2011. When the clamping member 201 abuts against the outer wall of the pipe 7, the pad 2013 tightly fits the outer wall of the pipe 7, thereby increasing the friction between the clamping member 201 and the outer wall of the pipe 7 and ensuring stable clamping of the pipe 7. The pad 2013 can be, but is not limited to, a rubber pad.

[0112] Further, such as Figure 3 As shown, the clamping member 201 includes multiple clamping plates 2011, one side edge of two adjacent clamping plates 2011 is connected and there is a preset bending angle between the two adjacent clamping plates 2011, and the extension direction of the connecting line 2012 of the two adjacent clamping plates 2011 is parallel to the axial direction of the pipe 7, so that the side plate surface of the clamping member 201 that is against the pipe 7 is more adapted to the curvature of the outer wall of the pipe 7, thereby improving the stable clamping ability of the clamping member 201, and thereby improving the stability of the welding robot.

[0113] In an optional embodiment of the present invention, Figure 1 、 Figure 2 、 Figures 5 to 8As shown, the guide rail 1 includes a guide rail body 102 and a gear ring 104 in a circular ring shape. The gear ring 104 is arranged on the outer periphery of the guide rail body 102 along the circumference of the guide rail body 102, and the inner side wall of the gear ring 104 is connected to the outer side wall of the guide rail body 102; wherein, the circumferential moving component 3 includes a first side wall plate 301 and a second side wall plate 304, the first side wall plate 301 has a first plate surface and a second plate surface opposite to each other, a rotatable driving gear 302 and a first driving motor 303 are arranged on the first plate surface, and the first side wall plate 301 has a first plate surface and a second plate surface opposite to each other, and a rotatable driving gear 302 and a first driving motor 303 are arranged on the first plate surface. The extension direction of the output shaft of the drive motor 303 is perpendicular to the extension direction of the rotating shaft 308. The first drive motor 303 is connected to the drive gear 302 through a transmission structure. The teeth of the drive gear 302 are engaged with the teeth of the ring gear 104. The first drive motor 303 provides driving force for the rotation of the drive gear 302 to drive the first side wall plate 301 to move along the ring gear 104, so that the circumferential moving component 3 can move circumferentially along the guide rail 1, so as to achieve the purpose of adjusting the circumferential position of the welding gun 6 on the pipe 7.

[0114] Further, if Figure 1 and Figure 8 As shown, the second side wall plate 304 is connected to the first plate surface of the first side wall plate 301 through the limiting connecting plate 305 , and the axial moving component 4 is arranged on the second side wall plate 304 .

[0115] In this embodiment, if Figure 1 、 Figure 2 As shown, the guide rail body 102 and the gear ring 104 are respectively multi-section splicing structures, and the multiple sections are spliced ​​end to end to form the annular guide rail body 102 and the annular gear ring 104 respectively. Among them, the guide rail body 102 can be spliced ​​and fixed by the above-mentioned first plug-in block 1011 and the first slot 1012, and then fixedly connected by the first bolt 1013. No additional connection structure is required between two adjacent gear rings 104. The multi-section gear rings 104 can be connected to the outer wall of the corresponding multi-section guide rail body 102 by bolts and nuts. After the multi-section guide rail body 102 is spliced, the multi-section gear rings 104 naturally form a structure connected end to end, thereby splicing to form a complete annular gear ring 104. Specifically, the annular guide rail body 102 is formed by splicing four identical arc structures, and the annular gear ring 104 is formed by splicing four identical arc structures.

