Pipeline welding robot adaptable to high-altitude and strong wind and sand environments

Abstract

This invention relates to the field of pipeline welding technology and discloses a pipeline welding robot adaptable to high-altitude, windy, and sandy environments. The robot includes an isolation and gas-guiding mechanism, a support and drive mechanism, a depth adjustment mechanism, and an angle adjustment mechanism. The isolation and gas-guiding mechanism introduces high-pressure nitrogen to generate positive pressure, which, in conjunction with the isolation effect, blocks sand and dust. The support and drive mechanism is located on one side of the isolation and gas-guiding mechanism to drive it to move around the pipeline weld. The depth adjustment mechanism is fixedly installed on the surface of the isolation and gas-guiding mechanism, and the angle adjustment mechanism is located between the depth adjustment mechanism and the isolation and gas-guiding mechanism. This high-altitude, windy, and sandy environment-adaptable pipeline welding robot can, during use, connect high-pressure nitrogen to the isolation and gas-guiding mechanism to form a continuously outward-spraying positive-pressure nitrogen flow inside the mechanism, thereby effectively isolating sand and dust in the weld area during welding. The support and drive mechanism ensures the stable positioning of the isolation and gas-guiding mechanism during operation.

Description

Technical Field

[0001] This invention relates to the field of pipeline welding technology, specifically to a pipeline welding robot adaptable to high-altitude, strong wind and sand environments. Background Technology

[0002] Pipeline welding is a technically demanding and challenging task. Commonly used welding methods include manual arc welding, gas shielded welding, laser welding, and thermofusion welding. Among these, manual arc welding is suitable for carbon steel and low alloy steel, and its equipment is simple and flexible to operate. Gas shielded welding uses inert gas to protect the welding process, resulting in excellent weld quality and is applicable to a variety of metal materials. Laser welding offers high precision, high speed, and a small heat-affected zone, making it suitable for high-precision welding applications. Thermofusion welding is mainly used for plastic pipes such as PPR and HDPE, and it has excellent sealing properties and chemical corrosion resistance.

[0003] Welding robots are commonly used tools when performing welding operations on pipe surfaces. However, most welding robots on the market currently use exposed welding torches to directly weld pipes. In special environments with high altitudes and strong winds and sandstorms, due to the high intensity of the wind and sand, dust can easily drift into the weld area during the welding process, thus adversely affecting the weld quality. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a pipeline welding robot adaptable to high-altitude, windy, and sandy environments, thus solving the problems mentioned in the background.

[0005] This invention provides the following technical solution: a pipeline welding robot adaptable to high-altitude, strong wind and sand environments, comprising: The isolation and air-guiding mechanism introduces high-pressure nitrogen to generate positive pressure, which, in conjunction with the isolation effect, blocks sand and dust. A support drive mechanism located on one side of the isolation gas guiding mechanism drives the isolation gas guiding mechanism to move around the pipe weld. A depth adjustment mechanism is fixedly installed on the surface of the isolation gas guiding mechanism to adjust the height of the pipeline welding torch and achieve error compensation for the weld depth. An angle adjustment mechanism located between the depth adjustment mechanism and the isolation gas guiding mechanism is used to adjust the angle of the pipe welding torch to achieve error compensation for the weld width.

[0006] Preferably, the isolation and air guiding mechanism includes: a windshield and sand shield to isolate sand and dust and nitrogen gas at the weld to form a semi-enclosed airflow guide; A welded cover is fixedly inserted into the surface of the windshield cover to form a semi-enclosed flow channel for nitrogen gas at the weld joint in conjunction with the windshield cover; A high-pressure protective gas connector is fixedly installed on one side of the welding cover and connected to an external high-pressure nitrogen source; The support drive mechanism includes: a travel motor located on one side of the windshield cover to drive the travel rollers to roll; The travel roller is fixedly installed at the output end of the travel motor, so that the windshield and the travel motor can be driven to move along the weld seam by the rolling of the travel roller; The depth adjustment mechanism includes a support top frame located on the side of the windshield away from the travel motor to support the pipe welding torch; An angle-adjusting motor is fixedly installed on the surface of the windshield and sand cover to drive the pipe welding torch to change angle; A depth adjustment motor is fixedly installed inside the windshield and sand shield to drive the pipe welding torch to adjust the depth; The angle adjustment mechanism includes a pipe welding torch rotatably connected inside the support top frame via a bearing for welding the weld seam.

