Welding equipment and method for multi-heat-source networking engineering construction

Abstract

The invention relates to the technical field of welding equipment, and discloses welding equipment and method for multi-heat-source networking engineering construction.The welding equipment comprises a vehicle body, a base is fixedly connected to the top of the vehicle body, a rotating platform is rotatably connected to the top of the base, a U-shaped plate is fixedly connected to the top of the rotating platform, and a lifting platform is slidably connected to the U-shaped plate; a mechanical arm body is fixedly connected to the lifting platform. Through the design of the welding mechanism, after a vehicle body is controlled to move to an operation area, an upper semicircular plate and a lower semicircular plate can be directly controlled to move, a pipeline is selected between the upper semicircular plate and the lower semicircular plate, then the upper semicircular plate and the lower semicircular plate are controlled to be spliced to form a complete circular plate, and a movable seat can be promoted to revolve with the center point of a complete circle as the axis; and the periphery of the pipeline is welded and machined through the welding device, so that the pipeline in the tunnel can be directly machined, and compared with manual welding in the tunnel, the safety is higher, and the labor cost expenditure is saved.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, and in particular to a welding equipment and method for multi-heat source network engineering construction. Background Technology

[0002] As cities continue to expand, urban heating systems are also growing. In some areas of a city, heating networks developed from different heat sources often overlap and intersect. Multi-heat source network projects can effectively balance the rapidly growing heating demand with efficient and economical heating. Multi-heat source network projects are also known as multi-heat source heating systems. Specifically, they involve multiple heat sources sharing a single network within a heating system.

[0003] During the construction of multi-heat source interconnection projects, heating pipelines need to be assembled and spliced. After the pipeline interfaces are connected, they need to be welded. The existing welding method is to leave soil blocks in the tunnel for support to support the pipeline to be welded, so that the connection part is in a suspended state for the user to carry out the welding work. However, the existing welding method is generally manual welding, which is labor-intensive. At the same time, the workers constantly walk in the tunnel to weld, which also poses certain safety hazards. Therefore, this paper proposes a welding equipment and method for multi-heat source interconnection projects that can replace manual welding to solve the above problems. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a welding device for multi-heat source network engineering construction.

[0005] The welding equipment for multi-heat source network engineering construction provided by this invention adopts the following technical solution: A welding equipment for multi-heat source network engineering construction includes a vehicle body, a base fixedly connected to the top of the vehicle body, a rotating platform rotatably connected to the top of the base, a U-shaped plate fixedly connected to the top of the rotating platform, a lifting platform slidably connected to the U-shaped plate, a robotic arm body fixedly connected to the lifting platform, and a welding mechanism fixedly connected to one end of the robotic arm body. The welding mechanism includes a frame plate, a lower semicircular plate fixedly connected to the bottom inner side of the frame plate, an upper semicircular plate provided at the top of the lower semicircular plate, a first electric push rod fixedly connected to the top wall of the frame plate, one end of the first electric push rod fixedly connected to the top of the upper semicircular plate, a track plate integrally formed on the inner side of both the upper and lower semicircular plates, a movable seat provided on the inner side of the lower semicircular plate, the movable seat slidably connected to the outside of the track plate, a mounting plate fixedly connected to one side of the movable seat, a sleeve provided on one side of the movable seat, the sleeve passing through the mounting plate and rotatably connected to the mounting plate, a threaded control rod provided inside the sleeve, the threaded control rod passing through the sleeve and being threadedly connected to the sleeve, a support plate fixedly connected to one end of the threaded control rod, and a welding gun body fixedly connected to the support plate.

[0006] By adopting the above technical solution, the vehicle body can move flexibly. After moving to the operating area, the upper and lower semicircular plates can be moved directly to select the pipe between them. Then, the two plates can be spliced ​​together to form a complete circular plate. This allows the moving seat to revolve around the center point of this complete circle to weld the pipe around its perimeter. This allows for direct processing of the pipe inside the tunnel, which is safer and saves on labor costs compared to manual welding inside the tunnel.

[0007] Preferably, a semi-gear ring is fixedly connected to the inner side of both the upper and lower semi-circular plates, and a first motor is fixedly connected inside the movable seat. The first motor is fixedly connected to a first gear through an output shaft, and the first gear meshes with the semi-gear ring.

