Probing type auxiliary butt joint and welding equipment

Abstract

The invention discloses probing type auxiliary butt joint and welding equipment, and relates to the technical field of pipeline welding, the probing type auxiliary butt joint and welding equipment comprises a pipeline, a bearing workpiece and a truss, the truss is used for providing multi-axis moving capacity, and the truss comprises a hoisting mechanism and an acting mechanism. According to the pipeline butt joint device, the hoisting mechanism is matched with the action mechanism, so that the position can be freely adjusted in the horizontal position and the vertical position, the pitch angle and the deflection angle can be adjusted relative to the hoisting mechanism, multi-angle free butt joint is achieved, the inner wall of a pipeline can be supported and welded in an auxiliary mode, and a truss carries a 3D camera to shoot the port of the pipeline in multiple positions; the method comprises the following steps of: acquiring more point cloud information of the pipeline to perform three-dimensional reconstruction, accurately constructing a model of the pipeline as far as possible, determining a butt joint position, transmitting coordinate information of a limit position at the other end of the pipeline to a truss to complete butt joint, and welding the pipeline and a bearing workpiece through external welding equipment.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline welding, in particular to a probe-type auxiliary butt joint and welding device. Background Art

[0002] When connecting pipes, corresponding auxiliary equipment is needed to position and adjust the two pipes. Pipeline auxiliary docking and welding equipment can quickly fine-tune the position and angle of the pipes to ensure precise alignment of the pipes, laying a solid foundation for subsequent welding work.

[0003] In the field of industrial automation vision, 3D cameras are increasingly used, but they also face some challenges. Taking non-fixed 3D cameras as an example, their field of view has obvious limitations. Due to the limitations of physical structure and imaging principles, non-fixed 3D cameras can only capture information about objects within a limited range and cannot obtain point cloud data outside the field of view. In scenarios such as pipeline welding that require extremely high spatial data, this defect will lead to the loss of key welding spatial data. And these missing data will seriously interfere with welding path planning and parameter setting, thereby affecting the accuracy of welding. Summary of the invention

[0004] The purpose of the present invention is to provide an exploratory auxiliary docking and welding device to solve the problem that the field of view of the non-fixed 3D camera proposed in the above background technology has certain limitations and cannot obtain point cloud data outside the field of view, resulting in missing welding space data and affecting the accuracy and safety of welding.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: an immersion-type auxiliary docking and welding device, comprising a pipeline, a receiving workpiece and a truss, wherein the truss is used to provide multi-axis movement capability, including a hoisting mechanism and an action mechanism; The hoisting mechanism comprises a boom, a telescopic arm, a connecting arm and a connecting arm shaft, the top of the boom is fixedly connected to the truss, the bottom of the boom is slidably connected to the telescopic arm, the top of the connecting arm is fixedly connected to the telescopic arm, and the bottom of the connecting arm is hinged to the action mechanism through the connecting arm shaft; The action mechanism includes an upper plate, a lower plate and a chuck main rod, the upper plate and the lower plate are fixedly connected to each other, a 3D camera is fixedly installed on the bottom surface of the upper plate, and the 3D camera takes pictures along the forward extension direction of the upper plate and the lower plate, and a push-pull power cylinder, a driving block and a slide are respectively provided on the top surface of the lower plate, the driving block in the push-pull power cylinder is fixedly connected to one end of the chuck main rod, the driving block is slidably connected to the slide, a connecting shaft is provided at the other end of the chuck main rod, and is fixedly connected to the inner shaft of the connecting shaft, a chuck is fixedly provided on the outer shaft of the connecting shaft, the outer shaft of the connecting shaft is meshed with the power mechanism, and the outer shaft of the connecting shaft can rotate under the action of the power mechanism, and a supporting power cylinder is fixedly connected to the bottom surface of the lower plate.

[0006] Preferably, a bearing turntable is provided between the telescopic arm and the connecting arm, the inner axis of the bearing turntable is fixedly connected to the bottom surface of the telescopic arm, and the outer axis of the bearing turntable is fixedly connected to the top surface of the connecting arm, and the horizontal rotation angle of the action mechanism can be controlled by the bearing turntable.

