A pipe installation robot for narrow space in a factory building

Abstract

This application relates to the field of indoor pipe installation technology, specifically to a pipe installation robot for confined spaces in a factory. It includes a controller, a support mechanism, a clamping mechanism, an auxiliary welding mechanism, and a welding torch. The support mechanism is movably mounted on the ground and has a support frame. The clamping mechanism is connected to the support frame and the controller, and its controlled movement clamps the pipe. The auxiliary welding mechanism is connected to the support frame and the controller, and includes a fixed base and a semi-circular movable base. The fixed base has a semi-circular first slide rail, one end of which is connected to a pin. The movable base has a semi-circular second slide rail that can be joined with the first slide rail, one end of which is connected to a locking pin. The movable base is slidably connected to the fixed base. The welding torch slides along the first slide rail and is connected to the controller, and its controlled movement slides along the first slide rail. This application ensures good welding quality and maintainability of the pipe.

Description

Technical Field

[0001] This application relates to the field of indoor pipe installation technology, specifically to a pipe installation robot for confined spaces in a factory. Background Technology

[0002] During the construction of the factory area, it is usually necessary to lay pipelines with large diameters. Adjacent pipelines need to be connected by welding to ensure airtightness and prevent gas and liquid leakage.

[0003] Currently, pipe welding at corners on the upper part of walls is done manually. Before welding, scaffolding needs to be erected to meet the installation height of the pipes. During welding, the pipes are connected to pre-installed supports to complete the pipe positioning, and then manual welding is carried out on the scaffolding. In response, existing technologies have disclosed related welding equipment. For example, patent CN110355509A discloses a pipe welding robot, which controls the movement of a movable guide rail on a fixed guide rail to achieve position changes of the movable guide rail. The welding torch moves on the movable guide rail at different positions to achieve circumferential welding of the pipe. By controlling the uniform rotation of the movable guide rail and the uniform rotation of the sliding frame, continuous circumferential welding of the pipe can be achieved. However, when the welding torch approaches the end of the welding process (i.e., the junction of the movable guide rail and the fixed guide rail), the position of the welding torch on the sliding frame is no longer supported by the fixed guide rail, forming a cantilever-like structure. The vibration generated during welding and the vibration generated during the transmission between the sliding frame and the movable guide rail can easily affect the welding quality, leading to uneven local weld material and stress concentration. When the pipeline is used in harsh environments later, such as when transporting high-temperature and high-pressure media, it is prone to cracking. Summary of the Invention

[0004] This application aims to solve at least one of the technical problems in the background art by providing a pipe installation robot in a confined space in a factory, which provides a complete and stable slide rail for the welding torch before welding, thereby reducing vibrations that may occur during the welding process and ensuring welding quality.

[0005] This application is achieved through the following technical solution:

[0006] A robot for installing pipes in confined spaces within a factory, characterized by comprising:

[0007] Controller;

[0008] A support mechanism, which is movably mounted on the ground and has a support frame;

[0009] A clamping mechanism is connected to the support frame and the controller, and the clamping mechanism is controlled to clamp the pipe.

[0010] An auxiliary welding mechanism is connected to the support frame and the controller. The auxiliary welding mechanism includes a fixed seat and a semi-circular movable seat. The fixed seat has a semi-circular first slide rail, one end of which is connected to a pin seat. The movable seat has a semi-circular second slide rail that can be spliced ​​with the first slide rail, one end of which is connected to a pin lock. The movable seat is slidably connected to the fixed seat. The movable seat is controlled to rotate around its own axis or slide along its own axis on the fixed seat so that the first slide rail and the second slide rail can be spliced ​​together and the pin lock can be inserted into the pin seat.

[0011] A welding torch, which slides along the first slide rail and is connected to the controller, is controlled to slide along the first slide rail.

[0012] The pipe installation robot provided in this application, designed for confined spaces within a factory, utilizes a clamping mechanism to grip the pipe. An auxiliary welding mechanism allows the movable seat to move in a controlled manner, forming a ring structure with the fixed seat to enclose the pipe. The first and second slide rails are joined to form a circular slide rail, which, through a pin seat and locking mechanism, provides a stable guiding path for the welding torch. This allows the welding torch to align with the pipe at any position in the circumferential direction, enabling welding and fusion joining of the pipe. Compared to conventional pipe welding devices, the movable seat in this application... Rotating around its own axis to connect with the fixed base avoids opening and closing actions, has low space requirements, and can realize automatic pipe connection in limited spaces such as the corner of the factory wall. Compared with the prior art, this application provides a complete and stable annular slide rail for the welding gun before welding begins, which greatly reduces the vibration generated during welding. Moreover, there is no motion coupling during welding, the welding quality is relatively controllable, which helps to ensure the uniformity of the welding material. Furthermore, the welding gun only needs to move under the guidance of the annular slide rail, which reduces the positioning accuracy requirement, which helps to reduce the complexity of system control and the probability of system failure.