[0116] Specifically, such as Figure 8As shown, the first plate surface of the first sidewall plate 301 is provided with a rotating shaft 308 parallel to the axial direction of the guide rail 1, and the drive gear 302 is provided on the rotating shaft 308. The transmission structure includes a first transmission gear 306 and a second transmission gear 307. The first transmission gear 306 is provided on the output shaft of the first drive motor 303, and the second transmission gear 307 is provided on the rotating shaft 308. The teeth on the first transmission gear 306 and the teeth on the second transmission gear 307 are meshed. The function of the transmission structure is to transmit the rotational force provided by the output shaft of the first drive motor 303 to the drive gear 302. The first transmission gear 306 and the second transmission gear 307 cooperate to achieve meshing transmission, thereby driving the drive gear 302 to move circumferentially along the ring gear 104, thereby achieving the purpose of circumferential movement of the circumferentially movable assembly 3 along the guide rail 1. The first transmission gear 306 and the second transmission gear 307 are both bevel gears, and the drive gear 302 is a spur gear that cooperates with the ring gear 104.

[0117] Further, such as Figure 8 As shown, a first slide rail 309 and a drive structure 311 are also provided on the first plate surface of the first side wall plate 301. The first slide rail 309 is fixedly installed on the first plate surface of the first side wall plate 301 by bolts. The first drive motor 303 can be slidably provided on the first slide rail 309. The first drive motor 303 moves along the first slide rail 309 to move the first transmission gear 306 toward or away from the second transmission gear 307. Among them, the driving end of the driving structure 311 is connected to the first driving motor 303, and the driving structure 311 is used to drive the first driving motor 303 to slide along the first slide rail 309. When the first transmission gear 306 is controlled to move in the direction close to the second transmission gear 307, the teeth on the first transmission gear 306 can be controlled to engage with the teeth on the second transmission gear 307, and normal power transmission can be performed at this time; when the first transmission gear 306 is controlled to move in the direction away from the second transmission gear 307, the teeth on the first transmission gear 306 can be controlled to separate from the teeth on the second transmission gear 307, and power transmission can no longer be performed. In this state, the driving gear 302 and the second transmission gear 307 rotate freely, which can be suitable for the assembly of the circumferential moving component 3 and the guide rail 1, ensuring that the teeth of the driving gear 302 can smoothly engage with the teeth of the ring gear 104.

[0118] Further, such as Figure 8As shown, the first drive motor 303 and the second transmission gear 307 are respectively located on either side of the limiting connecting plate 305, and the first transmission gear 306 passes over the limiting connecting plate 305 and is located on the same side of the limiting connecting plate 305 as the second transmission gear 307. When the first drive motor 303 slides along the first slide rail 309 toward the second transmission gear 307, the first drive motor 303 slides to a position against the limiting connecting plate 305, and the first transmission gear 306 moves to a position where the teeth on the first drive motor 303 mesh with the teeth on the second transmission gear 307. The provision of the limiting connecting plate 305 not only serves as a connecting structural member between the first side wall plate 301 and the second side wall plate 304, but also limits the movement of the first drive motor 303, ensuring that the teeth on the first transmission gear 306 and the teeth on the second transmission gear 307 can precisely reach the optimal meshing position, ensuring smooth transmission.

[0119] In the present invention, the handle can be directly connected to the first drive motor 303 or the connecting rod 312, and the sliding position of the first drive motor 303 on the first slide rail 309 can be controlled by pushing and pulling.

[0120] In an optional embodiment of the present invention, Figure 5 As shown, the second side wall plate 304 is arranged parallel to the first side wall plate 301, and a plurality of first connecting columns 3041 are connected between the second side wall plate 304 and the first plate surface of the first side wall plate 301 to improve the stability of the connection between the second side wall plate 304 and the first side wall plate 301, thereby strengthening the structural rigidity of the circumferential moving component 3.

