Manipulator welding device for small-diameter pipes of oil and gas pipelines

Abstract

The utility model discloses an oil and gas pipeline small-diameter pipe manipulator welding device which comprises a bottom plate, a welding moving device is arranged on the left side of the bottom plate, the welding moving device is connected with a welding mechanical arm, and the welding mechanical arm can conduct welding work. A first V-shaped block set, a proximity sensor, a proximity switch and a second V-shaped block are sequentially installed on the left side of the top wall of the bottom plate from front to back, an L-shaped installation plate is welded to the position, close to the second V-shaped block, of the bottom plate, a pressing device is connected to the L-shaped installation plate, and the pressing device can press a second section of small-diameter pipe. A clamping moving device is fixed to the right side of the top wall of the bottom plate and connected with a clamping mechanical arm, and the clamping mechanical arm can clamp a first section of small-diameter pipe. According to the utility model, the small-diameter pipe can be quickly positioned, butted and automatically welded by using the mechanical arm, so that the welding quality and the welding efficiency are improved.

Description

Technical Field

[0001] The utility model relates to a welding device, in particular to a manipulator welding device for small-diameter pipes of oil and gas pipelines. Background Art

[0002] Welding is an important process in the manufacturing industry. The automation of welding technology has greatly affected the quality and efficiency of welding. Traditional manual welding of small-diameter oil and gas pipes not only has inaccurate butt positioning, but also has a slow welding speed, which seriously affects the welding quality and efficiency. Summary of the invention

[0003] The utility model aims to overcome the shortcomings of the prior art and provide a mechanical arm welding device for small-diameter pipes of oil and gas pipelines. The device can use a mechanical arm to quickly position and dock small-diameter pipes and automatically weld them, thereby improving welding quality and welding efficiency.

[0004] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0005] The utility model discloses a manipulator welding device for small-diameter pipes of oil and gas pipelines, comprising a bottom plate, a welding concave slide rail being fixed on the left wall of the bottom plate, a welding moving device being arranged on the left side of the bottom plate, the welding moving device comprising a welding hydraulic telescopic rod being fixed on the left side of the bottom plate by bolts, a welding slide block being connected to the rod end of the welding hydraulic telescopic rod arranged in the horizontal direction by bolts, the welding slide block being slidably connected to the welding concave slide rail, and a welding mechanical arm being connected to the welding slide block by bolts;

[0006] A first V-shaped block group, a proximity sensor, a proximity switch and a second V-shaped block are sequentially installed on the left side of the top wall of the bottom plate from front to back, the first V-shaped block group includes two first V-shaped blocks spaced apart from each other, and a pressure sensor is installed on the left wall of the second V-shaped block; the second V-shaped block is used to support the second section of the small-diameter tube to be welded and the front end of the second section of the small-diameter tube is located above the proximity switch, and the first V-shaped block group is used to support the first section of the small-diameter tube to be welded; the first section of the small-diameter tube and the second section of the small-diameter tube are coaxially arranged relative to each other, and the welding gun of the welding robot arm can move to the front end of the second section of the small-diameter tube to be welded;

[0007] An L-shaped mounting plate is welded on the bottom plate near the second V-shaped block, a clamping device is connected to the bottom wall of the horizontal plate of the L-shaped mounting plate, the clamping device includes a power source, the power output end of the power source is connected to the up-and-down moving mechanism, a clamping plate is installed on the motion output end of the up-and-down moving mechanism, and a laser rangefinder is installed on the bottom wall of the clamping plate; the clamping plate can be arranged in contact with the second section of the small-diameter pipe under the drive of the up-and-down moving mechanism;

[0008] A clamping moving device is fixed on the right side of the top wall of the bottom plate, and the clamping moving device includes a clamping hydraulic telescopic rod, and the rod end of the clamping hydraulic telescopic rod arranged in the horizontal direction is connected to a clamping slider by bolts, and the clamping slider is slidably connected to the clamping concave slide rail, and the clamping concave slide rail is fixed to the top wall of the bottom plate by bolts, and a clamping mechanical arm is connected to the clamping slider by bolts, and a contact sensor is installed at the front end of the clamping concave slide rail, and the contact sensor is fixed to the top wall of the bottom plate by bolts; the clamping mechanical arm can clamp the first section of small-diameter pipe;

