Crawling robot with welding device and welding method thereof

Abstract

The invention relates to a crawling robot with a welding device, which comprises a moving platform, a welding device, a welding device and a control device, the clamp is arranged at the side part of the movable platform, and a welding gun is clamped on the clamp; the welding gun is arranged on the movable platform, the smoke exhaust pipe is arranged on the side portion of the movable platform, the smoke exhaust pipe is arranged on the side portion of the welding gun, the smoke exhaust pipe is connected with a smoke removal filter, the smoke removal filter is started to enable the smoke exhaust pipe to extract smoke, the structure is simple, and operation is convenient.

Description

Technical Field

[0001] The invention relates to the technical field of construction engineering, in particular to a crawling robot with a welding device and a welding method thereof. Background Art

[0002] With the decline of traditional housing construction, the construction of people's livelihood infrastructure will become the next direction in the field of engineering construction, especially the construction of urban integrated pipe corridors. As an important part of the underground urban integrated pipe corridor, the installation of water pipelines is a major difficulty in the construction of large-diameter water pipelines in the corridor due to the large diameter of the pipelines and the limited space of the corridor structure. At the same time, some corridor structures have the characteristics of long distance, narrow space and T-shaped. The welding construction of T-shaped large-diameter water pipelines is an important construction step in the construction of underground pipe corridors. The construction quality, efficiency and safety of the construction often determine the efficiency level of the entire project.

[0003] At present, the welding of large-diameter water pipes in the shape of a triangle in underground corridors of other domestic projects mainly adopts the manual welding construction method. That is, after the relevant preparatory work is carried out, the groove is processed manually and then manual welding is carried out. No robots are used to assist in the entire welding construction process, and it is completed only by manpower, which has certain limitations and insecurities. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the prior art and provide a crawling robot with a welding device, so as to reduce the insecurity and limitations by using the crawling robot to weld the pipeline.

[0005] The technical solution to achieve the above purpose is a crawling robot with a welding device, comprising:

[0006] A mobile platform, wherein a magnetic roller is provided at the bottom of the mobile platform;

[0007] A fixture disposed on the side of the mobile platform, wherein a welding gun is clamped on the fixture; and

[0008] A smoke exhaust pipe is arranged on the side of the mobile platform, the smoke exhaust pipe is arranged on the side of the welding gun, and the smoke exhaust pipe is connected with a smoke removal filter. The smoke removal filter is activated to allow the smoke exhaust pipe to extract smoke.

[0009] Furthermore, a controller is provided in the mobile platform, and the controller controls the rotation of the magnetic roller.

[0010] Furthermore, a sensor is arranged in the mobile platform.

[0011] Furthermore, a hand-held handle is provided on the top of the mobile platform.

[0012] Furthermore, there are four magnetic rollers, which are arranged at four corners of the mobile platform.

[0013] Furthermore, the welding gun is connected to an external welding machine via a line.

[0014] Furthermore, a smoke extraction port is provided at the end of the smoke exhaust pipe.

[0015] In the present invention, a welding method of a crawling robot with a welding device is also provided, comprising the following steps:

[0016] A mobile platform will be provided and placed on the pipe to be welded;

[0017] Adjust the welding gun so that the welding gun fits the surface of the pipe, and adjust the smoke exhaust pipe so that the smoke exhaust pipe faces the contact position between the welding gun and the pipe;

[0018] The magnetic roller is started to move the mobile platform along the position of the pipeline to be welded.

[0019] Furthermore, before welding the pipeline, the welding gun is inspected and debugged.

