Walking device in pipeline and welding robot

Abstract

The invention discloses a walking device in a pipeline and a welding robot, and belongs to the technical field of welding. The supporting mechanism comprises a supporting frame, a crawler-type walking structure, at least two parallel connecting rods and a supporting adjusting structure. The crawler-type walking structure comprises a walking frame and a walking crawler belt connected to the walking frame, and the walking crawler belt is used for abutting against the inner wall of the pipeline; the first ends of the connecting rods are hinged to the walking frame, the second ends of the connecting rods are hinged to the supporting frame, and the walking frame, the supporting frame and the two connecting rods form a parallelogram connecting rod mechanism. The driving end of the supporting and adjusting structure is connected to the walking frame, the fixed end of the supporting and adjusting structure is connected to the supporting frame, and the supporting and adjusting structure is used for adjusting the distance between the walking frame and the supporting frame. The device can adapt to the diameter of the pipeline, the walking stability in the pipeline is improved, effective supporting of welding equipment is guaranteed, and the welding quality and efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding, and in particular to a device for walking inside a pipeline and a welding robot. Background Art

[0002] In the manufacturing and maintenance of boiler auxiliary container products, serpentine pipes and headers are key components, and the sealing performance of the butt welds of their pipe joints directly affects the safe operation of the equipment. However, when a leak occurs in the pipe joint weld, it is usually necessary to install a mechanical seal plug from the pipe hole on the inner wall of the header and perform welding for sealing. Currently, this process mainly relies on manual operation. The specific process is as follows: Workers position the plug and the pipe hole by means of hammering, etc., and then complete the welding and sealing using manual argon arc welding.

[0003] However, the internal space of the header is narrow, and the working environment is harsh (such as high temperature, dust, harmful gases, etc.), which not only poses a serious threat to the health of workers, but also leads to unstable weld qualification rates and frequent weld failure problems because the welding quality highly depends on the skill level of the operator, seriously affecting the reliability and service life of the equipment.

[0004] Currently, welding robots have replaced manual welding, but the technology of welding robots inside pipelines is relatively immature. If the existing robots for walking inside pipelines are used to carry welding torches, there are also defects in the insufficient support stability of the welding torches, resulting in difficulties in ensuring the positioning accuracy and movement smoothness of the welding torches during the welding process, and thus affecting the weld forming quality. Therefore, there is an urgent need to develop a device that can walk stably inside a pipeline and reliably support a welding torch to break through the current technical bottleneck and achieve efficient and high-quality automated welding operations.

[0005] In summary, how to design a device for walking inside a pipe so that it can accurately position and firmly support a welding torch in a restricted space has become a key technical problem for improving the welding quality and efficiency of the pipe holes of the header. Summary of the Invention

[0006] The purpose of the present invention is to provide a device for walking inside a pipeline and a welding robot to solve the problems existing in the above-mentioned prior art. By using a parallelogram link mechanism to support a crawler-type walking structure and adjusting the height of the parallelogram link mechanism through a support adjustment structure, it can adapt to the diameter of the pipeline, improve the walking stability inside the pipeline, ensure the effective support for the welding equipment, and improve the welding quality and efficiency.

[0007] To achieve the above object, the present invention provides the following solutions:

[0008] The present invention provides a device for walking inside a pipeline, comprising at least three support mechanisms circumferentially distributed; each support mechanism includes a support frame, a crawler-type walking structure, at least two parallel connecting rods, and a support adjustment structure; the crawler-type walking structure includes a walking frame and a walking crawler connected to the walking frame, and the walking crawler is used to abut against the inner wall of the pipeline; the first end of the connecting rod is hinged to the walking frame, the second end of the connecting rod is hinged to the support frame, and the walking frame, the support frame, and the two connecting rods form a parallelogram linkage mechanism; the driving end of the support adjustment structure is connected to the walking frame, and the fixed end of the support adjustment structure is connected to the support frame, and the support adjustment structure is used to adjust the distance between the walking frame and the support frame.

