Annular welding robot for steel pipe welding

Abstract

The invention is applicable to the technical field of welding, and provides an annular welding robot for steel pipe welding, which comprises a support and further comprises two self-propelled welding assemblies, each self-propelled welding assembly comprises a power box body connected with two ends of the support, driving wheels are arranged on two sides of the power box body along the length direction of the power box body, and the power box body is connected with the support; the number of the driving wheels is four, a driving part used for driving the driving wheels to rotate synchronously is arranged in the power box body, a rectangular mounting position which is arranged in a penetrating mode is formed in the power box body, the rectangular mounting position is perpendicular to the moving direction of the self-propelled welding assembly, and a welding gun head capable of moving transversely is arranged in the rectangular mounting position. The annular welding device has the beneficial effects that the structure needed by annular welding is effectively simplified, and meanwhile needed annular welding treatment can be completed.

Description

Technical Field

[0001] The invention belongs to the technical field of welding, and in particular relates to a ring welding robot used for steel pipe welding. Background Art

[0002] Steel pipe welding is the process of welding two steel pipes together using a welding machine. Of course, there are many forms to meet different requirements, such as butt-jointing the two steel pipe ends, vertical welding, and welding at a certain angle.

[0003] In the prior art, if two steel pipes are to be butted end-to-end, the two steel pipes must first be placed according to welding requirements, and then a welding gun is used to weld along the welding gap. When the size of the steel pipe is large, the steel pipe must also be rotated.

[0004] In order to improve the welding efficiency in the above situation, a circular welding robot is usually used to handle it. The welding robot will perform circular motion along a pre-set track to complete the welding of two steel pipes for a full circle. However, when welding large-sized steel pipes, the circular guide rails are very large and the space occupied by the entire welding system is also huge. Therefore, a circular welding robot for steel pipe welding is proposed to solve the above problems. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide a circular welding robot for steel pipe welding, aiming to solve the problems mentioned in the above background technology.

[0006] The embodiment of the present invention is implemented as follows: a ring welding robot for steel pipe welding includes a bracket and further includes: Two self-propelled welding assemblies for circular motion on the surface of the steel pipe to be welded, the self-propelled welding assemblies are located at both ends of the bracket, the self-propelled welding assemblies include a power box connected to both ends of the bracket, the power box is provided with driving wheels on both sides along its own length direction, the number of the driving wheels is 4, a driving member for driving multiple driving wheels to rotate synchronously is provided in the power box, a rectangular mounting position is provided through the power box, and the rectangular mounting position is perpendicular to the moving direction of the self-propelled welding assembly, a welding gun head capable of lateral movement is provided in the rectangular mounting position, and the welding gun head is connected to the welding source through an integrated hose; A plurality of support frames for supporting two steel pipes for cross-section welding; Monitoring equipment for monitoring the movement of self-propelled welding assemblies; When welding steel pipes, the monitoring equipment collects the position images of the two self-propelled welding assemblies on the steel pipes and transmits them to the industrial computer, which then processes the image data. The specific steps include: Preprocessing the position image to improve the feature difference between the self-propelled welding assembly and the steel pipe; Calculate the perimeter parameters of the steel pipe welding based on the processed position image; The welding working time parameter is obtained according to the 1 / 2 circumference parameter combined with the working travel speed of the self-propelled welding assembly; The industrial computer generates welding instructions according to the welding time parameters and sends them to the self-propelled welding components, so that the two self-propelled welding components can perform welding work on half the circumference of the steel pipe.

[0007] Preferably, the length of the rectangular installation position is greater than the steel pipe welding gap, and the steel pipe welding gap is the distance between the end faces of two steel pipes arranged on the support frame.

[0008] Preferably, the bracket includes a horizontal frame located between two supporting frames, both ends of the horizontal frame are fixedly connected to vertically arranged vertical frames, two self-propelled welding assemblies are respectively installed on the top of the two vertical frames, and the distance between the connection between the horizontal frame and the vertical frame and the axis of the steel pipe to be welded is less than the height of the axis of the steel pipe to be welded.

[0009] Preferably, the horizontal frame includes a first pipe fitting, both ends of the first pipe fitting are slidably connected with second pipe fittings, the vertical frame is fixedly set on the second pipe fitting, a first telescopic member connected to the two second pipe fittings is arranged in the first pipe fitting, the vertical frame includes a first vertical pipe fixedly connected to the second pipe fitting at one end, a second vertical pipe is slidably inserted in the first vertical pipe, the self-propelled welding assembly is installed on the top of the second vertical pipe, and a second telescopic member for driving the second vertical pipe to move is arranged in the first vertical pipe and the second vertical pipe.