[0007] Preferably, the isolation and air guiding mechanism further includes: a light-transmitting plate fixedly installed inside the windshield and sand cover, and there are multiple light-transmitting plates, and the surface of the windshield and sand cover is provided with a first flexible groove so as to observe the inside of the windshield and sand cover through the light-transmitting plate and to ensure that the windshield and sand cover has a certain elasticity. Rotate the first support rollers connected to both sides of the windshield to assist the windshield in moving around the surface of the pipe; The elastic metal straps are fixedly connected to both sides of the windshield and sand cover to connect the windshield and sand cover. A snap-on hole is made through the surface of the elastic metal strip to assist in snapping the elastic metal strip in engagement; An observation window is fixedly connected inside the welding cover to facilitate observation of the inside of the windshield and sand shield.

[0008] Preferably, the isolation air guiding mechanism further includes: a guide tube fixedly connected to the top of the windshield and sand cover to guide the lower connecting frame; A sealing washer is fixedly connected to the inner wall of the guide cylinder to assist in sealing the threaded disassembly and assembly cylinder; An integrated screw hole bracket is installed on one side of the welding cover to assist in the lifting and lowering of the top frame with the threaded shaft.

[0009] Preferably, the support drive mechanism further includes: an adjusting cover located on one side of the windshield cover to cooperate with the windshield cover to form opposite side support; An extension frame is fixedly connected to the surface of the tensioning cover, and the inner wall of the extension frame is fixedly connected to the surface of the travel motor, so as to install the travel motor through the extension frame; Rotate the second support rollers connected to both sides of the tightening cover to assist the tightening cover in moving around the pipe surface; Limiting metal side bands are located on both sides of the windshield and sand cover, and the surface of the traveling roller is in rolling connection with the surface of the limiting metal side bands, so as to limit the first support roller and the second support roller laterally through the limiting metal side bands; An anti-slip pad is fixedly attached to the lower surface of the limiting metal side band to increase the friction of the limiting metal side band; Connecting bolts are installed at both ends of the limiting metal side band to mate with the end faces of the limiting metal side band.

[0010] Preferably, the support drive mechanism further includes: an elastic plate fixedly connected inside the tensioning cover; Thickened end plates are integrally set on both ends of the elastic plate, and a through-hole is provided between the thickened end plates and the adjusting cover to assist in supporting the locking block; A downward pressure spring is fixedly connected to the inner wall of the thickened end plate to compress the locking block; A locking block is rotatably connected between the thickened end plate and the adjusting cover, and the locking block is engaged with the elastic metal belt through the belt clip hole; Unlocking levers are fixedly fitted at both ends of the locking block to assist in moving the locking block.

[0011] Preferably, the depth adjustment mechanism further includes: a supplementary light fixedly installed on one side of the support top frame to provide supplementary lighting during welding positioning; An integrated upper connecting frame is installed on both sides of the supporting top frame; The lower connecting frame is fixed to the bottom of the upper connecting frame with bolts, and the inner wall of the lower connecting frame is slidably connected to the surface of the guide tube to lift and support the top frame.

[0012] Preferably, the depth adjustment mechanism further includes: a first rubber dustproof sleeve fixedly connected between the support top frame and the screw hole bracket to prevent dust from entering the threaded shaft; A threaded shaft is fixedly installed at the output end of the depth adjustment motor via a coupling, and the surface of the threaded shaft is threadedly connected to the inner wall of the threaded hole bracket, so as to control the lifting and lowering of the support top frame through the threaded shaft; A drive synchronizing pulley fixedly installed at the output end of the angle adjustment motor; A driven synchronous pulley that is fixedly sleeved on the surface of the pipe welding gun; A timing belt is installed between the driving and driven timing pulleys to enable transmission between the angle adjustment motor and the pipe welding torch.

[0013] Preferably, the angle adjustment mechanism further includes: an isolation piston fixedly sleeved on the surface of the pipe welding gun to achieve a seal at the bottom of the isolation piston; A connecting sleeve is fixedly fitted onto the surface of the pipe welding gun to mate with the second rubber dustproof sleeve; A second rubber dustproof sleeve is fixedly connected to the surface of the connecting sleeve to seal the exposed end of the limiting sliding sleeve.

