Welding robot with pipeline aligning and correcting function

Abstract

The invention discloses a welding robot with a pipeline aligning and correcting function, and belongs to the technical field of pipeline welding. Comprising a welding equipment assembly, a supporting table and a plurality of pipeline aligning and clamping assemblies arranged on the supporting table in a sliding mode. The pipeline alignment clamping assembly is used for clamping pipelines, a welding gun of the welding equipment assembly is erected in the middle of the supporting table, and the welding end of the welding gun faces the abutting joint position of the two pipelines. And a pipeline rotation driving assembly for driving the pipeline to rotate is arranged on the supporting table. Through structural optimization, the pipeline alignment accuracy, clamping synchronism, operation adaptability and automation are achieved, and the problems that existing pipeline welding equipment is low in alignment accuracy, poor in compatibility and high in manual dependence degree are effectively solved.

Description

Technical Field

[0001] This invention belongs to the field of pipeline welding technology, specifically relating to a welding robot with pipeline alignment and correction function. Background Technology

[0002] Pipeline welding is a core process in fields such as machinery manufacturing, petrochemicals, and municipal construction. The welding quality directly affects the sealing performance, pressure resistance, and service life of pipeline systems. As industrial production continues to demand higher precision and efficiency in pipeline connections, existing pipeline welding equipment and methods have gradually revealed many technical deficiencies, making it difficult to meet the needs of high-precision and automated production.

[0003] In current pipeline welding processes, pipeline alignment largely relies on manual visual inspection or simple clamping structures for positioning. Traditional clamping devices often employ unidirectional or asymmetrical clamping methods, failing to achieve automatic pipeline alignment. This leads to easy deviation of the pipeline axis and significant butt joint errors. For large-diameter, long-distance pipelines, manual alignment is not only labor-intensive but also susceptible to the influence of operator experience, making it difficult to guarantee consistent alignment accuracy. Consequently, it affects the quality of the welded joint and increases subsequent rework costs.

[0004] Existing equipment often employs a step-by-step operation for pipe clamping and end-pulling, or uses a single-sided drive method to move the pipe. Step-by-step clamping can easily lead to uneven stress on both sides of the pipe, resulting in pipe deformation or misalignment. Single-sided drive may cause axial displacement during pipe movement, preventing the pipe ends from tightly abutting and resulting in uneven gaps. These defects can lead to quality problems during welding, such as inconsistent weld width and incomplete penetration, severely affecting the connection strength of the pipe. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a welding robot with pipe alignment and correction function. The present invention achieves the accuracy of pipe alignment, the synchronization of clamping, the adaptability and automation of operation through structural optimization, and effectively solves the problems of low alignment accuracy, poor compatibility and high dependence on manual labor in the existing pipe welding equipment.

[0006] The technical solution adopted by this invention to solve the problems existing in the prior art is: A welding robot with pipe alignment and correction function includes a welding equipment assembly, a support platform, and several pipe alignment clamping components slidably mounted on the support platform.

[0007] The pipe alignment clamping assembly includes a slide plate, a bottom support assembly, and two clamping arms. The bottom support assembly is fixed to the upper middle position of the slide plate, and the clamping arms are fixed to the upper sides of the slide plate by support plates with columns. Both the bottom support assembly and the clamping arms include a platform, and a V-shaped clamp is connected to the side of the platform facing the pipe.

[0008] When clamping the pipe, the V-shaped clamp of the bottom support assembly supports the bottom of the pipe, and the V-shaped clamps of the two clamping arms abut against the upper part of the pipe.

[0009] The support platform is equipped with a clamping linkage drive assembly connected to the clamping arms, which controls the V-shaped chucks of the two clamping arms to move synchronously.

[0010] The welding equipment assembly includes a welding torch mounted in the middle of a support platform, with the welding end of the torch facing the junction of the two pipes.

[0011] The support platform is equipped with a pipe rotation drive assembly that drives the pipe to rotate.

[0012] Furthermore, an even number of pipe alignment clamping components are slidably provided on the support platform. The pipe alignment clamping components are divided into two equal groups and arranged on both sides of the center line of the support platform.

[0013] The support platform has a central sliding groove on its top surface. A drive rod is rotatably connected inside the central sliding groove. The end of the drive rod is connected to the output end of the sixth motor. Two threaded areas with opposite directions are provided in the middle of the drive rod. The two threaded areas are located on both sides of the center line of the support platform.

[0014] The bottom of the slide plate is provided with a first slider, and the first slider is provided with a through threaded hole. The first slider is slidably disposed inside the central slide groove, and the drive rod passes through the threaded hole.

[0015] The threaded holes of the first slide plates on both sides of the center line of the support platform are threadedly connected to the threaded area of ​​the drive rod.

[0016] Furthermore, the clamping wall includes a control component, which controls the control panel to move the V-shaped clamp.

[0017] The tabletop is fixed with parallel guide rods and a first threaded tube on the side away from the V-shaped clamp. The support plate is provided with a second sleeve at the end facing the tabletop, and the guide rods are inserted into the second sleeve.

