Full-automatic pipeline interior welding robot and using method thereof
By designing a fully automatic pipeline welding robot, the problems of low welding efficiency and unstable quality of pipeline inner ring welds in the prior art are solved, and an efficient and automated welding process is achieved, which is suitable for large-diameter and high-pressure pipelines.
Patent Information
- Application Number
- CN202510173442.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-17
- Publication Date
- 2025-03-28
AI Technical Summary
The prior art is difficult to achieve efficient and accurate pipe inner ring weld welding, especially in large diameter and high pressure pipelines. The welding quality is unstable and the efficiency is low, and the existing equipment cannot meet the needs of inner ring welding.
A fully automatic pipe welding robot is designed, including a driving cart, annular mount, clamping moving components, robotic arms and welding components, equipped with visual components and composite welding guns, which can move along the annular path, realize automated welding, and obtain weld information through visual components to ensure the accuracy of welding position.
It realizes efficient and automated pipe welding, high welding efficiency and stable quality, and is suitable for large diameter, large wall thickness and high pressure pipe welding, reducing labor intensity and production costs.
Smart Images
Figure CN119703615A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of welding robots, and in particular to a full-automatic in-pipe welding robot and a use method thereof. Background Art
[0002] Pipeline transportation is the most important, fastest, most economical and reliable way of oil and gas transportation. It can be used to transport water, crude oil, natural gas, refined oil, etc. It has the advantages of large transmission volume, long distance, safety and low cost, and has developed rapidly in countries around the world. The pipeline welding environment is harsh and the welding span is large. In addition, pipeline transportation is developing towards high pressure and large diameter, which puts higher and more stringent requirements on the welding of the inner girth weld of the pipeline. The welding method of the automated inner girth weld of the pipeline has become a key factor restricting the quality of the entire project.
[0003] Large-diameter, high-pressure long-distance transmission pipelines are increasingly used in the field of oil and gas transportation, and the requirements for welding technology between pipelines are becoming higher and higher. Large-diameter, thick-walled, high-pressure pipeline transmission pressure has become a symbol of technological progress in pipeline construction. Pipeline girth weld welding is an important part of pipeline construction. The welding quality of girth welds directly affects the safety of pipeline service, and the construction period of pipelines is mainly affected by the girth weld welding efficiency.
[0004] With the acceleration of the production pace of industrial enterprises, new requirements are put forward for the pipelines. The diameter of the pipelines is getting larger and larger, and the pressure of the conveying medium is getting higher and higher. Therefore, higher requirements are put forward for the quality and technology of pipeline welding. However, most industrial enterprises still use manual welding technology. The low efficiency of manual welding can no longer meet the needs of existing industrial development. There are also methods that fix the pipeline on the welding frame and then configure a movable industrial robot to clamp the welder to weld the outside of the pipeline. However, considering the thickness of the pipeline, the welding of some pipelines is not only welding on the outside, but also welding on the inside. When welding the pipeline, it is necessary to ensure that both ends of the pipeline are neat. Before welding, the internal ports of the pipeline must be cleaned, leveled, and polished.
[0005] The girth welding of cylindrical workpieces generally relies on manual welding. During manual welding, the welding quality is unstable, the solder is uneven, and there is often too much solder in some areas or too little solder in some areas. The welding quality is unqualified, the later repair is difficult, the processing time is long, the amount of solder used is large, and the labor intensity of manual welding is high, which is not conducive to effectively improving production efficiency and controlling production costs. When manufacturing cylindrical workpieces, in order to make the outer wall of the workpiece flat and ensure the beauty of the workpiece, the internal welding method will be used when welding the workpiece, and the weld position will be set on the inner wall of the cylinder. For cylindrical workpieces with high bearing strength, in order to ensure the strength of the workpiece, the form of double girth welding on the inner and outer surfaces is generally adopted. Existing welding equipment generally only has a welding gun for outer seam welding, which cannot effectively meet the requirements of inner girth welding and has poor welding quality. In addition, the positioning device of the outer wall of the outer girth welding pipeline cannot be used in some working conditions with narrow space, and its applicability is not high. Summary of the invention
[0006] In view of the deficiencies in the prior art, the present invention provides a fully automatic pipeline welding robot and a method for using the same, which has the advantages of automated welding, accurate welding position, and high welding efficiency.