[0010] Preferably, the cross-sections of the first pipe member, the second pipe member, the first vertical pipe and the second vertical pipe are all rectangular.

[0011] Preferably, a strip-shaped cushion block is fixedly connected to the bottom of the first pipe, and a rectangular opening groove is formed on the top of the second pipe on a side facing the first pipe, and the rectangular opening groove matches the cushion block.

[0012] Preferably, the side of the power box facing the surface of the steel pipe to be welded is an arc-shaped structure.

[0013] An embodiment of the present invention provides a ring welding robot for steel pipe welding, which has the following beneficial effects: This welding robot utilizes the shape characteristics of the circular steel pipe and is composed of two self-propelled welding assemblies placed on both sides of the steel pipe. The two self-propelled welding assemblies are connected by a bracket with a very simple structure. The two self-propelled welding assemblies and a cross-type bracket can lock the self-propelled welding assemblies on the surface of the steel pipe, so that there will be no problem of falling off during welding. The present invention does not need to set up a huge circular track structure around the steel pipe, which effectively simplifies the structure and can also complete the required circular welding process. Since two self-propelled welding assemblies are used to perform circular welding on the steel pipe, each self-propelled welding assembly only needs to complete half of the welding work to complete the welding process of a whole circle, thereby significantly improving the welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the working of a circular welding robot for steel pipe welding provided by an embodiment of the present invention; Figure 2 A position relationship diagram of a ring welding robot for steel pipe welding relative to a steel pipe provided in an embodiment of the present invention; Figure 3 A three-dimensional structural diagram of a bracket and a self-propelled welding assembly provided in an embodiment of the present invention; Figure 4 A three-dimensional structural diagram of a self-propelled welding assembly provided in an embodiment of the present invention; Figure 5 A three-dimensional structural diagram of a stent after contraction provided by an embodiment of the present invention; Figure 6 A three-dimensional schematic diagram of a first pipe fitting and a second pipe fitting provided in an embodiment of the present invention; Figure 7 A schematic diagram of the movement of a self-propelled welding assembly provided by an embodiment of the present invention; Figure 8 A flow chart of image data processing by an industrial control machine provided in an embodiment of the present invention.

[0015] In the attached drawings: 1. bracket; 101. horizontal frame; 102. vertical frame; 2. self-propelled welding assembly; 201. power box; 202. driving wheel; 203. rectangular mounting position; 204. welding gun head; 205. integrated hose; 3. support frame; 4. steel pipe; 5. first pipe fitting; 6. second pipe fitting; 7. first vertical pipe; 8. second vertical pipe; 9. pad; 10. rectangular opening groove. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0017] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0018] like Figure 1 , Figure 2 and Figure 3 As shown, a ring welding robot for steel pipe welding provided by an embodiment of the present invention includes a bracket 1 and also includes: Two self-propelled welding assemblies 2 for circular motion on the surface of the steel pipe 4 to be welded, the self-propelled welding assemblies 2 are located at both ends of the bracket 1, and the self-propelled welding unit 2 includes a power box 201 connected to the two ends of the bracket 1, and the side of the power box 201 facing the surface of the steel pipe 4 to be welded is an arc structure, which can avoid interference between the power box 201 and the surface of the steel pipe 4, and the power box 201 is provided with driving wheels 202 on both sides along its own length direction. The number of the driving wheels 202 is 4, and a driving member for driving multiple driving wheels 202 to rotate synchronously is arranged in the power box 201. A rectangular mounting position 203 is set through the power box 201, and the rectangular mounting position 203 is perpendicular to the moving direction of the self-propelled welding assembly 2, and the length of the rectangular mounting position 203 is greater than the welding gap of the steel pipe 4. The welding gap of the steel pipe 4 is the distance between the end faces of the two steel pipes 4 arranged on the support frame 3. When welding, the welding gun head 204 needs to move back and forth between the welding gaps so as to fill the welding gaps. A welding gun head 204 capable of lateral movement is arranged in the rectangular mounting position 203. The welding gun head 204 is connected to the welding source through an integrated hose 205. The welding source is a conventional device in the prior art. The welding source can be a power supply for providing power to the welding gun head 204, a device for supplying protective gas, and a device for controlling automation. The pipelines and cables of these devices are all collected in the integrated hose 205. Based on this situation, the driving member can be pneumatic, or of course, in the form of a motor, so as to drive the driving wheel 202 to rotate, so that the self-propelled welding assembly 2 can walk on the surface of the steel pipe 4. A plurality of support frames 3 for supporting two steel pipes 4 for cross-section welding, wherein the support frames 3 may be commonly used steel structures for supporting steel pipes 4, and therefore will not be described in detail; A monitoring device for monitoring the movement of the self-propelled welding assembly 2, which may be an industrial control camera. The monitoring device needs to be arranged around the steel pipe welding station, and can not only identify the position of the self-propelled welding assembly 2 relative to the steel pipe 4 from the axial direction of the steel pipe 4, but also identify whether the self-propelled welding assembly 2 is offset from the radial direction of the steel pipe 4, so as to facilitate the route correction of the self-propelled welding assembly 2. The monitoring device is a conventional device, so no detailed description thereof is given; In one embodiment of the present invention, Figure 7 As shown, the welding robot utilizes the shape characteristics of the circular steel pipe 4 and is composed of two self-propelled welding assemblies 2 disposed on both sides of the steel pipe 4, and the two self-propelled welding assemblies 2 are connected by a bracket 1 with a very simple structure. The two self-propelled welding assemblies 2 and a cross-type bracket 1 can lock the self-propelled welding assemblies 2 on the surface of the steel pipe 4, so that the problem of falling off will not occur during the welding process. The present invention does not need to set a huge annular track structure around the steel pipe 4, which effectively simplifies the structure and can also complete the required annular welding process.