[0014] Preferably, the angle adjustment mechanism further includes: a limiting sliding sleeve that is movably sleeved on the surface of the isolation piston to ensure that the pipe welding torch can rotate and rise smoothly; A threaded disassembly sleeve is fixedly fitted onto the surface of the limiting sleeve, and the surface of the threaded disassembly sleeve is threadedly connected to the inner wall of the guide sleeve so as to facilitate the disassembly and assembly of the threaded disassembly sleeve. Compression springs located on both sides of the isolation piston.

[0015] Compared with the prior art, the present invention has the following beneficial effects: This high-altitude, windy, and sandy environment-adaptive pipeline welding robot, through its isolation gas guiding mechanism, support drive mechanism, depth adjustment mechanism, and angle adjustment mechanism, can effectively isolate sand and dust in the weld area during the welding process by connecting high-pressure nitrogen to the isolation gas guiding mechanism during use, forming a continuous positive pressure nitrogen flow inside the mechanism. The support drive mechanism ensures the stable positioning of the isolation gas guiding mechanism during operation.

[0016] This high-altitude, windy, and sandy environment-adaptive pipeline welding robot, through its windproof and sand-proof cover, welding cover, high-pressure protective gas connector, light-transmitting plate, first support roller, elastic metal belt, tape hole, observation window, guide cylinder, sealing gasket, and screw hole bracket, can isolate dust during use by using the windproof and sand-proof cover and welding cover, and connect to high-pressure nitrogen through the high-pressure protective gas connector. The high-pressure nitrogen flow sprayed outward from the bottom of the windproof and sand-proof cover isolates dust and cleans the weld seam.

[0017] This high-altitude, windy, and sandy environment-adaptable pipeline welding robot, through its set of a traveling motor, traveling rollers, tensioning cover, extension frame, second support rollers, limiting metal side belts, anti-slip pads, connecting bolts, elastic plates, thickened end plates, downward pressure springs, locking blocks, and unlocking toggle blocks, can achieve complete welding of the weld seam by rolling the traveling rollers along the pipeline surface during use.

[0018] This high-altitude, windy, and sandy environment-adaptable pipeline welding robot, through its supporting top frame, angle adjustment motor, depth adjustment motor, supplementary light, upper connecting frame, lower connecting frame, first rubber dust cover, threaded shaft, active synchronous pulley, driven synchronous pulley, and synchronous belt, can adjust the height of the supporting top frame and pipeline welding torch by driving the rotation of the threaded shaft during use, ensuring that the pipeline welding torch accurately reaches the weld seam.

[0019] This high-altitude, windy, and sandy environment-adaptable pipeline welding robot, through its pipeline welding torch, isolation piston, connecting sleeve, second rubber dustproof sleeve, limit sliding sleeve, threaded disassembly and assembly sleeve, and compression spring, can adjust the width and position of the weld seam by rotating the pipeline welding torch during use, thereby improving the width welding adjustment range of the pipeline welding torch. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention during operation; Figure 3 This is a bottom view of the structure at the location of the support drive mechanism of the present invention; Figure 4 This is a cross-sectional view of the location of the air isolation and guiding mechanism of the present invention; Figure 5 For the present invention Figure 4 Enlarged structural diagram at point A in the middle; Figure 6 This is a schematic diagram of the connection structure between the depth adjustment mechanism and the angle adjustment mechanism of the present invention; Figure 7 This is a cross-sectional view of the depth adjustment mechanism and the isolation air guiding mechanism of the present invention. Figure 8 This is a schematic diagram of the angle adjustment mechanism of the present invention.