[0018] The control assembly includes a second screw, a rotating shaft, and a first bevel gearbox. The second screw is inserted into and threadedly connected to a first threaded pipe. The second screw is rotatably connected to a support plate. A first bevel gear is fixed to the end of the second screw facing away from the table surface.

[0019] One end of the shaft is fixed with a second bevel gear, and the other end is connected to a first bevel gearbox. The second bevel gear meshes with the first bevel gear.

[0020] The clamping linkage drive assembly drives the second screw to rotate via the first bevel gearbox, the rotating shaft, the second bevel gear, and the first bevel gear, thereby adjusting the position of the table.

[0021] Furthermore, the clamping linkage drive assembly includes a third motor, a connecting shaft, a second bevel gearbox, and a second spline shaft.

[0022] A third motor fixed on the support platform drives the connecting shaft to rotate. The two ends of the connecting shaft are connected to the input ends of two second bevel gear boxes fixed on the support platform, and the output ends of the second bevel gear boxes are connected to the second spline shaft.

[0023] The first bevel gearbox includes a housing and a third bevel gear and a fourth bevel gear that rotate and mesh with each other inside the housing. The third bevel gear is coaxially and fixedly connected to the rotating shaft. The fourth bevel gear has a spline hole in the middle. The second spline shaft passes through the spline hole in the middle of the fourth bevel gear and the through hole on the housing.

[0024] Furthermore, a side slide groove is provided on each side of the central slide groove on the support platform, the second spline shaft is rotatably disposed inside the side slide groove, and the two first bevel gear boxes included in the pipe alignment clamping assembly are slidably disposed inside the side slide groove.

[0025] Furthermore, the V-shaped chuck includes several rotating rollers arranged in a V-shape, with the central shafts at both ends of the rotating rollers rotatably connected to the adapter plate, and the adapter plate being fixedly connected to the table surface.

[0026] Furthermore, a gear is fixed to the central shaft end of the V-shaped chuck of the clamping arm, and a rotation control component is connected to the table surface to control the rotation or braking of the roller.

[0027] The rotation control assembly includes a rack, a first screw, and a first motor.

[0028] The rack has its toothed surfaces facing the gear. A support frame is fixed to one end of the rack facing the table. The support frame passes through the through hole in the table and is fixed with a second threaded tube. The first screw is inserted into and threadedly connected to the second threaded tube. A first sleeve is coaxially fixed to one end of the first screw away from the second threaded tube. The inner wall of the first sleeve is provided with a spline groove. A first spline shaft with sliding connection is inserted inside the first sleeve.

[0029] The first spline shaft is rotatably connected to the support plate, and the first motor, which is fixedly connected to the support plate, drives the first spline shaft to rotate.

[0030] Furthermore, the bottom support assembly includes a V-shaped chuck with a gear fixed to the central shaft end of the transfer roller, a rack connected to the table, the tooth surface of the rack facing the gear, a support frame fixed to the end of the rack facing the table, the support frame passing through the through hole of the table and fixed with a second threaded tube, a third screw connected to the inside of the second threaded tube, and a second motor that drives the third screw to rotate fixed on the table.

[0031] Furthermore, the pipe rotation drive assembly includes a fourth motor and a frustum-shaped snap-fit ​​block. The output end of the fourth motor is connected to a third splined shaft. The frustum-shaped snap-fit ​​block has a splined hole in its center and is slidably sleeved on the third splined shaft. The frustum-shaped snap-fit ​​block is wrapped with a rubber sleeve to improve friction. The outer diameter of the small end of the frustum-shaped snap-fit ​​block is smaller than the inner diameter of the pipe.

[0032] Furthermore, a transverse sliding groove is recessed on the support platform, and a fourth screw is rotatably mounted inside the transverse sliding groove. A fifth motor that drives the fourth screw to rotate is fixed on the support platform.

[0033] The welding torch is mounted above the lifting frame, and a second slider is fixed at the bottom of the lifting frame. The second slider is slidably disposed inside the transverse groove and is threadedly connected to the fourth screw.

[0034] Compared with the prior art, the present invention has the following beneficial effects: (1) The bottom support assembly and the V-shaped chucks of the two clamping arms are arranged in a 120° circular array. Utilizing the automatic centering characteristics of the V-shaped structure, combined with the synchronous action of the clamping linkage drive assembly, the pipe can be automatically aligned with the preset welding axis during clamping, avoiding errors caused by manual centering. Compared with existing technologies that rely on manual eye alignment or simple clamping structures, this solution has more stable centering and is especially suitable for high-precision docking requirements of large-diameter or long pipes.

[0035] (2) The clamping linkage drive assembly uses a second spline shaft, bevel gear box and other structures to realize the synchronous movement of the clamping arms of all pipe alignment clamping components, ensuring that the pipes on both sides are subjected to uniform force and avoiding pipe displacement caused by clamping on one side. At the same time, through the reverse thread design of the drive rod, the pipe alignment clamping components on both sides can be driven to move towards each other, accurately pulling the pipes closer and making the ends tightly abut.

[0036] (3) The rotating rollers of the clamping arm and bottom support assembly are equipped with a rotation control component. During the alignment and clamping stage, the rotating rollers can be locked to prevent the pipe from rotating and shifting due to external force or its own weight. During the welding stage, the rotating rollers are unlocked so that the pipe can rotate at a uniform speed with the rotation drive assembly to complete the ring welding with the welding torch.