[0019] It should be noted that if Figure 8 As shown, when welding the steel pipe 4, the monitoring equipment collects the position images of the two self-propelled welding assemblies 2 on the steel pipe 4 and transmits them to the industrial computer, which then processes the image data. The specific steps include: S100, preprocessing the position image to improve the feature difference between the self-propelled welding assembly 2 and the steel pipe 4; S200, calculating the perimeter parameter of the welding of the steel pipe 4 based on the processed position image; S300, obtaining a welding working time parameter according to the 1 / 2 circumference parameter and the working travel speed of the self-propelled welding assembly 2; S400, generating a welding instruction according to the welding time parameter by the industrial computer and sending it to the self-propelled welding assembly 2, so that the two self-propelled welding assemblies 2 perform welding work on half of the circumference of the steel pipe 4.

[0020] Therefore, since two self-propelled welding assemblies 2 are used to perform circular welding on the steel pipe 4, each self-propelled welding assembly 2 only needs to complete half of the welding work to complete the welding process of a whole circle, thereby significantly improving the welding efficiency. First, the position image obtained by the monitoring equipment includes the steel pipe 4 and the self-propelled welding assemblies 2 on both sides of the steel pipe 4. The existing technology is used to measure the size of the steel pipe 4, such as the diameter and circumference, so as to determine the moving distance of each self-propelled welding assembly 2. The moving speed of the self-propelled welding assembly 2 is stable during welding, so that the working time of the welding gun head 204 can be known.

[0021] like Figure 3 , Figure 5 and Figure 6As shown, as a preferred embodiment of the present invention, the bracket 1 includes a horizontal frame 101 located between two supporting frames 3, and both ends of the horizontal frame 101 are fixedly connected with vertically arranged vertical frames 102, and two self-propelled welding assemblies 2 are respectively installed on the top of the two vertical frames 102, and the distance between the connection between the horizontal frame 101 and the vertical frame 102 and the axis of the steel pipe 4 to be welded is less than the height of the axis of the steel pipe 4 to be welded. This size requirement limits the space occupied by the bracket 1 as a whole, ensuring that the two self-propelled welding assemblies can drive the entire structure to operate around the steel pipe 4.