[0008] By adopting the above technical solution, the first motor drives the first gear to rotate after it starts working.

[0009] Preferably, a second motor is fixedly connected to the outside of the mounting plate, and a second gear is fixedly connected to the second motor through an output shaft. A third gear is fixedly connected to the outside of the sleeve, and the second gear is disposed on one side of the third gear, with the second gear meshing with the third gear.

[0010] By adopting the above technical solution, after the second motor works, it drives the second gear to rotate, which in turn drives the third gear to rotate.

[0011] Preferably, a limiting plate is fixedly connected to the top of the mounting plate, a limiting groove is formed on the outer side of the threaded control rod, and the limiting plate extends into the limiting groove and matches the limiting groove.

[0012] By adopting the above technical solution, the threaded control rod is limited after the limiting plate is inserted into the limiting groove.

[0013] Preferably, the bottom of the upper semicircular plate is integrally formed with an insert plate, and the top of the lower semicircular plate is provided with a slot, the insert plate extending into the slot and matching the slot.

[0014] By adopting the above technical solution, the accuracy and stability of the connection between the upper and lower semicircular plates are improved after the insert plate is inserted into the slot.

[0015] Preferably, a sliding groove is provided on the inner side of the frame plate, and a slider is fixedly connected to the outer side of the upper semicircular plate. The slider extends into the sliding groove and matches the sliding groove.

[0016] By adopting the above technical solution, the slider can move up and down flexibly inside the slide groove.

[0017] Preferably, the support plate is provided with an auxiliary component, the auxiliary component including a rectangular plate, the rectangular plate being integrally formed at one end of the support plate, a camera body being fixedly connected to one side of the rectangular plate, a frame being fixedly connected to the other side of the rectangular plate, the frame penetrating the support plate and being fixedly connected to the support plate, and a fan being fixedly connected inside the frame.

[0018] By adopting the above technical solution, the camera body captures images of the actual welding area.

[0019] Preferably, the rectangular plate has an exhaust duct, which is distributed at equal intervals around the outside of the camera body, and the frame has an air inlet on the side wall opposite to the rectangular plate.

[0020] By adopting the above technical solution, external airflow enters through the air inlet and is discharged through the exhaust duct.

[0021] Preferably, an L-shaped plate is fixedly connected to the top of the vehicle body, a third motor is fixedly connected to the top of the L-shaped plate, a fourth gear is fixedly connected to the third motor via an output shaft, an annular gear ring is fixedly connected to the outside of the rotating platform, the annular gear ring is located on one side of the fourth gear and meshes with the fourth gear, a threaded adjusting rod is rotatably connected to the inside of the U-shaped plate, the threaded adjusting rod passes through the lifting platform and is threadedly connected to the lifting platform, a fourth motor is fixedly connected to the top of the U-shaped plate, and the fourth motor is fixedly connected to one end of the threaded adjusting rod via an output shaft.

[0022] By adopting the above technical solution, the rotation of the fourth gear drives the rotation of the ring gear.

[0023] Another technical problem to be solved by the present invention is to provide a welding method for a welding equipment used in the construction of a multi-heat source network engineering project, comprising the following steps: S1, Front-end adjustment After the vehicle body is driven to the area to be welded, the processing operation position is adjusted by controlling the rotation of the rotating platform. At the same time, the lifting platform is raised and lowered to adjust the overall operating height. After adjustment, the upper and lower semicircular plates are moved to the upper and lower sides of the pipe welding position by swinging the robotic arm body. S2, Pipe Welding When the upper and lower semicircular plates are moved to the outside of the pipe, that is, the pipe is selected between the two, the upper semicircular plate is moved and spliced ​​with the lower semicircular plate to form a complete circle. The moving seat then revolves around the center point of this complete circle to perform welding processing on the four sides of the pipe. S3, Image Capture During the welding process, the camera captures the welding process in real time, and at the same time, a fan generates airflow to disperse the smoke from the welding area, ensuring image clarity.

[0024] In summary, the present invention has the following beneficial technical effects: 1. A welding equipment and method for multi-heat source network engineering construction, through the design of the welding mechanism, after the vehicle body moves to the operating area, the upper and lower semicircular plates can be directly controlled to move and the pipe is framed between them. Then, the two are controlled to splice together to form a complete circular plate. This allows the moving seat to revolve around the center point of this complete circle to perform welding processing on the periphery of the pipe. This allows direct processing of the pipe inside the tunnel. Compared with manual entry into the tunnel for welding, it is safer and saves labor costs.