[0009] In an embodiment, the crawler-type walking structure further includes a walking motor, a driving wheel, and a driven wheel. The main body of the walking motor is installed on the walking frame, the driving end of the walking motor is connected to the driving wheel, both the driving wheel and the driven wheel are rotatably installed on the walking frame, and both the driving wheel and the driven wheel are sleeved on the inner side of the walking crawler.

[0010] In an embodiment, the support adjustment structure includes a support rod, a slider, a linear guide rail, and a support adjustment cylinder. The linear guide rail is fixed to the support frame, the linear guide rail is parallel to the support frame in the parallelogram linkage mechanism, the slider is slidably arranged on the linear guide rail, the slider is hinged to one end of the support rod, the slider is connected to the movable end of the support adjustment cylinder, and the other end of the support rod is hinged to the walking frame.

[0011] In an embodiment, the support rod includes a first rod, a second rod, and a first spring. The first rod is inserted into the second rod, the first spring is sleeved on the first rod, one end of the first spring abuts against the first rod, the other end of the first spring abuts against the second rod, the first rod is hinged to the slider, and the second rod is hinged to the walking frame.

[0012] The present invention provides a welding robot, comprising a device for walking inside a pipeline as described above, a multi-axis motion mechanism, and a welding torch. The fixed end of the multi-axis motion mechanism is connected to the support frame; the welding torch is connected to the movable end of the multi-axis motion mechanism.

[0013] In one embodiment, the multi-axis motion mechanism includes a fixed base, a telescopic moving mechanism, a first slewing mechanism, an arc voltage height adjustment mechanism, a second slewing mechanism, and a radius adjustment mechanism. The fixed base is connected to the support frame. The fixed end of the telescopic moving mechanism is connected to the fixed base, and the movable end of the telescopic moving mechanism is connected to the fixed end of the first slewing mechanism. The movable end of the first slewing mechanism is connected to the fixed end of the arc voltage height adjustment mechanism. The movable end of the arc voltage height adjustment mechanism is connected to the fixed end of the second slewing mechanism. The movable end of the second slewing mechanism is connected to the fixed end of the radius adjustment mechanism. The movable end of the radius adjustment mechanism is connected to the welding torch. The rotation center of the first slewing mechanism coincides with the central axis of the in-pipe traveling device. The rotation center of the second slewing mechanism is perpendicular to the rotation center of the first slewing mechanism. The moving direction of the arc voltage height adjustment mechanism is parallel to the rotation plane of the first slewing mechanism. The moving direction of the radius adjustment mechanism is parallel to the rotation plane of the second slewing mechanism.

[0014] In one embodiment, it further includes a wire spool, a wire feeder, and a wire feeding tube. The wire spool and the wire feeder are both installed at the movable end of the arc voltage height adjustment mechanism. The wire feeding tube is installed at the movable end of the radius adjustment mechanism. The wire reaches the welding position after passing through the wire feeding tube under the conveyance of the wire feeder from the wire spool.

[0015] In one embodiment, the wire feeder includes a wire feeding frame, a driving wire feeding wheel, a driven wire feeding wheel, and a fixing plate. The driving wire feeding wheel is rotatably installed on the wire feeding frame and is connected to a wire feeding motor. The driven wire feeding wheel is rotatably installed on a driven wheel mounting seat. One end of the driven wheel mounting seat is hinged to the wire feeding frame, and the other end of the driven wheel mounting seat abuts against the fixing plate through a second spring. The fixing plate is fixedly connected to the wire feeding frame. The second spring is used to provide the pressing force between the driving wire feeding wheel and the driven wire feeding wheel.

[0016] In one embodiment, the wire feeder further includes a straightening wheel, a first mounting seat, and a second mounting seat. There are three straightening wheels, and the three straightening wheels are distributed in a triangular shape. One of the straightening wheels is installed on the first mounting seat, and two of the straightening wheels are installed on the second mounting seat. The first mounting seat is connected to the fixing plate, and the second mounting seat is connected to the wire feeding frame. The distance between the first mounting seat and the second mounting seat is adjustable.

[0017] In one embodiment, it further includes a first camera, a second camera and a third camera. The first camera is installed at the movable end of the telescopic moving mechanism, and is used to observe the internal situation of the pipeline. The second camera is installed at the movable end of the arc voltage height adjustment mechanism, and is used to identify the welding position. The third camera is installed at the movable end of the second slewing mechanism, and is used to observe the welding molten pool.