[0037] (4) The clamping arm, through the cooperation of the guide rod, threaded tube and screw, can adjust the clamping range of the V-shaped chuck according to the outer diameter of the pipe. The pipe rotation drive assembly adopts a frustum-shaped snap-fit ​​block, which, together with the rubber sleeve, increases the friction and can adapt to the rotation drive requirements of pipes with different inner diameters. The welding point adjustment assembly, through the transverse slide and lifting frame, can quickly adjust the position of the welding torch, adapt to the alignment of welding points of pipes with different outer diameters, and improve the versatility of the equipment.

[0038] (5) The spline shaft and sleeve are used to ensure stable power transmission even when the pipe is aligned with the clamping assembly. This achieves compatibility between dynamic adjustment of the structural position and continuous power transmission, improving the operational reliability of the equipment.

[0039] (6) From the automatic clamping, alignment and pulling of the pipe after placement, to the unlocking of the roller, rotation of the pipe and alignment of the welding gun during welding, and then to the automatic release of the workpiece and reset of the equipment after welding, the entire process is automated through the linkage of motor and transmission structure, reducing manual operation steps and significantly improving welding efficiency and consistency. Attached Figure Description

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0041] Figure 1 This is a structural diagram of a welding robot with pipe alignment and correction function after pipe installation, as described in this application. Figure 2 for Figure 1 sectional view, Figure 3 This is a structural diagram of a welding robot with pipe alignment and correction function according to this application. Figure 4 This is a structural diagram of a pipe alignment clamping assembly in a welding robot with pipe alignment and correction function according to this application. Figure 5 This is a structural diagram of the first clamping arm in the pipe alignment clamping assembly. Figure 6 This is a second structural diagram of the clamping arm. Figure 7 This is a structural diagram of the clamping assembly in the clamping arm. Figure 8 for Figure 7 A partial sectional view, Figure 9 This is a partial sectional view of the rotation control component in the clamping assembly. Figure 10 This is a structural diagram of the control components in the clamping assembly. Figure 11 This is a partial sectional view of the sliding bevel gearbox in a welding robot with pipe alignment and correction function according to this application. Figure 12This is a structural diagram of the bottom support assembly in the pipe alignment clamping component. Figure 13 for Figure 12 A partial sectional view, Figure 14 This is a structural diagram of the clamping linkage drive assembly in a welding robot with pipe alignment and correction function according to this application. Figure 15 This is a partial sectional view of the pipe rotation drive assembly in a welding robot with pipe alignment and correction function according to this application. Figure 16 This is a structural diagram of the weld point adjustment assembly in a welding robot with pipe alignment and correction function according to this application.

[0042] In the diagram: 1-Slide plate, 101-First slider, 102-Threaded hole, 103-Clamping strip, 2-Tabletop, 201-Adapter plate, 202-Fixing plate, 203-Guide rod, 204-First threaded tube, 3-Roller, 301-Gear, 4-Rack, 401-Support frame, 402-Second threaded tube, 5-First screw, 501-First sleeve, 6-Second screw, 601-First bevel gear, 7-Support plate, 701-Column, 702-Connecting sleeve, 703-Fixing frame, 8-Second sleeve, 9-First splined shaft, 901-Pulley, 10-First motor, 11-First synchronous belt, 12-Second bevel gear, 13-Rotating shaft, 14-First 1401-Third bevel gearbox, 1402-Fourth bevel gear, 15-Second splined shaft, 16-Third screw, 17-Second motor, 18-Second synchronous belt, 19-Second bevel gearbox, 20-Connecting shaft, 21-Turbine, 22-Worm gear, 23-Third motor, 24-Fourth motor, 25-Third splined shaft, 26-Frustum-shaped snap-fit ​​block, 27-Turntable, 28-Fifth motor, 29-Fourth screw, 30-Lifting frame, 3001-Second slider, 31-Welding torch, 32-Drive rod, 33-Sixth motor, 34-Support platform, 3401-Central slide groove, 3402-Side slide groove, 3403-Transverse slide groove, 35-Pipe. Detailed Implementation

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which embodiments of this application belong. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of this application.

[0044] Furthermore, the specification and claims of this invention use terms indicating direction, such as "front," "rear," "upper," "lower," "left," "right," "side," "top," and "bottom," to describe various exemplary structural parts and elements of the invention. However, these terms are used herein merely for illustrative purposes and are determined based on the exemplary orientations shown in the accompanying drawings. Therefore, these terms indicating direction are for illustrative purposes only and should not be considered as limitations. For example, "upper" and "lower" are not necessarily limited to directions opposite to or consistent with the direction of gravity.

[0045] The following description, in conjunction with the accompanying drawings, provides a more detailed account of a welding robot with a pipe alignment and correction function according to the present invention.

[0046] Depend on Figures 1 to 16 As shown, a welding robot with pipe alignment and correction function includes a welding equipment assembly. The welding equipment assembly adopts existing technology and can use a laser welding machine or a carbon dioxide shielded welding machine, etc.