[0025] 2. A welding equipment and method for multi-heat source network engineering construction, through the design of auxiliary components, allows the camera body to capture the welding process in real time during the welding steps. At the same time as the capture, the fan operates to generate airflow that is discharged through the exhaust duct. The discharged airflow blows towards the welding area, which can quickly disperse the smoke at the welding point, thereby avoiding the situation where the camera body's image is not clear due to smoke interference.

[0026] 3. A welding equipment and method for multi-heat source network engineering construction, wherein after the fourth motor works, it drives the threaded adjusting rod to rotate, thereby controlling the lifting platform to move up and down, thereby flexibly controlling and adjusting the welding position and the overall operating height, improving the flexibility of the welding process, and effectively matching the welding requirements of different positions and heights. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 A magnified view of point A in the figure; Figure 3 This is a schematic diagram of the frame plate in this invention; Figure 4 This is a split view of the upper and lower semicircular plates in this invention; Figure 5 for Figure 4 Enlarged view of point B in the image; Figure 6 This is a schematic diagram of the lower semicircular plate in this invention; Figure 7 This is a cross-sectional view of the movable seat in this invention; Figure 8 for Figure 7 Enlarged view of point C in the image; Figure 9 This is a cross-sectional view of the frame structure in this invention.

[0028] Explanation of reference numerals in the attached drawings: 1. Vehicle body; 2. Base; 3. Rotating platform; 4. U-shaped plate; 5. Lifting platform; 6. Robotic arm body; 7. Welding mechanism; 71. Frame plate; 72. Lower semicircular plate; 73. Upper semicircular plate; 74. First electric push rod; 75. Track plate; 76. Moving seat; 77. Mounting plate; 78. Sleeve; 79. Threaded control rod; 791. Support plate; 792. Welding gun body; 793. Half gear ring; 794. First motor; 795. 796. First gear; 797. Second motor; 798. Second gear; 799. Third gear; 790. Limiting plate; 781. Insert plate; 782. Slot; 783. Slider; 8. Auxiliary components; 81. Rectangular plate; 82. Camera body; 83. Frame; 84. Fan; 85. Exhaust duct; 86. Air inlet; 9. L-shaped plate; 10. Third motor; 11. Ring gear; 12. Threaded adjusting rod; 13. Fourth motor; 14. Fourth gear. Detailed Implementation

[0029] The following is combined with Figure 1 -Appendix Figure 9 The present invention will be described in further detail below.

[0030] This invention discloses a welding device for multi-heat source network engineering construction. (Refer to...) Figures 1-9 The vehicle includes a vehicle body 1, a base 2 fixedly connected to the top of the vehicle body 1, a rotating platform 3 rotatably connected to the top of the base 2, a U-shaped plate 4 fixedly connected to the top of the rotating platform 3, a lifting platform 5 slidably connected to the U-shaped plate 4, a robotic arm body 6 fixedly connected to the lifting platform 5, and a welding mechanism 7 fixedly connected to one end of the robotic arm body 6. The welding mechanism 7 includes a frame plate 71. A lower semicircular plate 72 is fixedly connected to the bottom inner side of the frame plate 71. An upper semicircular plate 73 is provided on the top of the lower semicircular plate 72. A first electric push rod 74 is fixedly connected to the top wall of the frame plate 71. One end of the first electric push rod 74 is fixedly connected to the top of the upper semicircular plate 73. A track plate 75 is integrally formed on the inner side of both the upper semicircular plate 73 and the lower semicircular plate 72. A movable seat 76 is provided on the inner side of the lower semicircular plate 72. The movable seat 76 is slidably connected to the outside of the track plate 75. A mounting plate 77 is fixedly connected to one side of the movable seat 76. A sleeve 78 is provided on one side of the movable seat 76. The sleeve 78 passes through the mounting plate 77 and is rotatably connected to the mounting plate 77.