[0013] In some alternative embodiments,

[0014] The supporting structure includes:

[0015] A base plate, wherein the base plate is equipped with wheels that are controlled to move;

[0016] A limiting baffle, which is perpendicularly connected to the base plate;

[0017] Limiting stops, two of which are perpendicularly connected to the base plate, the limiting stops and the limiting baffle are arranged at intervals, and the two limiting stops are located on both sides of the support frame;

[0018] A first bearing plate is elastically rotatably connected to the limiting baffle.

[0019] The second bearing plate is elastically rotatably connected to the limiting stop bar;

[0020] The first limiting block is connected to the limiting baffle and is located on one side of the first bearing plate to form a one-way rotational limiting on the first bearing plate;

[0021] The second limiting block is connected to the limiting stop and is located on one side of the second bearing plate to form a one-way rotational limiting on the second bearing plate;

[0022] When the first bearing plate and the second bearing plate are respectively limited by the first limiting block and the second limiting block, the surfaces of the first bearing plate and the second bearing plate overlap and are spliced ​​together to form a support platform for placing pipe sections.

[0023] In some alternative embodiments, the clamping mechanism includes:

[0024] A first linear motion component is connected to the support frame;

[0025] A second linear motion component is connected to the first linear motion component;

[0026] The gripper is connected to the second linear motion component.

[0027] In some alternative embodiments, the number of grippers is configured to be two, and the grippers are elastically rotatably connected to the second linear motion component.

[0028] In some alternative embodiments, the mounting base includes:

[0029] The first block is connected to the second linear motion component, and a semi-circular groove is formed on the first block.

[0030] The second block is a semi-circular block located in the semi-circular groove, and there is a gap between the second block and the bottom of the semi-circular groove to form an arc-shaped slide.

[0031] The movable seat is located in the arc-shaped slide and slides with the second block so that the movable seat can rotate around its own axis and move along its own axis.

[0032] In some alternative embodiments, the second block is provided with a plurality of balls by a grooved ball locking process, and the movable seat abuts against the balls to form a sliding fit.

[0033] In some optional embodiments, a guide groove coaxial with the movable seat is provided on one end face of the movable seat, and a stop block is connected to the groove opening at one end of the guide groove.

[0034] A push-pull assembly is connected to the fixed base. The push-pull assembly has a push-pull rod, and a baffle is connected to the end of the push-pull rod. The baffle is located in the guide groove and forms a sliding fit with the guide groove.

[0035] In some optional embodiments, a first pin rack and a second pin rack are respectively disposed in the first slide rail and the second slide rail;

[0036] The welding torch is equipped with a connection drive source, which is engaged with the first pin rack or the second pin rack gear transmission.

[0037] In some alternative embodiments, the connection drive source is elastically slidably engaged with the first or second slide rail.

[0038] In some optional embodiments, the fixed base and the movable base are further provided with grooves that can be spliced ​​together, and springs are connected in the grooves, wherein the wires on the welding gun are wound around the springs.

[0039] In some optional embodiments, the pin lock includes a rod, a first drive wedge and a second drive wedge, the first drive wedge being fixedly connected to the rod, and the second drive wedge being elastically slidably connected to the rod, the first drive wedge and the second drive wedge having wedge surfaces facing opposite directions;

[0040] The pin seat includes a socket, a limiting spring, and a locking wedge. The socket has a positioning groove. The limiting spring is located in the small diameter section of the positioning groove. The end of the limiting spring is connected to a baffle for abutting the end of the plug rod. The locking wedge is located in the large diameter section of the positioning groove. The locking wedge is elastically slidably connected to the pin seat so that the locking wedge can leave the positioning groove.

[0041] Compared with the prior art, this application has the following advantages and beneficial effects:

[0042] The pipe installation robot provided in this application, designed for confined spaces within a factory, utilizes a clamping mechanism to grip the pipe. An auxiliary welding mechanism allows the movable seat to move in a controlled manner, forming a ring structure with the fixed seat to enclose the pipe. The first and second slide rails are joined to form a circular slide rail, which, through a pin seat and locking mechanism, provides a stable guiding path for the welding torch. This allows the welding torch to align with the pipe at any position in the circumferential direction, enabling welding and fusion joining of the pipe. Compared to conventional pipe welding devices, this application... The movable seat rotates around its own axis to connect with the fixed seat, avoiding opening and closing actions. It has low space requirements and can realize automatic pipeline connection in limited spaces such as the corner of the factory. Compared with the prior art, this application provides a complete and stable annular slide rail for the welding gun before welding begins, which greatly reduces the vibration generated during welding. There is no motion coupling during welding, the welding quality is relatively controllable, and the welding gun only needs to move under the guidance of the annular slide rail, which reduces the positioning accuracy requirement, which helps to reduce the system control complexity and the probability of system failure. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the exemplary embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0044] Figure 1 A schematic diagram of a robot structure for installing pipes in a confined space within a factory, provided in an embodiment of this application;

[0045] Figure 2 This is a schematic diagram of the clamping mechanism installation structure provided in the embodiments of this application;

[0046] Figure 3 This is a schematic diagram of the auxiliary welding mechanism provided in the embodiments of this application;