[0021] In the picture: 101. Windshield and sand shield; 102. Welding cover; 103. High-pressure protective gas connector; 104. Light-transmitting plate; 105. First support roller; 106. Elastic metal belt; 107. Snap-on hole; 108. Observation window; 109. Guide cylinder; 110. Sealing gasket; 111. Screw hole bracket; 201. Travel motor; 202. Travel roller; 203. Adjusting cover; 204. Extension frame; 205. Second support roller; 206. Limiting metal side belt; 207. Anti-slip pad; 208. Connecting bolt; 209. Elastic plate; 210. Thickened end plate; 211. 212. Pressing spring; 213. Locking block; 301. Unlocking toggle block; 302. Support top frame; 303. Angle adjustment motor; 304. Depth adjustment motor; 305. Supplemental light; 306. Upper connecting frame; 307. Lower connecting frame; 308. First rubber dustproof sleeve; 309. Threaded shaft; 310. Driving synchronous pulley; 311. Driven synchronous pulley; 401. Synchronous belt; 402. Pipe welding torch; 403. Isolation piston; 404. Connecting sleeve; 405. Second rubber dustproof sleeve; 406. Limiting sliding sleeve; 407. Threaded disassembly and assembly sleeve; 408. Compression spring. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Please see Figures 1-8 This high-altitude, windy, and sandy environment-adaptive pipeline welding robot includes: an isolation gas guiding mechanism, a support drive mechanism, a depth adjustment mechanism, and an angle adjustment mechanism. The isolation gas guiding mechanism introduces high-pressure nitrogen to generate positive pressure, effectively blocking sand and dust. The support drive mechanism, located to one side of the isolation gas guiding mechanism, drives it to move around the pipeline weld seam. The depth adjustment mechanism is fixedly installed on the surface of the isolation gas guiding mechanism to adjust the height of the pipeline welding torch 401, compensating for weld depth errors. The angle adjustment mechanism, located between the depth adjustment mechanism and the isolation gas guiding mechanism, adjusts the angle of the pipeline welding torch 401, compensating for weld width errors. Through these mechanisms, the isolation gas guiding mechanism, support drive mechanism, depth adjustment mechanism, and angle adjustment mechanism allow for the connection of high-pressure nitrogen to the isolation gas guiding mechanism during use, creating a continuous outward-spraying positive-pressure nitrogen flow within the mechanism. This effectively isolates sand and dust from the weld seam area during welding, while the support drive mechanism ensures the stable positioning of the isolation gas guiding mechanism during operation.

[0024] The isolation and gas guiding mechanism includes: a windshield and sand shield 101, a welding cover 102, a high-pressure protective gas connector 103, a light-transmitting plate 104, a first support roller 105, an elastic metal strip 106, a clip hole 107, an observation window 108, a guide cylinder 109, a sealing gasket 110, and a screw hole bracket 111. The windshield and sand shield 101 isolates sand and dust and forms a semi-enclosed flow guide for nitrogen gas at the weld. The welding cover 102 is fixedly inserted into the surface of the windshield and sand shield 101 to cooperate with the windshield and sand shield 101 in forming a semi-enclosed flow guide for nitrogen gas at the weld point. The high-pressure protective gas connector 103 is fixedly installed. Installed on one side of the welding cover 102, and connected to an external high-pressure nitrogen source, a light-transmitting plate 104 is fixedly installed inside the windshield shroud 101, and there are multiple light-transmitting plates 104. The surface of the windshield shroud 101 has a first flexible groove to allow observation of the interior of the windshield shroud 101 through the light-transmitting plate 104, while ensuring that the windshield shroud 101 has a certain degree of elasticity. First support rollers 105 are rotatably connected to both sides of the windshield shroud 101 to assist the windshield shroud 101 in moving around the surface of the pipe. Elastic metal strips 106 are fixedly connected to both sides of the windshield shroud 101. The windshield cover 101 and the adjusting cover 203 are connected. A retaining hole 107 is formed through the surface of the elastic metal strip 106 to assist in the retaining of the elastic metal strip 106. An observation window 108 is fixedly connected to the inside of the welding cover 102 to facilitate observation of the inside of the windshield cover 101. A guide cylinder 109 is fixedly connected to the top of the windshield cover 101 to guide the lower connecting frame 306. A sealing gasket 110 is fixedly connected to the inner wall of the guide cylinder 109 to assist in sealing the threaded disassembly cylinder 406. A screw hole bracket 111 is integrally set on one side of the welding cover 102 to cooperate with the screw... The auxiliary support top frame 301 of the textured shaft 308 is raised and lowered. Through the windshield and sand shield 101, welding cover 102, high pressure protective gas connector 103, light-transmitting plate 104, first support roller 105, elastic metal belt 106, tape hole 107, observation window 108, guide cylinder 109, sealing gasket 110 and screw hole bracket 111, it can isolate dust during use by using the windshield and sand shield 101 and welding cover 102, and connect high pressure nitrogen gas to the outside through the high pressure protective gas connector 103. The high pressure nitrogen gas flow sprayed outward from the bottom of the windshield and sand shield 101 isolates dust and cleans the weld.

