Automatic welding robot for large workpieces

Abstract

The invention relates to the technical field of welding equipment, in particular to a large workpiece automatic welding robot which comprises an adjusting module, a crawling welding trolley and a flexible rail, the crawling welding trolley can conduct workpiece welding, the flexible rail is arranged at the bottom of the crawling welding trolley, a plurality of pedestals are arranged on the bottom face of the flexible rail, and the adjusting module can limit the flexible rail. The adjusting module comprises a first connecting frame and a second connecting frame. According to the flexible rail clamping device, the clamping seat is in sliding connection with the clamping frame, one end of the flexible rail can be clamped through one clamping mechanism, the other end of the flexible rail is clamped through the other clamping mechanism after the flexible rail surrounds a pipeline, in this way, the position of the flexible rail can be limited through the clamping mechanisms, and when the position of the flexible rail needs to be adjusted, the flexible rail can be pushed to move through the clamping mechanisms; in this way, the position of the flexible rail is convenient to adjust, the burden of workers is reduced, and continuous welding of pipelines is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of welding equipment, in particular to a large-scale workpiece automatic welding robot. Background Art

[0002] Large workpieces refer to those with large volume and high quality. The manufacturing and processing of these workpieces requires many processes, among which welding is a particularly important link. For example, large pipeline welding, when automatically welding pipelines, a flexible track crawling welding robot is sometimes used. The flexible track is connected to the pipeline through a magnetic seat, and the welding carriage is moved along the flexible track, so as to continuously and automatically weld the pipeline welds. Although the existing flexible track crawling welding robots can automatically weld the welds when in use, the flexible track is adsorbed on the pipeline through a magnetic seat. In this way, when it is necessary to weld the upper and lower parts of the pipeline, it is necessary to first release the adsorption of the magnetic seat, and then adjust the position of the flexible track. Since there are relatively more magnetic seats on the flexible track, and some magnetic seats may be located at a higher position, the adjustment of the flexible track is relatively inconvenient, which is not conducive to continuous welding. Summary of the invention

[0003] The purpose of the present invention is to provide a large workpiece automatic welding robot to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] Large workpiece automated welding robot, including adjustment module, crawling welding carriage, and flexible rail;

[0006] The crawling welding carriage can weld the workpiece;

[0007] The flexible rail is arranged at the bottom of the crawling welding trolley, and a plurality of cushion seats are arranged on the bottom surface of the flexible rail;

[0008] The adjustment module can limit the flexible rail, and the adjustment module includes a connecting frame 1 and a connecting frame 2. Two lifting mechanisms are arranged on the side of the connecting frame 2. A telescopic mechanism is arranged at the bottom of the lifting mechanism. A clamping mechanism is arranged on the top of the telescopic mechanism. The clamping mechanism includes a clamping seat and a clamping frame. The inner side surface of the clamping seat is slidingly connected to the side surface of the clamping frame. The inner side surface of the bottom of the clamping frame is rotatably connected to a limiting screw rod that is screwed together with the inner side surface of the clamping seat.

[0009] Furthermore, the top surface of the flexible rail is provided with a plurality of tooth grooves and a plurality of card slots, the top surface of the cushion seat is fixedly connected with a plug-in block which is slidably plugged with the inner side surface of the adjacent card slot, and the top surface of the plug-in block is rotatably connected with a card seat which contacts the top surface of the flexible rail;

[0010] The bottom surface of the cushion seat is rotatably connected to a plurality of balls, the bottom surface of the clamping seat is fixedly connected to a fixed shaft rotatably connected to the inner side surface of the adjacent plug-in block, the side surface of the fixed shaft is rotatably connected to the inner side surface of the cushion seat, and a torsion spring is arranged between the side surface of the fixed shaft and the inner side surface of the cushion seat.

[0011] Preferably, both ends of the bottom of the connecting frame 1 and the connecting frame 2 are fixedly connected with a walking trolley.

[0012] Furthermore, both sides of the first connecting frame are provided with X-shaped frames, and the X-shaped frames can connect the first connecting frame with the second connecting frame;

[0013] The X-shaped frame includes two connecting rods, the two connecting rods are rotatably connected to each other on opposite surfaces, the tops of the two side surfaces of the connecting frame 1 and the connecting frame 2 are rotatably connected to the tops of the adjacent connecting rods, the two side surfaces of the connecting frame 1 and the connecting frame 2 are provided with positioning grooves, and the bottom ends of the connecting rods are rotatably connected to positioning blocks that are slidably connected to the inner side surfaces of the adjacent positioning grooves;

[0014] The inner side surface of the positioning groove is rotatably connected with a positioning screw rod that is screwed together with the inner side surface of the adjacent positioning block. The inner side surfaces of the tops of the connecting frame 1 and the connecting frame 2 are both provided with a double-axis motor 2. The two output ends of the double-axis motor 2 are both transmission-connected with a transmission shaft 2. The inner side surfaces of the connecting frame 1 and the connecting frame 2 are both rotatably connected with the side surfaces of the adjacent transmission shaft 2. The two ends of the transmission shaft and the top of the side surface of the positioning screw rod are fixedly sleeved with a bevel gear 2, and the two adjacent bevel gears 2 are meshed for transmission.