[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a fully automatic in-pipe welding robot, comprising a driving trolley, a ring-shaped mounting frame is fixedly installed on the front side of the driving trolley, a clamping and moving assembly is arranged on the front end edge of the ring-shaped mounting frame, an adapter plate is arranged on the top of the clamping and moving assembly, an adjustment assembly is arranged on the clamping and moving assembly, a mechanical arm is fixedly installed on the top of the adapter plate, a welding assembly is fixedly installed on the top of the adapter plate, and a visual assembly and a composite welding gun are fixedly installed on the end flange of the mechanical arm.
[0008] Furthermore, two driving wheels are provided on the left and right sides of the driving trolley, and two guide wheels are provided on the top of the driving trolley, and a wheel core part is rotatably installed on the axis of the guide wheel, and an axle rod is fixedly installed on the side of the wheel core part, and the axle rod is detachably installed with the slide plate through a nut, and the tail end of the axle rod is sleeved with a sleeve, and the bottom of the sleeve is fixedly installed with the output end of the pneumatic rod, and the slide plate is slidably installed in the interior of the support seat, and the side of the slide plate is fixedly installed with limiting strips, and the interior of the support seat is provided with limiting grooves corresponding to the limiting strips, grooves are provided at the bottom of both sides of the slide plate, and a sealing cover is fixedly installed on the opening of the groove, and a clamping head is inserted in the interior of the sealing cover, and a limiting plate is fixedly installed on the side of the clamping head, and a push spring is fixedly installed on the side of the limiting plate, and a clamping groove corresponding to the clamping head is provided on the inner wall of the support seat, and a buffer spring is fixedly installed in the middle of the slide plate.
[0009] Furthermore, a ring gear is fixedly mounted on the outer wall of the annular mounting frame, and the clamping moving assembly includes four adapter seats fixedly mounted on the bottom of the adapter plate, the four adapter seats are distributed in a matrix, and the four adapter seats are divided into two groups on the left and right, and an outer guide wheel is rotatably connected between each group of adapter seats, and the space between the two outer guide wheels is used to accommodate the edge of the annular gear, and there is a gap between the connecting shafts of the annular gear and the outer guide wheel to improve the flexibility during welding; a vertical frame is fixedly mounted on the bottom of the front end of the adapter plate, and the inner end faces of the two adapter seats on the front side are fixedly connected, and an inner guide wheel is arranged on the rear side of the bottom end of the vertical frame, and the inner guide wheel is attached to the inner wall of the annular gear; a motor seat is fixedly mounted on the right side of the adapter plate, and a driving motor is fixedly mounted on the rear side of the motor seat, and the output end of the driving motor passes through the motor seat, and a driving gear is fixedly mounted on the output end of the driving motor, and the driving gear is meshed with the annular gear.
[0010] Furthermore, the adjusting assembly includes a cam rotatably connected to the front side of the vertical frame, an adjusting crank is fixedly installed at the front center of the cam, a slide groove is penetrated through the lower half of the vertical frame, a slider is slidably connected in the slide groove, the inner guide wheel is rotatably connected to the rear end shaft of the slider, a sliding shaft is fixedly installed on the top of the front end of the slider, a pressure plate is fixedly installed on the top of the sliding shaft, a sliding seat is fixedly installed on the middle part of the front side of the vertical frame, the sliding shaft penetrates and is slidably connected to the sliding seat, a pre-stressed spring is sleeved on the outer side of the sliding shaft, two ends of the pre-stressed spring are respectively fixedly installed on the bottom of the pressure plate and the top of the sliding seat, and the cam fits on the top of the pressure plate.