[0018] The present invention has achieved the following technical effects compared with the prior art:

[0019] The present invention realizes support and walking by contacting the inner wall of the pipeline through the circumferentially distributed support mechanism, uses the parallelogram link mechanism to support the crawler walking structure, and adjusts the height of the parallelogram link mechanism through the support adjustment structure, which can adapt to the diameter of the pipeline, improve the stability when walking in the pipeline. At the same time, by using the deformation characteristics of the parallelogram, it ensures that the center of the walking device in the pipeline is consistent with the center of the pipeline, thereby maintaining the stability and position accuracy of the carried welding equipment, ensuring the effective support for the welding equipment, and improving the welding quality and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0021] Figure 1 It is a schematic diagram of the first angle of the welding robot in the embodiment of the present invention;

[0022] Figure 2 It is a schematic diagram of the second angle of the welding robot in the embodiment of the present invention;

[0023] Figure 3 It is the front view of the welding robot in the embodiment of the present invention;

[0024] Figure 4 It is a schematic diagram of the support mechanism in the embodiment of the present invention;

[0025] Figure 5 It is an axial sectional view of the support mechanism in the embodiment of the present invention;

[0026] Figure 6 It is a schematic diagram of the multi-axis motion mechanism in the embodiment of the present invention;

[0027] Figure 7 It is an axial sectional view of the multi-axis motion mechanism in the embodiment of the present invention;

[0028] Figure 8 Schematic diagram of the wire feeder in the embodiment of the present invention;

[0029] Figure 9 Side view of the wire feeder in the embodiment of the present invention;

[0030] Figure 10 Schematic diagram of the welding torch and the wire feeding pipe in the embodiment of the present invention;

[0031] Wherein, 1, support mechanism; 2, multi-axis motion mechanism; 3, first camera; 4, second camera; 51, welding torch; 52, wire feeding pipe; 6, third camera; 7, wire feeder bracket; 8, wire feeder; 9, wire spool; 10, wire spool bracket;

[0032] 11, traveling motor; 12, traveling frame; 13, connecting rod; 14, support rod; 15, cylinder push rod fixing block; 16, slider; 17, linear guide rail; 18, support adjustment cylinder; 19, traveling track; 110, support frame; 111, first spring;

[0033] 21, fixed base; 22, telescopic moving mechanism; 23, first slewing mechanism; 24, arc voltage height adjustment mechanism; 25, second slewing mechanism; 26, radius adjustment mechanism;

[0034] 81, wire feeder frame; 82, fixing plate; 83, first mounting seat; 84, driven wheel pressing shaft; 85, driven wheel mounting seat; 86, driven wire feeding wheel; 87, hinge shaft; 88, second spring; 89, driving wire feeding wheel; 810, second mounting seat; 811, straightening wheel; 812, straightening wheel shaft; 813, wire feeding motor. Detailed implementation manners

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] The object of the present invention is to provide a device for walking inside a pipeline and a welding robot to solve the problems existing in the prior art. By using a parallelogram link mechanism to support the crawler-type walking structure and adjusting the height of the parallelogram link mechanism through a support adjustment structure, it can adapt to the diameter of the pipeline, improve the walking stability inside the pipeline, ensure the effective support for the welding equipment, and improve the welding quality and efficiency.