[0007] Preferably, it also includes a pitch angle power cylinder, one end of which is fixedly arranged on the connecting arm, and the other end is fixedly arranged on the acting mechanism, and the pitch angle of the acting mechanism can be controlled by extending and retracting the pitch angle power cylinder.

[0008] Preferably, a limiter is fixedly provided on the bottom surface of the upper plate, and the limiter is used to limit the vertical position of the chuck main rod.

[0009] Preferably, it also includes a receiving workpiece, a jig and a jig camera, the jig is used to clamp the receiving workpiece, the jig camera is fixedly arranged on the outer surface of the jig, and takes pictures towards the receiving surface of the receiving workpiece, a first calibration block is fixedly arranged on one surface of the upper plate, and a second calibration block is fixedly arranged on the side of the chuck.

[0010] Preferably, a displacement sensor is fixedly mounted on the side of the chuck, and the displacement sensor is used to detect the horizontal travel distance of the chuck.

[0011] Preferably, a laser rangefinder is fixedly provided on the side of the chuck, and the laser rangefinder is used to detect the distance from the chuck to the inner wall of the pipeline.

[0012] Preferably, the laser rangefinder further comprises a laser galvanometer, and the laser galvanometer is fixedly arranged at the transmitting end of the laser rangefinder.

[0013] Preferably, a plurality of claws are fixedly installed in a circular arrangement inside the chuck, and the chuck is clamped to the pipeline via the plurality of claws.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, the position can be freely adjusted in the horizontal position and the vertical position through the cooperation of the lifting mechanism and the action mechanism, and the pitch angle and the deflection angle can be adjusted relative to the lifting mechanism to achieve multi-angle free docking, complete the movement and precise docking of pipelines of different diameters and types, and can support the inner wall of the pipeline and assist welding. The truss carries a 3D camera to take multi-position photos of the port of the pipeline to obtain more point cloud information of the pipeline for three-dimensional reconstruction, build a model of the pipeline as accurately as possible, determine the docking position, and transmit the coordinate information of the extreme position of the other end of the pipeline to the truss to complete the docking, and complete the welding of the pipeline and the receiving workpiece through external welding equipment.

[0015] 2. In the present invention, a displacement sensor is arranged at an unobstructed position between the claws. When the push-pull power cylinder is pushed out, the displacement sensor can obtain the displacement data on its own horizontal axis and transmit it to the 3D camera. When the ranging laser line escapes from the range of the pipeline, the displacement sensor sends a signal to the push-pull power cylinder. The push-pull power cylinder recovers and calculates the compensation information to make the edge of the chuck flush with the end face of the pipeline. The pipeline is synchronized to the truss, so that the truss can achieve precise control when docking the surface of the pipeline and the surface of the workpiece, preventing strong collision during the docking process from causing damage to the workpiece.

[0016] 3. In the present invention, the coordinate systems of the 3D camera and the fixture camera fixed on the fixture are unified with the help of the second calibration block, and then the first calibration block is used to assist the fixture camera to confirm the position coordinates of the 3D camera. After completion, any object point cloud information photographed by the fixture camera can be transmitted to the 3D camera, and the 3D camera can understand the position relationship between itself and any object photographed by the fixture camera. By means of this mechanism, the pipe and the receiving workpiece can be docked without the help of other equipment, while ensuring the accuracy and precision of the docking. At the same time, the fixture camera can also provide directional guidance for the overall posture of the action mechanism, including spatial position coordinates, pitch angle and deflection angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the front cross-section structure of a probe-type auxiliary docking and welding device of the present invention; Figure 2 It is a right side view of a chuck structure in a probe-type auxiliary docking and welding device of the present invention; Figure 3 A schematic diagram of the position relationship of a displacement sensor in a probe-type auxiliary docking and welding device of the present invention; Figure 4 It is a schematic diagram of the position relationship of the first calibration block in a probe-type auxiliary docking and welding device of the present invention; Figure 5 It is a schematic diagram of positioning and docking of a jig camera in a probe-type auxiliary docking and welding device of the present invention.