[0121] In an optional embodiment of the present invention, Figure 2 、 Figure 5 and Figure 7 As shown, a guide limiting ring 103 is provided on the outer wall of the guide rail body 102 along its circumferential direction. The guide limiting ring 103 is connected to the outer wall of the guide rail body 102. The guide limiting ring 103 has a radial direction (i.e. Figure 2 The first side wall surface 1032 and the second side wall surface are opposite to each other in the inner and outer directions of the paper, and the guide limiting ring 103 also has an axial direction of the guide rail 1 (ie Figure 2The circumferential movement component 3 also includes two first mounting plates 314 arranged at intervals along the axial direction of the guide rail 1, the first mounting plates 314 are connected to the second plate surface of the first side wall plate 301, and the two first mounting plates 314 are respectively located on the upper and lower sides of the guide limit ring 103; the first mounting plate 314 has a plurality of limiting guide wheels 318, and the plurality of limiting guide wheels 318 are arranged in at least two rows, and a gap is left between the two rows of limiting guide wheels 318, preferably the gap is equal to the first side wall surface 101 on the guide limit ring 103. 32 and the second side wall surface (i.e., the thickness of the guide limit ring 103), so that the upper part of the guide limit ring 103 is located between the two rows of limit guide wheels 318 of the upper first mounting plate 314, and the outer walls of the two rows of limit guide wheels 318 are in rolling contact with the upper part of the first side wall surface 1032 and the upper part of the second side wall surface respectively; the lower part of the guide limit ring 103 is located between the two rows of limit guide wheels 318 of the lower first mounting plate 314, and the outer walls of the two rows of limit guide wheels 318 are in rolling contact with the lower part of the first side wall surface 1032 and the lower part of the second side wall surface respectively. By setting up two rows of limiting guide wheels 318, the circumferential moving component 3 can be radially limited along the guide rail 1, and the outer walls of the two rows of limiting guide wheels 318 are in rolling contact with the first side wall surface 1032 and the second side wall surface respectively, playing a role of support and rolling guidance, so that the rolling contact position between the circumferential moving component 3 and the guide rail 1 is more balanced in force, avoiding the occurrence of local excessive force, and improving the stability of the circumferential moving component 3 moving along the guide rail 1.

[0122] Further, such as Figure 2 and Figure 5 As shown, the first mounting plate 314 is provided with a plurality of movable guide wheels 317, and the movable guide wheels 317 on the two first mounting plates 314 are in rolling contact with the first end surface 1031 and the second end surface, respectively. The movable guide wheels 317 cooperate with the limiting guide wheels 318 to support the circumferentially movable assembly 3, ensuring rolling contact between the circumferentially movable assembly 3 and the guide rail 1 on at least three sides, further improving the stability of the circumferentially movable assembly 3 along the guide rail 1 and the rolling ability of the circumferentially movable assembly 3.

[0123] Specifically, such as Figure 5 、 Figure 7 As shown, the limiting guide wheel 318 is rotatably mounted on the surface of the second mounting plate 319. A plurality of second connecting posts 320 are connected between the second mounting plate 319 and the first mounting plate 314. By adjusting the length of the second connecting posts 320, the distance between the limiting guide wheels 318 on the upper and lower second mounting plates 319 can be adjusted, thereby adapting to the stable connection of the guide limiting ring 103 with different radial lengths.

[0124] Further, such as Figure 5As shown, a plurality of third connecting columns 321 are connected between the two second mounting plates 319 to which the upper and lower first mounting plates 314 are respectively connected, so as to improve the position stability of the two second mounting plates 319 .

[0125] Specifically, in the invention, Figure 5 and Figure 6 As shown, the surface of the first mounting plate 314 is perpendicular to the surface of the first side wall 301. A second insert block 3141 is provided at the edge of the first mounting plate 314. The first side wall 301 has a second slot 3011, and the second insert block 3141 is inserted into the second slot 3011. A connecting member 315 is provided between the first mounting plate 314 and the first side wall 301. The first mounting plate 314 and the first side wall 301 are respectively fixedly connected to the connecting member 315 by second bolts 316 to ensure a stable connection between the first mounting plate 314 and the first side wall 301. The connecting member 315 can be, but is not limited to, angle steel.