[0015] Preferably, the clamping mechanism further comprises a U-shaped frame and two rotating shafts;

[0016] The U-shaped frame is arranged at the bottom of the clamping seat;

[0017] The two rotating shafts are rotatably connected to the two inner side surfaces of the U-shaped frame respectively, and the ends of the two rotating shafts close to each other are fixedly connected to the side surfaces of the clamping seat.

[0018] Furthermore, the telescopic mechanism includes a positioning frame, an L-shaped rod, and a hydraulic rod;

[0019] The positioning frame is arranged at the bottom of the lifting mechanism;

[0020] The L-shaped rod is slidably connected to the inner side of the positioning frame, and the top end of the L-shaped rod is fixedly connected to the bottom surface of the U-shaped frame;

[0021] The hydraulic rod is fixedly connected to the inner side surface of the positioning frame, and the output end of the hydraulic rod is transmission-connected to the inner side surface of the L-shaped rod.

[0022] Furthermore, the telescopic mechanism further includes a second fixing seat, a second rotating seat, a second limiting screw, and two second limiting slots;

[0023] The second fixing seat is arranged at one end of the L-shaped rod away from the clamping mechanism;

[0024] The second rotating seat is rotatably connected to the inner side surface of the second fixed seat, and the side surface of the second rotating seat is fixedly connected to the end of the positioning frame;

[0025] On the inner side surface of the second fixing seat connected with the second limiting screw;

[0026] The two second limiting grooves are both formed on the side surface of the second rotating seat, and the two ends of the limiting screws extend into the interior of the adjacent second limiting grooves;

[0027] The lifting mechanism includes a positioning rod, a lifting block, a lifting screw rod, and a power motor;

[0028] The positioning rod is fixedly connected to two side surfaces of the connecting frame;

[0029] The lifting block is slidably connected to the inner side of the positioning rod, and the side of the lifting block is fixedly connected to two side surfaces of the adjacent fixing seat;

[0030] The lifting screw rod is rotatably connected to the inner side surface of the positioning rod, and the side surface of the lifting screw rod is screwed and connected to the inner side surface of the lifting block;

[0031] The power motor is fixedly connected to the inner side surface of the top of the positioning rod, and the output end of the power motor is transmission-connected to the top end of the lifting screw rod.

[0032] Preferably, a connecting mechanism is provided on the top of the inner side of the connecting frame;

[0033] The connecting mechanism includes a fixing rod, a bracket, a connecting frame, and a connecting screw rod;

[0034] The fixing rod is arranged on the inner side of the connecting frame;

[0035] The bracket is arranged at the bottom of the fixing rod;

[0036] The connection frame is arranged on the side of the fixing rod, and the top surface of the bracket is fixedly connected to the bottom surface of the connection frame;

[0037] The connecting screw rod is rotatably connected to the inner side surface of the bottom of the bracket, and the end of the connecting screw rod is screwed and connected to the inner side surface of the adjacent cushion seat.

[0038] Furthermore, the connection mechanism further includes two fixed seats, two rotating seats, two limiting screws, and four limiting slots;

[0039] Two fixing seats are respectively arranged at two ends of the fixing rod;

[0040] The two rotating seats are respectively rotatably connected to the inner side surfaces of the two fixed seats;

[0041] Two limit screws are respectively screwed and connected to the inner side surfaces of the two fixing seats;

[0042] Four limiting grooves are arranged in groups of two on one side of the two rotating seats.

[0043] Furthermore, two inner sides of the connecting frame are provided with sliding grooves, and the inner sides of the sliding grooves are slidably connected with adjustment blocks fixedly connected with an adjacent fixing seat;

[0044] The inner side surface of the sliding groove is rotatably connected to an adjusting screw rod that is screwed together with the inner side surface of the adjusting block. A double-axis motor is arranged on the inner side surface of the top of the connecting frame. Both output ends of the double-axis motor are transmission-connected to a transmission shaft. One end of the transmission shaft and the top end of the adjusting screw rod are fixedly sleeved with a bevel gear, and two adjacent bevel gears are meshed for transmission.

[0045] Compared with the prior art, the present invention has the following beneficial effects:

[0046] 1. The flexible rail can pass through the clamping seat and the clamping frame through the sliding connection between the clamping seat and the clamping frame, and the flexible rail can be clamped by the clamping seat and the clamping frame. One end of the flexible rail can be clamped by a clamping mechanism. After the flexible rail is wrapped around the pipeline, the other end of the flexible rail can be clamped by another clamping mechanism. In this way, the position of the flexible rail can be limited by the clamping mechanism, and the cushion seat supports the flexible rail. When the position of the flexible rail needs to be adjusted, the adjustment module can be moved as a whole, and the flexible rail can be pushed to move by the clamping mechanism to adjust the position of the flexible rail. This facilitates the adjustment of the position of the flexible rail, helps reduce the burden on the staff, and is conducive to continuous welding of the pipeline.