[0011] Furthermore, the sliding seat and the two adapter seats on the front side are both provided with limit movable pins.
[0012] Furthermore, a mounting plate is fixedly mounted on the top of the adapter plate, the mechanical arm is fixedly mounted on the mounting plate, an end flange is provided at the end of the mechanical arm, and a control cabinet is fixedly mounted on the top of the adapter plate.
[0013] Furthermore, the welding assembly includes a support plate fixedly mounted on the top of the mounting plate, a wire feeder and a wire reel are fixedly mounted on the top of the support plate, the wire reel is located at the rear side of the wire feeder, a welder is arranged at the bottom of the support plate, and the end flange is fixedly connected to the composite welding gun.
[0014] Furthermore, the visual component includes a camera and a line laser emitter fixedly mounted on the end flange of the robot arm, and the camera and the line laser emitter are both tilted in design, and the camera and the line laser emitter are facing below the output end of the composite welding gun.
[0015] A method for using a fully automatic pipeline welding robot comprises the following steps: turning an adjusting crank to drive a cam to adjust the spacing between an inner guide wheel and an outer guide wheel, installing a clamping moving component on a ring gear, installing a mechanical arm and a welding component on an adapter plate of the clamping moving component, fixing a visual component and a composite welding gun on a flange at the end of the mechanical arm, driving a trolley to enter a first pipeline or a second pipeline, extending and retracting a guide wheel to a suitable position, and driving a driving wheel to drive the trolley forward to reach a pipeline docking interface so that the distance between the welding gun and the groove does not exceed 50 mm.
[0016] Compared with the prior art, the present invention has the following beneficial effects: The fully automatic in-pipe welding robot rotates the active gear to move the adapter plate along the ring gear, and the robot arm moves along the ring path, so the welding efficiency is high. The camera and line laser transmitter collect visual information of the weld, which is more accurate and reliable than naked eye observation, and the welding position is stable and reliable, with high welding quality; it can realize intelligent planning of robot position, welding path, welding gun posture, and can realize multi-layer multi-pass adaptive welding, and can adaptively adjust the optimal welding distance between the welding gun and the weld inside pipes of different diameters. It has a wide range of applications and can be used for welding large-caliber, thick-walled, and high-pressure pipelines.
[0017] This fully automatic in-pipe welding robot can drive the cam to adjust the distance between the inner guide wheel and the outer guide wheel by turning the adjusting crank, and can also adjust the clamping strength of the inner guide wheel, the outer guide wheel and the ring gear, so as to facilitate the installation and disassembly of the clamping moving components, and the later maintenance is convenient and low-cost. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 Schematic diagram of the three-dimensional structure of the fully automatic in-pipe welding robot in the embodiment; Figure 2 Schematic diagram of the left side structure of the fully automatic in-pipe welding robot in the embodiment; Figure 3 This is a schematic diagram of the main structure of the fully automatic in-pipe welding robot and the welding pipeline in the embodiment; Figure 4 It is a schematic diagram of the three-dimensional structure from the left side perspective of the fully automatic in-pipe welding robot in the embodiment after the driving trolley is removed; Figure 5 It is a schematic diagram of the three-dimensional structure from the right side perspective of the fully automatic in-pipe welding robot in the embodiment after removing the driving trolley; Figure 6 It is a schematic diagram of the three-dimensional structure from the front side view of the fully automatic in-pipe welding robot in the embodiment after removing the driving trolley; Figure 7 The fully automatic in-pipe welding robot in the embodiment Figure 6A is a schematic diagram of the enlarged structure of the details; Figure 8 Schematic diagram of the three-dimensional structure of the guide wheel and the support seat of the fully automatic in-pipe welding robot in the embodiment; Fig. 9 It is a rear perspective structural diagram of the guide wheels and the support base of the fully automatic in-pipe welding robot in the embodiment; Fig.10 It is a schematic diagram of the exploded three-dimensional structure of the slide plate and the support seat of the fully automatic in-pipe welding robot in the embodiment; Fig.11 It is a schematic diagram of the separated three-dimensional structure of the slide plate, the push spring and the clamping head of the fully automatic in-pipe welding robot in the embodiment.