[0047] Figure 4 This is a schematic diagram of the fixing base structure provided in the embodiments of this application;

[0048] Figure 5 This is a partial structural diagram of the welding torch installation provided in an embodiment of this application;

[0049] Figure 6 This is a schematic diagram of the connection driver source structure provided in an embodiment of this application;

[0050] Figure 7 This is a schematic diagram of the movable seat structure provided in an embodiment of this application;

[0051] Figure 8 A schematic diagram of the support mechanism structure provided in the embodiments of this application;

[0052] Figure 9 for Figure 8 Enlarged structural diagram at point A;

[0053] Figure 10 This is a schematic diagram of the pin holder structure provided in an embodiment of this application;

[0054] Figure 11 This is a schematic diagram of the pin-lock structure provided in an embodiment of this application;

[0055] Figure 12 This is a schematic diagram of the connection structure between the pin seat and the first slide rail provided in an embodiment of this application;

[0056] Figure 13 A schematic diagram of the structure after the pin lock is inserted into the pin seat according to an embodiment of this application;

[0057] Figure 14 This is a schematic diagram of the first separation process between the pin lock and the latch seat provided in an embodiment of this application;

[0058] Figure 15 This is a schematic diagram of the second separation process between the pin lock and the latch seat provided in an embodiment of this application.

[0059] The attached diagram shows the markings and corresponding component names:

[0060] 100-Supporting mechanism, 101-Base plate, 102-Limiting baffle, 103-Limiting stop bar, 104-Wheel, 105-Supporting frame, 106-First bearing plate, 107-Second bearing plate, 108-First limiting block, 109-Second limiting block, 200-Clamping mechanism, 201-First linear motion component, 202-Second linear motion component, 203-Gripper, 300-Auxiliary connecting mechanism, 301-Fixed seat, 3011-First block, 3012-Second block, 3013-Arc-shaped slide, 302-Modible seat, 30 21-Annular external rack, 3022-Annular bar, 3023-Stop, 303-First slide rail, 304-Second slide rail, 305-Pin lock, 3051-Insertion rod, 3052-First drive wedge, 3053-Second drive wedge, 306-Insertion pin seat, 3061-Socket, 3062-Positioning groove, 3063-Limit spring, 3064-Baffle, 3065-Locking wedge, 400-Welding torch, 500-Connecting drive source, 501-Connecting drive motor, 502-Connecting base, 503-Sliding plate, 600-Push-pull assembly. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the embodiments and accompanying drawings. The illustrative embodiments and descriptions of this application are only for explaining this application and are not intended to limit this application.

[0062] like Figure 1 , Figure 5 As shown in the figure, this application provides a pipe installation robot in a confined space in a factory. The pipe installation robot in a confined space in a factory includes a controller, a support mechanism 100, a clamping mechanism 200, an auxiliary welding mechanism, and a welding torch 400.

[0063] The controller can be a programmable logic controller (PLC), a microcomputer, or the like.

[0064] The support mechanism 100 is movable and can be set on the road surface, so that it can move along the road surface and move within the factory to realize the installation of pipes in different locations. The support mechanism 100 has a support frame 105 as the installation structure foundation for the clamping mechanism 200, the auxiliary welding mechanism, and the welding torch 400.

[0065] The clamping mechanism 200 is connected to the support frame 105 and to the controller. The clamping mechanism 200 is controlled to clamp the pipe.

[0066] The auxiliary welding mechanism is connected to the support frame 105 and the controller. The auxiliary welding mechanism includes a fixed base 301 and a semi-circular movable base 302. The fixed base 301 can be designed as a rectangular block structure, and the movable base 302 can be designed as a semi-circular strip 3022 structure. A semi-circular first slide rail 303 is constructed on the fixed base 301, with a pin seat 306 connected to one end of the first slide rail 303. The first slide rail 303 can be installed on one end face of the fixed base 301. A semi-circular second slide rail 304 is constructed on the movable base 302, which can be spliced ​​with the first slide rail 303. A pin lock 305 is connected to one end of the second slide rail 304, indicating that the first slide rail 304... The slide rail 303 and the second slide rail 304 can be spliced ​​together to form a complete circular slide rail. The movable seat 302 is slidably connected to the fixed seat 301. The movable seat 302 is controlled to rotate around its own axis on the fixed seat 301 or slide along its own axis so that the first slide rail 303 and the second slide rail 304 are spliced ​​together and the pin lock 305 is inserted into the pin seat 306. That is, when the movable seat 302 is controlled to rotate around its own axis, one end of the movable seat 302 extends out of the fixed seat 301. When the movable seat 302 is controlled to slide along its own axis, the second slide rail 304 on the movable seat 302 will be spliced ​​with the first slide rail 303 to form a complete circular slide rail.

[0067] The welding torch 400 slides in conjunction with the first slide rail 303 and is connected to the controller. This means that when the second slide rail 304 is connected to the first slide rail 303, the welding torch 400 can also slide on the second slide rail 304. The welding torch 400 slides along the first slide rail 303 under controlled action.

