Multifunctional automatic welding robot

Abstract

The invention belongs to the related technical field of multipurpose welding equipment, and provides a multifunctional automatic welding robot which comprises an annular assembly, a welding assembly and a flow guide assembly. The welding robot is suitable for welding maintenance in a pipeline or welding maintenance in a narrow space, the welding robot can have better trafficability by arranging the foldable welding assembly moving in the annular direction, the welding robot is suitable for various pipelines and narrow environments, and meanwhile the welding maintenance efficiency is improved. The flow guide assembly can control airflow flowing circulation in the narrow environment based on requirements during welding, the situation that smoke generated during welding is gathered in the narrow environment, and consequently welding judgment of the welding robot is affected can be effectively avoided, and it is guaranteed that the recognition process of automatic welding is accurately and reliably executed.

Description

Technical Field

[0001] The invention belongs to the technical field related to multi-purpose welding equipment, and in particular relates to a multi-functional automatic welding robot. Background Art

[0002] In welding operations, when performing pipeline welding and welding tasks in a small environment, the smaller pipelines and environments cannot be easily entered due to the body size limitations of the welders, and therefore it is not possible to easily enter to complete the welding tasks. Therefore, in the prior art, a separate external V-shaped filling welding method is often used when welding equipment with a small internal space such as pipelines. For some materials, the effect of this type of welding method has certain quality risks for long-term use compared to the double-sided welding method. Therefore, it is necessary to use a welding robot to perform internal welding.

[0003] At the same time, when welding in a small space, the smoke generated by welding is difficult to flow and will quickly gather in the space, which may cause the light penetration effect in the space to deteriorate, obstruct the field of vision, affect the visual recognition efficiency of the welding robot, and thus lead to reduced welding quality or even failure. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a multifunctional automatic welding robot, aiming to solve the problems raised in the background technology.

[0005] The embodiment of the present invention is implemented as follows: a multifunctional automatic welding robot, the welding robot includes a welding assembly horizontally arranged on an annular assembly, and a flow guide assembly arranged at positions on both sides of the annular assembly and the welding assembly, the annular assembly includes an annular rotating frame with an annular structure and rotatably arranged; The welding assembly is slidably arranged on the outer surface of the annular rotating frame along the length direction, and the welding assembly includes a multi-jointed bendable welding arm and a welding head hingedly arranged at the end of the welding arm, and the welding arm is used to control the extension height of the telescopic welding head during welding. When the annular rotating frame rotates, the orientation angle of the welding assembly in the pipeline changes; The guide assembly includes a guide cavity with openings on both sides and a guide fan rotatably arranged in the guide cavity. When the guide fan rotates, a pressure difference is formed on both sides of the guide cavity, so that the welding fume at the welding head flows along the pipeline direction.

[0006] As a further solution of the present invention: it also includes an environment interaction control module, specifically including: The visual sensing module is used to acquire image data and identify defects on the inner wall of the pipeline based on the image data to determine the welding required points and control the movement of the annular components and welding components according to the welding required points; A smoke sensing module, used to acquire sensor data of ambient smoke concentration, and generate diversion control data based on the ambient smoke concentration, wherein the diversion control data is used to characterize the airflow circulation velocity requirement based on the ambient smoke concentration; The diversion control module is used to control the rotation speed of the diversion fan based on the diversion control data.

[0007] As a further solution of the present invention: the environment interaction control module further includes: The collaborative judgment module is used to calculate the ambient light transmittance based on the image data, obtain the visual state in the current pipeline smoke environment, set the diversion control threshold based on the visual state, and when the visual state is higher than the preset value, the diversion control data is adjusted within the diversion control threshold.

[0008] As a further solution of the present invention: it also includes installing the frame; The mounting frame is arranged inside the annular rotating frame, and is connected to the surfaces of the guide cavities arranged on both sides through fixing brackets at both ends.