[0009] The signal output ends of the laser rangefinder, pressure sensor, proximity switch, contact sensor and proximity sensor are respectively connected to the signal input ends of the computer through communication lines, and the signal input ends of the controller for clamping the hydraulic telescopic rod, the power source, the controller for welding the hydraulic telescopic rod, the controller for clamping the mechanical arm and the controller for welding the mechanical arm are respectively connected to the signal output ends of the computer through communication lines.

[0010] Compared with the prior art, the advantages of the present invention are:

[0011] The utility model can utilize the mechanical arm to quickly perform positioning, docking and automatic welding on small-diameter pipes, thereby improving welding quality and welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is the overall structure diagram of the small-diameter pipe manipulator welding device for oil and gas pipelines of the utility model;

[0013] Figure 2 for Figure 1 A left side view of the device shown;

[0014] Figure 3 for Figure 1 A right side view of the device shown;

[0015] Figure 4 for Figure 1 A top view of the device is shown. DETAILED DESCRIPTION

[0016] The utility model is described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] As shown in the accompanying drawings, the utility model of the oil and gas pipeline small diameter pipe manipulator welding device includes a base plate 1, a welding concave slide rail 10-2 is fixed on the left wall of the base plate, and a welding mobile device 10 is arranged on the left side of the base plate 1. The welding mobile device 10 includes a welding hydraulic telescopic rod 10-1 fixed to the left side of the base plate 1 by bolts, and the rod end of the welding hydraulic telescopic rod 10-1 arranged in the horizontal direction is connected to a welding slider 10-3 by bolts. The welding slider 10-3 is slidably connected to the welding concave slide rail 10-2, and a welding robot arm 9 is connected to the welding slider 10-3 by bolts.

[0018] The first V-shaped block group, the proximity sensor 15, the proximity switch 14 and the second V-shaped block 8 are sequentially installed on the left side of the top wall of the bottom plate 1 from front to back. The first V-shaped block group includes two first V-shaped blocks 13 arranged at intervals in front and back. The first V-shaped block group and the second V-shaped block 8 are both fixed to the bottom plate 1 by bolts, and a pressure sensor 11 is installed on the left wall of the second V-shaped block. The second V-shaped block 8 is used to support the second section of the small-diameter pipe 7 to be welded, and the front end of the second section of the small-diameter pipe 7 is located above the proximity switch 14. The first V-shaped block group is used to support the first section of the small-diameter pipe 12 to be welded. The first section of the small-diameter pipe 12 and the second section of the small-diameter pipe 7 are coaxially arranged relative to each other, and the welding gun of the welding robot arm 9 can move to the front end of the second section of the small-diameter pipe 7 to be welded.

[0019] An L-shaped mounting plate 4 is welded on the bottom plate 1 near the second V-shaped block, and a clamping device 5 is connected to the bottom wall of the horizontal plate of the L-shaped mounting plate 4. The clamping device includes a power source, and the power output end of the power source is connected to the up and down moving mechanism. A clamping plate 5-2 is installed on the motion output end of the up and down moving mechanism, and a laser rangefinder 6 is installed on the bottom wall of the clamping plate 5-2; the clamping plate 5-2 can be contacted with the second section of small-diameter pipe 7 under the drive of the up and down moving mechanism.

[0020] As an embodiment of the utility model, the power source is a clamping hydraulic telescopic rod 5-1 fixed to the bottom wall of the horizontal plate by bolts, the up-and-down moving mechanism is a telescopic rod of the clamping hydraulic telescopic rod 5-1 arranged in the vertical direction, and the clamping plate 5-2 is connected to the telescopic rod end of the clamping hydraulic telescopic rod by bolts. Of course, the power source can also adopt a linear motor structure.