[0022] In one case of the present embodiment, the horizontal frame 101 includes a first pipe 5, both ends of the first pipe 5 are slidably sleeved with second pipes 6, the vertical frame 102 is fixedly arranged on the second pipe 6, a first telescopic member connected to two second pipes 6 is arranged in the first pipe 5, the vertical frame 102 includes a first vertical pipe 7 fixedly connected to the second pipe 6 at one end, a second vertical pipe 8 is slidably inserted in the first vertical pipe 7, the self-propelled welding assembly 2 is installed on the top of the second vertical pipe 8, and a second telescopic member for driving the second vertical pipe 8 to move is arranged in the first vertical pipe 7 and the second vertical pipe 8. The cross-sections of the first pipe 5, the second pipe 6, the first vertical pipe 7 and the second vertical pipe 8 are all rectangular, a strip-shaped cushion block 9 is fixedly connected to the bottom of the first pipe 5, and a rectangular opening groove 10 is opened on the top of the second pipe 6 facing the side of the first pipe 5, and the rectangular opening groove 10 is consistent with the cushion block 9. Based on the above structure, when the two steel pipes 4 are placed on the support frame 3, the present embodiment also provides a method for controlling the operation of the bracket 1, and the specific steps include: A reference image of the steel pipe 4 is obtained through a monitoring device, wherein the reference image includes the support frame 3, the steel pipe 4 after being placed, the bracket 1 in the storage state, and the self-propelled welding assembly 2; Acquire the size and position of the steel pipe 4 according to the reference image, and simultaneously acquire the positions of the two self-propelled welding assemblies 2; The first telescopic member is controlled to work according to the size of the steel pipe 4, so that the distance between the two self-propelled welding assemblies 2 is adjusted to a state larger than the size of the steel pipe 4; The second telescopic member is controlled to work according to the size and position of the steel pipe 4 and the position of the self-propelled welding assembly 2, so that the two self-propelled welding assemblies 2 are raised, and then the first telescopic member is retracted, so that the two self-propelled welding assemblies 2 are abutted against and locked on both sides of the steel pipe 4; When the position of the self-propelled welding assembly 2 is locked, the second telescopic member is controlled to contract, so that the position of the cross frame 101 moves upward, so that the bracket 1 as a whole does not affect the circular movement of the self-propelled welding assembly 2; When the circular welding is completed, the two self-propelled welding assemblies 2 are controlled to move to a horizontal position, and then the cross frame 101 is controlled to move downward as a whole through the second telescopic member. When the cross frame 101 reaches the ground, the self-propelled welding assembly 2 can be separated from the steel pipe 4 by the first telescopic member and the second telescopic member. The bracket 1 can be stored in a state as shown in the figure. Figure 5 Status shown.

[0023] It should be noted that the first telescopic member and the second telescopic member can both be in the form of an electric telescopic rod, and of course, can also be in the form of a hydraulic telescopic rod. The purpose of the first telescopic member is to adjust the length of the horizontal frame 101, and the second telescopic member is to adjust the length of the vertical frame 102. Through the mutual cooperation of the first telescopic member and the second telescopic member, the position adjustment of the two self-propelled welding assemblies 2, the position locking of the surface of the steel pipe 4, and the storage of the two self-propelled welding assemblies 2 can be achieved. Due to the presence of the cushion block 9, the two second pipe fittings 6 can be evenly displaced, avoiding the movement of the first pipe fitting 5 when the horizontal frame 101 is extended or retracted, resulting in the position offset of the two self-propelled welding assemblies 2.

[0024] In summary, the working process of the annular welding robot is as follows: first, the two steel pipes 4 to be welded are supported and placed by the support frame 3, and the positions of the two steel pipes 4 need to be determined, and the welding robot is located between the two support frames 3 and at the bottom of the steel pipe 4. At this time, by controlling the extension and retraction of the horizontal frame 101 and the vertical frame 102, the two self-propelled welding assemblies 2 can be automatically attached to the surface of the steel pipe 4 and locked. At the same time, the position of the horizontal frame 101 will also rise, and then the driving member in the power box 201 can control the driving wheel 202 to rotate, and then the welding gun head 204 can be used to perform a circular motion along the steel pipe 4, thereby completing the welding process of the two steel pipes 4. After a circle of welding work is completed, the two self-propelled welding assemblies 2 will be reset, and then the vertical frame 102 will be controlled to extend, so that the horizontal frame 101 can fall and return to its initial position. At this time, the horizontal frame 101 can be extended and retracted and the vertical frame 102 can be contracted. The two self-propelled welding assemblies 2 are reset. Through the above-mentioned work process, it can be clearly concluded that the welding robot has many advantages. The welding robot utilizes the shape characteristics of the circular steel pipe 4 and is composed of two self-propelled welding assemblies 2 disposed on both sides of the steel pipe 4, and the two self-propelled welding assemblies 2 are connected by a bracket 1 with a very simple structure. The two self-propelled welding assemblies 2 and a cross-type bracket 1 can lock the self-propelled welding assemblies 2 on the surface of the steel pipe 4, so that there will be no problem of falling off during the welding process. The present invention does not need to set a huge annular track structure around the steel pipe 4, which effectively simplifies the structure and can also complete the required annular welding process. Since two self-propelled welding assemblies 2 are used to perform circular welding on the steel pipe 4, each self-propelled welding assembly 2 only needs to complete half of the welding work to complete the welding process of the entire circle, thereby significantly improving the welding efficiency.