[0068] In use, pipe sections can be loaded onto the support mechanism 100, clamped by the clamping mechanism 200, and driven to the connection position. Usually, a bracket is pre-installed on the wall. After positioning the pipe section with the mounting bracket, the pipe section can be placed in the connection position. The clamping mechanism 200 is used to align the pipe section to be installed with the installed pipe section. The movable seat 302 is controlled to rotate around its own axis so that one end extends out of the fixed seat 301. After rotating into position, the movable seat 302 is controlled to translate along its own axis so that the first slide rail 303 and the second slide rail 304 are spliced ​​together. At the same time, the pin lock 305 and the pin seat 306 cooperate to limit the second slide rail 304. The welding torch 400 can then be controlled to slide on the first slide rail 303 and the second slide rail 304, and the pipe section is welded by the welding torch 400.

[0069] The pipe installation robot in the confined space of a factory provided in this embodiment can clamp the pipe through the clamping mechanism 200. Through the auxiliary welding mechanism, the movable seat 302 can be controlled to form a ring structure with the fixed seat 301, thereby surrounding the pipe. The first slide rail 303 and the second slide rail 304 are spliced ​​to form a ring slide rail, and through the cooperation of the pin seat 306 and the locking pin 305, a stable motion guide path is provided for the welding torch 400. This allows the welding torch 400 to correspond to the pipe at any position in the circumferential direction, and then the welding torch 400 can achieve pipe welding, fusion connection, etc. Compared with conventional... The pipe welding device of this application features a movable seat 302 that rotates around its own axis to connect with a fixed seat 301, avoiding opening and closing actions. This design has low space requirements and can achieve automatic pipe connection in limited spaces such as corners of factory buildings. Compared with the prior art, this application provides a complete and stable annular slide rail for the welding torch 400 before welding begins, which greatly reduces vibration during welding. Furthermore, there is no motion coupling during welding, making the welding quality relatively controllable. The welding torch 400 only needs to move under the guidance of the annular slide rail, reducing the positioning accuracy requirement and helping to reduce system control complexity and the probability of system failure.

[0070] In some optional embodiments, reference may also be made to Figure 1 , Figure 8 and Figure 9The support mechanism 100 includes a base plate 101, a limiting baffle 102, a limiting rod 103, a first bearing plate 106, a second bearing plate 107, a first limiting block 108, and a second limiting block 109. The base plate 101 is a rectangular plate structure with a certain thickness. The base plate 101 is equipped with controlled wheels 104, meaning that the wheels 104 are connected to the controller through a power system. The power system can be a conventional trolley drive system. The wheels 104 are controlled by the controller to move forward and backward so that the entire device is in different installation positions. The limiting baffle 102 is perpendicularly connected to the base plate 101. The limiting baffle 102 is a rectangular plate. 102 has the same length as the base plate 101, and the limiting baffle 102 is connected to one of the long sides of the base plate 101; two limiting rods 103 are perpendicularly connected to the base plate 101, meaning that the two limiting rods 103 are parallel to each other, and the limiting rods 103 and the limiting baffle 102 are arranged at intervals, with the two limiting rods 103 located on both sides of the support frame 105, wherein the two limiting rods 103 are located on both sides of the width direction of the base plate 101; the first bearing plate 106 is elastically rotatably connected to the limiting baffle 102; the second bearing plate 107 is elastically rotatably connected to the limiting rods 103; the first limiting block 108 is connected to the limiting baffle 102 and located on the first One side of the bearing plate 106 forms a one-way rotation limit on the first bearing plate 106; the second limiting block 109 is connected to the limiting stop 103 and is located on one side of the second bearing plate 107 to form a one-way rotation limit on the second bearing plate 107; wherein, when the first bearing plate 106 and the second bearing plate 107 are respectively limited by the first limiting block 108 and the second limiting block 109, the plate surfaces of the first bearing plate 106 and the second bearing plate 107 overlap and are spliced ​​together to form a support platform for placing pipe sections. At this time, the plate surface of the first bearing plate 106 is perpendicular to the plate surface of the limiting stop 102. In the working state, the first limiting block 108 is located below the first bearing plate 106. The second limiting block 109 is located below the second bearing plate 107. Both the first bearing plate 106 and the second bearing plate 107 can rotate upward elastically, but cannot rotate downward elastically. In this way, the pipe section below the first bearing plate 106 and the second bearing plate 107 can be directly lifted upward. The number of first bearing plates 106 and second bearing plates 107 is equal and there are multiple of each. Multiple first bearing plates 106 and multiple second bearing plates 107 are arranged at intervals along the length direction of the limiting stop bar 103. Each pipe section is placed on the support platform formed by the first bearing plate 106 and the second bearing plate 107, thereby realizing the continuous installation of multiple pipe sections.