[0047] In addition to the welding equipment assembly, it also includes a support platform 34 and several pipe alignment clamping components slidably disposed on the support platform 34.

[0048] The pipe alignment clamping assembly includes a slide plate 1, a bottom support assembly, and two clamping arms. The bottom support assembly is fixed to the upper middle position of the slide plate 1. The clamping arms are fixed to the upper sides of the slide plate 1 by a support plate 7 with a column 701. The bottom of the column 701 is fixedly connected to the slide plate 1.

[0049] Both the bottom support assembly and the clamping arms include a platform 2, with V-shaped clamps connected to the side of the platform 2 facing the pipe 35. To achieve automatic centering during clamping, in this embodiment, the bottom support assembly and the V-shaped clamps of the two clamping arms are spaced 120° apart, and the three are arranged in a circular array around the axis of the pipe 35. Thus, when clamping the pipe 35, the V-shaped clamps of the bottom support assembly support the bottom of the pipe 35, while the V-shaped clamps of the two clamping arms abut against the upper part of the pipe 35.

[0050] An even number of pipe alignment clamping components are slidably provided on the support platform 34. The pipe alignment clamping components are divided into two equal groups and arranged on both sides of the center line of the support platform 34.

[0051] The support platform 34 is equipped with a clamping linkage drive assembly connected to the clamping arms. The clamping linkage drive assembly controls the V-shaped clamps of the two clamping arms of the pipe alignment clamping assembly to move synchronously, so as to simultaneously clamp and fix the two pipes 35 that need to be welded together.

[0052] After clamping the two pipes 35, it is necessary to pull the two pipes 35 closer together so that they abut and align. In order to achieve this function, in this embodiment, the top surface of the support platform 34 is provided with a central sliding groove 3401. A drive rod 32 is rotatably connected inside the central sliding groove 3401. The end of the drive rod 32 is connected to the output end of the sixth motor 33. The middle position of the drive rod 32 is provided with two threaded areas with opposite directions of thread. The two threaded areas are located on both sides of the center line of the support platform 34.

[0053] The bottom of the slide plate 1 is provided with a first slider 101, and the first slider 101 is provided with a through threaded hole 102. The first slider 101 is slidably disposed inside the central slide groove 3401, and the drive rod 32 passes through the threaded hole 102.

[0054] The threaded holes 102 of the first slide plate 1 on both sides of the center line of the support platform 34 are threadedly connected to the threaded area of ​​the drive rod 32.

[0055] To improve the stability of the sliding plate 1, locking strips 103 are provided on both sides of the first slider 101, and the locking strips 103 are slidably disposed in the groove of the inner wall of the central slide groove 3401.

[0056] The platform 2 of the bottom support assembly is fixedly connected to the slide plate 1 via a fixing plate 202.

[0057] The clamping wall includes a control component, which controls the movement of the clamping assembly consisting of the control panel 2 and the V-shaped chuck.

[0058] The table 2 is fixed with parallel guide rods 203 and a first threaded tube 204 on the side away from the V-shaped clamp. The support plate 7 is provided with a second sleeve 8 at the end facing the table 2. The guide rods 203 are inserted into the second sleeve 8.

[0059] The control assembly includes a second screw 6, a rotating shaft 13, and a first bevel gearbox 14. The second screw 6 is inserted into and threadedly connected to the first threaded tube 204. The second screw 6 is rotatably connected to the support plate 7. A first bevel gear 601 is fixed to one end of the second screw 6 away from the table surface 2.

[0060] One end of the rotating shaft 13 is fixed with a second bevel gear 12, and the other end is connected to a first bevel gear box 14. The second bevel gear 12 meshes with the first bevel gear 601. A connecting sleeve 702, which is fixedly connected to the column 701, is fitted around the rotating shaft 13 to support the rotating shaft 13.

[0061] The clamping linkage drive assembly drives the second screw 6 to rotate via the first bevel gear box 14, the rotating shaft 13, the second bevel gear 12, and the first bevel gear 601, thereby adjusting the position of the table 2.

[0062] The clamping linkage drive assembly includes a third motor 23, a connecting shaft 20, a second bevel gearbox 19, and a second spline shaft 15.

[0063] The third motor 23, fixed on the support platform 34, drives the connecting shaft 20 to rotate. In order to facilitate the arrangement and optimize the space utilization efficiency, in this embodiment, the output end of the third motor 23 is connected to a worm gear 22, and a turbine 21 is sleeved on the connecting shaft 20. The worm gear 22 drives the turbine 21 to rotate.

[0064] The two ends of the connecting shaft 20 are connected to the input ends of two second bevel gearboxes 19 fixed on the support platform 34, and the output ends of the second bevel gearboxes 19 are connected to the second spline shaft 15.

[0065] The first bevel gearbox 14 includes a housing and a third bevel gear 1401 and a fourth bevel gear 1402 that rotate and mesh with each other inside the housing. The third bevel gear 1401 is coaxially fixedly connected to the rotating shaft 13. The fourth bevel gear 1402 has a spline hole in the middle. The second spline shaft 15 passes through the spline hole in the middle of the fourth bevel gear 1402 and the through hole on the housing.