[0019] In the figure: 100, driving trolley; 200, ring mounting frame; 300, clamping moving assembly; 400, adapter plate; 500, adjustment assembly; 600, robotic arm; 700, welding assembly; 800, visual assembly; 101, driving wheel; 102, guide wheel; 103, wheel core; 104, shaft; 105, nut; 106, slide plate; 107, bushing; 108, pneumatic rod; 109, support seat; 1010, limiting strip; 1011, limiting groove; 1012, groove; 1013, cover; 1014, clamp; 1015, limit plate; 1016, push spring; 1017, buffer spring; 301, adapter; 302, outer guide wheel; 303, vertical frame; 304, inner guide wheel; 305, ring gear; 306, motor seat; 307, drive motor; 308, driving gear; 501, cam; 502, adjusting crank; 503, slide groove; 504, slider; 505, sliding shaft; 506, pressure plate; 507, sliding seat; 508, pre-compression spring; 509, limit movable pin; 601, mounting plate; 602, end flange; 603, control cabinet; 701, support plate; 702, wire feeder; 703, wire reel; 704, welding machine; 705, compound welding gun; 801. Camera; 802. Line laser transmitter. DETAILED DESCRIPTION
[0020] The technical solutions in the present invention are described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only partial embodiments, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0021] See also Figure 1-Figure 11 A fully automatic in-pipe welding robot comprises a driving trolley 100, a ring-shaped mounting frame 200 is fixedly mounted on the front side of the driving trolley 100, a clamping moving assembly 300 is arranged on the front end edge of the ring-shaped mounting frame 200, an adapter plate 400 is arranged on the top of the clamping moving assembly 300, an adjusting assembly 500 is arranged on the clamping moving assembly 300, a mechanical arm 600 is fixedly mounted on the top of the adapter plate 400, a welding assembly 700 is fixedly mounted on the top of the adapter plate 400, and a visual assembly 800 and a composite welding gun 705 are fixedly mounted on the end flange 602 of the mechanical arm 600.
[0022] See also Figure 8-Figure 11 , two driving wheels 101 are arranged on the left and right sides of the driving trolley 100, and two guide wheels 102 are arranged on the top of the driving trolley 100. The guide wheel 102 is rotatably mounted with a wheel core 103, and the side of the wheel core 103 is fixedly mounted with a shaft rod 104. The shaft rod 104 is detachably mounted with a slide plate 106 through a nut 105. The tail end of the shaft rod 104 is covered with a sleeve 107, and the bottom of the sleeve 107 is fixedly mounted with the output end of the pneumatic rod 108. The pneumatic rod 108 allows the guide wheel 102 to always apply force to the pipe wall, thereby making the driving trolley 100 run stably. Through the elasticity of the pneumatic rod 108, the guide wheel 102 always has a pressing force on the pipeline, ensuring the normal travel of the driving trolley 100 and reducing the wear of the driving wheel 101 on the track. The walking direction and walking speed can be accurately controlled. The guide wheel 102 is retractable to adapt to pipes of different diameters.
[0023] The slide plate 106 is slidably installed inside the support seat 109, and the sides of the slide plate 106 are fixedly installed with limiting strips 1010. The inside of the support seat 109 is provided with limiting grooves 1011 corresponding to the limiting strips 1010. The slide plate 106 follows the extension and retraction of the pneumatic rod 108, and then slides up and down inside the support seat 109, ensuring that the slide plate 106 slides up and down stably.