[0071] In some alternative embodiments, such as Figure 2As shown, the clamping mechanism 200 includes a first linear motion component 201, a second linear motion component 202, and a gripper 203. The first linear motion component 201 is connected to the support frame 105. In actual implementation, the first linear motion component 201 can adopt a gear and rack transmission mechanism. The second linear motion component 202 is connected to the first linear motion component 201 so that the second linear motion component 202 can move closer to or away from the support platform in the road width direction. The second linear motion component 202 can also adopt a gear and rack transmission mechanism. The first linear motion component 201 and the second linear motion component 202 constitute a two-axis manipulator. The gripper 203 is connected to the second linear motion component 202, so that under the drive of the first linear motion component 201 and the second linear motion component 202, the gripper 203 can clamp the pipe section on the support platform.

[0072] In some alternative embodiments, such as Figure 1 As shown, the number of grippers 203 is configured to be two, and the grippers 203 are elastically rotatably connected to the second linear motion component 202.

[0073] In this embodiment, the two grippers 203 can be respectively equipped with a first linear motion component 201 and a second linear motion component 202. This means that each gripper 203 is driven by a two-axis manipulator, and the two grippers 203 can respectively grip both ends of the pipe section along its length to ensure gripping stability. When the travel strokes of the two second linear motion components 202 are inconsistent, the pipe section can be tilted, thus adapting the pipe section's position to the sloped road and the inclined installation environment. During the gripping process, the elastic interaction between the grippers 203 and the second linear motion components 202 ensures the stability of the grippers 203's posture and guarantees gripping efficiency. In actual implementation, the grippers 203 can be existing electric grippers 203, with the grippers 203 pin-connected to the second linear motion components 202. A torsion spring is configured between the grippers 203 and the second linear motion components 202 to achieve elastic rotation.

[0074] In some alternative embodiments, such as Figures 4-5As shown, the fixed base 301 includes a first block 3011 and a second block 3012. The first block 3011 is a semi-circular cylinder and is connected to the second linear motion assembly 202. Specifically, the first block 3011 is located on one side of one of the grippers 203. When the gripper 203 clamps the pipe section, the first block 3011 corresponds to the pipe opening of the pipe section. A semi-circular groove is constructed on the first block 3011. In actual implementation, a slot can be coaxially opened from the inner wall of the first block 3011 to form the semi-circular groove. The second block 3012 is a semi-circular block and is located in the semi-circular groove. There is a gap between the second block 3012 and the bottom of the semi-circular groove, indicating that the radius of the semi-circular groove is greater than the radius of the semi-circular block, to form an arc-shaped slide 3013. In actual implementation, the second block 3012 can be designed as a semi-circular shape. The second block 3012, with its sheet-like structure, is sized and shaped to fit the opening of the semi-circular groove, effectively sealing the opening. The movable seat 302 is located within the arc-shaped slide rail 3013 and slides in conjunction with the second block 3012, allowing it to rotate around and move along its own axis. This means the movable seat 302 has two degrees of freedom of movement within the arc-shaped slide rail 3013. In practice, several balls are mounted on the outer wall of the second block 3012 within the arc-shaped slide rail 3013 using a grooved ball-locking process. The inner wall of the movable seat 302 abuts against these balls to form a sliding connection. The axial width of the movable seat 302 is less than the width of the semi-circular groove, allowing it to slide both around and along its own axis within the arc-shaped slide rail 3013.

[0075] In actual implementation, such as Figure 7As shown, the movable seat 302 consists of two semi-circular ring structures. One semi-circular ring structure is an annular external rack 3021, and the other semi-circular ring structure is an annular bar 3022. The arc length of the annular external rack 3021 is greater than the arc length of the annular bar 3022. One end of the annular external rack 3021 and the annular bar 3022 are flush. The arc length of the annular bar 3022 is equal to the arc length of the arc-shaped slide rail 3013, meaning that one end of the annular external rack 3021 is located outside the arc-shaped slide rail 3013. When the annular bar 3022 rotates and is completely outside the arc-shaped slide rail 3013, a portion of the annular external rack 3021 still remains within the arc-shaped slide rail 3013. The second slide rail 304 is mounted on the annular bar 3022. The axial thickness of the annular bar 3022 is greater than that of the arc-shaped slide rail 3013 and the adjacent first block 301. 1. Thickness between end faces; The movable seat 302 can be driven by a gear motor to rotate and slide within the arc-shaped slide rail 3013. The gear motor has a self-locking function so that in the locked state, the gear motor forms a rotation limit on the annular outer rack 3021 to prevent it from sliding out of the arc-shaped slide rail 3013. When the movable seat 302 slides axially, the annular outer rack 3021 and the gear motor will have relative displacement. In order to reduce wear, the tooth structure in the annular outer rack 3021 is a pin rack structure. The movable seat 302 is pushed by the push-pull assembly 600 to slide axially along the movable seat 302. That is, when the annular bar 3022 is completely outside the arc-shaped slide rail 3013, the push-pull assembly 600 pushes the second slide rail 304 on the annular bar 3022 to splice with the first slide rail 303 to form a complete annular slide rail. In actual implementation, a guide groove coaxial with the movable seat 302 is provided on one end face of the movable seat 302. The cross-sectional shape of the guide groove is convex. A stop block 3023 is connected to the groove opening at one end of the guide groove. A push-pull assembly 600 is connected to the fixed seat 301. The push-pull assembly 600 has a push-pull rod. A baffle is connected to the end of the push-pull rod. The baffle is located in the guide groove. Several balls are set on the wall surface of the baffle corresponding to the guide groove wall by a groove locking ball process, so as to form a sliding fit with the guide groove.