[0018] In the figure: 1. lifting mechanism; 101. lifting arm; 102. telescopic arm; 103. bearing turntable; 104. connecting arm; 1041. connecting arm shaft; 1042. pitch angle power cylinder; 2. action mechanism; 201. upper plate; 2011. limiter; 2012. 3D camera; 2013. first calibration block; 202. lower plate; 2021. supporting power cylinder; 2022. slideway; 203. push-pull power cylinder; 2031. driving block; 204. chuck main rod; 2041. chuck; 20411. connecting shaft; 2042. claw; 2043. displacement sensor; 2044. laser rangefinder; 3. pipeline; 4. receiving workpiece; 5. fixture; 501. fixture camera. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of 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.

[0020] Example 1: Reference Figure 1 - Figure 5 As shown: a probe-type auxiliary docking and welding equipment, including a lifting mechanism 1 and an action mechanism 2, wherein the action mechanism 2 will probe into the interior of a pipe 3 to operate when working, and after being fixed, it will carry the pipe 3 to dock with a receiving workpiece 4 to complete welding, and the receiving workpiece 4 is placed inside a fixed fixture 5 to ensure that the receiving workpiece 4 remains stable during placement and docking without positional displacement.

[0021] The lifting mechanism 1 includes a boom 101, a telescopic arm 102, a bearing turntable 103, a connecting arm 104, a connecting arm shaft 1041 and a pitch angle power cylinder 1042, wherein the connecting arm 104 and the pitch angle power cylinder 1042 are both fixedly connected to the acting mechanism 2, the difference being that the connecting arm 104 is hinged to the acting mechanism 2 through the connecting arm shaft 1041, and under the push-pull action of the pitch angle power cylinder 1042, the above-mentioned hinged relationship enables the lifting mechanism 1 and the acting mechanism 2 to form a radially adjustable fixed connection along the connecting arm shaft 1041, and a limiting mechanism is provided on the connecting arm shaft 1041 for controlling the maximum or minimum angle formed by the lifting mechanism 1 and the acting mechanism 2, and a boom slide rail is provided inside the boom 101, and the telescopic arm 102 is slidably connected to the boom 101 through the boom slide rail for controlling the overall length of the lifting mechanism 1.

[0022] The top of the hoisting mechanism 1 is slidably connected to the truss, and the hoisting mechanism 1 and the action mechanism 2 can be controlled to move freely in the horizontal direction, that is, move along the X-axis and Y-axis directions of the truss by adjusting the truss.

[0023] The telescopic arm 102 is sleeved inside the boom 101 to form a sliding connection, so that the telescopic arm 102 can be extended from the inside of the boom 101 to raise or lower the spatial position of the action mechanism 2, which is convenient for its insertion work. The telescopic arm 102 is fixedly connected to the connecting arm 104 through the bearing turntable 103, and the connecting arm 104 is fixed to the outer axis of the bearing turntable 103, wherein the connecting arm 104 and the inner axis of the bearing turntable 103 are fixed through the connecting arm motor. When the connecting arm motor is working, the angle of the telescopic arm 102 remains unchanged, and the outer axis of the bearing turntable 103 rotates together with the connecting arm 104 to cause an angular deviation, thereby causing the action mechanism 2 to rotate synchronously to adjust the rotation angle of its Z axis, that is, the pitch angle of the action mechanism 2.

[0024] Through the cooperation of the above mechanism, the action mechanism 2 can be freely adjusted in the horizontal position and the vertical position, and the pitch angle and the deflection angle can be adjusted relative to the lifting mechanism 1 to achieve multi-angle free docking.

[0025] The action mechanism 2 is divided into an upper plate 201 and a lower plate 202, which are fixedly connected; a 3D camera 2012 is arranged on the bottom surface of the upper plate 201, and preferably also includes a limiter 2011; a push-pull power cylinder 203, a slideway 2022 and a chuck main rod 204 are arranged on the lower plate 202; the power output end of the push-pull power cylinder 203 is fixedly connected to a part of the chuck main rod 204; when the push-pull power cylinder 203 is pushed out, the chuck main rod 204 is retracted into the interior of the action mechanism 2, thereby retracting the chuck 2041 fixed on the chuck main rod 204; through this structure, the depth position of the chuck 2041 probing into the pipeline can be adjusted; the chuck main rod 204 can only slide along the X-axis direction within a horizontal range due to the limitation of the limiter 2011.