[0009] As a further solution of the present invention: the annular component further comprises: A positioning drive mechanism, wherein the number of the positioning drive mechanisms is multiple and the positioning drive mechanisms are evenly distributed on the circumference, one end of the positioning drive mechanism is fixedly arranged on the mounting frame, and the other end of the positioning drive mechanism is a driving wheel and is in contact with the inner wall of the annular rotating frame to drive the annular rotating frame; A pair of horizontal guide rails are provided on the outer surface of the annular rotating frame, and the pair of horizontal guide rails are symmetrically arranged through the center of the circle, and are respectively used for sliding cooperation with the guide slide seat arranged at the bottom of the welding assembly and fixing the counterweight mounting base, and the counterweight mounting base is used to install the counterweight balance block or the welding consumables storage tank.

[0010] As a further solution of the present invention: it also includes a traveling assembly, wherein the traveling assembly is fixedly provided with a traveling hinge frame on the side of the guide cavity away from the annular assembly; The travel articulated frame is hingedly provided with a plurality of travel support feet on one side close to the guide cavity, the plurality of travel support feet are evenly distributed on the circumference and are radially inclined along the circumference, and the ends of the travel support feet are rotatably provided with travel wheels; The traveling articulated frame is provided with a radial adjustment mechanism for sliding movement on the side away from the guide cavity. The radial adjustment mechanism includes an adjustment slider slidably arranged along the length direction of the traveling articulated frame, and a hinged connecting rod connecting the adjustment slider and the traveling support foot. When the adjustment slider slides, the inclination angles of the multiple traveling support feet change synchronously.

[0011] As a further solution of the present invention: it also includes a driving motor, which is fixedly installed on the mounting frame, and the driving motor is a double-end output motor, and is connected to the input ends of a pair of the guide fans.

[0012] A multifunctional automatic welding robot provided by an embodiment of the present invention is suitable for welding maintenance in pipelines or welding maintenance in a narrow space. By providing a foldable welding component that moves in a circular direction, the welding robot can have better passability and is suitable for various pipelines and narrow environments. At the same time, the guide component can control the airflow circulation in the narrow environment based on demand during welding, which can effectively avoid the smoke generated during welding from gathering in the narrow environment and affecting the welding judgment of the welding robot, thereby ensuring the accurate and reliable execution of the recognition process of automated welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A three-dimensional structural diagram of a multifunctional automated welding robot provided by an embodiment of the present invention; Figure 2 A schematic diagram of a partially disassembled structure of a multifunctional automated welding robot provided by an embodiment of the present invention; Figure 3 A schematic diagram of the coordination of a flow guide assembly in a multifunctional automated welding robot provided by an embodiment of the present invention; Figure 4 A schematic diagram of the coordination between a circumferential component and a welding component in a multifunctional automated welding robot provided by an embodiment of the present invention; Figure 5 A schematic structural diagram of a circumferential component in a multifunctional automated welding robot provided by an embodiment of the present invention; Figure 6 A schematic diagram of the structure of an installation frame in a multifunctional automated welding robot provided by an embodiment of the present invention; Figure 7 A schematic structural diagram of a traveling component in a multifunctional automated welding robot provided in an embodiment of the present invention.

[0014] In the accompanying drawings: 1-traveling assembly, 110-traveling articulated frame, 120-traveling support foot, 130-radial adjustment mechanism, 2-guide assembly, 210-guide chamber, 220-guide fan, 3-annular assembly, 310-annular rotating frame, 320-positioning drive mechanism, 330-horizontal guide rail, 340-counterweight mounting base, 4-welding assembly, 410-guide slide, 420-welding arm, 430-welding head, 5-mounting frame, 510-fixed bracket, 6-drive mechanism. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0016] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0017] like Figures 1 to 5 , which is a structural diagram of a multifunctional automatic welding robot provided by an embodiment of the present invention, the welding robot comprises a welding assembly 4 horizontally arranged on an annular assembly 3, and a flow guide assembly 2 arranged at both sides of the annular assembly 3 and the welding assembly 4, the annular assembly 3 comprises an annular rotating frame 310 which is annular in structure and rotatably arranged; The welding assembly 4 is slidably arranged on the outer surface of the annular rotating frame 310 along the length direction. The welding assembly 4 includes a multi-jointed bendable welding arm 420 and a welding head 430 hingedly arranged at the end of the welding arm 420. The welding arm 420 is used to control the extension height of the telescopic welding head 430 during welding. When the annular rotating frame 310 rotates, the orientation angle of the welding assembly 4 in the pipeline changes; The guide assembly 2 includes a guide cavity 210 with openings on both sides and a guide fan 220 rotatably arranged in the guide cavity 210. When the guide fan 220 rotates, a pressure difference is formed on both sides of the guide cavity 210, so that the welding fume at the welding head 430 flows along the pipeline direction.