[0037] To make the above objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] As Figures 1 to 10 shown, the present invention provides a device for walking inside a pipeline, including at least three support mechanisms 1 distributed circumferentially. The support mechanisms 1 can be installed on the same main frame to support corresponding equipment by means of the main frame. The supported equipment includes, but is not limited to, welding equipment, small intermediate frequency induction heating equipment, etc., so as to be able to drive the equipment to move inside the pipeline internal space. Different functions can be realized by using different equipment. When welding equipment is installed, welding operations can be carried out. When small intermediate frequency induction heating equipment is installed, the small intermediate frequency induction heating equipment can realize preheating before welding. The support mechanism 1 includes a support frame 110, a crawler-type walking structure, at least two parallel connecting rods 13, and a support adjustment structure. Among them, the support frame 110 serves as the carrier of the support mechanism 1 and can be directly installed on the main frame. The crawler-type walking structure includes a walking frame 12 and a walking crawler 19 connected to the walking frame 12. The walking crawler 19 operates relying on the support of the walking frame 12. The walking crawler 19 is used to abut against the inner wall of the pipeline, which can increase the contact area with the inner wall of the pipeline and ensure the stability of walking. The first end of the connecting rod 13 is hinged to the walking frame 12, and the second end of the connecting rod 13 is hinged to the support frame 110. The walking frame 12, the support frame 110, and the two connecting rods 13 form a parallelogram link mechanism. This parallelogram link mechanism can change the angle between adjacent sides. When the number of the connecting rods 13 is more than two, it can swing together with the parallelogram link mechanism to improve the support ability of the parallelogram. The driving end of the support adjustment structure is connected to the walking frame 12, and the fixed end of the support adjustment structure is connected to the support frame 110. Thus, when the driving end of the support adjustment structure moves relative to the fixed end, the parallelogram link mechanism can be deformed. However, no matter how it changes, the walking frame 12 and the support frame 110 always remain parallel, and the distance between the walking frame 12 and the support frame 110 can be adjusted. The support adjustment structure can adopt structures such as telescopic cylinders, telescopic rods, linear modules, etc. When driving the parallelogram link mechanism to act, the support adjustment structure itself needs to have a certain degree of inclination change.

[0039] The present invention realizes support and walking by the circumferentially distributed support mechanisms 1 contacting the inner wall of the pipeline, uses the parallelogram link mechanism to support the crawler-type walking structure, and adjusts the height of the parallelogram link mechanism through the support adjustment structure, which can adapt to the diameter size of the pipeline, improve the stability when walking inside the pipeline. At the same time, by using the deformation characteristics of the parallelogram, it ensures that the center of the device for walking inside the pipeline is consistent with the center of the pipeline. Thus, the stability and position accuracy of the carried welding equipment are maintained, the effective support for the welding equipment is ensured, and the welding quality and efficiency are improved.

[0040] In one embodiment, as Figure 4 and Figure 5 shown, the crawler traveling structure further includes a traveling motor 11, a driving wheel, and a driven wheel. The main body of the traveling motor 11 is installed on the traveling frame 12. The driving end of the traveling motor 11 is connected to the driving wheel. By the traveling motor 11, the driving wheel can be driven to rotate. The driving wheel and the driven wheel are both rotatably installed on the traveling frame 12, and both the driving wheel and the driven wheel are sleeved inside the traveling track 19. Thus, when the driving wheel rotates, relying on the support of the driven wheel, the traveling track 19 can be driven to run.

[0041] In one embodiment, as Figure 4 and Figure 5 shown, the support adjusting structure includes a support rod 14, a slider 16, a linear guide rail 17, and a support adjusting cylinder 18. The linear guide rail 17 is fixed to the support frame 110. The linear guide rail 17 is parallel to the support frame 110 in the parallelogram link mechanism. The slider 16 is slidably arranged on the linear guide rail 17. One end of the slider 16 is hinged to one end of the support rod 14. The other end of the support rod 14 is hinged to the traveling frame 12. When the slider 16 moves on the linear guide rail 17, one end of the support rod 14 can be driven to move. At this time, the other end of the support rod 14 drives the traveling frame 12 to move. Due to the existence of the link 13, the traveling frame 12 performs a translation, and finally the distance between the traveling frame 12 and the support frame 110 is changed. The slider 16 can be directly connected to the movable end of the support adjusting cylinder 18, and the support adjusting cylinder 18 is used to push or pull the slider 16 to move. In addition, a cylinder push rod fixing block 15 can be provided. The cylinder push rod fixing block 15 is connected to the slider 16. At the same time, the cylinder push rod fixing block 15 is hinged to the support rod 14 and is connected to the movable end of the support adjusting cylinder 18. The cylinder push rod fixing block 15 can be provided with a through hole for the linear guide rail 17 to penetrate, so that the support adjusting cylinder 18 can be installed on the side of the linear guide rail 17 away from the crawler traveling structure, which is convenient for the installation and arrangement of the structure.

