An industrial welding robot

Abstract

The application discloses an industrial welding robot and belongs to the technical field of welding robots.The device comprises a robot moving base, a supporting assembly and a welding assembly.The ceramic supporting block and the detection block are automatically attached to the weld after the welding half-track is folded, and the automatic positioning is realized through the sliding cooperation of the limiting cylinder and the adjusting hole and the elastic reset of the tension spring.The rotating cooperation of the T-shaped rotating groove and the positioning arc-shaped block and the rigid linkage of the rotary positioning electric push rod and the rotary positioning groove ensure that the ceramic supporting block always follows the welding mechanical arm to physically lift the molten pool in full-circumferential welding.The protective gas release cylinder releases the protective gas to the back of the weld through the limiting cylinder, and the physical lifting forms double protection, solves the problem that the weld forming is poor due to the gravity drop of the liquid metal in the overhead welding and the like, and improves the forming quality and mechanical property consistency of the full-position weld.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, and in particular to an industrial welding robot. Background Technology

[0002] In industrial fields such as petrochemicals, natural gas transmission, and nuclear power plant pipelines, pipeline welding is a common and demanding welding process. Due to installation environment limitations, many pipelines are in a fixed state that cannot be rotated. Welding robots must perform all-position welding in various spatial postures such as flat welding, vertical welding, and overhead welding around the circumference of the pipeline to ensure the continuity and sealing of the weld seam in the circumferential direction of the pipeline joint.

[0003] However, the influence of gravity on the liquid metal in the weld pool varies under different welding postures. Especially in the overhead welding position, where the weld pool is above the weld, the liquid metal is prone to falling downwards before solidification due to its own gravity, resulting in serious quality defects such as poor weld formation, burn-through, or even weld breakage. Existing welding robots generally lack real-time support and auxiliary solidification methods for the molten metal on the back of the weld when performing all-position pipe welding. After the welding robot arm completes the welding, the molten metal in the weld pool can only rely on natural cooling and solidification. In overhead and vertical welding positions where gravity is unfavorable, the solidification time is too long, and the liquid metal has already flowed or fallen before solidification, making it difficult to guarantee the quality of the weld. Summary of the Invention

[0004] This invention provides an industrial welding robot that can solve the problem in the prior art where welding robots lack real-time support and auxiliary solidification methods for the molten metal on the back of the weld when performing all-position welding on non-rotatable pipes. This results in the molten metal in the molten pool flowing or falling before solidification in gravity-adverse positions such as overhead welding and vertical welding, causing poor weld formation.

[0005] An industrial welding robot includes: a robot mobile base; a support assembly mounted on the robot mobile base, the support assembly including a pair of support blocks, each of the pair of support blocks having an adjustment hole, and a detection block and a ceramic support block respectively disposed on one side of the pair of adjustment holes; and a welding assembly mounted on the robot mobile base, the welding assembly including a pair of welding half-rails, on which a welding robotic arm is mounted; wherein, when the pair of welding half-rails are closed, they form a circular track surrounding the welding area of ​​the pipe to be welded; when the welding robotic arm moves along the circular track to perform welding operations, it drives the support blocks to rotate synchronously, causing the ceramic support block to follow the welding path to provide physical support and forming constraint for the weld pool; and the detection block synchronously follows to perform online detection of the weld area.

[0006] Preferably, the system also includes an auxiliary component comprising a pair of drive blocks mounted on a robot mobile base, a connecting block mounted on the output end of each drive block, an electric actuator mounted on one end of each connecting block, and a limit frame mounted on the output end of each electric actuator.

[0007] Preferably, each of the pair of adjustment holes is slidably connected to a limiting cylinder, and the pair of limiting cylinders are respectively connected to the detection block and the ceramic support block, and the limiting cylinders are slidably connected to the limiting frame. Preferably, a tension spring is installed on the inner wall of the adjustment hole, and the tension spring is connected to the limiting cylinder.

[0008] Preferably, a protective gas release cylinder is installed at one end of the support block, and the protective gas release cylinder is connected to a limiting cylinder on one side of the ceramic support block via a hose.

[0009] Preferably, the welding assembly further includes a reciprocating motion mechanism mounted on the robot's mobile base, the output end of which is connected to a pair of welding half-rails.

[0010] Preferably, the support block is surrounded by a rotating groove, and a positioning arc block is installed on one side of the welded half rail, the positioning arc block being rotatably connected to the rotating groove.