[0066] The connection between the first bevel gearbox 14 and the second splined shaft 15 ensures that while the rotation of the second splined shaft 15 can drive the fourth bevel gear 1402 to rotate, the first bevel gearbox 14 can slide along the second splined shaft 15. This ensures that even after adjusting the position of the pipe to align with the clamping assembly, the clamping linkage drive assembly can still drive the clamping arm's clamping assembly to move.

[0067] The support platform 34 is provided with a side slide groove 3402 on both sides of the central slide groove 3401. The second spline shaft 15 is rotatably disposed inside the side slide groove 3402. The two first bevel gear boxes 14 included in the pipe alignment clamping assembly are slidably disposed inside the side slide groove 3402.

[0068] When welding the pipe 35, the welding torch 31 remains stationary while the pipe 35 rotates at a constant speed. In order to allow the pipe 35 to rotate while ensuring the clamping effect, the V-shaped chuck in this embodiment includes several rotating rollers 3 arranged in a V-shape. The central shafts at both ends of the rotating rollers 3 are rotatably connected to the adapter plate 201, and the adapter plate 201 is fixedly connected to the table surface 2.

[0069] When the roller 3 can rotate freely, the pipe 35 can also rotate. However, in the initial stage of clamping and alignment, the rotation of the pipe 35 will affect the alignment effect. Therefore, the roller 3 is locked to prevent the pipe 35 from rotating. To this end, a gear 301 is fixed to the end of the central shaft of the roller 3 in the V-shaped chuck included in the clamping arm. A rotation control component is connected to the table 2, which controls the rotation or braking of the roller 3.

[0070] The rotation control assembly includes a rack 4, a first screw 5, and a first motor 10.

[0071] The tooth surface of the rack 4 faces the gear 301. A support frame 401 is fixed to one end of the rack 4 facing the platform 2. The support frame 401 passes through the through hole of the platform 2 and is fixed with a second threaded tube 402. The first screw 5 is inserted into and threadedly connected to the second threaded tube 402. A first sleeve 501 is coaxially fixed to one end of the first screw 5 away from the second threaded tube 402. The inner wall of the first sleeve 501 is provided with a spline groove. A first spline shaft 9 with sliding connection is inserted inside the first sleeve 501.

[0072] The first spline shaft 9 is rotatably connected to the support plate 7, and the first motor 10, which is fixedly connected to the support plate 7 through the fixing frame 703, drives the first spline shaft 9 to rotate.

[0073] By setting the first spline shaft 9 and the first sleeve 501, it is ensured that after the table 2 moves, the first motor 10 can also drive the first screw 5 to rotate, thereby adjusting the position of the rack 4. When the rack 4 and the gear 301 approach and mesh, the gear 301 is locked to prevent the roller 3 from rotating.

[0074] To optimize braking performance, gears 301 are provided on both sides of the roller 3, and racks 4 are provided opposite to each other on both sides of the gears 301. Two second threaded pipes 402 are fixed below the support frame 401, and pulleys 901 are fixed to the ends of the two first spline shafts 9. The output shaft of the first motor 10 is connected to the two pulleys 901 through the first synchronous belt 11.

[0075] The bottom support assembly includes a V-shaped chuck transfer roller 3 with a gear 301 fixed to its central shaft end. A rack 4 is connected to the platform 2, with the tooth surface of the rack 4 facing the gear 301. A support frame 401 is fixed to the end of the rack 4 facing the platform 2. The support frame 401 passes through a through hole in the platform 2 and is fixed with a second threaded tube 402. A third screw 16 is threadedly connected inside the second threaded tube 402. A second motor 17 is fixed to the platform 2. The second motor 17 drives the third screw 16 to rotate via a second synchronous belt 18.

[0076] The support platform 34 is equipped with a pipe rotation drive assembly that drives the pipe 35 to rotate. The pipe rotation drive assembly includes a fourth motor 24 and a frustum-shaped locking block 26. The output end of the fourth motor 24 is connected to a third splined shaft 25. The frustum-shaped locking block 26 has a splined hole in its center and is slidably sleeved on the third splined shaft 25. The frustum-shaped locking block 26 is covered with a rubber sleeve to improve friction. The outer diameter of the small end of the frustum-shaped locking block 26 is smaller than the inner diameter of the pipe 35.

[0077] The frustum-shaped clamping block 26 can be manually inserted into the pipe 35 before the pipe 35 needs to be rotated, and the friction between the two contact surfaces will drive the pipe 35 to rotate. Alternatively, a coaxially arranged turntable 27 can be rotatably connected to the frustum-shaped clamping block 26, and an electric telescopic rod is fixed on the support platform 34. The end of the electric telescopic rod is connected to the turntable 27, which automatically pushes the end of the frustum-shaped clamping block 26 into the pipe 35.

[0078] The welding equipment assembly includes a welding torch 31 mounted in the middle of a support platform 34, with the welding end of the welding torch 31 facing the junction of the two pipes 35.