[0042] In one embodiment, as Figure 4 and Figure 5 shown, the support rod 14 includes a first rod, a second rod, and a first spring 111. The first rod is inserted into the second rod. The first spring 111 is sleeved on the first rod. One end of the first spring 111 abuts against the first rod, and the other end of the first spring 111 abuts against the second rod. Thus, the connection between the first rod and the second rod has telescopic properties through the first spring 111, and a buffering function can be realized. The first rod is hinged to the slider 16, and the second rod is hinged to the traveling frame 12. When the crawler traveling structure travels in the pipeline, it can smoothly cross obstacles, avoid the interference and influence of the uneven surface on the pipe wall, and maintain the stability of the traveling device in the pipeline.

[0043] As Figures 1 to 10As shown in the figure, the present invention provides a welding robot, which includes an in-pipe walking device, a multi-axis motion mechanism 2, and a welding torch 51 as described above. The fixed end of the multi-axis motion mechanism 2 is connected to the support frame 110, and the welding torch 51 is connected to the movable end of the multi-axis motion mechanism 2. Thus, the multi-axis motion mechanism 2 can move in the pipe under the support of the support frame 110 of the support mechanism 1 to the position to be welded, and move the welding torch 51 to the specific welding point through the multi-axis motion mechanism 2 for welding. The multi-axis motion mechanism 2 can be directly connected to the support frame 110, or the multi-axis motion mechanism 2 can be connected to the main frame, and at the same time, multiple support frames 110 are also connected to the main frame. The multi-axis motion mechanism 2 can adopt currently known multi-axis robotic arms, such as five-axis robotic arms, six-axis robotic arms, etc.

[0044] In one embodiment, as Figure 6 and Figure 7 shown, the multi-axis motion mechanism 2 includes a fixed base 21, a telescopic moving mechanism 22, a first rotary mechanism 23, an arc voltage adjusting mechanism 24, a second rotary mechanism 25, and a radius adjusting mechanism 26. The fixed base 21 is connected to the support frame 110. The fixed end of the telescopic moving mechanism 22 is connected to the fixed base 21, and the movable end of the telescopic moving mechanism 22 is connected to the fixed end of the first rotary mechanism 23. The movable end of the first rotary mechanism 23 is connected to the fixed end of the arc voltage adjusting mechanism 24. The movable end of the arc voltage adjusting mechanism 24 is connected to the fixed end of the second rotary mechanism 25. The movable end of the second rotary mechanism 25 is connected to the fixed end of the radius adjusting mechanism 26. The movable end of the radius adjusting mechanism 26 is connected to the welding torch 51. The rotation center of the first rotary mechanism 23 coincides with the central axis of the in-pipe walking device. The rotation center of the second rotary mechanism 25 is perpendicular to the rotation center of the first rotary mechanism 23. The moving direction of the arc voltage adjusting mechanism 24 is parallel to the rotation plane of the first rotary mechanism 23. The moving direction of the radius adjusting mechanism 26 is parallel to the rotation plane of the second rotary mechanism 25. In summary, the telescopic moving mechanism 22, the arc voltage adjusting mechanism 24, and the radius adjusting mechanism 26 form movements in the three directions of the X-axis, Y-axis, and Z-axis. The first rotary mechanism 23 forms a movement of rotating around the X-axis. The second rotary mechanism 25 forms a movement of rotating around the Y-axis. Generally speaking, the welding torch 51 can be accurately moved to the position to be reached. For the telescopic moving mechanism 22, the arc voltage adjusting mechanism 24, and the radius adjusting mechanism 26, the driving mode of a lead screw and nut can be adopted, or the driving mode of a telescopic cylinder or other linear module driving modes can be adopted. The first rotary mechanism 23 and the second rotary mechanism 25 can adopt finished hollow turntables or, after the motor is decelerated by a reduction gearbox, transmit the power to a gear and gear ring structure to achieve power transmission.

