An automated welding actuator and an automated welding method for heating pipelines.

Abstract

This invention relates to the field of pipeline welding technology, and particularly to an automatic welding actuator and an automated welding method for heating pipelines. The actuator includes a support component, a welding component, two sets of crawling components, and a cleaning component. The support component includes a housing, with a magnet fixedly disposed in the middle of the lower surface of the housing. The two sets of crawling components are symmetrically and movably disposed at both ends of the lower part of the housing. The cleaning component includes a cleaning head, a laser emitter, and a bucket. The welding component includes a welding torch. A collection box is detachably connected to one side of the housing. The laser emitter, bucket, and welding torch are respectively movably disposed on the side of the housing away from the collection box. The bucket and cleaning head are connected to the inside of the collection box through an adsorption tube. This welding method is applied to the above-mentioned actuator. The crawling components can rotate under the action of a gear structure, and no manual movement is required after completing one welding operation. The cleaning components can clean the surface of the heating pipeline, making the operation convenient, time-saving, and labor-saving.

Description

Technical Field

[0001] This invention relates to the field of pipeline welding technology, and in particular to an automatic welding actuator and an automated welding method for heating pipelines. Background Technology

[0002] Laying heating pipelines requires erecting, fixing, and connecting the pipes through welding. Manual welding is difficult, especially in long-distance heating pipeline welding. Relying on manual welding consumes a lot of manpower and resources and is also inefficient. Automatic pipeline welding devices are currently widely used in pipeline welding construction. There are two types of existing technologies: one is a track-type welding machine, which includes the welding machine body and a welding machine track erected on the surface of the pipeline for the welding machine to move. The welding machine moves along the surface of the welding machine track to achieve automated welding of the pipeline. The other is a magnetic welding machine, which uses magnets to adhere to the surface of the pipeline and is driven by a drive system to move the entire welding machine to achieve automatic welding.

[0003] In practical use, rail-mounted welding machines require the installation of rails before each weld, which is cumbersome for welding long-distance pipelines and still consumes a lot of manpower and resources. While magnetic welding machines do not require the installation of rails, they still require manual movement to the next weld after each weld, which is inconvenient. Furthermore, neither of these devices has a cleaning function. When welding long-distance pipelines, dust or other debris can easily accumulate on the pipeline surface, which not only reduces the magnetic attraction force but also causes the drive wheel to slip, leading to the welding machine detaching from the pipeline. This also affects the weld quality and delays the project progress. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic welding actuator and an automated welding method for heating pipelines, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an automatic welding actuator, comprising a support assembly, a welding assembly, two sets of crawling assemblies, and a cleaning assembly. The support assembly includes a housing, with a magnet fixedly disposed in the middle of the lower surface of the housing. The two sets of crawling assemblies are symmetrically and movably disposed at both ends of the lower part of the housing. Each crawling assembly includes two crawling members that abut against the outer surface of a heating pipe. The angle of the crawling members is adjusted by a gear structure. Support rods are rotatably disposed in the middle of both ends of the housing. Two support blocks are slidably disposed on one side of the housing. The cleaning assembly includes two cleaning heads, a laser emitter, and a bucket. The cleaning heads are movably disposed below the corresponding support rods. The welding assembly includes a welding torch. The laser emitter, the bucket, and the welding torch are movably disposed on the two support blocks, respectively. A collection box is detachably connected to one side of the housing. The bucket and the cleaning heads are connected to the inside of the collection box through an adsorption tube.

[0006] Furthermore, two telescopic cylinders are provided inside the lower end of the housing. The two telescopic cylinders are coaxially arranged, and the piston rods of the two telescopic cylinders extend towards the end of the housing. The crawling assembly includes a support shell, the upper end of which is slidably connected to the housing. The two support shells are respectively fixedly connected to the piston rods of the corresponding telescopic cylinders. A drive gear is provided inside the support shell, and driven gears are provided on both sides of the drive gear. The drive gear and the driven gears are meshed and connected for transmission. A wheel is connected to the lower part of the driven gear.

[0007] Furthermore, a cleaning telescopic rod is provided in the middle of the lower surface of the support rod, the piston rod end of the cleaning telescopic rod is rotatably connected to the upper surface of the cleaning head, and a cleaning brush is rotatably provided inside the cleaning head.