[0079] The support platform 34 has a recessed transverse sliding groove 3403, and a fourth screw 29 is rotatably mounted inside the transverse sliding groove 3403. A fifth motor 28, which drives the fourth screw 29 to rotate, is fixed on the support platform 34. The welding torch 31 is mounted above the lifting frame 30. A second slider 3001 is fixed to the bottom of the lifting frame 30. The second slider 3001 is slidably disposed inside the transverse sliding groove 3403 and is threadedly connected to the fourth screw 29.

[0080] The welding point adjustment assembly, consisting of the fifth motor 28, the fourth screw 29, and the lifting frame 30, is used to adjust the position of the welding torch 31 to accommodate torches with different outer diameters up to 35.

[0081] All of the above motors are servo motors with reduction gears, and are electrically connected to the electrical control cabinet and power supply unit outside the support platform 34.

[0082] Based on the aforementioned welding robot with pipe alignment and correction function, the pipe alignment and clamping welding method includes the following steps: Step 1: Device Initialization and Parameter Preset: Check the operating status of each component, including whether the welding equipment assembly, pipe alignment clamping assembly, clamping linkage drive assembly, pipe rotation drive assembly and weld point adjustment assembly are operating normally, and ensure that there is no jamming or malfunction.

[0083] Based on the outer diameter of the pipe 35 to be welded, adjust the position of the pre-set welding gun 31 of the assembly through the welding point: Start the fifth motor 28, which drives the fourth screw 29 to rotate, causing the second slider 3001 to slide along the transverse groove 3403, thereby adjusting the transverse position of the welding torch 31; The height of the welding torch 31 is adjusted by the lifting frame 30 so that the welding end of the welding torch 31 is initially aligned with the preset welding axis, in preparation for subsequent precise alignment.

[0084] Step Two: Pipe Placement and Initial Support Two pipes 35 to be welded are placed on the pipe alignment clamping assemblies on both sides of the center line of the support platform 34. The bottom of each pipe 35 contacts the V-shaped clamp of the bottom support assembly in the corresponding side pipe alignment clamping assembly. The rotating roller 3 of the bottom support assembly initially lifts the pipe 35 to ensure that the axis of the pipe 35 is approximately parallel to the preset welding axis and that the ends of the two pipes 35 to be welded face the center line of the support platform 34.

[0085] Step 3: Synchronous clamping and automatic centering: The clamping linkage drive assembly is activated to synchronously clamp and automatically center the pipes 35 on both sides. The third motor 23 starts, and its output drives the turbine 21 via the worm gear 22, which in turn drives the connecting shaft 20 to rotate. The connecting shaft 20 transmits power to the second bevel gearboxes 19 on both sides. After reversing in the second bevel gearboxes 19, it drives the second splined shaft 15 to rotate. When the second splined shaft 15 rotates, it drives the fourth bevel gear 1402 in the first bevel gearbox 14 to rotate. The fourth bevel gear 1402 meshes with the third bevel gear 1401, driving the rotating shaft 13 to rotate. The rotating shaft 13, through the meshing of the second bevel gear 12 with the first bevel gear 601, drives the second screw 6 to rotate.

[0086] The second screw 6 engages with the first threaded tube 204 of the clamping arm, pushing the table 2 and the V-shaped chuck along the guide rod 203 toward the pipe 35. Since the bottom support assembly and the V-shaped chucks of the two clamping arms are arranged in a 120° circular array, the V-shaped chucks in three directions simultaneously press against the pipe 35. Through the automatic centering characteristic of the V-shaped structure, the axis of the pipe 35 is precisely aligned with the preset welding axis, completing the synchronous centering and initial clamping of the pipes 35 on both sides.

[0087] Step 4: Pull the pipe closer and align it with the end: The sixth motor 33 is activated, driving the drive rod 32 to move the pipe alignment clamping assemblies on both sides towards each other, achieving end-to-end alignment of the two pipes 35. The sixth motor 33 drives the drive rod 32 to rotate, and the two reverse threaded areas in the middle of the drive rod 32 respectively engage with the first slider 101 of the first slide plate 1 on both sides of the centerline of the support platform 34, driving the pipe alignment clamping assemblies on both sides to move along the central slide groove 3401 towards the centerline. The pipes 35 on both sides move closer to each other synchronously with the pipe alignment clamping assemblies until the ends of the two pipes 35 to be welded are completely abutted and the end axes are collinear. The sixth motor 33 is then turned off, maintaining the position of the pipes 35.

[0088] Step 5: Locking and fixing the position of the rotating roller: To prevent the pipe 35 from rotating or shifting due to external force or its own weight before welding, all rollers 3 are locked by a rotation control component. The first motor 10 is started, and its output shaft drives two first splined shafts 9 to rotate via the first synchronous belt 11. The first splined shafts 9 drive the first screw 5 to rotate via the first sleeve 501. The first screw 5 is threadedly engaged with the second threaded pipe 402, pushing the rack 4 to move along the support frame 401 towards the gear 301 of the roller 3 until the rack 4 and gear 301 are fully engaged, locking the roller 3 of the clamping arm.