[0020] Furthermore, before welding the pipeline, a welding path of the pipeline is planned.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] By using crawling robots for welding, efficient and precise welding operations can be performed, and exhaust pipes can be set up to extract toxic fumes to solve the problem of toxic welding fumes. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The overall structure diagram of a crawling robot with a welding device;

[0024] Figure 2 A top view of a crawling robot with a welding device;

[0025] Figure 3 is a front view of a crawling robot with a welding device;

[0026] Figure 4 A side view of a crawling robot with a welding device;

[0027] Legend: 1. Exhaust pipe; 2. Clamp; 3. Smoke outlet; 4. Welding gun; 5. Magnetic roller; 6. Mobile platform. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0029] See also Figure 1 A crawling robot with a welding device comprises: a mobile platform 6, a magnetic roller 5 is arranged at the bottom of the mobile platform 6; a clamp 2 is arranged on the side of the mobile platform 6, and a welding gun 4 is clamped on the clamp 2; and a smoke exhaust pipe 1 is arranged on the side of the mobile platform 6, the smoke exhaust pipe 1 is arranged on the side of the welding gun 4, and the smoke exhaust pipe 1 is connected to a smoke removal filter, and the smoke removal filter is activated to allow the smoke exhaust pipe 1 to extract smoke.

[0030] In the present invention, a preferred trial method is: before using the mobile platform 6 to weld the pipeline, a series of preparatory work needs to be carried out; first, the welding gun 4 needs to be checked and debugged to ensure its normal operation, and the pipeline to be welded needs to be cleaned and pretreated to ensure the welding quality, such as the groove processing of the pipeline; according to the welding requirements, suitable welding materials and welding parameters are selected, and the relevant parameters set include welding current, welding speed, welding angle, etc.; according to different welding materials and welding requirements, reasonable parameter selection and adjustment are carried out; the mobile platform 6 is placed on the pipeline to be welded, and a path is set according to the position of the pipeline to be welded. The mobile platform 6 is adsorbed on the surface of the pipeline to be welded through the magnetic roller 5 at the bottom and moves along the planned path; a clamp 2 is provided on the side of the mobile platform 6, which can be loaded with welding guns 4 of different specifications and models. When the mobile platform 6 moves, the welding gun 4 welds the pipeline. Preferably, the clamp 2 can also clamp the exhaust pipe 1, and the toxic gas generated during welding is discharged through the exhaust pipe 1.

[0031] Furthermore, the clamp includes a clamping block, a through hole is formed in the center of the clamping block corresponding to the welding gun and the smoke exhaust pipe, the diameter of the through hole is larger than the diameter of the welding gun or the smoke exhaust pipe, the welding gun or the smoke exhaust pipe is passed through the through hole from the top of the clamping block to the bottom of the clamping block, and a threaded hole is formed on the side of the clamping block away from the movable platform, the threaded hole is connected to the through hole, and a fixing bolt is threadedly connected to the threaded hole. By screwing the fixing bolt, the end of the fixing bolt passes through the threaded hole and is placed in the through hole to abut against the welding gun or the smoke exhaust pipe, thereby fixing the welding gun or the smoke exhaust pipe.

[0032] Furthermore, a controller is provided in the mobile platform 6, and the controller controls the rotation of the magnetic roller 5. Preferably, the mobile platform 6 is controlled to move by the controller.

[0033] Furthermore, a sensor is provided in the mobile platform 6. Preferably, the sensor is a visual sensor or a laser sensor, through which the state and geometric information of the surface of the pipeline are obtained, and the sensor transmits this information to the controller, which transmits it to the construction personnel through the controller to facilitate subsequent path planning, adjustment of welding parameters and quality inspection, etc.

[0034] Further, a hand-held handle is provided on the top of the mobile platform 6. The hand-held handle is used to facilitate construction workers to take or place.

[0035] Furthermore, four magnetic rollers 5 are provided, and the four magnetic rollers 5 are provided at four corners of the mobile platform 6 .

[0036] Furthermore, the welding gun 4 is connected to an external welding machine via a line.

[0037] Furthermore, a smoke extraction port 3 is provided at the end of the smoke exhaust pipe 1 .