[0026] A supporting power cylinder 2021 is fixedly arranged on the bottom surface of the lower plate 202. When the upper plate 201 abuts against the top surface of the inner wall of the pipe 3, the supporting power cylinder 2021 extends downward so that the bottom surface of the supporting power cylinder 2021 is engaged with the bottom of the pipe 3 to form a fixed connection.

[0027] The chuck 2041 is clamped with the pipe 3 through three claws 2042 to form a detachable fixed structure with the pipe 3, and cooperates with the supporting structure of the power cylinder 2021 and the upper plate 201 to form a stable relationship between the pipe 3 and the action mechanism 2. The position where the three claws 2042 are clamped with the pipe 3 should be at the outlet edge of one end of the pipe 3, so that the pipe 3 can be docked with the receiving workpiece 4 and provide sufficiently strong supporting force when the pipe 3 and the receiving workpiece 4 are welded from the outside. It should be noted that there are three claws 2042 in this embodiment, but any number of claws 2042 should fall within the protection scope of the present invention.

[0028] Therefore, before the action mechanism 2 is docked with the pipeline 3, the truss carries a 3D camera 2012 to take multi-position shots of the port of the pipeline 3 to obtain more point cloud information of the pipeline 3 for three-dimensional reconstruction, build a model of the pipeline 3 as accurately as possible, and obtain the spatial position of any position of the pipeline 3 that can be photographed by the 3D camera 2012, especially the position coordinates of the outlet at the other end of the pipeline 3; and then the chuck main rod 204 of the action mechanism 2 is extended forward to the extreme position of the other end of the pipeline 3 under the control of the electronic control device without protruding out of the pipeline 3. At this time, the chuck 2041 is coplanar with the port of the pipeline 3, and then the supporting power cylinder 2021 is pushed out again to form a fixed relationship.

[0029] After forming a fixed relationship, the truss can carry the pipe 3 to the front of the receiving workpiece 4, and after being photographed and verified by the 3D camera 2012, the docking position is determined, and the coordinate information of the extreme position of the other end of the pipe 3 is transmitted to the truss. After receiving the coordinate information, the truss adjusts its posture and carries the pipe 3 to move and complete the docking with the receiving workpiece 4, and then completes the welding of the pipe 3 and the receiving workpiece 4 through external welding equipment.

[0030] In a preferred structure, the chuck main rod 204 is connected to the chuck 2041 through a connecting shaft 20411, the chuck 2041 is fixed to the outer shaft of the connecting shaft 20411, and the chuck main rod 204 is fixed to the inner shaft of the connecting shaft 20411. Preferably, the outer shaft of the connecting shaft 20411 is a ratchet, which is automatically controlled by engaging with the ratchet through a motor or other power mechanism. This mechanism can be used to make the chuck 2041 and the chuck main rod 204 form a relatively rotatable relationship.

[0031] Before use, first confirm the position of the 3D camera 2012 and the fixture 5 that receives the workpiece 4, and let the 3D camera 2012 and the external welding equipment be in a unified coordinate system to facilitate subsequent welding processing. The workpiece 4 can be a plate or a rectangular pipe or any other style of workpiece with a docking plane.

[0032] When working, first use the 3D camera 2012 to take multi-directional photos of the end face of the pipe 3 placed at the specified position, obtain the point cloud data of its end face and the depth information inside the pipe 3 to build a three-dimensional model of the pipe 3 and lock its position coordinates in space. The preferred 3D camera is a structured light camera.

[0033] The 3D camera 2012 sends position information to the truss, and based on the position information, the telescopic arm 102 is extended from the boom 101 to a sufficient length, and then the axial or angular deviation between the action mechanism 2 and the central axis of the pipeline 3 is confirmed based on the three-dimensional model of the pipeline 3. The truss is calibrated to ensure that the action mechanism 2 can penetrate into the interior of the pipeline 3 in the correct position to prevent the action mechanism 2 from being damaged.

[0034] At the same time, the depth of the probe into the pipe 3 is photographed from multiple angles by the 3D camera 2012 to confirm the depth to which the action mechanism 2 can penetrate. This position does not need to be precisely controlled, and it only needs to ensure that the penetration depth is sufficient to form a stable structure with the pipe 3.