[0024] Grooves 1012 are provided at the bottom of both sides of the slide plate 106, and a cover 1013 is fixedly installed at the opening of the groove 1012, a clamp head 1014 is inserted inside the cover 1013, a limit plate 1015 is fixedly installed on the side of the clamp head 1014, and a push spring 1016 is fixedly installed on the side of the limit plate 1015. A clamping groove corresponding to the clamp head is provided on the inner wall of the support seat 109, and a buffer spring 1017 is fixedly installed in the middle of the slide plate 106. After the slide plate 106 moves up and down, the clamp heads 1014 on both sides of the slide plate 106 are inserted into the corresponding clamping grooves to ensure the sliding damping of the slide plate 106, so that the guide wheel 102 has better stability.
[0025] The clamping moving assembly 300 includes four adapter seats 301 fixedly mounted on the bottom of the adapter plate 400. The four adapter seats 301 are arranged in a matrix. The four adapter seats 301 are divided into two groups on the left and right. Each group of adapter seats 301 is rotatably connected with an outer guide wheel 302. The space between the two outer guide wheels 302 is used to accommodate the edge of the ring gear 305. There is a gap between the connecting shafts of the ring gear 305 and the outer guide wheel 302 to improve the flexibility during welding. A vertical frame 303 is fixedly mounted on the bottom of the front end of the adapter plate 400, and there are two front side The inner end surface of the adapter seat 301 is fixedly connected, and the inner guide wheel 304 is arranged at the rear side of the bottom end of the vertical frame 303, and the inner guide wheel 304 is fitted on the inner wall of the ring gear 305; the ring gear 305 is fixedly installed on the outer wall of the ring mounting frame 200, and the motor seat 306 is fixedly installed on the right side of the adapter plate 400, and the drive motor 307 is fixedly installed on the rear side of the motor seat 306. The output end of the drive motor 307 passes through the motor seat 306, and the output end of the drive motor 307 is fixedly installed with a driving gear 308, and the driving gear 308 is meshed with the ring gear 305. The driving motor 307 drives the driving gear 308 to rotate, so as to drive the mechanical arm 600 to make a circular motion along the ring gear 205. The output shaft of the drive motor 307 is provided with a brake, which can realize the start and stop of the clamping moving assembly 300.
[0026] The adjusting assembly 500 includes a cam 501 rotatably connected to the front side of the vertical frame 303, an adjusting crank 502 is fixedly installed at the front center of the cam 501, a slide groove 503 is penetrated on the lower half of the vertical frame 303, a slider 504 is slidably connected in the slide groove 503, the inner guide wheel 304 is rotatably connected to the rear end shaft of the slider 504, a sliding shaft 505 is fixedly installed on the top of the front end of the slider 504, a pressure plate 506 is fixedly installed on the top of the sliding shaft 505, a sliding seat 507 is fixedly installed in the middle of the front side of the vertical frame 303, the sliding shaft 505 penetrates and is slidably connected to the sliding seat 507, a pre-stressed spring 508 is sleeved on the outer side of the sliding shaft 505, and the two ends of the pre-stressed spring 508 are respectively fixedly installed on the bottom of the pressure plate 506 and the top of the sliding seat 507, and the cam 501 is attached to the top of the pressure plate 506. The sliding seat 507 and the two adapter seats 301 at the front side are both provided with limit movable pins 509 for locking the adjusting crank 502 .