[0025] The supporting drive mechanism includes: a travel motor 201, a travel roller 202, a tensioning cover 203, an extension frame 204, a second support roller 205, a limiting metal side belt 206, an anti-slip pad 207, a connecting bolt 208, an elastic plate 209, a thickened end plate 210, a downward pressure spring 211, a locking block 212, and an unlocking toggle block 213. The travel motor 201 is located on one side of the windshield cover 101 to drive the travel roller 202 to roll. The travel roller 202 is fixedly installed at the output end of the travel motor 201 so that the rolling of the travel roller 202 drives the windshield cover 101 and the travel motor 201 to move along the weld seam. The tensioning cover 203 is located on the windshield cover. One side of the sand cover 101 forms a support to the opposite side of the windshield sand cover 101. An extension frame 204 is fixedly connected to the surface of the tensioning cover 203, and the inner wall of the extension frame 204 is fixedly connected to the surface of the travel motor 201 so that the travel motor 201 can be installed through the extension frame 204. The second support roller 205 is rotatably connected to both sides of the tensioning cover 203 to assist the tensioning cover 203 in moving around the surface of the pipe. The limiting metal side bands 206 are located on both sides of the windshield sand cover 101, and the surface of the travel roller 202 is in rolling contact with the surface of the limiting metal side bands 206 so that the limiting metal side bands 206 laterally limit the first support roller 105 and the second support roller 205. Anti-slip pads 207 are fixedly attached to the lower surface of the limiting metal side band 206 to increase the friction of the limiting metal side band 206. Connecting bolts 208 are installed at both ends of the limiting metal side band 206 to mate with the end faces of the limiting metal side band 206. Elastic plates 209 are fixedly connected to the inside of the adjusting cover 203. Thickened end plates 210 are integrally set on the surfaces of both ends of the elastic plates 209, and a through-hole is provided between the thickened end plates 210 and the adjusting cover 203 to assist in supporting the locking block 212. A pressing spring 211 is fixedly connected to the inner wall of the thickened end plate 210 to press the locking block 212. The locking block 212 is rotatably connected between the thickened end plate 210 and the adjusting cover. Between 203, the locking block 212 is engaged with the elastic metal strip 106 through the clip hole 107, and the unlocking actuating block 213 is fixedly sleeved on both ends of the locking block 212 to assist in moving the locking block 212. Through the provided travel motor 201, travel roller 202, tensioning cover 203, extension frame 204, second support roller 205, limiting metal side strip 206, anti-slip pad 207, connecting bolt 208, elastic plate 209, thickened end plate 210, downward pressure spring 211, locking block 212 and unlocking actuating block 213, it can roll along the pipe surface by the rolling drive device of the travel roller 202 during use, thereby achieving complete welding of the weld.

[0026] The depth adjustment mechanism includes: a support top frame 301, an angle adjustment motor 302, a depth adjustment motor 303, a supplementary light 304, an upper connecting frame 305, a lower connecting frame 306, a first rubber dust cover 307, a threaded shaft 308, a driving synchronous pulley 309, a driven synchronous pulley 310, and a synchronous belt 311. The support top frame 301 is located on the side of the windshield shroud 101 away from the travel motor 201 to support the pipe welding torch 401. The angle adjustment motor 302 is fixedly installed on the surface of the windshield shroud 101 to drive the pipe welding torch 401 to switch positions. Angle and depth adjustment motor 303 is fixedly installed inside the windshield shroud 101 to drive the pipe welding torch 401 to adjust the depth. A supplementary light 304 is fixedly installed on one side of the support frame 301 to provide supplementary lighting during welding positioning. An upper connecting frame 305 is integrally mounted on both sides of the support frame 301. A lower connecting frame 306 is fixedly installed on the bottom of the upper connecting frame 305 by bolts, and the inner wall of the lower connecting frame 306 is slidably connected to the surface of the guide cylinder 109 to lift the support frame 301. A first rubber dust cover 307 is fixedly connected to the support frame 301. Between the threaded shaft 308 and the screw hole bracket 111, a dustproof mechanism is installed for the threaded shaft 308. The threaded shaft 308 is fixedly installed at the output end of the depth adjustment motor 303 via a coupling, and the surface of the threaded shaft 308 is threadedly connected to the inner wall of the screw hole bracket 111. The threaded shaft 308 controls the lifting and lowering of the support top frame 301. The driving synchronous pulley 309 is fixedly installed at the output end of the angle adjustment motor 302, and the driven synchronous pulley 310 is fixedly sleeved on the surface of the pipe welding torch 401. The synchronous belt 311 is installed between the driving synchronous pulley 309 and the driven synchronous pulley 310 to achieve the desired angle. The transmission between the adjustable motor 302 and the pipe welding torch 401 is achieved through the support top frame 301, angle adjustment motor 302, depth adjustment motor 303, supplementary light 304, upper connecting frame 305, lower connecting frame 306, first rubber dust cover 307, threaded shaft 308, active synchronous pulley 309, driven synchronous pulley 310 and synchronous belt 311. During use, the rotation of the threaded shaft 308 driven by the support top frame 301 can be used to adjust the height of the support top frame 301 and the pipe welding torch 401, ensuring that the pipe welding torch 401 accurately reaches the weld seam.