[0126] In an optional embodiment of the present invention, Figure 1 As shown, the axial movement assembly 4 includes a second slide rail 401, and the extension direction of the second slide rail 401 is parallel to the axial direction of the guide rail 1, that is, the extension direction of the second slide rail 401 is along Figure 1 The second slide rail 401 is fixedly mounted on the second side wall plate 304 of the circumferential moving assembly 3 by bolts. A screw rod 402 is provided on one side of the second slide rail 401. The extension direction of the screw rod 402 is parallel to the extension direction of the second slide rail 401. A slider 403 is slidably provided on the second slide rail 401, and a threaded hole is provided on the slider 403. The slider 403 is screwed to the screw rod 402 through the threaded hole. The rotation of the screw rod 402 can drive the slider 403 to move up and down along the second slide rail 401, thereby adjusting the axial position of the slider 403 relative to the pipe fitting 7, and then achieving the adjustment of the axial position of the welding gun 6 connected to the slider 403 on the pipe fitting 7, so as to realize the adjustment of the axial welding position of the pipe fitting 7.

[0127] Further, such as Figure 1 As shown, the axial moving component 4 also includes a second drive motor 404, which is fixedly arranged at the top end of the second slide rail 401, and the output shaft of the second drive motor 404 is connected to the top end of the screw rod 402. The second drive motor 404 can drive the screw rod 402 to rotate, thereby providing driving force for the slider 403 to slide along the second slide rail 401.

[0128] In an optional embodiment of the present invention, Figure 1As shown, the fixed part of the multi-degree-of-freedom manipulator 5 is detachably connected to the slider 403, and the movable part of the multi-degree-of-freedom manipulator 5 is connected to the welding gun 6. The multi-degree-of-freedom manipulator 5 and the welding gun 6 can move as the slider 403 slides on the second slide rail 401, thereby adjusting the axial position of the multi-degree-of-freedom manipulator 5 and the welding gun 6 in the pipe 7 to meet the needs of different welding positions. Among them, the multi-degree-of-freedom manipulator 5 can be but is not limited to a three-degree-of-freedom manipulator. The three-degree-of-freedom manipulator can be used to adjust the different postures of the welding gun 6, thereby meeting the welding needs of multiple angles, and is particularly suitable for welding complex welds such as intersection lines on pipes 7. In the present invention, the three-degree-of-freedom manipulator cooperates with the circumferential moving component 3 and the axial moving component 4, so that the welding robot of the present invention has at least 5 degrees of freedom, thereby being able to achieve full-position welding of pipes 7.

[0129] The assembly and working process of the all-position welding robot adapted to different pipe diameters of the present invention are as follows:

[0130] First, the four ring gears 104 are mounted on the corresponding four sections of the guide rail body 102. Three of the guide rail bodies 102 are then connected in sequence to form a three-quarter turn of the guide rail 1. The teeth on the first transmission gear 306 are controlled to separate from the teeth on the second transmission gear 307. The circumferential movement assembly 3 is then installed on the guide rail 1, causing the teeth of the drive gear 302 to mesh with the teeth of the ring gear 104. Next, the first transmission gear 306 is controlled to move toward the second transmission gear 307 until its teeth mesh with those of the second transmission gear 307. Finally, the final section of the guide rail body 102 is installed, completing a complete turn of the guide rail 1.

[0131] The guide rail 1 is arranged around the outer circumference of the pipe 7 to be welded. By adjusting the radial positions of the clamping members 201 in the multiple support rod assemblies 2 on the guide rail 1, the multiple clamping members 201 are all abutted against the outer wall of the pipe 7, ensuring that the guide rail 1 can be fixed on the pipe 7 and maintain its position unchanged. Before the welding operation, the first drive motor 303 drives the circumferential movement assembly 3 to move along the guide rail 1, so that the circumferential movement assembly 3 can move circumferentially around the pipe 7 to be welded. At the same time, the second drive motor 404 in the axial movement assembly 4 drives the multi-degree-of-freedom robot arm 5 to move axially along the pipe 7 to be welded. In addition, the multi-degree-of-freedom robot arm 5 can adjust the posture of the welding gun 6 according to the required welding position and angle, realizing all-position and multi-posture welding.