[0027] When the adjusting crank 502 rotates 90 degrees, the smaller radius of the cam 501 fits on the top of the pressure plate 506, and under the elastic action of the preload spring 508, the inner guide wheel 304 moves upward, and the distance between the inner guide wheel 304 and the outer guide wheel 302 is reduced, so that the whole system is installed on the ring gear 305, so that the driving gear 308 and the ring gear 305 are in meshing state, and the walking speed can be accurately controlled by driving the motor 307; When the adjustment crank 502 is rotated 90 degrees in the same direction again, the larger radius of the cam 501 fits on the top of the pressure plate 506, pushing the pressure plate 506 downward, and driving the inner guide wheel 304 to move downward through the sliding shaft 505. At this time, the distance between the inner guide wheel 304 and the outer guide wheel 302 will increase, and the inner guide wheel 304 and the outer guide wheel 302 can be disengaged from the ring gear 305. The installation and disassembly work can be completed, and the operation is simple. By adjusting the rotation angle of the cam 501, the compression distance of the spring can be adjusted, and the pressing force between the inner guide wheel 304 and the outer guide wheel 302 and the ring gear 305 can be adjusted, which is very convenient.
[0028] A mounting plate 601 is fixedly mounted on the top of the adapter plate 400 , a mechanical arm 600 is fixedly mounted on the mounting plate 601 , a terminal flange 602 is provided at the end of the mechanical arm 600 , and a control cabinet 603 is fixedly mounted on the top of the adapter plate 400 .
[0029] The welding assembly 700 includes a support plate 701 fixedly mounted on the top of the mounting plate 601, a wire feeder 702 and a wire reel 703 fixedly mounted on the top of the support plate 701, the wire reel 703 is located at the rear of the wire feeder 702, a welder 704 is arranged at the bottom of the support plate 701, and a composite welding gun 705 is fixedly connected to the end flange 602 (Note: the end flange 602 can rotate, which can drive the composite welding gun 705 and the visual assembly 800 to rotate together). The visual assembly 800 includes a camera 801 and a line laser emitter 802 fixedly mounted on the end flange 602 of the robot arm 600, and the camera 801 and the line laser emitter 802 are both tilted in design, and the camera 801 and the line laser emitter 802 face the lower side of the output end of the composite welding gun 705. The welding assembly 700 and the robot arm 600 can move synchronously along the ring gear, the wire feeding is smooth, and the welding cable will not be tangled. The visual assembly 800 automatically scans and collects the weld position information: the laser scans the weld, and the visual camera automatically collects the weld position information to achieve smooth transition of each layer of welding parameters and accurate welding in all positions. The visual assembly 800, the robot arm 600, and the driving trolley 100 can communicate with each other, and can realize intelligent planning of the robot position, welding path, and welding gun posture, and can realize multi-layer and multi-pass adaptive welding. It can adaptively adjust the optimal welding distance between the welding gun and the weld inside pipes of different diameters.
[0030] It can also be equipped with an ultrasonic flaw detector to detect ultrasonic flaws in welds and welds. Ultrasonic flaw detection is a method that sends ultrasonic waves to the welding area, then receives the reflected ultrasonic waves and analyzes the changes in the reflected waveform to determine whether there are defects and problems. This method is suitable for detecting welds of thicker metal plates and pipes. Ultrasonic flaw detection has high sensitivity and reliability, and can detect defects such as pores, slag inclusions, and cracks in welds.
[0031] Laser vision sensing technology and arc sensing technology can autonomously identify welds and perform parameter planning and navigation, truly reducing labor costs. Equipped with advanced wireless remote controls and precise arc control, the robot adopts an industrial Ethernet bus design with high communication real-time and multiple network interfaces, and can connect to remote data management systems.
[0032] By acquiring scanning data through the visual component 800 and measuring the angle within the weld 1mm at a time, the system can automatically compensate for changes between parts and changes within the welding head, and can accurately calculate the number of welds required for filling, automatically weld, and automatically adjust weld parameters.