[0027] The angle adjustment mechanism includes: a pipe welding torch 401, an isolation piston 402, a connecting sleeve 403, a second rubber dustproof sleeve 404, a limiting sliding sleeve 405, a threaded disassembly sleeve 406, and a compression spring 407. The pipe welding torch 401 is rotatably connected to the inside of the support top frame 301 via a bearing for welding the weld seam. The isolation piston 402 is fixedly sleeved on the surface of the pipe welding torch 401 to achieve a seal at the bottom of the isolation piston 402. The connecting sleeve 403 is fixedly sleeved on the surface of the pipe welding torch 401 to mate with the second rubber dustproof sleeve 404. The second rubber dustproof sleeve 404 is fixedly connected to the surface of the connecting sleeve 403 to close the exposed end of the limiting sliding sleeve 405. The limiting sliding sleeve 405 is movable. The pipe welding gun 401 is connected to the surface of the isolation piston 402 to ensure that it can rotate and rise smoothly. The threaded disassembly sleeve 406 is fixedly sleeved on the surface of the limiting sliding sleeve 405, and the surface of the threaded disassembly sleeve 406 is threadedly connected to the inner wall of the guide sleeve 109 to facilitate the disassembly and assembly of the threaded disassembly sleeve 406. The compression springs 407 are located on both sides of the isolation piston 402. Through the pipe welding gun 401, isolation piston 402, connecting sleeve 403, second rubber dustproof sleeve 404, limiting sliding sleeve 405, threaded disassembly sleeve 406 and compression springs 407, the width of the weld can be adjusted by rotating the pipe welding gun 401 during use, thereby improving the width welding adjustment range of the pipe welding gun 401.

[0028] Working principle: In use, connect the high-pressure protective gas connector 103 to the external high-pressure nitrogen pipeline, align and temporarily fix the two welded ends, put the elastic metal strip 106 between the two pipelines, and then insert the end of the elastic metal strip 106 into the adjusting cover 203 so that the tape hole 107 is locked by the locking block 212. Adjust the length of the elastic metal strip 106 and the position of the windshield cover 101 so that the weld is located in the middle of the windshield cover 101, and tighten the elastic metal strip 106. Then, put the limiting metal side strip 206 on the pipelines on both sides of the windshield cover 101 and tighten the limiting metal side strip 206 with the connecting bolt 208 to ensure that the side of the limiting metal side strip 206 blocks and limits the first support roller 105 and the second support roller 205. The outer surface of the limiting metal side strip 206 is in contact with the surface of the traveling roller 202, thus completing the installation of the device. Then, nitrogen gas is pumped in, and the depth adjustment motor 303 is started. The depth adjustment motor 303 drives the threaded shaft 308 to rotate. When the threaded shaft 308 rotates, it moves up and down along the threaded hole bracket 111 via the thread, thereby driving the pipe welding torch 401 to rise and fall through the support top frame 301, thus adjusting the height of the pipe welding torch 401. Then, the angle adjustment motor 302 is started, and the angle adjustment motor 302 drives the driving synchronous pulley 309 to rotate. When the driving synchronous pulley 309 rotates, it drives the driven synchronous pulley 310 to rotate through the synchronous belt 311. The rotation of the synchronous pulley 310 drives the pipe welding gun 401 to rotate. When the pipe welding gun 401 rotates, it adjusts the offset position of its end, thereby realizing the lateral adjustment of the pipe welding gun 401. After the position of the pipe welding gun 401 is adjusted, the pipe welding gun 401 and the travel motor 201 are started to weld the pipe. When the travel motor 201 is started, it drives the travel roller 202 to roll, thereby driving the adjusting cover 203 and the windproof and sandproof cover 101 to roll along the surface of the limiting metal side belt 206, thereby driving the pipe welding gun 401 to weld along the weld seam. During pipe welding with the welding torch 401, high-pressure nitrogen forms a high-pressure zone inside the windshield 101 and welding cover 102, allowing the nitrogen to escape only through the gap at the bottom of the windshield 101. This prevents dust from entering the weld position inside the windshield 101. After the welding is completed, the weld position will slowly move away from the inside of the windshield 101 for a period of time, ensuring that the weld position is protected before cooling and solidification. At the same time, after the windshield 101 reaches a new weld position, the high-pressure gas will blow away the dust at that position in advance, cleaning the weld and ensuring stable welding by the subsequent pipe welding torch 401.