[0035] After the push-pull power cylinder 203 drives the driving block 2031 and the chuck main rod 204 to penetrate to a sufficient depth, the support power cylinder 2021 extends downward, so that the action mechanism 2 is engaged with the pipe 3 to form a fixed structure. The truss lifts the action mechanism 2 and cooperates with the pipe 3. The 3D camera 2012 is used to shoot the receiving surface of the receiving workpiece 4. After calculating the distance between the pipe 3 and the receiving workpiece 4, the docking is completed, and the claw 2042 of the chuck 2041 is pushed out to support the pipe 3 from the inside. The support point is photographed by the 3D camera 2012 to ensure that the position information of the support point is sent to the external welding mechanism after the support point is applied. The welding mechanism welds the external position of the pipe 3 relative to the support point, and then the claw 2042 is recovered, and the connecting shaft 20411 is controlled by the motor to rotate, so that the chuck 2041 rotates accordingly, thereby allowing the claw 2042 to form support in other areas to assist welding again. The above process is repeated until the welding is completed.

[0036] Example 2: Reference Figure 2 and Figure 3 As shown: the immersion auxiliary docking and welding equipment in the present invention, on the basis of Example 1, is provided with a displacement sensor 2043 at an unobstructed position between the claws 2042, and at the same time, the displacement sensor 2043 is provided at the edge of the chuck 2041, and if there is a certain position offset, position compensation can be added during calculation; when the push-pull power cylinder 203 is tightened, the relative position of the displacement sensor 2043 and the 3D camera 2012 is fixed, and the 3D camera 2012 can obtain the coordinate position of the displacement sensor 2043 in advance; when the push-pull power cylinder 203 is pushed out, the displacement sensor 2043 can obtain the displacement data on its own horizontal axis and transmit it to the 3D camera 2012.

[0037] A laser rangefinder 2044 is also provided on the top surface of the displacement sensor 2043. The ranging laser line of the laser rangefinder 2044 is emitted perpendicular to the plane of the chuck 2041. In an ideal state, the laser line of the laser rangefinder 2044 should be set close to the edge of the chuck 2041. However, in actual situations, to ensure that the laser rangefinder 2044 does not exceed the position of the chuck 2041, it needs to be set close to the entire interior of the equipment. Therefore, it is necessary to compensate for the offset position generated by the laser rangefinder 2044. When the laser rangefinder 2044 protrudes out of the pipeline 3, the ranging laser line escapes from the range of the pipeline 3, and it can be known that the chuck 2041 has been separated from the pipeline 3. Based on this, the precise position information of one end of the pipeline 3 can be calculated according to the displacement information of the displacement sensor 2043. It should be noted that the laser rangefinder 2044 is set on the displacement sensor 2043 as a preferred design, and the laser rangefinder 2044 can be independently fixed on the chuck 2041 to realize independent functions.

[0038] When the ranging laser line goes out of the range of the pipe 3, the displacement sensor 2043 sends a signal to the push-pull power cylinder 203, and the push-pull power cylinder 203 recovers and calculates the compensation information to make the edge of the chuck 2041 flush with the end face of the pipe 3. The pipe 3 is synchronized to the truss, so that the truss can achieve precise control when docking the surface of the pipe 3 and the surface of the receiving workpiece 4, to prevent strong collision during the docking process from causing damage to the workpiece.

[0039] In combination with the preferred situation in Example 1, the chuck 2041 can rotate relative to the chuck main rod 204. On the basis of this structure, a laser galvanometer is added to the front end of the transmitter of the laser rangefinder 2044, which is used for the situation that the end face section of the pipe 3 is not flat. For example, when the receiving surface of the workpiece 4 is an arc surface, the end face of the pipe 3 should also present a corresponding arc to complete the docking. In this special case, the rotating chuck 2041 carries the laser rangefinder 2044 to rotate, and scans the end face of the pipe 3 with the help of the laser galvanometer, accurately identifies the edge information of the pipe 3 and transmits it to the truss to ensure accurate docking; this structure can also detect whether the axial angle of the arc surface of the pipe 3 is offset, so as to avoid assembly damage caused by misalignment due to the offset.