[0132] The characteristics and advantages of the all-position welding robot adapted to different pipe diameters of the present invention are:

[0133] First, this all-position welding robot, adaptable to pipes of varying diameters, can adjust the position of the clamping member 201 on the support rod assembly 2 according to the diameter of the pipe 7, allowing the welding robot to stably clamp the pipe 7, thereby adapting to welding pipes of varying diameters. Multiple support rod assemblies 2 can be used to clamp the pipe 7, allowing for a wide range of adjustments without adding or replacing other components, making adjustments more convenient and efficient.

[0134] Second, this all-position welding robot, which can adapt to different pipe diameters, can adjust the position and posture of the welding gun 6 through the cooperation of the circumferential moving component 3, the axial moving component 4, and the multi-degree-of-freedom manipulator 5, and can achieve all-position welding of the pipe 7. It is suitable for welding complex welds such as intersection lines on the pipe 7. Among them, the circumferential moving component 3 can move along the guide rail 1 to achieve 360° position adjustment of the welding gun 6 around the pipe 7; the axial moving component 4 can drive the multi-degree-of-freedom manipulator 5 to move a large range in the axial direction of the pipe 7. The multi-degree-of-freedom manipulator 5 can meet the needs of changing the posture of the welding gun 6 to meet the needs of different welding angles. In the present invention, the circumferential moving component 3, the axial moving component 4, and the multi-degree-of-freedom manipulator 5 cooperate, so that the welding robot of the present invention has at least 5 degrees of freedom. Since the rotation of the welding gun 6 itself does not affect the welding process, the welding robot of the present invention can achieve all-position welding within a certain spatial range.

[0135] Third, the all-position welding robot, which can adapt to different pipe diameters, is compact, portable, and easy to install. For example, the guide rail 1 can be formed by splicing multiple arc segments 101 (such as four arc segments 101). In actual use, the four arc segments 101 can be pre-spliced ​​in pairs to form two semicircular guide rails, and the circumferential movement component 3 can be pre-installed on one of the semicircular guide rails. When welding is required, it is only necessary to splice the two semicircular guide rails, adjust the position of the clamping member 201 in the support rod assembly 2, and then press the outer wall of the pipe 7 to perform the welding operation. The entire operation process is simple, efficient, and convenient. In addition, the guide rail 1, the circumferential movement component 3, and the axial movement component 4 are all connected by bolts or screws, which are convenient for disassembly. After disassembly, it is easy to carry and transport, and has better transfer capabilities.

[0136] It should be noted that, in the description of this application, the terms "first," "second," etc., are used solely for descriptive purposes and to distinguish similar objects. There is no order of precedence between the two, nor should they be understood to indicate or imply relative importance. Furthermore, in the description of this application, unless otherwise specified, "plurality" means two or more.

[0137] The above-mentioned various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments.

[0138] The above are only a few embodiments of the present invention. Although the embodiments disclosed in the present invention are as above, the contents are only embodiments adopted to facilitate understanding of the present invention and are not intended to limit the present invention. Any person skilled in the art of the present invention may make any modifications and changes in the form and details of the embodiments without departing from the spirit and scope disclosed in the present invention. However, the scope of patent protection of the present invention shall still be based on the scope defined by the appended claims.