[0008] Furthermore, an inclined telescopic rod is movably provided on one side of the piston rod end of the cleaning telescopic rod. The piston rod end of the inclined telescopic rod is rotatably connected to the upper surface of the cleaning head. A baffle is detachably connected to the side of the cleaning head away from the housing. A toothed plate is fixedly provided in the middle of the baffle, and the toothed plate is in contact with the cleaning brush.

[0009] Furthermore, a linear motor is provided in the middle of the side of the housing away from the collection box, and a connecting rod is fixedly connected to the upper surface of the moving part of the linear motor, with two support blocks fixedly installed at both ends of the connecting rod.

[0010] Furthermore, a positioning block and a laser emitter are movably mounted on one of the support blocks. The laser emitter's emission port faces downwards. A first suction tube is threaded through the positioning block, and a bucket is fixedly mounted at the lower end of the first suction tube. The bucket is tilted towards the laser emitter.

[0011] Furthermore, an adsorption hole is provided on the upper inner surface of the cleaning head, and a second adsorption tube is provided on the side of the support rod away from the inclined telescopic rod. The adsorption hole is connected to the inside of the collection box through the second adsorption tube. A through hole is provided at the upper end of the bucket, and the inside of the bucket is connected to the inside of the collection box through the through hole and the first adsorption tube.

[0012] Furthermore, a support seat is slidably mounted on the support block on the side away from the laser emitter. One end of the support seat is threadedly connected to the corresponding lead screw, and the other end of the support seat is detachably connected to a welding torch.

[0013] Furthermore, a negative pressure component is provided on the upper surface of the housing near the laser emitter. The air inlet of the negative pressure component is connected to the inside of the collection box. The collection box performs adsorption work in conjunction with the first adsorption tube and the second adsorption tube through the negative pressure component. A pin is threadedly connected to the upper surface of the housing, and the collection box is fixedly connected to the housing through the pin.

[0014] An automated welding method for heating pipelines, applied to any of the automatic welding actuators described above, comprises the following steps:

[0015] S1: Place the automatic welding actuator at one end of the heating pipe to be connected, use the reversing motor to adjust the orientation of the crawling component so that the wheel axle is parallel to the heating pipe axle, adjust the distance between the two crawling components, use the rotary motor to adjust the axis direction of the cleaning brush to be parallel to the axis direction of the heating pipe, and adjust the position of the cleaning component through the linear motor and the adjusting motor above the connecting seat.

[0016] S2: The drive device drives the entire actuator to move in a circular motion along the heating pipe. The cleaning brush rotates to clean the surface of the heating pipe in the direction of the actuator's movement, and the cleaning component cleans the area around the weld.

[0017] S3: When the welding torch is moved to the cleaned weld seam, the distance between the welding torch and the weld seam is adjusted by the adjusting motor above the support base, and the welding torch is started to weld the weld seam.

[0018] S4: After completing one welding operation, when the actuator needs to be moved to weld the next weld, the reversing motor drives the crawler to rotate 90 degrees, and the rotary motor and tilting telescopic rod drive the cleaning head to rotate 90 degrees. After starting the cleaning motor and drive device, the automatic welding actuator can automatically move to the next welding position.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. This invention provides an automatic welding actuator. The crawling component, driven by a gear structure, can rotate. After completing one welding operation, the wheel direction can be adjusted, allowing the actuator to move along the axis of the heating pipe without manual intervention, saving manpower. The movable crawling component can also adjust its spacing under the action of a telescopic cylinder to adapt to heating pipes of different diameters. The support rod can drive the cleaning head to rotate, cleaning the outer surface of the heating pipe not only during welding but also by tilting the telescopic rod, allowing the actuator to clean the outer surface of the heating pipe as it moves to the next weld. The cleaning brush cleans the surface of the heating pipe, removing impurities and ensuring the adhesion between the magnet and the pipe, preventing slippage of the wheels. The laser emitter cleans the area around the weld. Residual impurities are collected by the bucket and the first adsorption tube, providing a good environment for subsequent welding operations.