[0018] In an embodiment of the present invention, a multifunctional automated welding robot is provided, which is suitable for welding maintenance in pipelines or welding maintenance in a narrow space. By providing a foldable welding component 4 that moves in a circular direction, the welding robot can have better passability and is suitable for various pipelines and narrow environments. At the same time, the guide component 2 can control the airflow circulation in the narrow environment based on demand during welding, which can effectively avoid the smoke generated during welding from gathering in the narrow environment and affecting the welding judgment of the welding robot, thereby ensuring the accurate and reliable execution of the recognition process of automated welding.

[0019] In one embodiment of the present invention, the scene environment used is pipeline welding and welding tasks in a narrow environment. When facing such welding, due to the artificial human body volume limitation, smaller pipelines and environments cannot be conveniently entered, so it is not convenient to enter to complete the welding task. The welding robot in the embodiment includes a multi-joint bendable and foldable welding arm 420. When entering the welding environment, the welding arm 420 can be folded, so that it can be convenient to enter the narrow space. For some spaces with a small entrance and a larger interior, the internal entrance can also be folded to enter the internal entrance, and the welding component 4 can be unfolded for operation. Among them, the welding component 4 can slide along the length direction of the annular rotating frame 310 and be driven to rotate by the annular rotating frame 310, so as to adjust the direction and position of the welding component 4; at the same time, when welding is carried out in a narrow space, welding smoke accumulation and heat accumulation will also occur, so a guide component 2 is also provided here. During welding, the guide fan 220 rotates, and under the action of the guide chamber 210, the gas is drawn to flow in one direction in the pipeline or a narrow space (usually the direction in which the welding robot enters, that is, the exit direction), thereby solving the problem of smoke accumulation affecting the robot's visual judgment.

[0020] As a preferred embodiment of the present invention, it also includes an environment interaction control module, specifically including: The visual sensing module is used to acquire image data and identify defects on the inner wall of the pipeline based on the image data to determine the welding required points, and control the movement of the annular component 3 and the welding component 4 according to the welding required points; A smoke sensing module, used to acquire sensor data of ambient smoke concentration, and generate diversion control data based on the ambient smoke concentration, wherein the diversion control data is used to characterize the airflow circulation velocity requirement based on the ambient smoke concentration; The diversion control module is used to control the rotation speed of the diversion fan based on the diversion control data.

[0021] Furthermore, the environment interaction control module also includes: The collaborative judgment module is used to calculate the ambient light transmittance based on the image data, obtain the visual state in the current pipeline smoke environment, set the diversion control threshold based on the visual state, and when the visual state is higher than the preset value, the diversion control data is adjusted within the diversion control threshold.

[0022] In one embodiment of the present invention, an environmental interaction control module is added, wherein the visual sensing module is used by the welding robot to realize image recognition and point judgment of the notch defect to be welded, so that the welding assembly 4 can be controlled to perform fixed-point welding according to the point data; the smoke sensing module is used to monitor the smoke concentration. When the concentration is high, a control signal is generated to control the rotation of the guide fan 220 to realize airflow. However, in actual welding scenarios, in some welding situations, the smoke generated by welding causes the particle concentration in the environment to increase, but the smoke actually generated may be transparent or have high transparency. Even if the concentration is high, it will not affect the visual recognition effect of the welding robot too much. In this case, if the guide fan 220 rotates at a higher speed, it may cause certain vibrations and affect the accuracy of welding. Therefore, a collaborative judgment module is also added here to realize the collaborative work of smoke sensing and visual sensing. When the result of visual sensing shows that the ambient air still has sufficient light transmittance, even if the smoke concentration is high, the speed of the guide fan 220 will be controlled within the guide control threshold to ensure low speed operation and reduce the negative impact of vibration on welding accuracy.