[0045] In one embodiment, as Figures 1 to 3As shown in the figure, it further includes a wire spool 9, a wire feeder 8 and a wire feeding tube 52. The wire spool 9 and the wire feeder 8 are both installed at the movable end of the arc voltage adjusting mechanism 24. The wire feeder 8 is installed and fixed through a wire feeder bracket 7, and the wire spool 9 is installed and fixed through a wire spool bracket 10. The wire spool 9 can not rotate with the rotation of the second slewing mechanism 25, maintaining the certainty of the relative position of the wire spool 9. At the same time, to avoid the winding of the wire, the wire can pass through the central hole of the second slewing mechanism 25 to realize the 360-degree rotation of the second slewing mechanism 25. The wire feeding tube 52 is installed at the movable end of the radius adjusting mechanism 26. The wire feeding tube 52 moves with the welding torch 51 to ensure that the wire is delivered to the accurate welding position. The wire is wound around the wire spool 9. The wire is transported by the wire spool 9 under the action of the wire feeder 8, passes through the wire feeding tube 52 and then reaches the welding position.

[0046] In an embodiment, as Figure 8 and Figure 9 shown, the wire feeder 8 includes a wire feeder frame 81, a driving wire feeding wheel 89, a driven wire feeding wheel 86 and a fixing plate 82. The fixing plate 82 is fixedly connected to the wire feeder frame 81, which is convenient for the installation and fixation of components. The driving wire feeding wheel 89 is rotatably installed on the wire feeder frame 81 and is connected with a wire feeding motor 813. The driving wire feeding wheel 89 is driven to rotate by the wire feeding motor 813. The driven wire feeding wheel 86 is rotatably installed on a driven wheel mounting seat 85. One end of the driven wheel mounting seat 85 is hinged to the wire feeder frame 81 through a hinge shaft 87, and the other end of the driven wheel mounting seat 85 is abutted against the fixing plate 82 through a second spring 88. The second spring 88 can push the driven wire feeding wheel 86 towards the driving wire feeding wheel 89, thereby providing a pressing force between the driving wire feeding wheel 89 and the driven wire feeding wheel 86, ensuring that the wire passing through between the driving wire feeding wheel 89 and the driven wire feeding wheel 86 is stably squeezed and limited therebetween, providing the power for wire feeding. In addition, the driving wire feeding wheel 89 and / or the driven wire feeding wheel 86 can be provided with a groove on the wheel surface, and the cross section of the groove on the wheel surface can be set as a V shape to prevent the wire from moving and better limit the position of the wire.

[0047] In an embodiment, the wire feeder 8 further includes a driven wheel pressing shaft 84. The driven wheel pressing shaft 84 is installed on the fixing plate 82. The second spring 88 is sleeved on the driven wheel pressing shaft 84. A step for restricting the end of the second spring 88 is provided on the driven wheel pressing shaft 84. At this time, the second spring 88 does not directly abut against the fixing plate 82, but abuts against the fixing plate 82 through the driven wheel pressing shaft 84. When adjusting the axial position of the driven wheel pressing shaft 84, the pressing force of the second spring 88 on the driven wheel mounting seat 85 can be adjusted.

[0048] In an embodiment, as Figure 8 and Figure 9As shown, the wire feeder 8 further includes a straightening wheel 811, a first mounting seat 83 and a second mounting seat 810. There are three straightening wheels 811, and the three straightening wheels 811 are distributed in a triangular shape. One of the straightening wheels 811 is mounted on the first mounting seat 83 through a straightening wheel shaft 812, and two of the straightening wheels 811 are mounted on the second mounting seat 810 through a straightening wheel shaft 812. The first mounting seat 83 is connected to the fixing plate 82, and the second mounting seat 810 is connected to the wire feeding machine frame 81. The distance between the first mounting seat 83 and the second mounting seat 810 is adjustable. During adjustment, either one of them or both of them can be adjusted simultaneously. The specific adjustment method can adopt known methods. For example, taking the first mounting seat 83 as an example, it can be provided with a stud connected to the fixing plate 82, and rotating the stud can adjust the axial position of the first mounting seat 83. Or, the first mounting seat 83 is provided with a telescopic cylinder, and the telescopic cylinder is used to directly adjust the axial position of the first mounting seat 83; the second mounting seat 810 is arranged with reference to the first mounting seat 83. When the first mounting seat 83 and the second mounting seat 810 approach each other, one straightening wheel 811 can enter the gap between the two straightening wheels 811, so as to extrude and deform the welding wire, and the deformation direction is opposite to the original deformation direction of the welding wire, thereby realizing the straightening of the welding wire. The straightening wheel 811 is provided with a wheel surface groove, and the cross section of the wheel surface groove can be set as a V shape to prevent the welding wire from moving and better limit the position of the welding wire.