[0011] Preferably, the shape of the rotating groove is set to T-shape.

[0012] Preferably, an electric slider is installed around the welding half-rail, and the electric slider is connected to the welding robotic arm. Preferably, a rotary positioning electric push rod is installed on one side of the welded half rail, and a rotary positioning groove matching the rotary positioning electric push rod is formed on the support block.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: This solution, by incorporating a sliding fit structure between a limiting cylinder and an adjustment hole in the support assembly, enables the detection block and ceramic support block to achieve adaptive distance adjustment. Combined with a tension spring installed on the inner wall of the adjustment hole, the detection block and ceramic support block can be automatically driven to elastically fit against the pipe weld seam without external power when the auxiliary assembly resets after the welding half-rail closes, achieving a high degree of automation in the pre-positioning process. The T-shaped rotating groove on the outer periphery of the support block forms a circumferentially rotatable but radially non-detachable constraint fit with the positioning arc-shaped block installed on the inner side of the welding half-rail, ensuring the safe and reliable rotation of the support block under unfavorable gravity positions such as overhead welding. Simultaneously, the rotary positioning electric push rod installed on the electric slider and the rotary positioning groove on the support block establish a controllable rigid linkage, allowing the electric slider to move along the circular track, driving the welding robot arm to perform welding simultaneously. It can synchronously drive the support block to rotate, ensuring that the ceramic support block always accurately follows the welding gun position of the welding robot arm during the full circumference welding process. It provides real-time physical support and shaping constraint for the molten metal in the weld pool from the back of the weld. The protective gas release cylinder installed on the support block is connected to the internal channel of the limiting cylinder through a hose. During the welding process, it continuously releases protective gas to the back of the weld through the ceramic support block, forming an atmosphere protection layer on the back of the weld to isolate oxygen and nitrogen and prevent high-temperature metal oxidation and nitriding. At the same time, it assists the molten metal to cool and solidify faster. Together with the physical support of the ceramic support block, it forms a dual protection system, which solves the technical problem of poor weld formation caused by the molten metal in the pool falling due to gravity in special spatial positions such as overhead welding and vertical welding of non-rotatable pipes. It greatly improves the forming quality of all-position welds and the consistency of the mechanical properties of welded joints. Attached Figure Description

[0014] Figure 1 A three-dimensional structural diagram of the industrial welding robot provided by the present invention; Figure 2 This is a three-dimensional side view of the industrial welding robot provided by the present invention. Figure 3 A three-dimensional structural diagram of the support component and welding component provided by the present invention; Figure 4 A schematic diagram of the three-dimensional structure of the support block and welded half-rail provided by the present invention; Figure 5 A three-dimensional structural diagram of the protective gas release cylinder provided by the present invention; Figure 6 This is a three-dimensional cross-sectional structural diagram of the support block provided by the present invention; Figure 7 A three-dimensional structural diagram of the electric slider and welding robotic arm provided by the present invention; Figure 8 A three-dimensional structural diagram of the rotary positioning electric push rod and rotary positioning groove provided by the present invention; Figure 9This is a three-dimensional structural diagram of the industrial welding robot provided by the present invention during operation.

[0015] Explanation of reference numerals in the attached figures: 1. Robot mobile base; 2. Support assembly; 3. Welding assembly; 4. Auxiliary assembly; 21. Support block; 22. Limiting cylinder; 23. Adjustment hole; 24. Detection block; 25. Rotating groove; 26. Tension spring; 27. Protective gas release cylinder; 28. Ceramic support block; 29. ​​Rotary positioning groove; 31. Welding half rail; 33. Electric slider; 34. Welding robotic arm; 35. Positioning arc block; 36. Reciprocating movement mechanism; 37. Rotary positioning electric push rod; 41. Drive block; 42. Connecting block; 43. Limiting frame. Detailed Implementation

[0016] The specific embodiments of the present invention will be described in detail below, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments.