[0021] 2. The present invention provides an automated welding method for heating pipelines. Through an adjustable crawling component, it adapts to heating pipelines of different diameters. Before welding begins, a cleaning component cleans the surface of the heating pipeline, ensuring stable operation of the actuator while guaranteeing weld quality. A rotating support rod, in conjunction with the rotating crawling component, adjusts the direction, allowing cleaning to continue even as the actuator moves along the pipeline axis. The coordinated operation of all components significantly reduces worker workload, making operation convenient, time-saving, and labor-saving. This method is particularly effective in welding long-distance heating pipelines, improving welding efficiency. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the extended structure of the crawling component of the present invention;

[0024] Figure 3 This is a partial structural diagram of the present invention when it crawls along the axis of the heating pipeline;

[0025] Figure 4 This is a schematic diagram of the collection box structure of the present invention;

[0026] Figure 5 This is a schematic cross-sectional view of the connection between the collection box and the shell of the present invention;

[0027] Figure 6 This is a schematic diagram of the connection structure between the cleaning head and the cleaning telescopic rod of the present invention;

[0028] Figure 7 This is a schematic diagram of the connection structure between the crawling component and the housing of the present invention;

[0029] Figure 8 This is a schematic diagram of a half-section of the crawling component of the present invention;

[0030] Figure 9 This is a schematic diagram of a half-section of the worm gear and worm shaft portion of the present invention.

[0031] In the diagram: 1. Support assembly; 11. Housing; 111. Mounting slot; 112. Slide groove; 113. Receiving slot; 12. Movable slot; 13. Support ring; 14. Magnet part; 15. Linear motor; 151. Mover; 16. Connecting rod; 17. Support block; 171. Adjusting motor; 172. Lead screw; 173. Slide rod; 18. Telescopic cylinder; 2. Welding assembly; 21. Welding wire spool; 22. Wire feed tube; 23. Welding torch; 24. Connecting pipe; 25. Support base; 3. Crawling assembly; 31. Support shell; 311. Slider; 32. Crawling component; 321. Support frame; 322. Wheel; 323. Drive device; 324. Connecting shaft; 33. Reversing motor; 34. Drive gear; 35. 4. Driven gear; 4. Cleaning assembly; 41. Cleaning head; 411. Sweeping motor; 412. Sweeping brush; 413. Suction hole; 414. Baffle; 415. Toothed plate; 416. First connecting block; 417. Second connecting block; 42. Negative pressure assembly; 421. Second suction tube; 422. First suction tube; 43. Connecting seat; 431. Positioning block; 44. Laser emitter; 45. Bucket; 46. Support rod; 461. Cleaning telescopic rod; 462. Mounting block; 463. Inclined telescopic rod; 47. Collection box; 471. Insertion hole; 48. Insertion pin; 481. Support column; 483. Insertion rod; 49. Rotary motor; 491. Worm gear; 492. Worm wheel; 493. Connecting column. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] In the following description of the invention, it should be noted that the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. The term "connection" simply indicates a connection between devices and has no special meaning.

[0034] Furthermore, the technical fields and installation methods involved in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0035] For specific implementation examples, please refer to: Figures 1-9An automatic welding actuator includes a support assembly 1, a welding assembly 2, two sets of crawling assemblies 3, and a cleaning assembly 4. The support assembly 1 includes a housing 11, with a magnet 14 fixedly disposed in the middle of the lower surface of the housing 11. Preferably, to prevent the magnetic field from affecting other transmission structures, the magnet can be designed as a closed magnetic circuit, or active demagnetization technology, spatial isolation, or other means can be used to protect the transmission structure. The two sets of crawling assemblies 3 are symmetrically and movably disposed at both ends of the lower part of the housing 11. Each crawling assembly 3 includes two crawling members 32, which abut against the outer surface of the heating pipe. The crawling assembly 3 adjusts the angle of the crawling members 32 through a gear structure. Support rods 46 are rotatably disposed in the middle of both ends of the housing 11, and two sliding supports are disposed on one side surface of the housing 11. The support block 17 and the cleaning assembly 4 include a cleaning head 41, a laser emitter 44, and a bucket 45. The cleaning head 41 is movably disposed below the support rod 46. The welding assembly 2 includes a welding torch 23. The laser emitter 44, the bucket 45, and the welding torch 23 are movably disposed on two support blocks 17 respectively. A collection box 47 is detachably connected to one side of the housing 11. The bucket 45 and the cleaning head 41 are connected to the inside of the collection box 47 through an adsorption tube. The lower part of the cleaning head 41 and the lower part of the bucket 45 are in contact with or separate from the surface of the heating pipe. During welding, the housing 11 moves in a circular motion along the outer wall of the heating pipe, and the end of the housing 11 where the laser emitter 44 is located is the direction of travel of the actuator. When moving to the next weld, the housing 11 moves in a straight line along the axis of the heating pipe.