[0089] The second motor 17 is started, and its output end drives the third screw 16 to rotate through the second synchronous belt 18. The third screw 16 is threadedly engaged with the second threaded tube 402 of the bottom support assembly, which pushes the corresponding rack 4 to mesh with the gear 301 of the rotating roller 3, locking the rotating roller 3 of the bottom support, and ensuring that the two pipes 35 are completely fixed before welding.

[0090] Step Six: Precisely Align the Welding Torch: Based on the actual position of the joint of the pipes 35, adjust the welding torch 31 again. Start the fifth motor 28 and fine-tune the fourth screw 29 to move the welding torch 31 laterally; fine-tune the height through the lifting frame 30, so that the welding end of the welding torch 31 is precisely aligned with the joint of the two pipes 35, then turn off the fifth motor 28 and fix the position of the welding torch 31.

[0091] Step 7: Unlocking the roller and driving the pipe rotation: Spot weld the two pipes 35 to initially connect and fix them together. Then unlock the rotating roller 3 and start the pipe rotation drive assembly so that the pipes 35 can rotate at a uniform speed.

[0092] The first motor 10 and the second motor 17 are started in reverse, driving the rack 4 to move in the opposite direction, disengaging from the gear 301, and the roller 3 returns to its free rotation state. If automatic pushing is used, the electric telescopic rod on the support platform 34 is activated, pushing the turntable 27 to drive the frustum-shaped locking block 26 to slide along the third spline shaft 25, so that the small end of the frustum-shaped locking block 26 is inserted into the end of one of the pipes 35. The fourth motor 24 is started, driving the frustum-shaped locking block 26 to rotate through the third spline shaft 25, thereby driving the two abutting pipes 35 to rotate at a constant speed around their own axis through friction.

[0093] Step 8: Welding operation begins: As the pipe 35 rotates at a constant speed, the welding torch 31 continues to weld along the circumferential weld until the entire circle of welding is completed. The welding endpoint can be controlled by preset rotation angle or time.

[0094] Step Nine: Welding Completed and Equipment Reset After welding is completed, the welding equipment assembly and the fourth motor 24 are shut off, and the pipe 35 stops rotating. The electric telescopic rod drives the frustum-shaped clamping block 26 to exit the pipe 35. The reverse start of the clamping linkage drive assembly moves the V-shaped chuck of the clamping arm away from the pipe 35. The reverse start of the sixth motor 33 drives the two pipe alignment clamping components to move to both sides, completely releasing the welded pipe 35.

[0095] Remove the welded pipe, reset all motors and drive components to their initial state, and wait for the next welding operation.

[0096] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A welding robot with pipe alignment and correction function, comprising a welding equipment assembly, characterized in that: It also includes a support platform (34) and several pipe alignment clamping components slidably disposed on the support platform (34); The pipe alignment clamping assembly includes a slide plate (1), a bottom support assembly and two clamping arms. The bottom support assembly is fixed at the middle position of the upper part of the slide plate (1). The clamping arms are fixed above the two sides of the slide plate (1) by a support plate (7) with a column (701). The bottom support assembly and the clamping arms both include a table (2). A V-shaped clamp is connected to the side of the table (2) facing the pipe (35). When clamping the pipe (35), the V-shaped clamp of the bottom support assembly supports the bottom of the pipe (35), and the V-shaped clamps of the two clamping arms abut against the upper part of the pipe (35). The support platform (34) is provided with a clamping linkage drive assembly connected to the clamping arms. The clamping linkage drive assembly controls the V-shaped chucks of the two clamping arms to move synchronously. The welding equipment assembly includes a welding torch (31) mounted in the middle of a support platform (34), with the welding end of the welding torch (31) facing the junction of the two pipes (35). The support platform (34) is provided with a pipe rotation drive assembly that drives the pipe (35) to rotate.

2. The welding robot with pipe alignment and correction function according to claim 1, characterized in that: An even number of pipe alignment clamping components are slidably provided on the support platform (34). The pipe alignment clamping components are divided into two equal groups and arranged on both sides of the center line of the support platform (34). The support platform (34) has a central slide groove (3401) on its top surface. A drive rod (32) is rotatably connected inside the central slide groove (3401). The end of the drive rod (32) is connected to the output end of the sixth motor (33). The middle position of the drive rod (32) has two threaded areas with opposite screw directions. The two threaded areas are located on both sides of the center line of the support platform (34). The bottom of the slide plate (1) is provided with a first slider (101), and the first slider (101) is provided with a through threaded hole (102). The first slider (101) is slidably disposed inside the central slide groove (3401), and the drive rod (32) passes through the threaded hole (102). The threaded holes (102) of the first slide plate (1) on both sides of the center line of the support platform (34) are threadedly connected to the threaded area of ​​the drive rod (32).

3. A welding robot with pipe alignment and correction function according to claim 1 or 2, characterized in that: The clamping wall includes a control component, which controls the control panel (2) to move the V-shaped clamp. The table (2) is fixed with parallel guide rods (203) and a first threaded tube (204) on the side away from the V-shaped clamp. The support plate (7) is provided with a second sleeve (8) at the end facing the table (2). The guide rods (203) are inserted into the second sleeve (8). The control assembly includes a second screw (6), a rotating shaft (13), and a first bevel gearbox (14). The second screw (6) is inserted into and threadedly connected to the first threaded tube (204). The second screw (6) is rotatably connected to the support plate (7). The first bevel gear (601) is fixed at one end of the second screw (6) away from the table surface (2). One end of the rotating shaft (13) is fixed with a second bevel gear (12), and the other end is connected to the first bevel gear box (14). The second bevel gear (12) meshes with the first bevel gear (601). The clamping linkage drive assembly drives the second screw (6) to rotate via the first bevel gearbox (14), the rotating shaft (13), the second bevel gear (12) and the first bevel gear (601), thereby adjusting the position of the table (2).