[0029] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pipeline welding robot adaptable to high-altitude, strong wind and sand environments, characterized in that, include: The isolation and air-guiding mechanism introduces high-pressure nitrogen to generate positive pressure, which, in conjunction with the isolation effect, blocks sand and dust. A support drive mechanism located on one side of the isolation gas guiding mechanism drives the isolation gas guiding mechanism to move around the pipe weld. A depth adjustment mechanism is fixedly installed on the surface of the isolation gas guiding mechanism to adjust the height of the pipe welding torch (401) and realize error compensation for the weld depth. An angle adjustment mechanism located between the depth adjustment mechanism and the isolation gas guiding mechanism is used to adjust the angle of the pipe welding torch (401) to achieve error compensation for the weld width.

2. The high-altitude, strong wind and sand environment adaptable pipeline welding robot according to claim 1, characterized in that, The isolation and air guiding mechanism includes: a windshield and sand shield (101) to isolate sand and dust and nitrogen gas from the weld to form a semi-enclosed air guiding mechanism; A welding cover (102) is fixedly inserted into the surface of the windshield (101) to cooperate with the windshield (101) to form a semi-enclosed flow channel for nitrogen at the welding point; A high-pressure protective gas connector (103) is fixedly installed on one side of the welding cover (102) and connected to an external high-pressure nitrogen source; The support drive mechanism includes a travel motor (201) located on one side of the windshield (101) to drive the travel roller (202) to roll. The travel roller (202) is fixedly installed at the output end of the travel motor (201) so that the windshield (101) and the travel motor (201) can be driven to move along the weld seam by the rolling of the travel roller (202); The depth adjustment mechanism includes a support top frame (301) located on the side of the windshield (101) away from the travel motor (201) to support the pipe welding torch (401). An angle adjustment motor (302) is fixedly installed on the surface of the windshield (101) to drive the pipe welding torch (401) to change angle; A depth adjustment motor (303) is fixedly installed inside the windshield (101) to drive the pipe welding torch (401) to adjust the depth; The angle adjustment mechanism includes a pipe welding gun (401) rotatably connected inside the support top frame (301) via a bearing for welding the weld seam.

3. The high-altitude, strong wind and sand environment adaptable pipeline welding robot according to claim 2, characterized in that, The isolation and air guiding mechanism further includes: a light-transmitting plate (104) fixedly installed inside the windshield (101), and there are multiple light-transmitting plates (104), and the surface of the windshield (101) is provided with a first flexible groove so as to observe the inside of the windshield (101) through the light-transmitting plate (104) and ensure that the windshield (101) has a certain elasticity; Rotate the first support rollers (105) connected to both sides of the windshield (101) to assist the windshield (101) in moving around the surface of the pipe; Elastic metal strips (106) are fixedly connected to both sides of the windshield cover (101) to connect the windshield cover (101) and the adjusting cover (203). A snap-on hole (107) is formed through the surface of the elastic metal strip (106) to assist in snapping the elastic metal strip (106); An observation window (108) is fixedly connected inside the welding cover (102) to facilitate observation of the inside of the windshield cover (101).

4. The high-altitude, strong wind and sand environment adaptable pipeline welding robot according to claim 3, characterized in that, The isolation air guiding mechanism further includes: a guide tube (109) fixedly connected to the top of the windshield (101) to guide the lower connecting frame (306); A sealing washer (110) is fixedly connected to the inner wall of the guide tube (109) to assist in sealing the threaded disassembly tube (406); A screw hole bracket (111) is integrated on one side of the welding cover (102) to assist in the lifting and lowering of the top frame (301) in conjunction with the threaded shaft (308).