[0049] In one embodiment, as Figures 1 to 3 shown, it further includes a first camera 3, a second camera 4 and a third camera 6. The first camera 3 is mounted on the movable end of the telescopic moving mechanism 22 and can be symmetrically arranged on both axial sides. The first camera 3 is used to observe the internal situation of the pipeline. The second camera 4 is mounted on the movable end of the arc voltage height adjustment mechanism 24 and can be symmetrically arranged on both axial sides. The second camera 4 is used to identify the welding position. The third camera 6 is mounted on the movable end of the second slewing mechanism 25, and the third camera 6 is used to observe the welding molten pool. Through the cooperation of the first camera 3 and the second camera 4, the welding position can be identified and accurately located. By setting the third camera 6, the welding condition can be observed. The second camera 4 can adopt a binocular depth camera, and the third camera 6 can adopt a molten pool monitoring system.

[0050] When the welding robot of the present invention is applied in the header:

[0051] After the welding robot is placed inside the header, the support adjustment cylinders 18 of the three groups of support mechanisms 1 move synchronously. The parallelogram linkage mechanism is driven by the support adjustment cylinders 18, and the three groups of support mechanisms 1 simultaneously support the inner wall surface of the header through the crawler-type walking structure. Then, the rotation center of the first slewing mechanism 23 is concentric with the header. The operator observes the internal situation of the header through the first camera 3, determines the preliminary position of the plug to be welded, and the operator can control the movement of the welding robot to the welding plug area through remote control. Then, the first slewing mechanism 23 rotates to drive the second camera 4 to determine the position of the welding plug at a close distance. After the plug to be welded appears within the field of view of the second camera 4, a photo is taken. By performing image processing on the taken photo, the spatial position coordinates of the center of the plug are calculated. Then, the angle of the welding torch 51 inside the header is adjusted through the first slewing mechanism 23 to make the welding torch 51 located above the plug position. The welding torch 51 is accurately adjusted to reach the weld position through the telescopic movement mechanism 22 and the radius adjustment mechanism 26. The welding torch 51 is rotated by the second slewing mechanism 25 to perform welding. During the welding process, the distance between the welding torch 51 and the weld is adjusted in real time through the arc voltage height adjustment mechanism 24 to ensure the arc length, thereby ensuring the welding quality. During the entire welding process, the operator can monitor the molten pool in real time through the third camera 6 (molten pool monitoring system), thereby further ensuring the welding reliability.

[0052] In the present invention, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A device for walking inside a pipeline, characterized in that, It includes at least three circumferentially distributed support mechanisms; The support mechanism includes a support frame, a crawler-type walking structure, at least two parallel connecting rods, and a support adjustment structure; The crawler-type walking structure includes a walking frame and a walking track connected to the walking frame, and the walking track is used to abut against the inner wall of the pipeline; The first end of the connecting rod is hinged to the walking frame, and the second end of the connecting rod is hinged to the support frame. The walking frame, the support frame, and the two connecting rods form a parallelogram linkage mechanism; The driving end of the support adjustment structure is connected to the walking frame, and the fixed end of the support adjustment structure is connected to the support frame. The support adjustment structure is used to adjust the distance between the walking frame and the support frame.

2. The in-pipe walking device according to claim 1, characterized in that: The crawler-type walking structure further includes a walking motor, a driving wheel, and a driven wheel. The main body of the walking motor is installed on the walking frame, the driving end of the walking motor is connected to the driving wheel, and both the driving wheel and the driven wheel are rotatably installed on the walking frame, and both the driving wheel and the driven wheel are sleeved on the inner side of the walking track.