[0017] like Figures 1 to 3 As shown, an industrial welding robot provided in this embodiment of the invention includes: a robot mobile base 1; a support assembly 2, which is mounted on the robot mobile base 1 and includes a pair of support blocks 21, each of which has an adjustment hole 23, and a detection block 24 and a ceramic support block 28 are respectively provided on one side of the pair of adjustment holes 23; and a welding assembly 3, which is mounted on the robot mobile base 1 and includes a pair of welding half-rails 31, on which a welding robotic arm 34 is mounted; wherein, when the pair of welding half-rails 31 are closed, they form a ring track surrounding the welding area of ​​the pipe to be welded. When the welding robotic arm 34 moves along the ring track to perform welding operations, it drives the support blocks 21 to rotate synchronously, so that the ceramic support block 28 follows the welding path to provide physical support and forming constraints for the weld pool, and the detection block 24 synchronously follows to perform online detection of the weld area.

[0018] like Figure 2 As shown, it also includes an auxiliary component 4, which includes a pair of drive blocks 41. The drive blocks 41 are mounted on the robot mobile base 1. A connecting block 42 is installed at the output end of the drive blocks 41. An electric push rod is installed at one end of the connecting block 42. A limit frame 43 is installed at the output end of the electric push rod.

[0019] Among them, the auxiliary component 4 is a functional module in this industrial welding robot used to temporarily constrain the limiting cylinder 22 in the support component 2 during the welding preparation stage. Its core function is to temporarily overcome the restoring tension of the tension spring 26 in the adjustment hole 23 on the limiting cylinder 22 by applying external constraint force to the limiting cylinder 22, so that the limiting cylinder 22 is kept in the outward position and does not retract, thereby providing sufficient operating space for the closing action of a pair of welding half rails 31 in the welding component 3. After the welding half rails 31 are closed, the auxiliary component 4 is reset and the constraint is removed, releasing the elastic tension of the tension spring 26 so that the detection block 24 and the ceramic support block 28 automatically abut against the pipe weld under the elastic drive.

[0020] The auxiliary component 4 includes a pair of drive blocks 41, which are mounted on the robot mobile base 1 and are respectively arranged on the outer side of a pair of limit cylinders 22 in the support component 2.

[0021] The drive block 41, as the power element of the auxiliary component 4, is able to provide linear driving force along the axial direction of the limiting cylinder 22.

[0022] Each drive block 41 has a connecting block 42 installed at its output end. The connecting block 42 serves as an intermediate force transmission component between the drive block 41 and the end effector. It extends along the output direction of the drive block 41 and transmits the driving force generated by the drive block 41 to the limiting cylinder 22.

[0023] An electric actuator is installed at the end of the connecting block 42 away from the drive block 41. As a precise stroke adjustment element in the auxiliary component 4, the electric actuator can perform controllable linear extension and retraction movements according to control commands, thereby achieving fine adjustment of the position of the end limit component.

[0024] A limiting frame 43 is installed at the output end of the electric actuator. The limiting frame 43 is a frame-type constraint structure. Its internal contour is adapted to the external contour of the limiting cylinder 22. When the electric actuator pushes the limiting frame 43 to the designated position, the limiting frame 43 can be sleeved on the outside of the limiting cylinder 22 to form a physical enclosure constraint on the limiting cylinder 22, preventing the limiting cylinder 22 from retracting into the adjusting hole 23 under the tension of the tension spring 26.

[0025] In terms of working principle, the auxiliary component 4 adopts a two-stage driving method of drive block 41 and electric push rod. Drive block 41 is responsible for moving the connecting block 42 and the electric push rod and limit frame 43 installed on it as a whole to the working area near the limit cylinder 22 to complete the large stroke coarse positioning; the electric push rod further performs small stroke precise extension and retraction after the connecting block 42 reaches the working area, and accurately pushes the limit frame 43 to the position where it is sleeved with the limit cylinder 22.

[0026] The two-stage drive structure allows the auxiliary component 4 to have sufficient stroke to adapt to the spatial differences caused by workpieces of different diameters, and to maintain high positioning accuracy in the final sleeve action, ensuring reliable and stable sleeve fit between the limit frame 43 and the limit cylinder 22.

[0027] A pair of drive blocks 41 are symmetrically arranged on the robot's mobile base 1, and apply independent constraint control to a pair of limit cylinders 22 respectively, so that the limit cylinders 22 on both sides can be synchronously and evenly limited and fixed, avoiding the problem of uneven force that may be caused by unilateral constraint.

[0028] The connection block 42 provides a structural transition and mounting carrier between the drive block 41 and the electric actuator, making the transmission chain of the entire auxiliary component 4 clearly hierarchical and the function of each component clear, which facilitates assembly, debugging and later maintenance.