[0047] 2. The rotating seat 2 is connected to the fixed seat 2 by rotation. After the limit screw 1 and the limit screw 2 are unscrewed, the rotating seat 1 can be rotated in the fixed seat 1, and the rotating seat 2 can be rotated in the fixed seat 2. At this time, the distance between the connecting frame 1 and the connecting frame 2 can be pulled apart, and then the fixing rod and the clamping mechanism can be rotated, and the fixing rod and the clamping seat can be made to have the same height. At this time, the flexible rail can be wrapped around the upright pipe, which is convenient for adjusting the angle of the flexible rail according to the state of the pipe, and is more flexible to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a schematic diagram of the overall structure of the large workpiece automated welding robot of the present invention;

[0049] Figure 2 It is a schematic diagram of the bending of the flexible track in the present invention;

[0050] Figure 3 It is a schematic diagram of the flexible rail structure in the present invention;

[0051] Figure 4 It is a schematic diagram of the internal structure of the cushion seat in the present invention;

[0052] Figure 5 It is a schematic diagram of the internal structure of the connecting frame of the present invention;

[0053] Figure 6 It is a schematic diagram of the connecting mechanism structure in the present invention;

[0054] Figure 7 It is a structural schematic diagram of the second connecting frame in the present invention;

[0055] Figure 8 It is a schematic diagram of the internal structure of the second connecting frame in the present invention;

[0056] Fig. 9 It is a schematic diagram of the X-shaped frame structure in the present invention;

[0057] Fig.10 It is a schematic diagram of the internal structure of the lifting mechanism and the telescopic mechanism in the present invention;

[0058] Fig.11 It is a structural schematic diagram of the rotating seat 2 in the present invention;

[0059] Fig.12 It is a schematic diagram of the internal structure of the clamping seat in the present invention.

[0060] In the figure: 100, adjustment module; 110, connecting frame 1; 111, adjustment screw; 112, adjustment block; 113, dual-axis motor 1; 114, transmission shaft 1; 115, bevel gear 1; 116, sliding groove; 120, connecting frame 2; 130, lifting mechanism; 131, positioning rod; 132, lifting block; 133, lifting screw; 134, power motor; 140, connecting mechanism; 141, fixing rod; 142, bracket; 143, connecting frame; 145, connecting screw; 146, fixing seat 1; 147, limiting screw 1; 148, rotating seat 1; 149, limiting groove 1; 150, telescopic mechanism; 151, positioning frame; 152, L-shaped rod; 153, hydraulic rod ;154, fixed seat two;155, rotating seat two;156, limit screw two;157, limit slot two;160, clamping mechanism;161, U-shaped frame;162, rotating shaft;163, clamping seat;164, clamping frame;165, limit screw;170, positioning slot;171, positioning screw;180, dual-axis motor two;181, transmission shaft two;190, bevel gear two;200, crawling welding trolley;300, flexible rail;310, cushion seat;311, plug-in block;312, card seat;313, fixed shaft;320, tooth groove;330, card slot;340, ball;400, X-shaped frame;410, connecting rod;420, positioning block;500, walking trolley. DETAILED DESCRIPTION

[0061] 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 described embodiments 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.

[0062] See also Figure 1-12 In the embodiment of the present invention, the large workpiece automatic welding robot includes an adjustment module 100, a crawling welding carriage 200, and a flexible rail 300;

[0063] The crawling welding carriage 200 can weld the workpiece. The flexible rail 300 is arranged at the bottom of the crawling welding carriage 200. A plurality of cushion seats 310 are arranged on the bottom of the flexible rail 300. The two ends of the bottom of the connecting frame 1 110 and the connecting frame 2 120 are fixedly connected with a walking carriage 500. The walking carriage 500 can drive the connecting frame 1 110 or the connecting frame 2 120 thereon to move, thereby moving the adjustment module 100 as a whole.

[0064] The adjustment module 100 can limit the position of the flexible rail 300. The adjustment module 100 includes a connecting frame 110 and a connecting frame 2 120. Two lifting mechanisms 130 are arranged on the side of the connecting frame 2 120. A telescopic mechanism 150 is arranged at the bottom of the lifting mechanism 130. A clamping mechanism 160 is arranged on the top of the telescopic mechanism 150. The lifting mechanism 130 can adjust the height of the telescopic mechanism 150 and the clamping mechanism 160. The telescopic mechanism 150 can adjust the position of the clamping mechanism 160. The structure 160 includes a clamping seat 163 and a clamping frame 164. The inner side surface of the clamping seat 163 is slidably connected to the side surface of the clamping frame 164. The inner side surface of the bottom of the clamping frame 164 is rotatably connected to a limit screw rod 165 that is screwed and connected to the inner side surface of the clamping seat 163. The limit screw rod 165 can connect the clamping frame 164 to the clamping seat 163. The clamping seat 163 is rotatably connected to the inside of the U-shaped frame 161 through the rotating shaft 162. The clamping seat 163 corresponds to the flexible rail 300 inside the connecting frame 110.