[0025] 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.

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0027] 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. A circular welding robot for steel pipe welding, comprising a bracket (1), characterized in that: Also includes: Two self-propelled welding assemblies (2) for circular motion on the surface of a steel pipe (4) to be welded, the self-propelled welding assemblies (2) being located at two ends of a support (1), the self-propelled welding assemblies (2) comprising a power box (201) connected to the two ends of the support (1), the power box (201) being provided with driving wheels (202) on both sides along its own length direction, the number of the driving wheels (202) being four, a driving member for driving the plurality of driving wheels (202) to rotate synchronously being provided in the power box (201), a rectangular mounting position (203) being provided through the power box (201), and the rectangular mounting position (203) being perpendicular to the moving direction of the self-propelled welding assemblies (2), a welding gun head (204) capable of transverse movement being provided in the rectangular mounting position (203), and the welding gun head (204) being connected to a welding source via an integrated hose (205); A plurality of support frames (3) for supporting two steel pipes (4) for cross-section welding; Monitoring equipment for monitoring the movement of a self-propelled welding assembly (2); When welding the steel pipe (4), the monitoring device collects the position images of the two self-propelled welding assemblies (2) on the steel pipe (4) and transmits them to the industrial control computer, which then processes the image data. The specific steps include: Preprocessing the position image to improve the characteristic difference between the self-propelled welding assembly (2) and the steel pipe (4); Calculating the circumference parameters of the steel pipe (4) welding based on the processed position image; A welding working time parameter is obtained according to the 1 / 2 circumference parameter combined with the working travel speed of the self-propelled welding assembly (2); The industrial computer generates a welding instruction according to the welding time parameter and sends it to the self-propelled welding assembly (2), so that the two self-propelled welding assemblies (2) perform welding work on half the circumference of the steel pipe (4).

2. The circular welding robot for steel pipe welding according to claim 1, characterized in that: The length of the rectangular installation position (203) is greater than the welding gap of the steel pipe (4), and the welding gap of the steel pipe (4) is the distance between the end faces of two steel pipes (4) arranged on the support frame (3).

3. The circular welding robot for steel pipe welding according to claim 1, characterized in that: The support (1) comprises a horizontal frame (101) located between two support frames (3), both ends of the horizontal frame (101) are fixedly connected to vertically arranged vertical frames (102), and two self-propelled welding assemblies (2) are respectively installed on the top of the two vertical frames (102), and the distance between the connection point between the horizontal frame (101) and the vertical frame (102) and the axis of the steel pipe (4) to be welded is less than the height of the axis of the steel pipe (4) to be welded.

4. The circular welding robot for steel pipe welding according to claim 3, characterized in that: The horizontal frame (101) comprises a first pipe (5), both ends of the first pipe (5) are slidably sleeved with second pipes (6), the vertical frame (102) is fixedly arranged on the second pipe (6), a first telescopic member connected to two second pipes (6) is arranged in the first pipe (5), the vertical frame (102) comprises a first vertical pipe (7) one end of which is fixedly connected to the second pipe (6), a second vertical pipe (8) is slidably inserted in the first vertical pipe (7), the self-propelled welding assembly (2) is installed on the top of the second vertical pipe (8), and a second telescopic member for driving the second vertical pipe (8) to move is arranged in the first vertical pipe (7) and the second vertical pipe (8).

5. The circular welding robot for steel pipe welding according to claim 4, characterized in that: The cross sections of the first pipe member (5), the second pipe member (6), the first vertical pipe (7) and the second vertical pipe (8) are all rectangular.

6. The circular welding robot for steel pipe welding according to claim 4, characterized in that: A strip-shaped cushion block (9) is fixedly connected to the bottom of the first pipe member (5), and a rectangular opening groove (10) is provided on the top of the second pipe member (6) on the side facing the first pipe member (5), and the rectangular opening groove (10) is consistent with the cushion block (9).

7. The circular welding robot for steel pipe welding according to claim 1, characterized in that: The side of the power box (201) facing the surface of the steel pipe (4) to be welded is an arc-shaped structure.

Images