[0029] The introduction of the electric actuator enables the final sleeve position of the limiting frame 43 to be precisely adjustable, allowing for flexible adjustment of the extension and retraction amount according to the outer diameter of the limiting cylinder 22 of different specifications, thus enhancing the adaptability of this auxiliary component 4 to various working conditions. The limiting frame 43 adopts a frame structure to form a sleeve-type constraint with the limiting cylinder 22, with sufficient contact area and clear constraint direction, which can reliably counteract the restoring tension applied to the limiting cylinder 22 by the tension spring 26, providing stable spatial conditions for the closing action of the welding half rail 31 and ensuring the smooth progress of the entire welding preparation process.

[0030] like Figures 4 to 6 As shown, a pair of adjustment holes 23 are slidably connected to a limiting cylinder 22. The pair of limiting cylinders 22 are respectively connected to the detection block 24 and the ceramic support block 28. The limiting cylinder 22 is slidably connected to the limiting frame 43. A tension spring 26 is installed on the inner wall of the adjustment hole 23. The tension spring 26 is connected to the limiting cylinder 22. A protective gas release cylinder 27 is installed at one end of the support block 21. The protective gas release cylinder 27 is connected to the limiting cylinder 22 on one side of the ceramic support block 28 through a hose.

[0031] like Figures 7 to 9 As shown, the welding assembly 3 also includes a reciprocating motion mechanism 36 mounted on the robot's mobile base 1, and the output end of the reciprocating motion mechanism 36 is connected to a pair of welding half rails 31 respectively.

[0032] The support block 21 has a rotating groove 25 around its outer perimeter. A positioning arc block 35 is installed on one side of the welded half rail 31. The positioning arc block 35 is rotatably connected to the rotating groove 25. The shape of the rotating groove 25 is set to T-shape.

[0033] An electric slider 33 is installed around the welding half rail 31. The electric slider 33 is connected to the welding robot arm 34. A rotary positioning electric push rod 37 is installed on one side of the welding half rail 31. A rotary positioning groove 29 matching the rotary positioning electric push rod 37 is opened on the support block 21.

[0034] In actual industrial production, pipeline welding is a common and demanding welding process, especially in the fields of petrochemicals, natural gas transmission, and nuclear power plant pipelines. Due to the limitations of the installation environment, a large number of pipelines are in a fixed state that cannot be rotated. Welding robots must complete all-position welding in various spatial postures such as flat welding, vertical welding, and overhead welding around the circumference of the pipeline.

[0035] Under different welding postures, the liquid metal in the weld pool is affected by gravity differently. Especially in the overhead welding position, the weld pool is located above the weld. Under its own gravity, the liquid metal is very likely to fall downwards before it solidifies, causing serious quality defects such as poor weld formation, burn-through, or even weld breakage.

[0036] When performing all-position pipe welding, existing welding robots generally lack real-time support and auxiliary solidification methods for the molten metal on the back of the weld. After the welding robot arm completes the welding, the molten pool metal can only rely on natural cooling and solidification. In positions with unfavorable gravity, such as overhead welding and vertical welding, the solidification time is too long, and the liquid metal has already flowed or fallen before solidification, making it difficult to guarantee the quality of the weld.

[0037] To address the aforementioned technical issues, this solution incorporates a limiting cylinder 22 that slides along the adjustment hole 23, an automatic reset mechanism for the tension spring 26, a ceramic support block 28 that follows and lifts the weld in real time, and a protective gas release cylinder 27 with a back gas protection system. Combined with the rotation linkage mechanism between the rotating groove 25 and the positioning arc block 35 in the welding assembly 3, and the controllable rigid linkage structure between the rotating positioning electric push rod 37 and the rotating positioning groove 29, this solution achieves the technical effect of real-time physical lifting of the molten pool metal on the back of the weld and shielding gas-assisted solidification by the ceramic support block 28 following the welding path of the welding robotic arm 34.

[0038] A pair of adjustment holes 23 are respectively opened on a pair of support blocks 21. Each adjustment hole 23 is slidably connected to a limit cylinder 22. The outer wall of the limit cylinder 22 and the inner wall of the adjustment hole 23 form a sliding guide fit, so that the limit cylinder 22 can slide linearly back and forth along the axial direction of the adjustment hole 23 without producing radial wobble.