[0065] The clamping mechanism 160 further includes a U-shaped frame 161 and two rotating shafts 162;

[0066] The U-shaped frame 161 is disposed at the bottom of the clamping seat 163 , and the two rotating shafts 162 are rotatably connected to the two inner side surfaces of the U-shaped frame 161 , respectively. The ends of the two rotating shafts 162 that are close to each other are fixedly connected to the side surfaces of the clamping seat 163 .

[0067] Specifically, after the cushion seat 310 is installed on the flexible rail 300, one end of the flexible rail 300 can be passed between the top surface of the clamping seat 163 of a clamping mechanism 160 and the inner top surface of the clamping frame 164, and then the limiting screw rod 165 is rotated to move the limiting screw rod 165 downward along the inside of the clamping seat 163. The limiting screw rod 165 can drive the clamping frame 164 to move downward, so that the clamping frame 164 clamps and fixes the end of the flexible rail 300 on the clamping seat 163. After the flexible rail 300 is wrapped around the pipeline, The other end of the flexible rail 300 is passed through between the clamping seat 163 and the clamping frame 164 of another clamping mechanism 160, and the flexible rail 300 is clamped by the other clamping mechanism 160. The position of the clamping mechanism 160 can be adjusted by the telescopic mechanism 150, so that the two clamping mechanisms 160 are close to each other, and the flexible rail 300 is tightened on the surrounding pipe, and the cushion seat 310 is cushioned between the flexible rail 300 and the pipe, so that the flexible rail 300 is connected and fixed on the pipe through the two clamping mechanisms 160;

[0068] The crawling welding trolley 200 can move along the flexible rail 300, so that the crawling welding trolley 200 can automatically weld the welds on the pipeline. After the welding of one weld is completed, the clamping mechanism 160 can be moved in the opposite direction through the telescopic mechanism 150, so that the flexible rail 300 is relaxed. At this time, the adjustment module 100 can be moved by the walking trolley 500, and the clamping mechanism 160 can push the flexible rail 300 to move, thereby adjusting the position of the flexible rail 300, and moving the flexible rail 300 directly to the next welding position. Then, the flexible rail 300 is tightened again by the clamping mechanism 160, and the next weld is welded by the crawling welding trolley 200, which is convenient for adjusting the position of the flexible rail 300, which is beneficial to reducing the burden on the staff and facilitating the continuous welding of the pipeline. The flexible rail 300 can be set longer so that the flexible rail 300 can adapt to pipelines of different diameters.

[0069] Embodiment 1

[0070] like Figure 3-4 As shown, in the present embodiment, a plurality of tooth grooves 320 and a plurality of clamping grooves 330 are provided on the top surface of the flexible rail 300, and the traveling wheels on the crawling welding carriage 200 can move along the tooth grooves 320, and a plug-in block 311 which is slidably plugged into the inner side surface of the adjacent clamping groove 330 is fixedly connected to the top surface of the cushion seat 310, and a clamping seat 312 which contacts the top surface of the flexible rail 300 is rotatably connected to the top surface of the cushion seat 310, and a plurality of balls 340 are rotatably connected to the bottom surface of the cushion seat 310, and a fixed shaft 313 which is rotatably connected to the inner side surface of the adjacent plug-in block 311 is fixedly connected to the bottom surface of the clamping seat 312, and the side surface of the fixed shaft 313 is rotatably connected to the inner side surface of the cushion seat 310, and a torsion spring is arranged between the side surface of the fixed shaft 313 and the inner side surface of the cushion seat 310, and under the action of the torsion spring, the angle of the fixed shaft 313 can be limited, thereby maintaining the angle of the clamping seat 312.

[0071] In specific implementation, when the cushion seat 310 is installed on the flexible rail 300, the two clamping seats 312 can be rotated away from each other so that the clamping seat 312 is parallel to the corresponding plug-in block 311, and then the clamping seat 312 can be passed through the corresponding slot 330, and the plug-in block 311 can be inserted into the corresponding slot 330. At this time, the two clamping seats 312 can be rotated toward each other so that the bottom surface of the clamping seat 312 is against the top surface of the flexible rail 300, so that the cushion seat 310 is connected to the flexible rail 300 through the clamping seat 312, and under the action of the torsion spring, the angle between the fixed shaft 313 and the clamping seat 312 can be maintained, and the cushion seat 310 can be against the pipe through the ball 340. In this way, when the adjustment module 100 moves, it is convenient to push the cushion seat 310 to move on the pipe through the clamping mechanism 160, so as to adjust the position of the flexible rail 300.

[0072] Tooth blocks may be provided on the clamping seat 163 and the clamping frame 164 . When the clamping seat 163 and the clamping frame 164 clamp the flexible rail 300 , the tooth blocks may be inserted into corresponding tooth grooves 320 , which is beneficial to improving the clamping stability.