Claims

1. An all-position welding robot adapted to different pipe diameters, used for welding pipe fittings, characterized in that: The all-position welding robot adapted to different pipe diameters comprises: An annular guide rail, the guide rail is used to be arranged around the outer periphery of the pipe along the circumference of the pipe; A plurality of support rod assemblies, wherein the plurality of support rod assemblies are arranged on the guide rail and are spaced apart along the circumference of the guide rail; The support rod assembly includes a clamping member that can move radially along the guide rail, and the positions of the clamping members in the plurality of support rod assemblies in the radial direction of the guide rail are adjusted respectively so that the plurality of clamping members are all against the outer wall of the pipe; A circumferentially movable component, which is movably disposed on the guide rail along the circumference of the guide rail to adjust the position of the circumferentially movable component relative to the circumference of the pipe; An axial moving assembly, the axial moving assembly is arranged on the circumferential moving assembly, a multi-degree-of-freedom mechanical arm is arranged on the axial moving assembly, and the axial moving assembly is used to drive the multi-degree-of-freedom mechanical arm to move axially along the guide rail to adjust the position of the multi-degree-of-freedom mechanical arm relative to the axial direction of the pipe; A welding gun, wherein the welding gun is arranged on the multi-degree-of-freedom mechanical arm; The guide rail comprises a ring-shaped guide rail body and a gear ring, wherein the gear ring is arranged on the outer periphery of the guide rail body along the circumference of the guide rail body, and the gear ring is connected to the guide rail body; The circumferential moving assembly includes a first side wall plate and a second side wall plate, the first side wall plate has a first plate surface and a second plate surface opposite to each other, a rotatable driving gear and a first driving motor are arranged on the first plate surface, the first driving motor is connected to the driving gear through a transmission structure, the teeth of the driving gear are meshed with the teeth of the gear ring, and the first driving motor provides a driving force for the driving gear to rotate, so as to drive the first side wall plate to move circumferentially along the guide rail; The second side wall plate is connected to the first plate surface via a limiting connecting plate, and the axial moving assembly is arranged on the second side wall plate; A rotating shaft parallel to the axial direction of the guide rail is arranged on the first plate surface, and the driving gear is arranged on the rotating shaft; The transmission structure comprises a first transmission gear and a second transmission gear, wherein the first transmission gear is arranged on the output shaft of the first driving motor, and the second transmission gear is arranged on the rotating shaft; A first slide rail and a driving structure are also provided on the first plate surface. The first driving motor can be slidably provided on the first slide rail. The driving end of the driving structure is connected to the first driving motor. The driving structure is used to drive the first driving motor to slide along the first slide rail to control the teeth on the first transmission gear to engage or disengage with the teeth on the second transmission gear.

2. The all-position welding robot adapted to different pipe diameters as claimed in claim 1, characterized in that: The guide rail has a plurality of arc segments, and the plurality of arc segments are connected end to end in sequence to form the annular guide rail.

3. The all-position welding robot adapted to different pipe diameters as claimed in claim 2, characterized in that: In two adjacent arc segments, a first plug block is disposed at the end of one arc segment, and a first slot is disposed at the end of the other arc segment; When two adjacent arc segments are in a connected state, the first plug-in block is plugged into the first slot, and the first plug-in block is fixedly connected to the first slot at the plugging position by a first bolt.

4. The all-position welding robot adapted to different pipe diameters as claimed in claim 1, characterized in that: The support rod assembly comprises: A light guide rod, on which a first mounting seat is slidably provided along an extending direction thereof; A threaded rod, the threaded rod is arranged parallel to the guide light rod, the threaded rod has a second mounting seat, the second mounting seat is screwed on the threaded rod, and the threaded rod is connected to a power device to drive the threaded rod to rotate; A first connecting block and a second connecting block, the clamping member is arranged on the first connecting block, two ends of the guide light rod are respectively fixedly connected to the first connecting block and the second connecting block, and two ends of the threaded rod are respectively rotatably connected to the first connecting block and the second connecting block; The first mounting seat and the second mounting seat are both fixedly connected to the guide rail, and the guide light rod and the threaded rod both extend along the radial direction of the guide rail.

5. The all-position welding robot adapted to different pipe diameters as claimed in claim 4, characterized in that: The clamping member includes a clamping plate and a pad. One side surface of the clamping plate is connected to the first connecting block. The pad is arranged on the other opposite side surface of the clamping plate. The pad fits tightly against the outer wall of the pipe to increase the friction between the two.