3. The in-duct traveling device according to claim 1, wherein: The support adjustment structure includes a support rod, a slider, a linear guide rail, and a support adjustment cylinder. The linear guide rail is fixed to the support frame, the linear guide rail is parallel to the support frame in the parallelogram linkage mechanism, the slider is slidably arranged on the linear guide rail, the slider is hinged to one end of the support rod, the slider is connected to the movable end of the support adjustment cylinder, and the other end of the support rod is hinged to the walking frame.

4. The in-pipe traveling device according to claim 3, wherein: The support rod includes a first rod, a second rod, and a first spring. The first rod is inserted into the second rod, the first rod is sleeved with the first spring, one end of the first spring abuts against the first rod, the other end of the first spring abuts against the second rod, the first rod is hinged to the slider, and the second rod is hinged to the walking frame.

5. A welding robot, characterized in that, It includes: The in-pipe walking device according to any one of claims 1-4; A multi-axis motion mechanism, the fixed end of the multi-axis motion mechanism is connected to the support frame; And a welding torch, the welding torch is connected to the movable end of the multi-axis motion mechanism.

6. The welding robot according to claim 5, wherein: The multi-axis motion mechanism includes a fixed base, a telescopic moving mechanism, a first rotary mechanism, an arc voltage adjusting mechanism, a second rotary mechanism, and a radius adjusting mechanism. The fixed base is connected to the support frame. The fixed end of the telescopic moving mechanism is connected to the fixed base, and the movable end of the telescopic moving mechanism is connected to the fixed end of the first rotary mechanism. The movable end of the first rotary mechanism is connected to the fixed end of the arc voltage adjusting mechanism. The movable end of the arc voltage adjusting mechanism is connected to the fixed end of the second rotary mechanism. The movable end of the second rotary mechanism is connected to the fixed end of the radius adjusting mechanism. The movable end of the radius adjusting mechanism is connected to the welding torch. The rotation center of the first rotary mechanism coincides with the central axis of the in-pipe traveling device. The rotation center of the second rotary mechanism is perpendicular to the rotation center of the first rotary mechanism. The moving direction of the arc voltage adjusting mechanism is parallel to the rotation plane of the first rotary mechanism. The moving direction of the radius adjusting mechanism is parallel to the rotation plane of the second rotary mechanism.

7. The welding robot according to claim 6, characterized in that: It further includes a wire reel, a wire feeder, and a wire feeding tube. The wire reel and the wire feeder are both installed at the movable end of the arc voltage adjusting mechanism. The wire feeding tube is installed at the movable end of the radius adjusting mechanism. The welding wire reaches the welding position after passing through the wire feeding tube under the conveyance of the wire feeder from the wire reel.

8. The welding robot according to claim 7, characterized in that: The wire feeder includes a wire feeding frame, a driving wire feeding wheel, a driven wire feeding wheel, and a fixing plate. The driving wire feeding wheel is rotatably installed on the wire feeding frame and is connected to a wire feeding motor. The driven wire feeding wheel is rotatably installed on a driven wheel mounting seat. One end of the driven wheel mounting seat is hinged to the wire feeding frame, and the other end of the driven wheel mounting seat abuts against the fixing plate through a second spring. The fixing plate is fixedly connected to the wire feeding frame. The second spring is used to provide the pressing force between the driving wire feeding wheel and the driven wire feeding wheel.

9. The welding robot according to claim 8, characterized in that: The wire feeder further includes straightening wheels, a first mounting seat, and a second mounting seat. There are three straightening wheels, and the three straightening wheels are distributed in a triangular shape. One of the straightening wheels is installed on the first mounting seat, and two of the straightening wheels are installed on the second mounting seat. The first mounting seat is connected to the fixing plate, and the second mounting seat is connected to the wire feeding frame. The distance between the first mounting seat and the second mounting seat is adjustable.

10. The welding robot according to claim 6, wherein: It further includes a first camera, a second camera, and a third camera. The first camera is installed at the movable end of the telescopic moving mechanism and is used to observe the internal situation of the pipeline. The second camera is installed at the movable end of the arc voltage adjusting mechanism and is used to identify the welding position. The third camera is installed at the movable end of the second rotary mechanism and is used to observe the welding molten pool.

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