[0073] like Figure 4 and Figure 6 As shown, in this embodiment, a connecting mechanism 140 is provided on the top of the inner side of the connecting frame 110;

[0074] The connecting mechanism 140 includes a fixing rod 141, a bracket 142, a connecting frame 143, and a connecting screw rod 145;

[0075] The fixing rod 141 is arranged on the inner side of the connecting frame 110, the bracket 142 is arranged at the bottom of the fixing rod 141, the connecting frame 143 is arranged on the side of the fixing rod 141, the connecting frame 143 is slidably connected to the fixing rod 141, the top surface of the bracket 142 is fixedly connected to the bottom surface of the connecting frame 143, the connecting screw rod 145 is rotatably connected to the inner side surface of the bottom of the bracket 142, the end of the connecting screw rod 145 is screwed and connected to the inner side surface of the adjacent cushion seat 310, and a screwing groove is opened on the side of the cushion seat 310, and the end of the connecting screw rod 145 is screwed and connected in the screwing groove, so that the connecting screw rod 145 is connected to the corresponding cushion seat 310.

[0076] During specific implementation, the fixing rod 141 can limit the height of the bracket 142 through the connecting frame 143, and the bracket 142 can limit the height of the connecting screw 145. The top cushion 310 is connected to the bracket 142 through the connecting screw 145. When the walking trolley 500 drives the adjustment module 100 to move, the bracket 142 can push the cushion 310 to move through the connecting screw 145, so that the top and bottom of the flexible rail 300 can be pushed to move at the same time, so that the flexible rail 300 can move smoothly along the pipeline, and the flexible rail 300 can be adjusted to the corresponding position more accurately, so that the welding head of the crawling welding trolley 200 can correspond to the weld.

[0077] like Figure 10-11As shown, in this embodiment, the telescopic mechanism 150 includes a positioning frame 151, an L-shaped rod 152, a hydraulic rod 153, a second fixing seat 154, a second rotating seat 155, a second limiting screw 156, and two second limiting slots 157;

[0078] The telescopic mechanism 150 is located between the two lifting mechanisms 130. The lifting mechanism 130 is located on the side of the connecting frame 120 away from the connecting frame 1 110. The positioning frame 151 is set at the bottom of the lifting mechanism 130. The L-shaped rod 152 is slidably connected to the inner side of the positioning frame 151. The top of the L-shaped rod 152 is fixedly connected to the bottom surface of the U-shaped frame 161. The L-shaped rod 152 can slide inside the positioning frame 151. The L-shaped rod 152 can support the U-shaped frame 161, thereby limiting the clamping mechanism 160. The hydraulic rod 153 is fixedly connected to the inner side of the positioning frame 151, and the output end of the hydraulic rod 153 is transmission-connected to the inner side of the L-shaped rod 152.

[0079] The lifting mechanism 130 includes a positioning rod 131, a lifting block 132, a lifting screw rod 133, and a power motor 134;

[0080] The positioning rod 131 is fixedly connected to the side surface of the connecting frame 120, the lifting block 132 is slidably connected to the inner side surface of the positioning rod 131, the side surface of the lifting block 132 is fixedly connected to the side surface of the adjacent fixing seat 154, the lifting screw rod 133 is rotatably connected to the inner side surface of the positioning rod 131, the side surface of the lifting screw rod 133 is screwed together with the inner side surface of the lifting block 132, the lifting screw rod 133 can limit the position of the lifting block 132, the lifting block 132 can support the fixing seat 154, thereby supporting the telescopic mechanism 150, and then limiting the height of the clamping mechanism 160, the power motor 134 is fixedly connected to the inner side surface of the top of the positioning rod 131, and the output end of the power motor 134 is transmission-connected to the top end of the lifting screw rod 133.

[0081] In a specific implementation, after the end of the flexible rail 300 is clamped by the clamping mechanism 160, the L-shaped rod 152 can be driven to move by the hydraulic rod 153, so that the L-shaped rod 152 moves along the inside of the positioning frame 151, and the L-shaped rod 152 can drive the clamping mechanism 160 to move, so that the two clamping mechanisms 160 move toward each other, and the flexible rail 300 is tightened by the two clamping mechanisms 160. After the crawling welding trolley 200 moves to the bottom of the pipeline along the flexible rail 300, the hydraulic rod 153 of one telescopic mechanism 150 can be extended, and the hydraulic rod 153 of the other telescopic mechanism 150 can be contracted, so that the two L-shaped rods 152 move in the same direction, and the two clamping mechanisms 160 are moved to one side of the pipeline. At the same time, the lifting screw rod can be driven by the power motor 134 133 rotates, and when the lifting screw rod 133 rotates, the lifting block 132 can move upward along the lifting screw rod 133, and the lifting block 132 can drive the fixed seat 154 to move, thereby driving the telescopic mechanism 150 to move upward, and the two clamping mechanisms 160 to move upward, so that the position of the clamping mechanism 160 can be adjusted, so that the end of the flexible rail 300 is still close to the pipeline, and the flexible rail 300 is wrapped around the pipeline to make the flexible rail 300 tight. At this time, the end of the flexible rail 300 will be located obliquely below the pipeline, and no longer located directly below the pipeline. The crawling welding trolley 200 can move along the flexible rail 300 to the bottom of the pipeline, and weld the weld at the bottom of the side of the pipeline. In this way, welding can be performed around the pipeline, which is conducive to a more comprehensive welding of the pipeline;