[0039] The protruding ends of a pair of limiting cylinders 22 are connected to the detection block 24 and the ceramic support block 28, respectively. The end of one limiting cylinder 22 is connected to the detection block 24 for online detection of the weld area during the welding process, and the end of the other limiting cylinder 22 is connected to the ceramic support block 28 for physical support and shaping constraint of the molten metal on the back of the weld.

[0040] During the welding preparation stage, the limiting cylinder 22 needs to be constrained in the outward position to make room for the closing of the welding half rail 31. At this time, the drive block 41 in the auxiliary component 4 is activated, which drives the connecting block 42 to move and cooperates with the electric push rod to push the limiting frame 43 onto the limiting cylinder 22 to complete the fitting. The physical constraint of the limiting frame 43 overcomes the tension of the tension spring 26 on the limiting cylinder 22, so that the limiting cylinder 22, together with the detection block 24 and the ceramic support block 28, is kept in the outward position away from the weld.

[0041] A tension spring 26 is installed on the inner wall of the adjustment hole 23. One end of the tension spring 26 is fixed on the inner wall of the adjustment hole 23, and the other end is connected to the limiting cylinder 22. When the tension spring 26 is in the working state, it is in the tension storage state. Its elastic restoring force always points to the opening end of the adjustment hole 23, that is, the side of the pipe weld, and continuously applies a tension force to the limiting cylinder 22 in the direction of the weld.

[0042] When the limiting frame 43 of the auxiliary component 4 is fitted onto the limiting cylinder 22, the constraint force of the limiting frame 43 overcomes the tension of the tension spring 26, keeping the limiting cylinder 22 extended and stationary. When the welding half rail 31 is closed, the auxiliary component 4 performs a reset action, the limiting frame 43 disengages from the limiting cylinder 22, and the elastic tension of the tension spring 26 is immediately released and acts on the limiting cylinder 22, causing a pair of limiting cylinders 22 to automatically slide and retract towards the weld seam, driving the detection block 24 and the ceramic support block 28 to abut against the two pipe butt weld seams respectively, realizing automatic elastic fitting without external power drive.

[0043] A protective gas release cylinder 27 is installed at one end of the support block 21. The protective gas release cylinder 27 stores the inert gas required for welding protection. The protective gas release cylinder 27 is connected to the limiting cylinder 22 on one side of the ceramic support block 28 through a hose.

[0044] The flexible nature of the hose allows the protective gas release cylinder 27 to be fixed on the support block 21 without rigidly interfering with the sliding of the limiting cylinder 22. When the limiting cylinder 22 slides, the hose bends accordingly to keep the air passage unobstructed.

[0045] During the welding process, the protective gas release cylinder 27 is activated to release protective gas. The gas enters the internal channel of the limiting cylinder 22 through the hose, and then is released to the back area of ​​the weld through the ceramic support block 28, forming a protective atmosphere layer on the back side of the weld.

[0046] This protective atmosphere isolates oxygen and nitrogen from the air to prevent oxidation and nitriding of the high-temperature weld metal. On the other hand, after the welding robot arm 34 completes the welding, it assists in cooling and solidifying the molten metal that is still in a liquid state in the molten pool. Under the dual action of physical support by the ceramic support block 28 and cooling by the protective gas atmosphere, the liquid metal is accelerated to solidify and form, fundamentally solving the technical problem of poor weld formation caused by the liquid metal falling due to gravity in special positions such as overhead welding.

[0047] The welding assembly 3 also includes a reciprocating movement mechanism 36 mounted on the robot's mobile base 1. The output end of the reciprocating movement mechanism 36 is connected to a pair of welding half-rails 31, serving as the driving source for the closing and separating of the pair of welding half-rails 31. After the auxiliary assembly 4 constrains and fixes the pair of limiting cylinders 22, the reciprocating movement mechanism 36 is activated, driving the pair of welding half-rails 31 to move synchronously in opposite directions to complete the closing and clamping of the pipe welding area, so that the pair of welding half-rails 31 are connected to form a complete annular track around the pipe.

[0048] During the closing process, the pair of welding half-rails 31 synchronously drive the positioning arc blocks 35 installed on their respective sides to move. The positioning arc blocks 35 move closer to the support block 21 as the welding half-rails 31 close and are embedded in the rotating groove 25 to complete the docking. The reciprocating movement mechanism 36 is installed on the robot moving base 1 to provide a stable driving reference for the pair of welding half-rails 31, ensuring that the center of the annular track is aligned and the gap is uniform after closing. The synchronous symmetrical movement of the pair of welding half-rails 31 keeps the pipe clamped at the geometric center of the annular track, and the spatial distance between the welding robot arm 34 and the weld seam remains consistent in the full circumferential direction.