6. The all-position welding robot adapted to different pipe diameters as claimed in claim 4 or 5, characterized in that: The clamping member comprises a plurality of clamping plates, one side edge of two adjacent clamping plates are connected and there is a preset bending angle between the two clamping plates, and the extending direction of the connecting line between the two adjacent clamping plates is parallel to the axial direction of the pipe fitting.

7. The all-position welding robot adapted to different pipe diameters as claimed in claim 1, characterized in that: The first drive motor and the second transmission gear are respectively located on both sides of the limit connecting plate, and the first transmission gear passes over the limit connecting plate and is located on the same side of the limit connecting plate as the second transmission gear; When the first drive motor slides along the first slide rail toward the second transmission gear, the first drive motor slides to a position abutting against the limit connecting plate, and the first transmission gear moves to a position where the teeth thereon mesh with the teeth on the second transmission gear.

8. The all-position welding robot adapted to different pipe diameters as claimed in claim 1, characterized in that: A guide limiting ring is arranged on the outer wall of the guide rail body along its circumference, the guide limiting ring having a first side wall surface and a second side wall surface opposite to each other in the radial direction of the guide rail, and the guide limiting ring also having a first end surface and a second end surface opposite to each other in the axial direction of the guide rail; The circumferential moving assembly further includes two first mounting plates spaced apart along the axial direction of the guide rail, the first mounting plates being connected to the second plate surface of the first side wall plate, and the two first mounting plates being respectively located on the upper and lower sides of the guide limiting ring; The first mounting plate is provided with a plurality of limit guide wheels, which are arranged in at least two rows, and a gap is left between the two rows of limit guide wheels. The upper part of the guide limit ring is located between the two rows of limit guide wheels on the upper first mounting plate, and the outer walls of the two rows of limit guide wheels are in rolling contact with the upper part of the first side wall surface and the upper part of the second side wall surface respectively; the lower part of the guide limit ring is located between the two rows of limit guide wheels on the lower first mounting plate, and the outer walls of the two rows of limit guide wheels are in rolling contact with the lower part of the first side wall surface and the lower part of the second side wall surface respectively.

9. The all-position welding robot adapted to different pipe diameters as claimed in claim 8, characterized in that: The first mounting plate is provided with a plurality of movable guide wheels, and the movable guide wheels on the two first mounting plates are in rolling contact with the first end surface and the second end surface respectively.

10. The all-position welding robot adapted to different pipe diameters as claimed in claim 8, characterized in that: The limiting guide wheel is rotatably arranged on the plate surface of the second mounting plate, and the second mounting plate is connected to the first mounting plate.

11. The all-position welding robot adapted to different pipe diameters as claimed in claim 8, characterized in that: The plate surface of the first mounting plate is perpendicular to the plate surface of the first side wall plate; A second plug-in block is provided at the edge of the first mounting plate, a second slot is provided on the first side wall plate, the second plug-in block is inserted into the second slot, and a connecting piece is provided between the first mounting plate and the first side wall plate, and the first mounting plate and the first side wall plate are fixedly connected to the connecting piece by second bolts respectively.

12. The all-position welding robot adapted to different pipe diameters as claimed in claim 1, characterized in that: The axial movement assembly comprises: A second slide rail extending along the axial direction of the guide rail, the second slide rail is arranged on the circumferential moving assembly, a screw rod is arranged on one side of the second slide rail, a slider is arranged on the second slide rail, and the slider is screwed to the screw rod; A second driving motor is disposed at one end of the second slide rail, and an output shaft of the second driving motor is connected to one end of the lead screw to provide driving force for the slider to slide along the second slide rail.

13. The all-position welding robot adapted to different pipe diameters as claimed in claim 12, characterized in that: The multi-degree-of-freedom robotic arm is a three-degree-of-freedom robotic arm; And / or, the fixed part of the multi-degree-of-freedom robotic arm is connected to the slider, and the movable part of the multi-degree-of-freedom robotic arm is connected to the welding gun.

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