[0076] In some optional embodiments, a first pin rack and a second pin rack are respectively disposed in the first slide rail 303 and the second slide rail 304; a connecting drive source 500 is disposed on the welding torch 400, and the connecting drive source 500 is engaged with the first pin rack or the second pin rack gear transmission.

[0077] In this embodiment, since the first slide rail 303 and the second slide rail 304 are spliced ​​together to form a complete annular slide, their fitting accuracy is insufficient. Using a pin rack can reduce the assembly accuracy requirements and avoid jamming when the connecting drive source 500 passes through the splice.

[0078] In some alternative embodiments, such as Figure 6As shown, the connecting drive source 500 specifically includes a connecting drive motor 501, a connecting base 502, and a sliding plate 503. The connecting base 502 is a rectangular plate, and the output shaft of the connecting drive motor 501 movably passes through the connecting base 502. The output shaft is equipped with gears that can engage with the first pin rack and the second pin rack. The sliding plate 503 is L-shaped, and there are four sliding plates 503 arranged in a rectangular array. The output shaft is located at the center of the arrangement of the four sliding plates 503. One section of the sliding plate 503 is perpendicularly connected to the connecting base 502. The surface of the other section of the sliding plate 503 opposite to the connecting base 502 is provided with several balls through a grooved ball locking process. The surface of the connecting base 502 opposite to the other half is also provided with several balls through a grooved ball locking process. Thus, the first slide rail 303 and the second slide rail 304 are clamped by the balls on the upper and lower sides. In actual implementation, elastic materials can be provided between the ball and the sliding plate 503, and between the ball and the connecting base 502. This means that the ball can bounce elastically, thereby adapting to situations where the splicing error of the first slide rail 303 and the second slide rail 304 is large, and at the same time reducing the vibration amplitude of the welding gun 400. Similarly, each edge of the sliding plate 503 and the connecting base 502 is set as a wedge surface. When passing through the splicing point of the first slide rail 303 and the second slide rail 304, if the splicing error is too large, it can be guided by the wedge surface to avoid jamming.

[0079] In some optional embodiments, the fixed base 301 and the movable base 302 are also provided with wire grooves that can be spliced ​​together. Springs are connected in the wire grooves. The wires on the welding gun 400 are wound around the springs, which means that the wires are spiral. When the welding gun 400 is driven clockwise by the connected drive source 500, the springs will be stretched. When the welding gun 400 is driven counterclockwise by the connected drive source 500, the springs will retract to store the wires and prevent the wires from getting tangled.

[0080] In some alternative embodiments, please refer to the following: Figure 3 , Figures 11-15The pin lock 305 includes a rod 3051, a first driving wedge 3052, and a second driving wedge 3053. The rod 3051 is fixedly connected to the second slide rail 304 via a connecting block, and the length direction of the rod 3051 is parallel to the axial direction of the second slide rail 304. The first driving wedge 3052 is fixedly connected to the rod 3051 and has an annular structure. Along the length direction of the rod 3051, one side of the first driving wedge 3052 is a wedge surface, and the other side is a plane. The second driving wedge 3053 is elastically slidably connected to the rod 3051. The first driving wedge 3052 and the second driving wedge 3053 have wedge surfaces facing opposite directions. The second driving wedge 3053 is also annular. Along the length of the insert rod 3051, one side of the second driving wedge 3053 is a wedge surface, and the other side is a plane. The planes of the first driving wedge 3052 and the second driving wedge 3053 are opposite each other. The second driving wedge 3053 elastically slides along the length of the insert rod 3051 to move closer to or away from the first driving wedge 3052. The wedge shape of the second driving wedge 3053 is the same size as the wedge shape of the first driving wedge 3052, indicating that the first driving wedge... The moving wedge 3052 and the second driving wedge 3053 have the same plane and wedge surface size; the pin seat 306 includes a socket 3061, a limiting spring 3063, and a locking wedge 3065; the socket 3061 is an arc-shaped block. In the circumferential direction of the first slide rail 303, a portion of the structure on the socket 3061 extends outward from the end of the first slide rail 303. A positioning groove 3062 is constructed on this outwardly extending structure. The depth direction of the positioning groove 3062 is parallel to the axial direction of the first slide rail 303. The limiting spring 3063 is located at the small end of the positioning groove 3062. Within the small diameter section, the limiting spring 3063 provides elastic force in the direction of the depth of the positioning groove 3062. The end of the limiting spring 3063 is connected to a baffle 3064 for abutting the end of the insert rod 3051. The shape of the baffle 3064 is the same as the cross-sectional shape of the small diameter section. The locking wedge 3065 is partially located within the large diameter section of the positioning groove 3062, meaning that the locking wedge 3065 is installed on the groove wall of the large diameter section. The locking wedge 3065 is elastically slidably connected to the pin seat 306 so that the locking wedge 3065 can leave the positioning groove 3062. The locking wedge 3065 also has a wedge surface.