[0049] A rotating groove 25 is provided on the outer circumferential surface of the support block 21. The rotating groove 25 is arranged around the outer circumference of the support block 21, and its cross-sectional shape is set as T-shaped, consisting of a narrow section in the radial direction and a wide groove section extending at the bottom.

[0050] A positioning arc block 35 is installed on the inner side of the welding half rail 31. The cross-sectional shape of the positioning arc block 35 matches the T-shaped rotating groove 25 and is also T-shaped.

[0051] When a pair of welding half rails 31 are closed under the drive of the reciprocating moving mechanism 36, a pair of positioning arc blocks 35 move and are embedded in the rotating grooves 25 on the outer periphery of a pair of support blocks 21. The positioning arc blocks 35 and the rotating grooves 25 form a rotating connection relationship, so that a rotating linkage is established between the welding half rails 31 and the support blocks 21.

[0052] The T-shaped cross-section structure allows the positioning arc block 35 to be embedded in the rotating groove 25 and then restricted in the radial direction by the side wall of the wide groove section, preventing it from coming out of the narrow opening section. This achieves a constraint effect that allows free rotation in the circumferential direction but prevents it from detaching in the radial direction, ensuring that the support block 21 will not fall out of the rotating groove 25 under unfavorable gravity positions such as overhead welding. This provides a structural guarantee for the safe and reliable rotation of the support block 21 during all-position welding.

[0053] Through this rotational connection, the circumferential motion force generated by the electric slider 33 as it runs along the circular track can be transmitted to the rotating groove 25 through the positioning arc block 35, thereby driving the support block 21 to rotate synchronously around the pipe axis.

[0054] An electric slider 33 is installed on the outer circumference of the welding half-rail 31. After a pair of welding half-rails 31 are closed to form a circular track, the electric slider 33 can move in a controlled manner along the complete circular track. A welding robot arm 34 is connected to the electric slider 33. The welding robot arm 34 moves along the circular track with the electric slider 33 as the moving carrier, and sequentially reaches each welding position in the circumferential direction of the pipe weld.

[0055] After the auxiliary component 4 is reset so that the detection block 24 and the ceramic support block 28 elastically abut against the weld, the electric slider 33 first drives the welding robot arm 34 to move to the position of the ceramic support block 28 to complete the initial alignment. Then, the rotary positioning electric push rod 37 installed on the electric slider 33 is activated. The output end of the rotary positioning electric push rod 37 extends out and inserts into the rotary positioning groove 29 opened on the support block 21. The position and size of the rotary positioning groove 29 match the output end of the rotary positioning electric push rod 37. After the two are inserted, a rigid linkage connection is established between the electric slider 33 and the support block 21.

[0056] After that, the welding operation officially begins. The electric slider 33 moves continuously along the circular track, driving the welding robot arm 34 to perform welding. At the same time, the motion is synchronously transmitted to the support block 21 through the cooperation of the rotary positioning electric push rod 37 and the rotary positioning groove 29, driving the support block 21 to rotate. This, in turn, drives the limiting cylinder 22 and the ceramic support block 28 and detection block 24 at its end to move synchronously with the welding path of the welding robot arm 34.

[0057] The rotary positioning electric push rod 37 is telescopic. During the welding preparation stage, it remains retracted so that the electric slider 33 can move independently to complete the alignment. During the welding stage, it extends to establish linkage, realizing the on-demand engagement and disengagement of the linkage relationship.

[0058] While welding is in progress, the protective gas release cylinder 27 is activated simultaneously. The released protective gas is continuously output to the back of the weld through the ceramic support block 28 via the internal channel of the limiting cylinder 22. After the welding robot arm 34 completes welding at each welding position, the ceramic support block 28 physically lifts the molten metal in the weld pool from the back of the weld. At the same time, the protective gas forms an atmosphere on the back side of the weld to protect and assist in cooling, which promotes the rapid solidification of the liquid metal and prevents it from flowing or falling due to gravity.