[0023] like Figure 2 , Figure 4 and Figure 6 As shown, as another preferred embodiment of the present invention, it also includes a mounting frame 5; The mounting frame 5 is disposed inside the annular rotating frame 310 , and is connected to the surfaces of the guide chambers 210 disposed on both sides through fixing brackets 510 at both ends.

[0024] Furthermore, the annular component 3 also includes: A positioning drive mechanism 320, wherein the number of the positioning drive mechanisms 320 is multiple and evenly distributed on the circumference, one end of the positioning drive mechanism 320 is fixedly disposed on the mounting frame 5, and the other end of the positioning drive mechanism 320 is a driving wheel and is in contact with the inner wall of the annular rotating frame 310 to drive the annular rotating frame 310; A pair of horizontal guide rails 330 are provided on the outer surface of the annular rotating frame 310. The pair of horizontal guide rails 330 are symmetrically arranged through the center of the circle, and are respectively used for sliding cooperation with the guide slide 410 set at the bottom of the welding assembly 4 and fixing the counterweight mounting base 340. The counterweight mounting base 340 is used to install a counterweight balance block or a welding consumables storage tank.

[0025] In one embodiment of the present invention, the function of the mounting frame 5 is to support the internal structure and fix the main structure of the welding robot, so that it has a certain stability during the welding process and provides a certain rotation support basis for the annular component 3; when the annular component 3 is in use, the inner wall of the annular rotating frame 310 supports multiple positioning drive mechanisms 320 fixed on the mounting frame 5 along the radial direction. When rotating, it is driven by the driving wheels at the ends of the multiple positioning drive mechanisms 320. A pair of horizontal guide rails are provided on the outer side of the annular rotating frame 310, which are symmetrically arranged at both ends of the diameter through the center of the circle. One is used to install the welding component 4, and the other is used to install the counterweight mounting base 340. According to needs, counterweight balancing blocks or welding consumables storage tanks can be installed on the counterweight mounting base 340 respectively. The purpose of balancing here is that when the annular component 3 rotates during welding, the counterweight balance based on the rotating axis can make its rotation control more precise and stable.

[0026] like Figure 1 , Figure 3 , Figure 6 and Figure 7 As shown, as a preferred embodiment of the present invention, it also includes a traveling component 1, and the traveling component 1 is fixedly provided with a traveling articulated frame 110 on the side of the guide cavity 210 away from the annular component 3; The traveling articulated frame 110 is hingedly provided with a plurality of traveling support legs 120 on one side close to the guide cavity 210. The plurality of traveling support legs 120 are evenly distributed on the circumference and are radially inclined along the circumference. The ends of the traveling support legs 120 are rotatably provided with traveling wheels. The traveling articulated frame 110 is provided with a radial adjustment mechanism 130 for sliding movement on the side away from the guide cavity 210. The radial adjustment mechanism 130 includes an adjustment slider slidably arranged along the length direction of the traveling articulated frame 110, and a hinged connecting rod connecting the adjustment slider and the traveling support foot 120. When the adjustment slider slides, the inclination angles of the multiple traveling support feet 120 change synchronously.

[0027] Furthermore, it also includes a driving motor 6 , which is fixedly installed on the mounting frame 5 . The driving motor 6 is a double-end output motor and is connected to the input ends of a pair of the guide fans 220 .

[0028] In one embodiment of the present invention, a traveling component 1 is added to realize the autonomous movement of the welding robot. The claw-shaped traveling support feet 120 with adjustable inclination angles enable the robot to adapt to the environments inside pipelines of various specifications. For environments with changing internal spaces, the passability can be adjusted by changing the degree of opening of multiple traveling support feet 120. Therefore, the robot has better adaptability to narrow space environments.