[0082] After welding is completed, the hydraulic rod 153 can be contracted to move the L-shaped rod 152 toward the positioning frame 151, so that the flexible rail 300 can be detached from the pipeline, and the connecting mechanism 140 can support the top cushion 310, thereby supporting the top of the flexible rail 300, so that the flexible rail 300 can be detached from the pipeline, which is convenient for moving the pipeline away or moving the adjustment module 100 to the next pipeline. At the same time, when the diameter of the pipeline changes, it is convenient to move the flexible rail 300 to the large end of the pipeline.

[0083] Embodiment 2

[0084] Based on the first embodiment, Figure 6 and Fig.11As shown, in this embodiment, the second fixed seat 154 is arranged at one end of the L-shaped rod 152 away from the clamping mechanism 160, the second rotating seat 155 is rotatably connected to the inner side surface of the second fixed seat 154, the side surface of the second rotating seat 155 is fixedly connected to the end of the positioning frame 151, and the second limiting screw 156 is screwed on the inner side surface of the second fixed seat 154, and two second limiting grooves 157 are both provided on the side surface of the second rotating seat 155, and the end of the second limiting screw 156 extends to the inside of the adjacent second limiting groove 157, and the second rotating seat 155 is provided with two second limiting grooves 157, and the second limiting screw 156 can extend to the inside of the adjacent second limiting groove 157, so that the second rotating seat 155 is limited to rotate in the second fixed seat 154 by the second limiting screw 156, thereby limiting the angle of the positioning frame 151 and maintaining the angle of the clamping mechanism 160;

[0085] The connecting mechanism 140 further includes two fixing seats 146, two rotating seats 148, two limiting screws 147, and four limiting slots 149;

[0086] Two fixed seats 146 are respectively arranged at two ends of the fixed rod 141, two rotating seats 148 are respectively rotatably connected to the inner sides of the two fixed seats 146, two limit screws 147 are respectively screwed and connected to the inner sides of the two fixed seats 146, four limit slots 149 are respectively opened on the sides of the two rotating seats 148 in groups of two, and two limit slots 149 are opened on the rotating seat 148. The limit screw 147 can extend into the adjacent limit slot 149, and the limit screw 147 is used to limit the rotation of the rotating seat 148 in the fixed seat 146, thereby limiting the angle of the fixed rod 141.

[0087] In specific implementation, when it is necessary to weld the pipes placed in opposite directions, the limit screw 147 and the limit screw 2 156 can be rotated to move the limit screw 147 out of the corresponding limit slot 149, and the limit screw 2 156 can be moved out of the corresponding limit slot 2 157. At this time, the rotating seat 148 can be rotated in the fixed seat 146, and the rotating seat 2 155 can be rotated in the fixed seat 2 154. Then, the connecting frame 110 and the connecting frame 2 120 can be driven to move by the walking trolley 500, so that the connecting frame 110 and the connecting frame 2 120 are separated from each other. Then, the connecting mechanism 140 and the telescopic mechanism 150 can be rotated to rotate the bracket 142 between the connecting frame 110 and the connecting frame 2 120, and the clamping mechanism 160 can be rotated to the connecting frame 110 and the connecting frame 120. The connecting frame 120 can then rotate the limit screw 147 and the limit screw 2 156 in the opposite direction, so that the limit screw 147 is re-engaged in the corresponding limit slot 149, and the limit screw 2 156 is re-engaged in the corresponding limit slot 2 157, thereby re-limiting the angle between the rotating seat 148 and the rotating seat 2 155, and limiting the angles of the connecting mechanism 140, the telescopic mechanism 150, and the clamping mechanism 160. At this time, the height of the telescopic mechanism 150 and the clamping mechanism 160 can be adjusted by the lifting mechanism 130, so that the two clamping mechanisms 160 have the same height, and the clamping seat 163 corresponds to the bottom end of the connecting screw rod 145, so that the flexible rail 300 can be surrounded by the upright pipe, which is convenient for adjusting the angle of the flexible rail 300 according to the placement state of the pipe, and is more flexible to use.