[0081] When the second slide rail 304 is driven to slide along its own axis to approach the first slide rail 303, the insertion rod 3051 simultaneously enters the positioning groove 3062. The wedge surface of the first driving wedge 3052 first contacts the wedge surface of the locking wedge 3065, and the locking wedge 3065 is pushed away or partially pushed away from the large-diameter section. After the insertion rod 3051 enters the small-diameter section of the positioning groove 3062 to a certain depth, the first driving wedge 3052 will no longer form a contact with the locking wedge 3065. The limiting and locking wedge 3065 re-enters the large-diameter section under the action of elastic sliding and is located between the first driving wedge 3052 and the second driving wedge 3053. At this time, the insertion rod 3051 abuts against the baffle 3064, and the limiting spring 3063 is compressed to provide elastic force. This elastic force holds the first driving wedge 3052 against the locking wedge 3065, and the first slide rail 303 and the second slide rail 304 are spliced. After the pipe welding is completed, the second slide rail 3063 is driven to move. 4. Slide along its own axis to allow the insertion rod 3051 to continuously insert into the small-diameter section. The planar side of the second driving wedge 3053 will contact the wedge surface of the locking wedge 3065. The locking wedge 3065 will be pushed away or partially pushed away from the large-diameter section. After the insertion rod 3051 has entered the small-diameter section to a certain depth, the second driving wedge 3053 will no longer limit the locking wedge 3065. Under the action of elastic sliding, the locking wedge 3065 will abut against the wedge surface of the second driving wedge 3053. At this time, the second slide rail 304 is driven to slide in the opposite direction along its own axis. The second drive wedge 3053 slides elastically on the insertion rod 3051 under the limit of the locking wedge 3065 until the plane of the second drive wedge 3053 is in contact with the plane of the first drive wedge 3052. The second slide rail 304 continues to slide, and the second drive wedge 3053 pushes the locking wedge 3065 away or partially pushes it away from the large diameter section. The insertion rod 3051 will be able to smoothly exit the positioning groove 3062.

[0082] In this embodiment, the elastic force provided by the limiting spring 3063 stably holds the first driving wedge 3052 against the locking wedge 3065, ensuring the axial positioning accuracy of the insertion rod 3051. At the same time, the small-diameter section of the positioning groove 3062 can form a radial limit on the insertion rod 3051, thereby ensuring the positioning accuracy of the second slide rail 304 relative to the first slide rail 303. The design of the first driving wedge 3052, the second driving wedge 3053, and the locking wedge 3065 does not rely entirely on electrical control during the unlocking process. It can be unlocked by electric control or by manual control, which is highly maintainable. Especially in the pipeline welding environment of this application, once the control system fails or goes out of control, the separation of the pipeline and the ring track cannot be achieved, and the pipeline can only be cut. In this embodiment, the design of the pin lock 305 and the pin seat 306 can release the pin seat 306 from the second slide rail 304 by simply pushing and pulling the second slide rail 304 axially, and then manually rotating the second slide rail 304 can separate the slide rail from the pipeline.

[0083] In some optional embodiments, if the speed of the insertion rod 3051 is too low during the process of the insertion rod 3051 exiting the positioning groove 3062, such as when jamming occurs, the locking wedge 3065 will re-limit the first driving wedge 3052. To solve this problem, a retaining wedge surface is constructed on the plane of the first driving wedge 3052. The retaining wedge surface is parallel to the wedge surface on the second driving wedge 3053. The retaining wedge surface is located at the end of the first driving wedge 3052 away from the insertion rod 3051. When the second driving wedge 3053 passes the locking wedge 3065, during the rebound of the locking wedge 3065, the locking wedge 3065 will abut against the retaining wedge surface. Under the action of the retaining wedge surface, when the insertion rod 3051 is exited, the locking wedge 3065 will be pushed away or partially pushed away from the large diameter section, thereby achieving the stable exit of the first driving wedge 3052.

[0084] The specific embodiments described above illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Although the description of this application is presented in conjunction with some embodiments, this does not mean that the features of this application are limited to this embodiment. On the contrary, the purpose of describing the application in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of this application. To provide a thorough understanding of this application, many specific details are included in the above description. This application may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this application, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0085] It should be noted that in this specification, similar reference numerals and letters in the above figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the figures, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this application, it should be noted that unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0086] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A robot for installing pipes in confined spaces within a factory, characterized in that, include: Controller; A support mechanism (100) is movably mounted on the ground and has a support frame (105). A clamping mechanism (200) is connected to the support frame (105) and the controller, and the clamping mechanism (200) is controlled to clamp the pipe. An auxiliary welding mechanism is connected to the support frame (105) and the controller. The auxiliary welding mechanism includes a fixed seat (301) and a semi-circular movable seat (302). A semi-circular first slide rail (303) is constructed on the fixed seat (301). One end of the first slide rail (303) is connected to a pin seat (306). A semi-circular second slide rail (304) that can be spliced ​​with the first slide rail (303) is constructed on the movable seat (302). One end of the second slide rail (304) is connected to a pin lock (305). The movable seat (302) is slidably connected to the fixed seat (301). The movable seat (302) is controlled to rotate around its own axis or slide along its own axis on the fixed seat (301) so that the first slide rail (303) and the second slide rail (304) can be spliced ​​together, and the pin lock (305) can be inserted into the pin seat (306). A welding torch (400) is slidably engaged with the first slide rail (303) and connected to the controller. The welding torch (400) is controlled to slide along the first slide rail (303).