[0036] Furthermore, two telescopic cylinders 18 are provided inside the lower end of the housing 11. The two telescopic cylinders 18 are coaxially arranged, and the piston rods of the two telescopic cylinders 18 extend towards the end of the housing 11. The crawling component 3 includes a support shell 31. Multiple sliders 311 are fixedly arranged at intervals on the upper surface of the support shell 31. Multiple sliding grooves 112 are opened on the lower part of both sides of the housing 11. The sliders 311 are slidably connected to the corresponding sliding grooves 112. The outer walls of the two support shells 31 are fixedly connected to the piston rods of the corresponding telescopic cylinders 18. The movable crawling component 3 can adjust the spacing under the action of the telescopic cylinders 18 to adapt to heating pipes of different diameters. A support plate is fixedly arranged inside the support shell 31. A reversing motor 33 is arranged in the middle of the upper surface of the support plate. A drive gear 34 is rotatably arranged in the middle of the lower surface of the support plate. Driven gears 35 are arranged on both sides of the drive gear 34. The drive gear 34 and the driven gears 35 are meshed and connected. The output shaft of the reversing motor 33 passes through the support plate and is fixedly connected to the drive gear 34.

[0037] Furthermore, the crawling component 32 includes a support frame 321, which is rotatably mounted on the lower part of the support shell 31. A wheel 322 is rotatably mounted inside the support frame 321. A connecting shaft 324 is fixedly mounted on the upper surface of the support frame 321. The connecting shaft 324 passes through the lower part of the support shell 31 and is fixedly connected to the driven gear 35. A drive device 323 is provided on the outer side of each of the two support frames 321 in the crawling assembly 3. The output shaft of the drive device 323 is fixedly connected to the wheel 322. The crawling component 32 can rotate 90 degrees under the action of the gear structure. During welding, the axis of the wheel 322 is parallel to the axis of the heating pipe. When moving along the axis of the heating pipe, the axis of the wheel 322 is perpendicular to the axis of the heating pipe. After completing one welding operation, the direction of the wheel 322 can be adjusted so that the actuator can move along the axis of the heating pipe without manual movement, saving manpower.

[0038] Furthermore, a cleaning telescopic rod 461 is provided in the middle of the lower surface of the support rod 46. A mounting block 462 is fixedly provided at the piston rod end of the cleaning telescopic rod 461. A first connecting block 416 is fixedly provided in the middle of the upper surface of the cleaning head 41. The lower end of the mounting block 462 is rotatably connected to the first connecting block 416. An inclined telescopic rod 463 is rotatably provided on one side of the mounting block 462. A second connecting block 417 is fixedly provided on one side of the upper surface of the cleaning head 41. The piston rod end of the inclined telescopic rod 463 is rotatably connected to the second connecting block 417. A cleaning brush 412 is rotatably provided inside the cleaning head 41. A cleaning motor 411 is provided on the surface of the cleaning head 41 away from the welding torch 23. The output shaft of 411 is fixedly connected to the cleaning brush 412. A baffle 414 is detachably connected to the side of the cleaning head 41 away from the housing 11. A toothed plate 415 is fixedly installed in the middle of the baffle 414. The toothed plate 415 contacts the cleaning brush 412, scrapes off the impurities on the cleaning brush 412, and enters the collection box 47 through the adsorption tube under the action of the negative pressure component 42. With the side of the housing 11 where the linear motor 15 is installed as the front, the rotation direction of the cleaning brush 412 is clockwise. The cleaning head 41 and the cleaning brush 412 can clean the surface of the heating pipe, remove impurities, ensure the adsorption force between the magnet and the heating pipe, and prevent the wheel 322 from slipping off the heating pipe.