[0021] A clamping and moving device 2 is fixed on the right side of the top wall of the base plate 1, and the clamping and moving device 2 includes a clamping hydraulic telescopic rod 2-1, and the clamping hydraulic telescopic rod 2-1 is fixed to the top wall of the base plate 1 by bolts. The rod end of the clamping hydraulic telescopic rod 2-1 arranged in the horizontal direction is connected with a clamping slider 2-3 by bolts, and the clamping slider 2-3 is slidably connected with a clamping concave slide rail 2-2, and the clamping concave slide rail 2-2 is fixed to the top wall of the base plate 1 by bolts. A clamping mechanical arm 3 is connected to the clamping slider 2-3 by bolts, and a contact sensor 2-4 is installed at the front end of the clamping concave slide rail 2-2, and the contact sensor 2-4 is fixed to the top wall of the base plate 1 by bolts; the clamping mechanical arm 3 can clamp the first section of small-diameter pipe 12.

[0022] The signal output ends of the laser rangefinder 6, the pressure sensor 11, the proximity switch 14, the contact sensor 2-4 and the proximity sensor 15 are respectively connected to the signal input ends of the computer through communication lines, and the signal input ends of the controller of the clamping hydraulic telescopic rod 2-1, the power source (pressing the hydraulic telescopic rod 5-1), the controller of the welding hydraulic telescopic rod 10-1, the controller of the clamping mechanical arm 3 and the controller of the welding mechanical arm 9 are respectively connected to the signal output ends of the computer through communication lines.

[0023] Here’s how it works:

[0024] The first section of small-diameter pipe 12 to be welded is placed on the two first V-shaped blocks 13, and the second section of small-diameter pipe 7 to be welded is placed on the second V-shaped block 8, and the front end of the second section of small-diameter pipe 7 is located above the proximity switch 14. After the proximity switch 14 senses the second section of small-diameter pipe 7, the indicator light lights up and transmits the signal to the computer. The computer controls the clamping hydraulic telescopic rod 5-1 to extend, thereby driving the clamping plate 5-2 to press the second section of small-diameter pipe 7 downward. When the pressure sensor 11 detects the pressure signal and transmits it to the computer through the communication line, the computer controls the clamping hydraulic telescopic rod 5-1 to stop extending. At this time, the computer processes the data measured by the laser rangefinder 6 to obtain the center height of the small-diameter pipe 7, and controls the clamping mechanical arm 3 to clamp the first section of small-diameter pipe 12, and lift the first section of small-diameter pipe 12 upward to the same height. After that, the clamping hydraulic telescopic rod 2-1 is controlled to contract, thereby driving the clamping mechanical arm 3 to clamp the first section of small-diameter pipe 12 and continuously approach the small-diameter pipe 7. When the connection When the proximity sensor 15 detects the first section of the small-diameter tube 12, it transmits a signal to the computer. The computer controls the clamping hydraulic telescopic rod 2-1 to continue to shrink a specific distance and then stop, so that the first section of the small-diameter tube 12 and the second section of the small-diameter tube 7 are connected. After the clamping hydraulic telescopic rod 2-1 stops shrinking, the computer controls the welding hydraulic telescopic rod 10-1 to shrink a given distance and then stop, so that the welding robot arm 9 enters the working area. After the welding hydraulic telescopic rod 10-1 stops shrinking, the computer controls the welding robot arm 9 to start welding. After welding is completed, the welding robot arm 9 stops working. The computer controls the welding hydraulic telescopic rod 10-1 to extend a given distance, and at the same time controls the clamping hydraulic telescopic rod 5-1 to shrink a given distance, controls the clamping robot arm 3 to release the small-diameter tube 12, and controls the clamping hydraulic telescopic rod 2-1 to extend. When the clamping slider 2-3 hits the contact sensor 2-4, the contact sensor 2-4 transmits a signal to the computer, and the computer controls the clamping hydraulic telescopic rod 2-1 to stop extending.