[0059] The sliding fit between the limiting cylinder 22 and the adjusting hole 23 enables the detection block 24 and the ceramic support block 28 to have adaptive distance adjustment capabilities. The elastic automatic reset function of the tension spring 26 allows the two to automatically fit the weld seam without external power after the welding half rail 31 is closed. The entire pre-positioning process is highly automated and has reliable positioning accuracy. The rotational connection between the T-shaped rotating groove 25 and the positioning arc block 35, as well as the rigid linkage between the rotating positioning electric push rod 37 and the rotating positioning groove 29, together form a complete transmission link for the electric slider 33 to drive the support block 21 to rotate synchronously, ensuring that the ceramic support block 28 always accurately follows the welding torch position of the welding robot arm 34 during the full circumference welding process.

[0060] The protective gas release cylinder 27 continuously supplies protective gas to the ceramic support block 28 through the hose and the internal channel of the limiting cylinder 22, thus constructing a dual protection system of physical support and atmosphere protection on the back of the weld. This fundamentally solves the technical bottleneck of the difficulty in solidifying the molten metal in the molten pool of non-rotatable pipes in special spatial positions such as overhead welding and vertical welding, and greatly improves the forming quality of all-position welds and the consistency of the mechanical properties of the welded joints.

[0061] The above description is merely an example and illustration of the structure of the present invention. Those skilled in the art can make various modifications or additions to the specific embodiments described, or use similar methods to replace them, as long as they do not deviate from the structure of the invention or exceed the scope defined in the claims, all of which should fall within the protection scope of the present invention.

Claims

1. An industrial welding robot, characterized in that, include: Robot mobile base (1); Support component (2), which is mounted on robot mobile base (1), includes a pair of support blocks (21), each of the pair of support blocks (21) is provided with an adjustment hole (23), and a detection block (24) and a ceramic support block (28) are respectively provided on one side of the pair of adjustment holes (23). Welding assembly (3), which is mounted on robot mobile base (1), includes a pair of welding half rails (31) on which welding robotic arms (34) are mounted. When the pair of welding half rails (31) are joined together, they form a ring track around the welding area of ​​the pipe to be welded. When the welding robot arm (34) moves along the ring track to perform welding operations, it drives the support block (21) to rotate synchronously, so that the ceramic support block (28) follows the welding path to provide physical support and forming constraints for the weld pool. The detection block (24) synchronously follows to perform online detection of the weld area.

2. An industrial welding robot as described in claim 1, characterized in that, It also includes an auxiliary component (4), which includes a pair of drive blocks (41) mounted on the robot mobile base (1). A connecting block (42) is installed at the output end of the drive block (41), and an electric push rod is installed at one end of the connecting block (42). A limit frame (43) is installed at the output end of the electric push rod.

3. An industrial welding robot as described in claim 1, characterized in that, Each pair of adjustment holes (23) is slidably connected to a limiting cylinder (22), and the pair of limiting cylinders (22) are respectively connected to the detection block (24) and the ceramic support block (28). The limiting cylinder (22) is slidably connected to the limiting frame (43).

4. An industrial welding robot as described in claim 3, characterized in that, A tension spring (26) is installed on the inner wall of the adjustment hole (23), and the tension spring (26) is connected to the limiting cylinder (22).

5. An industrial welding robot as described in claim 1, characterized in that, One end of the support block (21) is equipped with a protective gas release cylinder (27), which is connected to the limiting cylinder (22) on one side of the ceramic support block (28) via a hose.

6. An industrial welding robot as described in claim 1, characterized in that, The welding assembly (3) also includes a reciprocating motion mechanism (36) mounted on the robot mobile base (1), the output end of which is connected to a pair of welding half rails (31).

7. An industrial welding robot as described in claim 1, characterized in that, The support block (21) is surrounded by a rotating groove (25), and a positioning arc block (35) is installed on one side of the welded half rail (31). The positioning arc block (35) is rotatably connected to the rotating groove (25).

8. An industrial welding robot as described in claim 7, characterized in that, The shape of the rotating groove (25) is set to T-shape.

9. An industrial welding robot as described in claim 1, characterized in that, An electric slider (33) is installed around the welding half rail (31), and the electric slider (33) is connected to the welding robot arm (34).

10. An industrial welding robot as described in claim 1, characterized in that, A rotary positioning electric push rod (37) is installed on one side of the welded half rail (31), and a rotary positioning groove (29) matching the rotary positioning electric push rod (37) is opened on the support block (21).

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