2. The pipe installation robot in a confined space within a factory as described in claim 1, characterized in that, The support mechanism (100) includes: A base plate (101) is provided with wheels (104) that are controlled to move. A limiting baffle (102) is perpendicularly connected to the base plate (101); Limiting rods (103), the two limiting rods (103) are respectively vertically connected to the base plate (101), the limiting rods (103) and the limiting baffle (102) are arranged at intervals, and the two limiting rods (103) are respectively located on both sides of the support frame (105); The first bearing plate (106) is elastically rotatably connected to the limiting baffle (102); The second bearing plate (107) is elastically rotatably connected to the limiting stop (103); The first limiting block (108) is connected to the limiting baffle (102) and located on one side of the first bearing plate (106) to form a one-way rotation limit on the first bearing plate (106); The second limiting block (109) is connected to the limiting stop (103) and located on one side of the second bearing plate (107) to form a one-way rotation limit on the second bearing plate (107); When the first bearing plate (106) and the second bearing plate (107) are respectively limited by the first limiting block (108) and the second limiting block (109), the surfaces of the first bearing plate (106) and the second bearing plate (107) overlap and are spliced ​​together to form a support platform for placing pipe sections.

3. The pipe installation robot in a confined space within a factory as described in claim 2, characterized in that, The clamping mechanism (200) includes: A first linear motion component (201) is connected to the support frame (105); A second linear motion component (202) is connected to the first linear motion component (201); The gripper (203) is connected to the second linear motion component (202).

4. The pipe installation robot in a confined space within a factory as described in claim 3, characterized in that, The number of grippers (203) is configured to be two, and the grippers (203) are elastically rotatably connected to the second linear motion component (202).

5. The pipe installation robot in a confined space within a factory as described in claim 3, characterized in that, The mounting base (301) includes: The first block (3011) is connected to the second linear motion component (202), and a semi-circular groove is formed on the first block (3011); The second block (3012) is a semi-circular block located in the semi-circular groove. There is a gap between the second block (3012) and the bottom of the semi-circular groove to form an arc-shaped slide (3013). The movable seat (302) is located in the arc-shaped slide (3013) and slides in cooperation with the second block (3012) so that the movable seat (302) can rotate around its own axis and move along its own axis.

6. The pipe installation robot in a confined space within a factory as described in claim 5, characterized in that, The second block (3012) is provided with a number of balls by a grooved ball locking process, and the movable seat (302) abuts against the balls to form a sliding fit.

7. The pipe installation robot in a confined space within a factory as described in claim 5, characterized in that, The movable seat (302) has a guide groove on one end face of the axial direction, which is coaxial with the movable seat (302), and a stop block (3023) is connected to the groove opening at one end of the guide groove. A push-pull assembly (600) is connected to the fixed base (301). The push-pull assembly (600) has a push-pull rod. A baffle is connected to the end of the push-pull rod. The baffle is located in the guide groove and forms a sliding fit with the guide groove.

8. The pipe installation robot in a confined space within a factory as described in claim 1, characterized in that, The first slide rail (303) and the second slide rail (304) are respectively equipped with a first pin rack and a second pin rack; The welding torch (400) is equipped with a connection drive source (500), which is engaged with the first pin rack or the second pin rack gear transmission.

9. The pipe installation robot in a confined space within a factory as described in claim 8, characterized in that, The connection drive source (500) is elastically slidably engaged with the first slide rail (303) or the second slide rail (304).

10. The pipe installation robot in a confined space within a factory as described in claim 1, characterized in that, The pin lock (305) includes a rod (3051), a first driving wedge (3052), and a second driving wedge (3053). The first driving wedge (3052) is fixedly connected to the rod (3051), and the second driving wedge (3053) is elastically slidably connected to the rod (3051). The first driving wedge (3052) and the second driving wedge (3053) have wedge surfaces facing opposite directions. The pin seat (306) includes a socket (3061), a limiting spring (3063), and a locking wedge (3065). The socket (3061) has a positioning groove (3062). The limiting spring (3063) is located in the small diameter section of the positioning groove (3062). The end of the limiting spring (3063) is connected to a baffle (3064) for abutting the end of the plug rod (3051). The locking wedge (3065) is partially located in the large diameter section of the positioning groove (3062). The locking wedge (3065) is elastically slidably connected to the pin seat (306) so that the locking wedge (3065) can leave the positioning groove (3062).

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