[0039] Furthermore, a linear motor 15 is installed in the middle of the side of the housing 11 away from the collection box 47. A mover 151 is slidably installed on the upper part of the linear motor 15. A connecting rod 16 is fixedly connected to the upper surface of the mover 151. Two support blocks 17 are fixedly installed at both ends of the connecting rod 16. Through the action of the linear motor 15, the distance between the welding torch 23 and the laser emitter 44 and the housing 11 can be adjusted, so that the welding torch 23 can be aligned with the weld seam without adjusting the housing 11. A through groove is opened inside the support block 17. A lead screw 172 is rotatably installed on one side of the through groove, and a slide rod 173 is fixedly installed on the other side. An adjustment motor 171 is installed on the upper part of the support block 17. The output shaft of the adjustment motor 171 is fixedly connected to the lead screw 172. Under the action of the adjustment motor 171, the distance between the laser emitter 44 and the welding torch 23 and the weld seam can be adjusted. When welding or cleaning is not required, the laser emitter 44 and the welding torch 23 are kept away from the weld seam to avoid affecting the movement of the housing 11.

[0040] Furthermore, a connecting seat 43 is slidably mounted on one of the support blocks 17. One end of the connecting seat 43 is threadedly connected to the corresponding lead screw 172 and slidably connected to the corresponding slide rod 173. The other end of the connecting seat 43 is fixedly connected to a positioning block 431 and a laser emitter 44. The emission port of the laser emitter 44 faces downward. A first adsorption tube 422 is mounted on the positioning block 431. A bucket 45 is fixedly mounted at the lower end of the first adsorption tube 422. The bucket 45 is tilted towards the laser emitter 44. The laser emitter 44 can clean the area around the weld before welding. When the laser beam from the laser emitter 44 irradiates the surface of the heating pipe, rust, scale, oil, or old coatings quickly absorb the laser energy, causing the rust to separate from the metal substrate and the oil to vaporize directly, without damaging the substrate material. This improves the reliability of the welding quality. The impurities remaining after cleaning are collected by the bucket 45 and the first adsorption tube 422, providing a good environment for subsequent welding work.

[0041] Furthermore, an adsorption hole 413 is provided through the side of the upper surface of the cleaning head 41 away from the second connecting block 417, and a second adsorption tube 421 is provided on one side of the support rod 46. The adsorption hole 413 is connected to the inside of the collection box 47 through the second adsorption tube 421. A through hole is provided at the upper end of the bucket 45, and the inside of the bucket 45 is connected to the inside of the collection box 47 through the through hole and the first adsorption tube 422. The first adsorption tube 422 and the second adsorption tube 421 are made of soft and flexible material, which can move with the support rod 46 or the connecting seat 43 without affecting the adsorption function.

[0042] Furthermore, a support base 25 is slidably disposed on the support block 17 on the side away from the laser emitter 44. One end of the support base 25 is threadedly connected to the corresponding lead screw 172 and slidably connected to the corresponding slide rod 173. The other end of the support base 25 is detachably connected to the welding torch 23. A welding wire spool 21 is rotatably disposed on the upper surface of the housing 11 near the support base 25. A wire feeding tube 22 is disposed on the upper part of the welding torch 23. A support ring 13 is disposed on the upper part of the housing 11 near the welding wire spool 21. The wire feeding tube 22 passes through the support ring 13. The welding wire on the welding wire spool 21 enters the interior of the welding torch 23 through the wire feeding tube 22. Preferably, a wire feeding structure can be provided between the welding wire spool 21 and the welding torch 23. A connecting tube 24 is disposed on one side of the upper end of the welding torch 23. The connecting tube 24 is connected to external equipment, such as a storage device for the protective atmosphere required for welding. The specific structure and principle of the welding torch 23 and the connecting tube 24 are existing technologies and will not be described in detail.