[0033] When using it, the steps are as follows: S1. Processing the welding ends of the first pipe and the second pipe to be welded into a groove end face, wherein the groove end face is in the shape of a V-shaped groove end face, and the groove end face includes an upslope surface from the outer wall of the pipe to the inner wall of the pipe, a downslope surface and a groove blunt edge; S2. According to the predetermined welding process, the welding process parameters are entered into the controller program and saved; S3, assembling the first pipe and the second pipe, and tightening them with a aligner, wherein the groove gap between the first pipe and the second pipe after assembly is 0.5 mm-1.5 mm, and the misalignment between the outer surfaces of the first pipe and the second pipe is less than or equal to 2.0 mm; S4. Turn the adjusting crank 502 to drive the cam 501 to adjust the distance between the inner guide wheel 304 and the outer guide wheel 302. Install the clamping moving assembly 300 on the ring gear 305. The adapter plate 400 of the clamping moving assembly 300 is installed with a mechanical arm 600 and a welding assembly 700. The end flange 602 of the mechanical arm 600 is fixed with a visual assembly 800 and a composite welding gun 705. Drive the trolley 100 to enter the first pipeline or the second pipeline. The guide wheel 102 is extended to a suitable position. The driving wheel 101 drives the trolley forward to reach the pipeline docking interface so that the distance between the welding gun and the groove does not exceed 50 mm. S5. Preheat the welding ends of the first pipeline and the second pipeline before welding, with the preheating temperature being 50° C.-150° C. and the preheating width being 50 mm-80 mm; S6. Implement welding.
Claims
1. A fully automatic in-pipe welding robot, comprising a driving trolley (100), characterized in that: An annular mounting frame (200) is fixedly mounted on the front side of the driving trolley (100); a clamping and moving assembly (300) is arranged on the front edge of the annular mounting frame (200); an adapter plate (400) is arranged on the top of the clamping and moving assembly (300); an adjustment assembly (500) is arranged on the clamping and moving assembly (300); a mechanical arm (600) is fixedly mounted on the top of the adapter plate (400); a welding assembly (700) is fixedly mounted on the top of the adapter plate (400); and a visual assembly (800) and a composite welding gun (705) are fixedly mounted on the end flange (602) of the mechanical arm (600).
2. The fully automatic in-pipe welding robot according to claim 1 is characterized in that: Two driving wheels (101) are arranged on the left and right sides of the driving trolley (100), and two guide wheels (102) are arranged on the top of the driving trolley (100). A wheel core (103) is rotatably mounted on the axis of the guide wheel (102), and a shaft rod (104) is fixedly mounted on the side of the wheel core (103). The shaft rod (104) is detachably mounted on the slide plate (106) through a nut (105). A shaft sleeve (107) is sleeved on the tail end of the shaft rod (104), and the bottom of the shaft sleeve (107) is fixedly mounted on the output end of the pneumatic rod (108). The slide plate (106) is slidably mounted inside a support seat (109), and the sides of the slide plate (106) are fixedly mounted with A limiting strip (1010), a limiting groove (1011) corresponding to the limiting strip (1010) is provided inside the support seat (109), grooves (1012) are provided at the bottom of both sides of the slide plate (106), a cover (1013) is fixedly installed at the opening of the groove (1012), a clamping head (1014) is inserted into the inside of the cover (1013), a limiting plate (1015) is fixedly installed on the side of the clamping head (1014), a push spring (1016) is fixedly installed on the side of the limiting plate (1015), a clamping groove corresponding to the clamping head is provided on the inner wall of the support seat (109), and a buffer spring (1017) is fixedly installed in the middle of the slide plate (106).