[0031] The sleeve 78 is equipped with a threaded control rod 79, which passes through the sleeve 78 and is connected to the sleeve 78 by threads. One end of the threaded control rod 79 is fixedly connected to a support plate 791, and the welding gun body 792 is fixedly connected to the support plate 791. The vehicle body 1 can move flexibly. After moving to the operating area, the upper semicircular plate 73 and the lower semicircular plate 72 can be moved directly to select the pipe between them. Then, the two are spliced ​​to form a complete circular plate, which can cause the moving seat 76 to revolve around the center point of this complete circle to perform welding processing on the periphery of the pipe. This allows for direct processing of the pipe inside the tunnel. Compared with manual entry into the tunnel for welding, it is safer and saves labor costs.

[0032] A semi-gear ring 793 is fixedly connected to the inner side of both the upper semi-circular plate 73 and the lower semi-circular plate 72. A first motor 794 is fixedly connected inside the movable seat 76. The first motor 794 is fixedly connected to a first gear 795 through its output shaft. The first gear 795 meshes with the semi-gear ring 793. After the first motor 794 works, it drives the first gear 795 to rotate. A second motor 796 is fixedly connected to the outer side of the mounting plate 77. The second motor 796 is fixedly connected to a second gear 797 through its output shaft. A third gear 798 is fixedly connected to the outer side of the sleeve 78. The second gear 797 is located on one side of the third gear 798. The second gear 797 meshes with the third gear 798. After the second motor 796 works, it drives the second gear 797 to rotate, which in turn drives the third gear 798 to rotate.

[0033] The top of the mounting plate 77 is fixedly connected to a limiting plate 799. A limiting groove is opened on the outside of the threaded control rod 79. The limiting plate 799 extends into the limiting groove and matches the limiting groove. After the limiting plate 799 is inserted into the limiting groove, it limits the threaded control rod 79. The bottom of the upper semicircular plate 73 is integrally formed with an insert plate 781. The top of the lower semicircular plate 72 is provided with a slot 782. The insert plate 781 extends into the slot 782 and matches the slot 782. After the insert plate 781 is inserted into the slot 782, it improves the accuracy and stability of the connection between the upper semicircular plate 73 and the lower semicircular plate 72. A sliding groove is provided on the inner side of the frame plate 71, and a slider 783 is fixedly connected to the outer side of the upper semicircular plate 73. The slider 783 extends into the sliding groove and matches the sliding groove. The slider 783 can move up and down flexibly inside the sliding groove.

[0034] An auxiliary component 8 is provided on the support plate 791. The auxiliary component 8 includes a rectangular plate 81, which is integrally formed on one end of the support plate 791. A camera body 82 is fixedly connected to one side of the rectangular plate 81, and a frame 83 is fixedly connected to the other side of the rectangular plate 81. The frame 83 passes through the support plate 791 and is fixedly connected to the support plate 791. A fan 84 is fixedly connected inside the frame 83. The camera body 82 captures images of the actual welding area. An exhaust duct 85 is provided on the rectangular plate 81. The exhaust duct 85 is distributed at equal intervals around the outside of the camera body 82. An air inlet 86 is provided on the side wall of the frame 83 away from the rectangular plate 81. External airflow enters through the air inlet 86 and is discharged through the exhaust duct 85.

[0035] An L-shaped plate 9 is fixedly connected to the top of the vehicle body 1. A third motor 10 is fixedly connected to the top of the L-shaped plate 9. A fourth gear 14 is fixedly connected to the third motor 10 through its output shaft. An annular gear ring 11 is fixedly connected to the outside of the rotating platform 3. The annular gear ring 11 is located on one side of the fourth gear 14 and meshes with the fourth gear 14. A threaded adjusting rod 12 is rotatably connected to the inside of the U-shaped plate 4. The threaded adjusting rod 12 passes through the lifting platform 5 and is threadedly connected to the lifting platform 5. A fourth motor 13 is fixedly connected to the top of the U-shaped plate 4. The fourth motor 13 is fixedly connected to one end of the threaded adjusting rod 12 through its output shaft. After the fourth gear 14 rotates, it drives the annular gear ring 11 to rotate.