[0043] Furthermore, movable grooves 12 are provided at the middle of both ends of the housing 11, and the support rod 46 is rotatably disposed in the movable grooves 12. Receiving grooves 113 are provided at the inner ends of both ends of the housing 11 above the movable grooves 12. Rotary motors 49 are provided on the surface of both ends of the housing 11. The output shaft of the rotary motor 49 is fixedly connected to a worm gear 491. A connecting column 493 is rotatably disposed in the middle of the receiving groove 113. The lower end of the connecting column 493 passes through the housing 11 and extends into the movable groove 12. The end of the support rod 46 away from the cleaning telescopic rod 461 is fixedly connected to the connecting column 493. A worm wheel 492 is fixedly sleeved on the upper part of the connecting column 493. The worm wheel 492 is located in the receiving groove 113. The worm wheel 492 is meshed with the worm gear 491 for transmission. Through the worm wheel and worm gear structure, the support rod 46 can be rotated 90 degrees. This not only cleans the surface of the heating pipe during welding, but also cleans the surface of the heating pipe when moving to the next weld, preventing the wheel 322 from slipping off the heating pipe.

[0044] Furthermore, a negative pressure component 42 is provided on the upper surface of the housing 11 near the laser emitter 44. The air inlet of the negative pressure component 42 is connected to the inside of the collection box 47. The collection box 47 performs adsorption work through the negative pressure component 42 in conjunction with the first adsorption tube 422 and the second adsorption tube 421. The specific principle of the negative pressure component 42 and the adsorption structure is existing technology and will not be described in detail. Multiple mounting slots 111 are spaced apart on one side of the upper surface of the housing 11. A pin 48 is provided in the mounting slot 111. A support column 481 is provided at the upper end of the pin 48. The support column 481 is threadedly connected to the mounting slot 111. A rod 483 is fixedly provided on the lower surface of the support column 481. Multiple insertion holes 471 are spaced apart on one side of the upper surface of the collection box 47. The rod 483 passes through the mounting slot 111 and the lower part of the rod 483 is inserted into the corresponding insertion hole 471. The collection box 47 is fixedly connected to the housing 11 through the rod 483.

[0045] Preferably, the telescopic cylinder 18, the cleaning telescopic rod 461, and the tilting telescopic rod 463 can be driven by electric, pneumatic, or hydraulic means for telescopic extension and retraction.

[0046] An automated welding method for heating pipelines, applied to any of the aforementioned automated welding actuators, comprises the following steps:

[0047] S1: Place the automatic welding actuator at one end of the heating pipe to be connected, with the side equipped with the welding torch 23 facing the weld seam. Use the reversing motor 33 to adjust the orientation of the crawler 32 so that the axis of the wheel 322 is parallel to the axis of the heating pipe. Simultaneously activate the two telescopic cylinders 18, extending the piston rods of the telescopic cylinders 18. Adjust the distance between the two crawler components 3 according to the diameter of the heating pipe, thereby ensuring that the automatic welding actuator is stably placed on the upper surface of the heating pipe. Activate the magnet part 14, which generates magnetic force to attract the surface of the heating pipe, providing a stable attraction force for the housing 11. Use the rotary motor 49 to adjust... After the axis of the cleaning brush 412 is parallel to the axis of the heating pipe, the cleaning telescopic rod 461 is activated. The piston rod of the cleaning telescopic rod 461 extends, driving the cleaning head 41 and the cleaning brush 412 to approach the surface of the heating pipe until the cleaning brush 412 contacts the outer surface of the heating pipe. The linear motor 15 drives the connecting rod 16 and the support block 17 to move towards the weld position, so that the lower end of the laser emitter 44, the bucket 45 and the welding gun 23 are aligned with the weld. The adjusting motor 171 above the connecting seat 43 drives the laser emitter 44 and the bucket 45 to move towards the weld until the lower end of the bucket 45 contacts the weld.

[0048] S2: Start the drive unit 323, cleaning motor 411, laser emitter 44 and negative pressure component 42. The drive unit 323 drives the wheel 322 to rotate. The end with the laser emitter 44 is in the direction of travel of the actuator. The wheel 322 drives the entire actuator to make a circular motion along the heating pipe through friction. The cleaning motor 411 drives the cleaning brush 412 to rotate. The cleaning brush 412 cleans the surface of the heating pipe in the direction of travel of the actuator. The impurities on the cleaning brush 412 are filtered by the toothed plate 415 and enter the collection box 47 through the adsorption hole 413 and the second adsorption tube 421 under the action of the negative pressure component 42. The laser emitter 44 emits laser to clean the area around the weld. The remaining impurities are scraped off by the bucket 45 and enter the collection box 47 through the through hole and the first adsorption tube 422 under the action of the negative pressure component 42.