[0040] Example 3: Reference Figure 1 - Figure 5As shown: the immersion auxiliary docking and welding equipment in the present invention is equipped with equipment on the basis of the basic structure of embodiment 1 or embodiment 2, and the rest of the parts can maintain the original structure, including a fixture 5 fixed to the fixture 5 and a fixture camera 501 fixed to the fixture 5. When the receiving workpiece 4 is fixed to the fixture 5, the fixture camera 501 is relatively fixed to the receiving workpiece 4, and the position coordinates of the receiving workpiece 4 can be obtained (through the preset position of the fixture slot); a first calibration block 2013 is fixedly set on the end face of the upper plate 201, and a second calibration block is set on one side of the chuck 2041. The position relationship between the first calibration block 2013 and the 3D camera 2012 is relatively fixed; in this embodiment, the second calibration block is first used to calibrate the 3D camera 2012. The coordinate systems of the 3D camera 2012 and the fixture camera 501 fixed on the fixture 5 are unified, and then the first calibration block 2013 is used to assist the fixture camera 501 in confirming the position coordinates of the 3D camera 2012. After completion, any object point cloud information photographed by the fixture camera 501 can be transmitted to the 3D camera 2012, and the 3D camera 2012 can understand the position relationship between itself and any object photographed by the fixture camera 501. By this mechanism, the pipe 3 and the receiving workpiece 4 can be docked without the help of other equipment, while ensuring the accuracy and precision of the docking. At the same time, the fixture camera 501 can also provide directional guidance for the overall posture of the action mechanism 2, including spatial position coordinates, pitch angle and deflection angle.

[0041] The usage method and working principle of this device are as follows: first, the position and posture of the lifting mechanism 1 and the action mechanism 2 are adjusted in conjunction with the truss, and the 3D camera 2012 is used to shoot the pipeline 3 in multiple positions, and the point cloud information of the proximal surface of the pipeline 3 and the inner wall of the pipeline 3 is extracted. The three-dimensional model is constructed and the position coordinates of the pipeline 3 are captured. The obtained three-dimensional model and position coordinates are then sent to the truss, and the position of the lifting mechanism 1 is adjusted to ensure that the action mechanism 2 is facing the hollow part of the pipeline 3. The truss is moved so that the action mechanism 2 can penetrate into the hollow part of the pipeline 3, and it is propped up by the supporting power cylinder 2021 so that the action mechanism 2 and the pipeline 3 are initially fixed.

[0042] Through the preset position, the truss transports the pipe 3 fixed with the action mechanism 2 to the predetermined position, and shoots with the 3D camera 2012, performs secondary calibration on the receiving surface of the receiving workpiece 4, adjusts the posture of the hoisting mechanism 1 and the action mechanism 2 again, and obtains the distance between the far end surface of the pipe 3 and the receiving workpiece 4. The inner wall information of the pipe 3 obtained by the algorithm calculation after the 3D camera 2012 shoots, and uses the push-pull power cylinder 203 to adjust the horizontal position of the chuck main rod 204, so that the chuck 2041 is flush with the far end surface of the pipe 3, and the chuck 2041 is flush with the far end surface of the pipe 3. The end faces are fixed to form a complete fixation, which allows the truss to move so that the pipe 3 fits tightly against the receiving workpiece 4. The 3D camera 2012 sends the position point information of the abutment of the claw 2042 in the chuck 2041 to the external welding mechanism, and welds the outer wall of the pipe 3 corresponding to the abutment position of the claw 2042 from the outside. After welding is completed, the claw 2042 is retracted, and the connecting shaft 20411 is rotated by the power mechanism to rotate the chuck 2041 to the preset position or the specified position given after the camera is shot, so that the claw 2042 is extended again to abut and repeat the welding task until the welding is completed.