[0038] In the present invention, a welding method of a crawling robot with a welding device is also provided, comprising the following steps:

[0039] A mobile platform 6 will be provided and placed on the pipe to be welded;

[0040] Adjust the welding gun 4 so that the welding gun 4 fits the surface of the pipe, and adjust the smoke exhaust pipe 1 so that the smoke exhaust pipe 1 faces the contact position between the welding gun 4 and the pipe;

[0041] The magnetic roller 5 is started to move the movable platform 6 along the position of the pipeline to be welded.

[0042] Furthermore, before welding the pipeline, the welding gun 4 is inspected and debugged.

[0043] Furthermore, before welding the pipeline, a welding path of the pipeline is planned.

[0044] The following is a description of the use of a crawling robot with a welding device according to the present invention.

[0045] Before using the mobile platform 6 to weld the pipeline, a series of preparatory work needs to be carried out; first, the welding gun 4 needs to be checked and debugged to ensure its normal operation, and the pipeline to be welded needs to be cleaned and pre-processed to ensure the welding quality, such as the groove processing of the pipeline; according to the welding requirements, select suitable welding materials and welding parameters, and set the relevant parameters including welding current, welding speed, welding angle, etc.; according to different welding materials and welding requirements, make reasonable parameter selection and adjustment; place the mobile platform 6 on the pipeline to be welded, and set the path according to the position of the pipeline to be welded. The mobile platform 6 is adsorbed on the surface of the pipeline to be welded through the magnetic roller 5 at the bottom and moves along the planned path; a clamp 2 is provided on the side of the mobile platform 6, which can be loaded with welding guns 4 of different specifications and models. When the mobile platform 6 moves, the welding gun 4 welds the pipeline. Preferably, the clamp 2 can also clamp the exhaust pipe 1, and the toxic gas generated during welding is discharged through the exhaust pipe 1.

[0046] The present invention is described in detail above in conjunction with the embodiments of the accompanying drawings. A person skilled in the art can make various variations of the present invention according to the above description. Therefore, certain details in the embodiments should not constitute a limitation of the present invention, and the scope of protection of the present invention shall be defined by the scope of the attached claims.

Claims

1. A crawling robot with a welding device, characterized in that: include: A mobile platform, wherein a magnetic roller is provided at the bottom of the mobile platform; A clamp disposed on the side of the mobile platform, wherein a welding gun is clamped on the clamp; as well as A smoke exhaust pipe is arranged on the side of the mobile platform, the smoke exhaust pipe is arranged on the side of the welding gun, and the smoke exhaust pipe is connected with a smoke removal filter. The smoke removal filter is activated to allow the smoke exhaust pipe to extract smoke.

2. The crawling robot with a welding device according to claim 1, characterized in that: A controller is arranged in the mobile platform, and the controller controls the rotation of the magnetic roller.

3. The crawling robot with a welding device according to claim 1, characterized in that: A sensor is arranged in the mobile platform.

4. The crawling robot with a welding device according to claim 1, characterized in that: A hand-held handle is arranged on the top of the mobile platform.

5. The crawling robot with a welding device according to claim 1, characterized in that: There are four magnetic rollers, which are arranged at four corners of the mobile platform.

6. The crawling robot with a welding device according to claim 1, characterized in that: The welding gun is connected to an external welding machine through a line.

7. The crawling robot with a welding device according to claim 1, characterized in that: The end of the smoke exhaust pipe is provided with a smoke extraction port.

8. A welding method of a crawler robot with a welding device according to claim 1, characterized in that: The steps include: A mobile platform will be provided and placed on the pipe to be welded; Adjust the welding gun so that the welding gun fits the surface of the pipe, and adjust the smoke exhaust pipe so that the smoke exhaust pipe faces the contact position between the welding gun and the pipe; The magnetic roller is started to move the mobile platform along the position of the pipeline to be welded.

9. The welding method of a crawler robot with a welding device according to claim 8, characterized in that: Before welding the pipeline, the welding gun is inspected and debugged.

10. The welding method of a crawler robot with a welding device according to claim 8, characterized in that: Before welding the pipeline, a welding path of the pipeline is planned.

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