[0049] S3: When the welding torch 23 moves to the cleaned weld seam, the adjustment motor 171 above the support base 25 drives the corresponding lead screw 172 to rotate, thereby moving the welding torch 23 to a suitable position closer to the weld seam. Then, the welding torch 23 and related working components are started to perform welding work on the weld seam.

[0050] S4: After completing one welding operation, when the actuator needs to be moved to weld the next weld, the cleaning head 41, laser emitter 44, bucket 45, and welding torch 23 are reset by cleaning the telescopic rod 461, adjusting the motor 171, and linear motor 15. The crawler 32 is driven to rotate 90 degrees by the reversing motor 33. At this time, the axis of the wheel 322 is perpendicular to the axis of the heating pipe. The support rod 46 is driven to rotate 90 degrees by the rotary motor 49. The direction of the cleaning head 41 is adjusted so that the axis of the cleaning brush 412 is perpendicular to the axis of the heating pipe. The piston rod of the tilting telescopic rod 463 extends, pushing the cleaning head 41 to rotate around the mounting block 462, so that the cleaning brush 412 is tangent to the outer surface of the heating pipe. The cleaning motor 411 is started, and the cleaning brush 412 cleans along the axis of the heating pipe. The drive device 323 is started so that the actuator moves along the axis of the heating pipe, and the automatic welding actuator can automatically move to the next welding position. The above steps are repeated to continue the welding operation.

[0051] The actuator and method, through the adjustable crawling component 3, can adapt to heating pipes of different diameters. Before the welding work begins, the surface of the heating pipe is cleaned by the cleaning component 4, ensuring the stable operation of the actuator and the welding quality of the weld. The support rod 46, in conjunction with the crawling component 32, adjusts the direction, and the cleaning work can also be carried out when the actuator moves along the axis of the heating pipe. The components work together to greatly reduce the workload of workers, making operation convenient, time-saving and labor-saving. It is even more effective in welding long-distance heating pipes and improves welding efficiency.

Claims

1. An automatic welding actuator characterized by: The utility model provides a heat supply pipeline cleaning device, including support component, welding assembly, two groups of crawl component and cleaning assembly, support component includes the casing, and the magnet part is fixedly arranged in the lower surface middle part of casing, and two groups of crawl component are symmetrically movably arranged at the both ends of lower portion of casing, and the crawl component includes two crawl pieces, and the crawl piece is in butt joint with the outer surface of heat supply pipeline, and the crawl component adjusts the angle of crawl piece through gear structure, and the both ends middle part of casing is rotatably provided with support rod, and the side surface of casing is slidably provided with two support blocks, and the cleaning assembly includes two cleaning heads, laser emitter and shovel, and the cleaning head is movably arranged below the corresponding support rod, and the welding assembly includes the welding torch, and the laser emitter and shovel are movably arranged on two support blocks respectively, and the side of casing is detachably connected with collecting box, and the shovel and cleaning head are communicated with the inside of collecting box through adsorption pipe, The inside of lower end of casing is provided with two telescopic cylinders, the two telescopic cylinders are coaxially arranged, the piston rods of the two telescopic cylinders are extended to the end of casing, the crawl component includes support shell, a plurality of sliding blocks are fixedly arranged on the upper surface of support shell at intervals, a plurality of sliding grooves are formed in the lower portions of the two sides of casing, the sliding blocks are slidably connected with the corresponding sliding grooves, the outer walls of the two support shells are fixedly connected with the piston rods of the corresponding telescopic cylinders respectively, a support plate is fixedly arranged in the inside of support shell, a reversing motor is arranged on the upper surface of support plate in the middle, a driving gear is rotatably arranged on the lower surface of support plate in the middle, a driven gear is arranged on the both sides of driving gear, the driving gear is meshingly and transmissionally connected with the driven gear, and the output shaft of reversing motor penetrates through support plate and is fixedly connected with driving gear; The lower surface middle part of support rod is provided with cleaning telescopic rod, the end of piston rod of cleaning telescopic rod is rotatably connected with the upper surface of cleaning head, and a cleaning brush is rotatably arranged in the inside of cleaning head; The end of piston rod of cleaning telescopic rod is movably provided with inclined telescopic rod on one side, the end of piston rod of inclined telescopic rod is rotatably connected with the upper surface of cleaning head, and the side, away from casing, of cleaning head is detachably connected with baffle, the middle of baffle is fixedly provided with toothed plate, and toothed plate is in contact with cleaning brush; The both ends middle part of casing is formed with movable slot, support rod is rotatably arranged in movable slot, the inside of both ends of casing is formed with accommodating groove above movable slot, the both end surfaces of casing are provided with rotary motor, the end of output shaft of rotary motor is fixedly connected with worm, the middle of accommodating groove is rotatably provided with connecting column, the lower end of connecting column penetrates through casing and extends to movable slot, the end, away from cleaning telescopic rod, of support rod is fixedly connected with connecting column, connecting column is fixedly sleeved with worm wheel on the upper part, worm wheel is located in accommodating groove, and worm wheel is meshingly and transmissionally connected with worm.