[0043] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A probe-assisted butt joint and welding device, comprising a pipeline (3), a receiving workpiece (4) and a truss, wherein the truss is used to provide a multi-axis movement capability, and is characterized in that: It comprises a lifting mechanism (1) and an action mechanism (2); The hoisting mechanism (1) comprises a boom (101), a telescopic arm (102), a connecting arm (104) and a connecting arm shaft (1041); the top of the boom (101) is fixedly connected to the truss, the bottom of the boom (101) is slidably connected to the telescopic arm (102), the top of the connecting arm (104) is fixedly connected to the telescopic arm (102), and the bottom of the connecting arm (104) is hinged to the action mechanism (2) via the connecting arm shaft (1041); The action mechanism (2) comprises an upper plate (201), a lower plate (202) and a chuck main rod (204); the upper plate (201) and the lower plate (202) are fixedly connected to each other; a 3D camera (2012) is fixedly mounted on the bottom surface of the upper plate (201); the 3D camera (2012) takes pictures along the forward extension direction of the upper plate (201) and the lower plate (202); a push-pull power cylinder (203), a drive block (2031) and a slideway (2022) are respectively arranged on the top surface of the lower plate (202); the drive block (2031) in the push-pull power cylinder (203) and the chuck main rod (204) are connected to each other; One end of the main rod (204) is fixedly connected, the driving block (2031) is slidably connected to the slideway (2022), the other end of the chuck main rod (204) is provided with a connecting shaft (20411) and is fixedly connected to the inner shaft of the connecting shaft (20411), the outer shaft of the connecting shaft (20411) is fixedly provided with a chuck (2041), the outer shaft of the connecting shaft (20411) is meshed with a power mechanism, and the outer shaft of the connecting shaft (20411) can rotate under the action of the power mechanism, and the bottom surface of the lower plate (202) is fixedly connected with a supporting power cylinder (2021).

2. The probe-assisted butt-jointing and welding equipment according to claim 1, characterized in that: A bearing turntable (103) is provided between the telescopic arm (102) and the connecting arm (104); an inner axis of the bearing turntable (103) and the bottom surface of the telescopic arm (102) are fixedly connected to each other; an outer axis of the bearing turntable (103) and the top surface of the connecting arm (104) are fixedly connected to each other; and the horizontal rotation angle of the action mechanism (2) can be controlled by the bearing turntable (103).

3. The probe-assisted butt-jointing and welding device according to claim 1, characterized in that: It also comprises a pitch angle power cylinder (1042), one end of which is fixedly arranged on the connecting arm (104), and the other end of which is fixedly arranged on the acting mechanism (2), and the pitch angle of the acting mechanism (2) can be controlled by extending and retracting the pitch angle power cylinder (1042).

4. The probe-assisted butt-jointing and welding device according to claim 2, characterized in that: A limiter (2011) is also fixedly disposed on the bottom surface of the upper plate (201), and the limiter (2011) is used to limit the vertical position of the chuck main rod (204).

5. The probe-assisted butt-jointing and welding device according to claim 4, characterized in that: It also includes a receiving workpiece (4), a fixture (5) and a fixture camera (501), wherein the fixture (5) is used to clamp the receiving workpiece (4), the fixture camera (501) is fixedly arranged on the outer surface of the fixture (5) and takes pictures in a direction toward the receiving surface of the receiving workpiece (4), a first calibration block (2013) is fixedly arranged on one surface of the upper plate (201), and a second calibration block is fixedly arranged on the side of the chuck (2041).

6. The probe-assisted butt-jointing and welding equipment according to claim 1, characterized in that: A displacement sensor (2043) is fixedly mounted on the side of the chuck (2041), and the displacement sensor (2043) is used to detect the horizontal travel distance of the chuck (2041).

7. The probe-assisted butt-jointing and welding device according to claim 1, characterized in that: A laser distance meter (2044) is fixedly arranged on the side of the chuck (2041), and the laser distance meter (2044) is used to detect the distance from the chuck (2041) to the inner wall of the pipe (3).

8. The probe-assisted butt-jointing and welding device according to claim 7, characterized in that: The laser rangefinder (2044) further comprises a laser galvanometer, which is fixedly arranged at the transmitting end of the laser rangefinder (2044).

9. The probe-assisted butt-jointing and welding device according to claim 7, characterized in that: A plurality of clamping claws (2042) are fixedly mounted in a circular arrangement inside the chuck (2041), and the chuck (2041) is clamped to the pipe (3) via the plurality of clamping claws (2042).

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