[0036] Another technical problem to be solved by the present invention is to provide a welding method for welding equipment used in the construction of multi-heat source network engineering, comprising the following steps: S1, Front-end adjustment After the vehicle body 1 moves to the area to be welded, the processing position is adjusted by controlling the rotation of the rotating platform 3. Specifically, the third motor 10 works and drives the fourth gear 14 to rotate. The fourth gear 14 drives the ring gear 11 to rotate. The ring gear 11 drives the rotating platform 3 to rotate. The rotating platform 3 drives the U-shaped plate 4 to rotate, thereby adjusting the welding position. At the same time, the fourth motor 13 works and drives the threaded adjustment rod 12 to rotate. The threaded adjustment rod 12 drives the lifting platform 5 to move up and down. The lifting platform 5 drives the robotic arm body 6 to move up and down, thereby adjusting the overall operating height. After adjustment, the upper semicircular plate 73 and the lower semicircular plate 72 are moved to the upper and lower sides of the pipe welding position by swinging the robotic arm body 6, thereby completing the front welding position positioning adjustment work. S2, Pipe Welding When the upper semicircular plate 73 and the lower semicircular plate 72 move to the outside of the pipe, that is, after the pipe is framed between the two, the first electric push rod 74 works to push the upper semicircular plate 73, thereby controlling the upper semicircular plate 73 to move down until the upper semicircular plate 73 and the lower semicircular plate 72 are spliced ​​into a complete circle. At this time, the two semi-gear rings 793 and the two track plates 75 are also spliced. The spliced ​​semi-gear rings 793 and track plates 75 also form a circle. Then, the first motor 794 works to drive the first gear 795 to rotate. Since the first gear 795 meshes with the semi-gear ring 793, the rotation of the first gear 795 generates a pushing force, causing the moving seat 76 to move outside the track plate 75. Based on the above connection relationship, it can be seen that at this time, the moving seat 76 revolves around the center point of the circle spliced ​​by the upper semicircular plate 73 and the lower semicircular plate 72 to perform welding processing on the four sides of the pipe. During welding, the welding gun body 792 performs the welding operation. After the second motor 796 starts working, it drives the second gear 797 to rotate. The second gear 797 drives the third gear 798 to rotate. The third gear 798 drives the sleeve 78 to rotate. Since the limiting plate 799 is inserted into the limiting groove, the thread control rod 79 is prevented from rotating with the sleeve 78. Therefore, the thread control rod 79 moves relative to the sleeve 78. After the thread adjusting rod 12 moves, it drives the support plate 791 to move, thereby adjusting the distance between the welding gun body 792 and the pipe to achieve flexible welding. S3, Image Capture During the welding process, the camera body 82 captures the welding process in real time. At the same time, the fan 84 operates and generates airflow that is discharged through the exhaust duct 85. The discharged airflow blows towards the welding area, which can quickly disperse the welding smoke and avoid the situation where the image captured by the camera body 82 is not clear due to smoke interference.

[0037] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A welding equipment for multi-heat source network engineering construction, comprising a vehicle body (1), characterized in that: The vehicle body (1) is fixedly connected to a base (2), the base (2) is rotatably connected to a rotating platform (3), the rotating platform (3) is fixedly connected to a U-shaped plate (4), the U-shaped plate (4) is slidably connected to a lifting platform (5), the lifting platform (5) is fixedly connected to a robotic arm body (6), and one end of the robotic arm body (6) is fixedly connected to a welding mechanism (7). The welding mechanism (7) includes a frame plate (71), a lower semicircular plate (72) is fixedly connected to the bottom inner side of the frame plate (71), an upper semicircular plate (73) is provided on the top of the lower semicircular plate (72), a first electric push rod (74) is fixedly connected to the top wall of the frame plate (71), one end of the first electric push rod (74) is fixedly connected to the top of the upper semicircular plate (73), a track plate (75) is integrally formed on the inner side of both the upper semicircular plate (73) and the lower semicircular plate (72), a movable seat (76) is provided on the inner side of the lower semicircular plate (72), and the movable seat (76) is slidably connected. Outside the track plate (75), a mounting plate (77) is fixedly connected to one side of the movable seat (76), and a sleeve (78) is provided on one side of the movable seat (76). The sleeve (78) passes through the mounting plate (77) and is rotatably connected to the mounting plate (77). A threaded control rod (79) is provided inside the sleeve (78). The threaded control rod (79) passes through the sleeve (78) and is threadedly connected to the sleeve (78). A bracket plate (791) is fixedly connected to one end of the threaded control rod (79), and a welding gun body (792) is fixedly connected to the bracket plate (791).