2. An automatic welding actuator according to claim 1, characterized in that: The middle part of the side, away from collecting box, of casing is provided with linear motor, the upper surface of mover of linear motor is fixedly connected with connecting rod, and the both ends of connecting rod are fixedly provided with two support blocks.

3. An automatic welding actuator according to claim 2, wherein: The support block on one side is movably provided with positioning block and laser emitter, the emission port of laser emitter faces downwards, the first adsorption pipe is arranged on the positioning block, the shovel is fixedly arranged on the lower end of first adsorption pipe, and the shovel is obliquely arranged towards laser emitter.

4. An automatic welding actuator according to claim 3, wherein: The cleaning head is internally provided with an adsorption hole, a second adsorption pipe is arranged on the side of the supporting rod away from the inclined telescopic rod, the adsorption hole is communicated with the inside of the collecting box through the second adsorption pipe, and the bucket is internally provided with a through hole, and the inside of the bucket is communicated with the inside of the collecting box through the through hole and the first adsorption pipe.

5. The automatic welding actuator of claim 2, wherein: The supporting block away from the laser emitter is slidably provided with a supporting seat, one end of the supporting seat is threadedly connected with the corresponding lead screw, and the other end of the supporting seat is detachably connected with the welding gun.

6. An automatic welding actuator according to claim 4 wherein: The upper surface of the shell is provided with a negative pressure assembly on the side close to the laser emitter, the air inlet of the negative pressure assembly is communicated with the inside of the collecting box, the collecting box is adsorbed through the cooperation of the negative pressure assembly, the first adsorption pipe and the second adsorption pipe, the upper surface of the shell is threadedly connected with a latch, and the collecting box is fixedly connected with the shell through the latch.

7. A method for automatic welding of a heat pipe, applied to the automatic welding execution mechanism of any one of claims 1-6, characterized in that, The steps are as follows: S1: the automatic welding execution mechanism is placed at one end of the to-be-butted heat supply pipeline, the orientation of the crawling member is adjusted by using the reversing motor, the wheel axis is parallel to the heat supply pipeline axis, the distance between the two crawling assemblies is adjusted, the axis direction of the cleaning brush is adjusted to be parallel to the axis direction of the heat supply pipeline by using the rotating motor, the position of the cleaning assembly is adjusted by using the adjusting motor above the connecting seat and the linear motor; S2: the driving device drives the entire execution mechanism to move along the heat supply pipeline in a circular manner, the cleaning brush rotates to clean the surface of the heat supply pipeline in the direction of the execution mechanism, and the cleaning assembly cleans around the weld; S3: when the welding gun moves to the cleaned weld, the distance between the welding gun and the weld is adjusted by using the adjusting motor above the supporting seat, and the welding gun is started to weld the weld; S4: after completing the welding work, the execution mechanism needs to be moved to weld the next weld, the crawling member is rotated by 90 degrees by using the reversing motor, the cleaning head is rotated by 90 degrees by using the rotating motor and the inclined telescopic rod, and the automatic welding execution mechanism can be automatically moved to the next welding position by starting the cleaning motor and the driving device.

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