5. The high-altitude, strong wind and sand environment adaptable pipeline welding robot according to claim 2, characterized in that, The support drive mechanism also includes: a tensioning cover (203) located on one side of the windshield (101) to cooperate with the windshield (101) to form a support on the opposite side; An extension bracket (204) is fixedly connected to the surface of the tensioning cover (203), and the inner wall of the extension bracket (204) is fixedly connected to the surface of the travel motor (201) so as to install the travel motor (201) through the extension bracket (204). Rotate the second support rollers (205) connected to both sides of the tightening cover (203) to assist the tightening cover (203) in moving around the pipe surface; Limiting metal side straps (206) are located on both sides of the windshield (101), and the surface of the traveling roller (202) is rolledly connected to the surface of the limiting metal side straps (206) so as to limit the first support roller (105) and the second support roller (205) laterally through the limiting metal side straps (206); An anti-slip pad (207) is fixedly attached to the lower surface of the limiting metal side strip (206) to increase the friction of the limiting metal side strip (206); Connecting bolts (208) are installed at both ends of the limiting metal side band (206) to mate with the end face of the limiting metal side band (206).

6. The high-altitude, strong wind and sand environment adaptable pipeline welding robot according to claim 5, characterized in that, The support drive mechanism further includes: an elastic plate (209) fixedly connected inside the tensioning cover (203); Thickened end plates (210) are integrally set on both ends of the elastic plate (209), and a strap opening is provided between the thickened end plates (210) and the adjusting cover (203) to assist in supporting the locking block (212). A pressure spring (211) is fixedly connected to the inner wall of the thickened end plate (210) to press the locking block (212). A locking block (212) is rotatably connected between the thickened end plate (210) and the adjusting cover (203), and the locking block (212) is engaged with the elastic metal strip (106) through the tape hole (107); Unlocking toggle blocks (213) are fixedly sleeved on both ends of the locking block (212) to assist in moving the locking block (212).

7. The high-altitude, strong wind and sand environment adaptable pipeline welding robot according to claim 2, characterized in that, The depth adjustment mechanism also includes a supplementary light (304) fixedly installed on one side of the support top frame (301) to provide supplementary lighting during welding positioning; An integrated upper connecting frame (305) is installed on both sides of the supporting top frame (301). The lower connecting frame (306) is fixedly installed at the bottom of the upper connecting frame (305) by bolts, and the inner wall of the lower connecting frame (306) is slidably connected to the surface of the guide tube (109) to lift the supporting top frame (301).

8. The high-altitude, strong wind and sand environment adaptable pipeline welding robot according to claim 7, characterized in that, The depth adjustment mechanism further includes: a first rubber dustproof sleeve (307) fixedly connected between the support top frame (301) and the screw hole bracket (111) to prevent dust from the threaded shaft (308); The threaded shaft (308) is fixedly installed at the output end of the depth adjustment motor (303) by a coupling, and the surface of the threaded shaft (308) is threadedly connected to the inner wall of the screw hole bracket (111) so as to control the lifting and lowering of the support top frame (301) through the threaded shaft (308); An active synchronizing pulley (309) is fixedly installed at the output end of the angle adjustment motor (302); A driven synchronous wheel (310) is fixedly sleeved on the surface of the pipe welding torch (401). A timing belt (311) is installed between the driving timing pulley (309) and the driven timing pulley (310) to realize the transmission between the angle adjustment motor (302) and the pipe welding torch (401).

9. The high-altitude, strong wind and sand environment adaptable pipeline welding robot according to claim 2, characterized in that, The angle adjustment mechanism further includes: an isolation piston (402) fixedly sleeved on the surface of the pipe welding gun (401) to achieve a seal at the bottom of the isolation piston (402); A connecting sleeve (403) is fixedly fitted onto the surface of the pipe welding gun (401) to engage with the second rubber dustproof sleeve (404). A second rubber dustproof sleeve (404) is fixedly connected to the surface of the connecting sleeve (403) to close the exposed end of the limiting sliding sleeve (405).

10. The high-altitude, strong wind and sand environment adaptable pipeline welding robot according to claim 9, characterized in that, The angle adjustment mechanism further includes a limiting sliding sleeve (405) that is movably sleeved on the surface of the isolation piston (402) to ensure that the pipe welding torch (401) can rotate and rise smoothly; A threaded disassembly sleeve (406) is fixedly sleeved on the surface of the limiting sleeve (405), and the surface of the threaded disassembly sleeve (406) is threadedly connected to the inner wall of the guide sleeve (109) so that the threaded disassembly sleeve (406) can be disassembled and assembled. Compression springs (407) are located on both sides of the isolation piston (402).

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