[0088] like Figure 5 As shown, in this embodiment, the two inner sides of the connecting frame 110 are provided with sliding grooves 116, and the inner side of the sliding groove 116 is slidably connected with an adjustment block 112 fixedly connected to the adjacent fixing seat 146, and the adjustment block 112 can slide inside the sliding groove 116;

[0089] The inner side surface of the sliding groove 116 is rotatably connected to an adjusting screw rod 111 that is screwed together with the inner side surface of the adjusting block 112. The adjusting screw rod 111 can limit the height of the adjusting block 112. The adjusting block 112 can support the fixing seat 146, thereby supporting the connecting mechanism 140. In this way, the height of the top cushion seat 310 can be limited by the connecting mechanism 140. A dual-axis motor 113 is arranged on the inner side surface of the top of the connecting frame 110. Both output ends of the dual-axis motor 113 are transmission-connected to a transmission shaft 114. The ends of the transmission shaft 114 and the top of the adjusting screw rod 111 are fixedly sleeved with a bevel gear 115, and two adjacent bevel gears 115 are meshed for transmission.

[0090] In a specific implementation, when the flexible rail 300 is wrapped around a horizontally placed pipe, the two transmission shafts 114 can be driven to rotate by the dual-axis motor 113, and the transmission shaft 114 can drive the adjusting screw 111 to rotate through two adjacent bevel gears 115. When the adjusting screw 111 rotates, the adjusting block 112 can move upward or downward along the adjusting screw 111, and the adjusting block 112 can drive the fixed seat 146 to move, thereby adjusting the height of the connecting mechanism 140, so that the connecting screw 145 corresponds to the screw groove of the top cushion seat 310, and then the connecting screw 145 can be screwed into the screw groove in the cushion seat 310. , connect the connecting screw rod 145 with the top cushion seat 310, so that it can adapt to pipes of different diameters. When the flexible rail 300 needs to be placed around the upright pipe, when the height of the clamping mechanism 160 is adjusted by the lifting mechanism 130, the adjusting screw rod 111 can be driven to rotate by the dual-axis motor 113, thereby adjusting the height of the connecting mechanism 140. In this way, the flexible rail 300 can be set at a corresponding height, so that the crawling welding trolley 200 corresponds to the weld of the pipe, and when welding of welds of different heights is required, the height of the flexible rail 300 can be adjusted by the clamping mechanism 160 and the connecting mechanism 140.

[0091] like Figure 8-9 As shown, in this embodiment, X-shaped frames 400 are arranged on both sides of the connecting frame 110, and the connecting frame 110 and the connecting frame 2 120 are located between the two X-shaped frames 400. The X-shaped frames 400 can connect the connecting frame 110 and the connecting frame 2 120. After the connecting frame 110 and the connecting frame 2 120 are pulled apart by a certain distance, the X-shaped frames 400 are helpful to maintain the stability of the connecting frame 110 and the connecting frame 2 120. The X-shaped frames 400 include two connecting rods 410, and the two connecting rods 410 are connected by rotating relative surfaces. The tops of the two sides of the connecting frame 10 and the second connecting frame 120 are rotatably connected to the tops of the adjacent connecting rods 410, the tops of the two connecting rods 410 of the X-shaped frame 400 are respectively rotated on the connecting frame 1 10 and the second connecting frame 120, and the two sides of the connecting frame 1 10 and the second connecting frame 120 are provided with positioning grooves 170, and the bottom ends of the connecting rods 410 are rotatably connected with positioning blocks 420 that are slidably connected to the inner sides of the adjacent positioning grooves 170, and the two positioning blocks 420 slide on the two positioning grooves 170 respectively, and the positioning blocks 420 can slide up and down along the positioning grooves 170;

[0092] The inner side surface of the positioning groove 170 is rotatably connected to a positioning screw rod 171 which is screwed together with the inner side surface of the adjacent positioning block 420. The positioning screw rod 171 can limit the height of the positioning block 420, thereby limiting the rotation of the connecting rod 410, so that the connecting frame 110 and the connecting frame 2 120 can be more stably abutted. The inner side surfaces of the tops of the connecting frame 110 and the connecting frame 2 120 are both provided with a dual-axis motor 2 180. The two output ends of the dual-axis motor 2 180 are both transmission-connected with a transmission shaft 2 181. The inner side surfaces of the connecting frame 110 and the connecting frame 2 120 are both rotatably connected to the side surfaces of the adjacent transmission shaft 2 181. The end of the transmission shaft 2 181 and the top of the side surface of the positioning screw rod 171 are fixedly sleeved with a bevel gear 2 190, and the two adjacent bevel gears 2 190 are meshed for transmission.

[0093] During specific implementation, when it is necessary to connect the flexible rail 300 to an upright pipe, the two transmission shafts 181 can be driven to rotate by the dual-axis motor 180 first, and the transmission shaft 181 can drive the positioning screw 171 to rotate through the two adjacent bevel gears 190. When the positioning screw 171 rotates, the positioning block 420 can move upward along the inside of the positioning groove 170, thereby rotating the connecting rod 410. The rotation of the two connecting rods 410 can make the connecting frame 1 110 and the connecting frame 2 120 move away from each other, so that the connecting frame 1 110 and the connecting frame 2 120 can be pulled apart by a certain distance through the X-shaped frame 400, and the connecting frame 1 110 and the connecting frame 2 120 can continue to be connected through the X-shaped frame 400, which is beneficial to maintaining the stability of the connecting frame 110 and the connecting frame 2 120.