3. The fully automatic in-pipe welding robot according to claim 1 is characterized in that: A ring gear (305) is fixedly mounted on the outer wall of the ring mounting frame (200), and the clamping moving assembly (300) comprises four adapter seats (301) fixedly mounted on the bottom of the adapter plate (400), the four adapter seats (301) are arranged in a matrix, and the four adapter seats (301) are divided into two groups, left and right, and each group of adapter seats (301) is rotatably connected to an outer guide wheel (302), and the space between the two outer guide wheels (302) is used to accommodate the edge of the ring gear (305), and there is a gap between the connecting shafts of the ring gear (305) and the outer guide wheel (302); A vertical frame (303) is fixedly mounted on the bottom of the front end of the adapter plate (400), and is fixedly connected to the inner end surfaces of the two adapter seats (301) on the front side; an inner guide wheel (304) is arranged on the rear side of the bottom end of the vertical frame (303), and the inner guide wheel (304) is fitted on the inner wall of the ring gear (305); A motor seat (306) is fixedly mounted on the right side of the adapter plate (400), a driving motor (307) is fixedly mounted on the rear side of the motor seat (306), an output end of the driving motor (307) passes through the motor seat (306), a driving gear (308) is fixedly mounted on the output end of the driving motor (307), and the driving gear (308) is meshed with the ring gear (305).
4. The fully automatic in-pipe welding robot according to claim 3 is characterized in that: The adjustment assembly (500) comprises a cam (501) rotatably connected to the front side of the vertical frame (303); an adjustment crank (502) is fixedly installed at the center of the front side of the cam (501); a slide groove (503) is provided through the lower half of the vertical frame (303); a slider (504) is slidably connected in the slide groove (503); the inner guide wheel (304) is rotatably connected to the rear end shaft of the slider (504); and a sliding shaft (505) is fixedly installed at the top of the front end of the slider (504). A pressure plate (506) is fixedly installed on the top of the sliding shaft (505), a sliding seat (507) is fixedly installed on the middle part of the front side of the vertical frame (303), the sliding shaft (505) penetrates and is slidably connected to the sliding seat (507), a pre-stress spring (508) is sleeved on the outer side of the sliding shaft (505), and the two ends of the pre-stress spring (508) are respectively fixedly installed on the bottom of the pressure plate (506) and the top of the sliding seat (507), and the cam (501) is attached to the top of the pressure plate (506).
5. The fully automatic in-pipe welding robot according to claim 4 is characterized in that: The sliding seat (507) and the two adapter seats (301) at the front side are both provided with limit movable pins (509).
6. The fully automatic in-pipe welding robot according to claim 1, characterized in that: A mounting plate (601) is fixedly mounted on the top of the adapter plate (400), the mechanical arm (600) is fixedly mounted on the mounting plate (601), an end flange (602) is provided at the end of the mechanical arm (600), and a control cabinet (603) is fixedly mounted on the top of the adapter plate (400).
7. The fully automatic in-pipe welding robot according to claim 6, characterized in that: The welding assembly (700) comprises a support plate (701) fixedly mounted on the top of a mounting plate (601); a wire feeder (702) and a wire reel (703) are fixedly mounted on the top of the support plate (701); the wire reel (703) is located at the rear side of the wire feeder (702); a welder (704) is arranged at the bottom of the support plate (701); and the end flange (602) is fixedly connected to a composite welding gun (705).
8. The fully automatic in-pipe welding robot according to claim 7 is characterized in that: The visual component (800) comprises a camera (801) and a line laser emitter (802) fixedly mounted on a flange (602) at the end of the robot arm (600); the camera (801) and the line laser emitter (802) are both tilted in design, and the camera (801) and the line laser emitter (802) face downwardly from the output end of the composite welding gun (705).
9. A method for using a fully automatic in-pipe welding robot, characterized in that the steps include: The adjusting crank (502) is turned to drive the cam (501) to adjust the distance between the inner guide wheel (304) and the outer guide wheel (302), and the clamping moving assembly (300) is installed on the ring gear (305). The adapter plate (400) of the clamping moving assembly (300) is installed with a mechanical arm (600) and a welding assembly (700). The end flange (602) of the mechanical arm (600) is fixedly installed with a visual assembly (800) and a composite welding gun (705). The driving trolley (100) enters the first pipe or the second pipe, and the guide wheel (102) is extended to a suitable position. The driving wheel (101) drives the trolley forward to reach the pipe docking interface so that the distance between the welding gun and the groove does not exceed 50 mm.