2. The welding equipment for multi-heat source network engineering construction according to claim 1, characterized in that: The upper semicircular plate (73) and the lower semicircular plate (72) are both fixedly connected to the inner side of a semi-gear ring (793). The movable seat (76) is fixedly connected to a first motor (794). The first motor (794) is fixedly connected to a first gear (795) through an output shaft. The first gear (795) meshes with the semi-gear ring (793).

3. The welding equipment for multi-heat source network engineering construction according to claim 2, characterized in that: A second motor (796) is fixedly connected to the outside of the mounting plate (77). The second motor (796) is fixedly connected to a second gear (797) via an output shaft. A third gear (798) is fixedly connected to the outside of the sleeve (78). The second gear (797) is located on one side of the third gear (798), and the second gear (797) meshes with the third gear (798).

4. The welding equipment for multi-heat source network engineering construction according to claim 3, characterized in that: The mounting plate (77) is fixedly connected to the top of the limiting plate (799), and the threaded control rod (79) has a limiting groove on its outer side. The limiting plate (799) extends into the limiting groove and matches the limiting groove.

5. The welding equipment for multi-heat source network engineering construction according to claim 4, characterized in that: The upper semicircular plate (73) has an integrally formed insert plate (781) at the bottom, and the lower semicircular plate (72) has a slot (782) at the top. The insert plate (781) extends into the slot (782) and matches the slot (782).

6. The welding equipment for multi-heat source network engineering construction according to claim 5, characterized in that: The inner side of the frame plate (71) is provided with a sliding groove, and the outer side of the upper semicircular plate (73) is fixedly connected with a slider (783). The slider (783) extends into the sliding groove and matches the sliding groove.

7. The welding equipment for multi-heat source network engineering construction according to claim 6, characterized in that: An auxiliary component (8) is provided on the bracket plate (791). The auxiliary component (8) includes a rectangular plate (81). The rectangular plate (81) is integrally formed on one end of the bracket plate (791). A camera body (82) is fixedly connected to one side of the rectangular plate (81). A frame (83) is fixedly connected to the other side of the rectangular plate (81). The frame (83) passes through the bracket plate (791) and is fixedly connected to the bracket plate (791). A fan (84) is fixedly connected inside the frame (83).

8. The welding equipment for multi-heat source network engineering construction according to claim 7, characterized in that: The rectangular plate (81) is provided with an exhaust trough (85), which is distributed in a equidistant manner around the outside of the camera body (82). The frame (83) is provided with an air inlet (86) on the side wall opposite to the rectangular plate (81).

9. The welding equipment for multi-heat source network engineering construction according to claim 8, characterized in that: An L-shaped plate (9) is fixedly connected to the top of the vehicle body (1). A third motor (10) is fixedly connected to the top of the L-shaped plate (9). A fourth gear (14) is fixedly connected to the third motor (10) through its output shaft. An annular gear ring (11) is fixedly connected to the outside of the rotating platform (3). The annular gear ring (11) is located on one side of the fourth gear (14) and meshes with the fourth gear (14). A threaded adjusting rod (12) is rotatably connected to the inside of the U-shaped plate (4). The threaded adjusting rod (12) passes through the lifting platform (5) and is threadedly connected to the lifting platform (5). A fourth motor (13) is fixedly connected to the top of the U-shaped plate (4). The fourth motor (13) is fixedly connected to one end of the threaded adjusting rod (12) through its output shaft.

10. The welding method of a welding equipment for multi-heat source network engineering construction according to claim 9, characterized in that: Includes the following steps: S1, Front-end adjustment After the vehicle body (1) is driven to the welding area, the processing operation position is adjusted by controlling the rotation of the rotating platform (3) and the lifting platform (5) is raised and lowered to adjust the overall operating height. After adjustment, the upper half-circle plate (73) and the lower half-circle plate (72) are moved to the upper and lower sides of the pipe welding position by swinging the robotic arm body (6). S2, Pipe Welding When the upper semicircular plate (73) and the lower semicircular plate (72) move to the outside of the pipe respectively, that is, after the pipe is selected between the two, control the upper semicircular plate (73) to move and splice it with the lower semicircular plate (72) to form a complete circle. The moving seat (76) then revolves around the center point of this complete circle to perform welding processing on the four sides of the pipe. S3, Image Capture During the welding process, the camera body (82) takes real-time pictures of the welding situation, and at the same time, the fan (84) generates airflow to disperse the smoke at the welding point to ensure the clarity of the picture.

Images