4. A welding robot with pipe alignment and correction function according to claim 3, characterized in that: The clamping linkage drive assembly includes a third motor (23), a connecting shaft (20), a second bevel gearbox (19), and a second spline shaft (15). The third motor (23) fixed on the support platform (34) drives the connecting shaft (20) to rotate. The two ends of the connecting shaft (20) are connected to the input ends of the two second bevel gear boxes (19) fixed on the support platform (34), and the output ends of the second bevel gear boxes (19) are connected to the second spline shaft (15). The first bevel gearbox (14) includes a housing and a third bevel gear (1401) and a fourth bevel gear (1402) that rotate and mesh with each other inside the housing. The third bevel gear (1401) is coaxially fixedly connected to the rotating shaft (13). The fourth bevel gear (1402) has a spline hole in the middle. The second spline shaft (15) passes through the spline hole in the middle of the fourth bevel gear (1402) and the through hole on the housing.

5. A welding robot with pipe alignment and correction function according to claim 4, characterized in that: The support platform (34) is provided with a side slide groove (3402) on both sides of the central slide groove (3401). The second spline shaft (15) is rotatably disposed inside the side slide groove (3402). The two first bevel gear boxes (14) included in the pipe alignment clamping assembly are slidably disposed inside the side slide groove (3402).

6. A welding robot with pipe alignment and correction function according to claim 1, 2, 4, or 5, characterized in that: The V-shaped chuck includes several rotating rollers (3) arranged in a V-shape. The central shafts at both ends of the rotating rollers (3) are rotatably connected to the adapter plate (201), and the adapter plate (201) is fixedly connected to the table surface (2).

7. A welding robot with pipe alignment and correction function according to claim 6, characterized in that: The central shaft end of the V-shaped chuck transfer roller (3) included in the clamping arm is fixed with a gear (301), and a rotation control component is connected to the table (2). The rotation control component controls the rotation or braking of the transfer roller (3). The rotation control assembly includes a rack (4), a first screw (5), and a first motor (10); The tooth surface of the rack (4) faces the gear (301). A support frame (401) is fixed at one end of the rack (4) facing the table (2). The support frame (401) passes through the through hole of the table (2) and is fixed with a second threaded tube (402). The first screw (5) is inserted into and threadedly connected to the second threaded tube (402). A first sleeve (501) is coaxially fixed at one end of the first screw (5) away from the second threaded tube (402). A spline groove is provided on the inner wall of the first sleeve (501). A first spline shaft (9) with sliding connection is inserted inside the first sleeve (501). The first spline shaft (9) is rotatably connected to the support plate (7), and the first motor (10) is fixedly connected to the support plate (7) to drive the first spline shaft (9) to rotate.

8. A welding robot with pipe alignment and correction function according to claim 6, characterized in that: The bottom support assembly includes a V-shaped chuck transfer roller (3) with a gear (301) fixed at the end of the central shaft. A rack (4) is connected to the table (2). The tooth surface of the rack (4) faces the gear (301). A support frame (401) is fixed at one end of the rack (4) facing the table (2). The support frame (401) passes through the through hole of the table (2) and is fixed with a second threaded tube (402). A third screw (16) is threaded inside the second threaded tube (402). A second motor (17) that drives the third screw (16) to rotate is fixed on the table (2).

9. A welding robot with pipe alignment and correction function according to claim 1, 2, 4, 5, 7, or 8, characterized in that: The pipeline rotation drive assembly includes a fourth motor (24) and a frustum-shaped snap-fit ​​block (26). The output end of the fourth motor (24) is connected to a third spline shaft (25). The frustum-shaped snap-fit ​​block (26) has a spline hole in the center. The frustum-shaped snap-fit ​​block (26) is slidably sleeved on the third spline shaft (25). The frustum-shaped snap-fit ​​block (26) is wrapped with a rubber sleeve to improve friction. The outer diameter of the small end of the frustum-shaped snap-fit ​​block (26) is smaller than the inner diameter of the pipeline (35).

10. A welding robot with pipe alignment and correction function according to claim 1, 2, 4, 5, 7, or 8, characterized in that: The support platform (34) is recessed with a transverse sliding groove (3403), and a fourth screw (29) is rotatably provided inside the transverse sliding groove (3403). A fifth motor (28) that drives the fourth screw (29) to rotate is fixed on the support platform (34). The welding torch (31) is mounted above the lifting frame (30). The bottom of the lifting frame (30) is fixed with a second slider (3001). The second slider (3001) is slidably disposed inside the transverse groove (3403). The second slider (3001) is threadedly connected to the fourth screw (29).

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