[0094] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0095] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. Large workpiece automatic welding robot, characterized by: include: A crawling welding carriage (200) is capable of welding workpieces; A flexible rail (300) is arranged at the bottom of the crawling welding carriage (200), and a plurality of cushion seats (310) are arranged on the bottom surface of the flexible rail (300); The adjusting module (100) is capable of limiting the position of the flexible rail (300). The adjusting module (100) comprises a connecting frame 1 (110) and a connecting frame 2 (120). Two lifting mechanisms (130) are arranged on the side of the connecting frame 2 (120). A telescopic mechanism (150) is arranged at the bottom of the lifting mechanism (130). A clamping mechanism (160) is arranged at the top of the telescopic mechanism (150). The clamping mechanism (160) comprises a clamping seat (163) and a clamping frame (164). The inner side surface of the clamping seat (163) is slidably connected to the side surface of the clamping frame (164). The inner side surface of the bottom of the clamping frame (164) is rotatably connected to a limiting screw rod (165) that is screwed together with the inner side surface of the clamping seat (163).

2. The large workpiece automatic welding robot according to claim 1, characterized in that: The top surface of the flexible rail (300) is provided with a plurality of tooth grooves (320) and a plurality of clamping grooves (330); the top surface of the cushion seat (310) is fixedly connected with a plug-in block (311) which is slidably plugged with the inner side surface of the adjacent clamping groove (330); the top surface of the plug-in block (311) is rotatably connected with a clamping seat (312) which contacts the top surface of the flexible rail (300).

3. The large workpiece automatic welding robot according to claim 1, characterized in that: Both ends of the bottom of the first connecting frame (110) and the second connecting frame (120) are fixedly connected with a walking trolley (500).

4. The large workpiece automatic welding robot according to claim 3 is characterized in that: X-shaped frames (400) are arranged on both sides of the first connecting frame (110), and the X-shaped frames (400) can connect the first connecting frame (110) with the second connecting frame (120).

5. The large workpiece automatic welding robot according to claim 1, characterized in that: The clamping mechanism (160) further comprises: A U-shaped frame (161) is arranged at the bottom of the clamping seat (163); The two rotating shafts (162) are respectively rotatably connected to the two inner side surfaces of the U-shaped frame (161), and the ends of the two rotating shafts (162) close to each other are fixedly connected to the side surface of the clamping seat (163).

6. The large workpiece automatic welding robot according to claim 5, characterized in that: The telescopic mechanism (150) comprises: A positioning frame (151) is arranged at the bottom of the lifting mechanism (130); An L-shaped rod (152) is slidably connected to the inner side of the positioning frame (151), and the top of the L-shaped rod (152) is fixedly connected to the bottom of the U-shaped frame (161); The hydraulic rod (153) is fixedly connected to the inner side surface of the positioning frame (151), and the output end of the hydraulic rod (153) is transmission-connected to the inner side surface of the L-shaped rod (152).

7. The large workpiece automatic welding robot according to claim 6, characterized in that: The telescopic mechanism (150) further comprises: A second fixing seat (154) is arranged at one end of the L-shaped rod (152) away from the clamping mechanism (160); The second rotating seat (155) is rotatably connected to the inner side surface of the second fixed seat (154), and the side surface of the second rotating seat (155) is fixedly connected to the end of the positioning frame (151); A second limiting screw (156) is screwed on the inner side surface of the second fixing seat (154); The two second limiting grooves (157) are both arranged on the side surface of the second rotating seat (155), and the end of the second limiting screw (156) extends to the inside of the adjacent second limiting groove (157).

8. The large workpiece automatic welding robot according to claim 1, characterized in that: A connecting mechanism (140) is provided at the top of the inner side of the connecting frame 1 (110); The connecting mechanism (140) comprises: A fixing rod (141) is arranged inside the first connecting frame (110); A bracket (142) is arranged at the bottom of the fixing rod (141); A connecting frame (143) is arranged on the side of the fixing rod (141), and the top surface of the bracket (142) is fixedly connected to the bottom surface of the connecting frame (143); The connecting screw rod (145) is rotatably connected to the inner side surface of the bottom of the bracket (142), and the end of the connecting screw rod (145) is screwed and connected to the inner side surface of the adjacent cushion seat (310).

9. The large workpiece automatic welding robot according to claim 8, characterized in that: The connecting mechanism (140) further comprises: Two fixing seats (146) are respectively arranged at two ends of the fixing rod (141); Two rotating seats (148) are respectively rotatably connected to the inner side surfaces of the two fixed seats (146); Two limit screws (147) are respectively screwed and connected to the inner side surfaces of the two fixing seats (146); Four limiting grooves (149) are arranged in groups of two on the side surfaces of the two rotating seats (148).

10. The large workpiece automatic welding robot according to claim 9, characterized in that: Both inner sides of the connecting frame 1 (110) are provided with sliding grooves (116), and the inner side of the sliding groove (116) is slidably connected to an adjustment block (112) fixedly connected to an adjacent fixing seat 1 (146).

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