[0029] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multifunctional automatic welding robot, characterized in that: The welding robot comprises a welding assembly (4) arranged horizontally on the annular assembly (3), and a flow guide assembly (2) arranged at positions on both sides of the annular assembly (3) and the welding assembly (4); the annular assembly (3) comprises an annular rotating frame (310) which is annular in structure and rotatably arranged; The welding assembly (4) is slidably arranged on the outer surface of the annular rotating frame (310) along the length direction, the welding assembly (4) comprises a multi-jointed bendable welding arm (420) and a welding head (430) hingedly arranged at the end of the welding arm (420), the welding arm (420) is used to control the extension height of the telescopic welding head (430) during welding, and when the annular rotating frame (310) rotates, the orientation angle of the welding assembly (4) in the pipeline changes; The flow guide assembly (2) comprises a flow guide chamber (210) with openings on both sides and a flow guide fan (220) rotatably arranged in the flow guide chamber (210); when the flow guide fan (220) rotates, a pressure difference is formed on both sides of the flow guide chamber (210), so that welding fumes at the welding head (430) flow along the direction of the pipeline.

2. A multifunctional automatic welding robot according to claim 1, characterized in that: It also includes the environment interaction control module, including: A visual sensing module, used to acquire image data and identify defects on the inner wall of the pipeline based on the image data, so as to determine the welding required point, and control the movement of the annular component (3) and the welding component (4) according to the welding required point; A smoke sensing module, used to acquire sensor data of ambient smoke concentration, and generate diversion control data based on the ambient smoke concentration, wherein the diversion control data is used to characterize the airflow circulation velocity requirement based on the ambient smoke concentration; A diversion control module is used to control the rotation speed of the diversion fan based on the diversion control data.

3. A multifunctional automatic welding robot according to claim 2, characterized in that: The environment interaction control module also includes: The collaborative judgment module is used to calculate the ambient light transmittance based on the image data, obtain the visual state in the current pipeline smoke environment, set the diversion control threshold based on the visual state, and when the visual state is higher than the preset value, the diversion control data is adjusted within the diversion control threshold.

4. The multifunctional automatic welding robot according to claim 1, characterized in that: Also includes installing the frame (5); The mounting frame (5) is arranged inside the annular rotating frame (310), and is connected to the surface of the guide cavity (210) arranged on both sides through fixing brackets (510) at both ends.

5. The multifunctional automatic welding robot according to claim 4, characterized in that: The annular component (3) further comprises: a positioning drive mechanism (320), wherein the positioning drive mechanism (320) is multiple and evenly distributed on the circumference, one end of the positioning drive mechanism (320) is fixedly disposed on the mounting frame (5), and the other end of the positioning drive mechanism (320) is a driving wheel and is in contact with the inner wall of the annular rotating frame (310) to drive the annular rotating frame (310); A pair of horizontal guide rails (330) are provided on the outer surface of the annular rotating frame (310), and the pair of horizontal guide rails (330) are symmetrically arranged through the center of the circle, and are respectively used for sliding cooperation with a guide slide seat (410) arranged at the bottom of the welding assembly (4) and fixing a counterweight installation base (340), and the counterweight installation base (340) is used for installing a counterweight balance block or a welding consumables storage tank.

6. The multifunctional automatic welding robot according to claim 1, characterized in that: It also comprises a travelling assembly (1), wherein the travelling assembly (1) is fixedly provided with a travelling hinge frame (110) on a side of the guide cavity (210) away from the annular assembly (3); The travel articulated frame (110) is hingedly provided with a plurality of travel support feet (120) on one side close to the guide cavity (210); the plurality of travel support feet (120) are evenly distributed on the circumference and are arranged radially inclined along the circumference; and travel wheels are rotatably provided at the ends of the travel support feet (120); The traveling articulated frame (110) is provided with a radial adjustment mechanism (130) for sliding movement on a side away from the guide cavity (210); the radial adjustment mechanism (130) comprises an adjustment slider slidably arranged along the length direction of the traveling articulated frame (110), and a hinge connecting rod connecting the adjustment slider and the traveling support foot (120); when the adjustment slider slides, the inclination angles of the plurality of traveling support feet (120) change synchronously.

7. The multifunctional automatic welding robot according to claim 4, characterized in that: It also comprises a drive motor (6), the drive motor (6) being fixedly mounted on the mounting frame (5), the drive motor (6) being a double-end output motor and being connected to the input ends of a pair of the guide fans (220).

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