Claims

1. Small diameter pipe manipulator welding device for oil and gas pipelines, characterized by: The invention comprises a base plate (1), a welding concave slide rail (10-2) is fixed on the left wall of the base plate, a welding moving device (10) is arranged on the left side of the base plate (1), the welding moving device (10) comprises a welding hydraulic telescopic rod (10-1) fixed to the left side of the base plate (1) by bolts, the rod end of the welding hydraulic telescopic rod (10-1) arranged in the horizontal direction is connected to a welding slider (10-3) by bolts, the welding slider (10-3) is slidably connected to the welding concave slide rail (10-2), and a welding mechanical arm (9) is connected to the welding slider (10-3) by bolts; A first V-shaped block group, a proximity sensor (15), a proximity switch (14) and a second V-shaped block (8) are sequentially installed on the left side of the top wall of the bottom plate (1) from front to back, the first V-shaped block group comprising two first V-shaped blocks (13) arranged at an interval in front and back, a pressure sensor (11) is installed on the left wall of the second V-shaped block, the second V-shaped block (8) is used to support the second section of the small-diameter tube (7) to be welded, and the front end of the second section of the small-diameter tube (7) is located above the proximity switch (14), the first V-shaped block group is used to support the first section of the small-diameter tube (12) to be welded, the first section of the small-diameter tube (12) and the second section of the small-diameter tube (7) are arranged coaxially and relatively, and the welding gun of the welding robot arm (9) can be moved to the front end of the second section of the small-diameter tube (7) to be welded; An L-shaped mounting plate (4) is welded on the bottom plate (1) near the second V-shaped block, a clamping device (5) is connected to the bottom wall of the horizontal plate of the L-shaped mounting plate (4), the clamping device comprises a power source, the power output end of the power source is connected to the up-and-down moving mechanism, a clamping plate (5-2) is installed on the motion output end of the up-and-down moving mechanism, and a laser rangefinder (6) is installed on the bottom wall of the clamping plate (5-2); the clamping plate (5-2) can be arranged in contact with the second section of the small-diameter pipe (7) under the drive of the up-and-down moving mechanism; A clamping moving device (2) is fixed on the right side of the top wall of the base plate (1), and the clamping moving device (2) comprises a clamping hydraulic telescopic rod (2-1), and the rod end of the clamping hydraulic telescopic rod (2-1) arranged in the horizontal direction is connected to a clamping slider (2-3) by bolts, and the clamping slider (2-3) is slidably connected to a clamping concave slide rail (2-2), and the clamping concave slide rail (2-2) is fixed to the top wall of the base plate (1) by bolts, and a clamping mechanical arm (3) is connected to the clamping slider (2-3) by bolts, and a contact sensor (2-4) is installed at the front end of the clamping concave slide rail (2-2), and the contact sensor (2-4) is fixed to the top wall of the base plate (1) by bolts; the clamping mechanical arm (3) can clamp the first section of the small-diameter pipe (12); The signal output ends of the laser rangefinder (6), the pressure sensor (11), the proximity switch (14), the contact sensor (2-4) and the proximity sensor (15) are respectively connected to the signal input ends of the computer through communication lines, and the signal input ends of the controller of the clamping hydraulic telescopic rod (2-1), the power source, the controller of the welding hydraulic telescopic rod (10-1), the controller of the clamping mechanical arm (3) and the controller of the welding mechanical arm (9) are respectively connected to the signal output ends of the computer through communication lines.

2. The oil and gas pipeline small diameter pipe manipulator welding device according to claim 1 is characterized in that: The power source is a clamping hydraulic telescopic rod (5-1) fixed to the bottom wall of the horizontal plate by bolts, the up-and-down moving mechanism is a telescopic rod of the clamping hydraulic telescopic rod (5-1) arranged in the vertical direction, and the clamping plate (5-2) is connected to the telescopic rod end of the clamping hydraulic telescopic rod by bolts.

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