Pipeline welding machine head

Abstract

The utility model provides a pipeline welding machine head. The pipeline welding machine head comprises a base used for being fixedly connected with a pipeline to be welded; the rotating structure is rotatably arranged on the base and can rotate in the circumferential direction of a to-be-welded pipeline; the welding structure is used for welding a welding seam, the welding structure is arranged on the rotating structure, and the rotating structure is used for driving the welding structure to rotate in the circumferential direction of a to-be-welded pipeline; the pipeline welding machine head further comprises an imaging structure arranged on the rotating structure, and a lens of the imaging structure can point to the welding pool and is used for shooting an image of the welding pool. By means of the pipeline welding machine head, welding visualization can be achieved. By means of the pipeline welding machine head, welding visualization can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline welding, in particular to a pipeline welding head. Background Art

[0002] At present, in the field of engineering installation technology, in order to ensure the quality of pipeline welding, full-position automatic welding has been gradually adopted for the welding of pipeline butt welds. Full-position automatic welding is an efficient, accurate and reliable welding technology that can improve welding efficiency and quality.

[0003] The patent application with the Chinese publication number "CN115446430A" discloses an integrated machine for welding a pipe assembly, including: a connection adjustment structure, including a pair of base plates arranged opposite to each other and a push rod adjustment mechanism connecting the base plates, the pair of base plates forming an operating space for pipe docking and welding, the push rod adjustment structure is used to adjust the spacing between the base plates, and then adjust the size of the operating space; a clamping adjustment structure, including a first rotating mechanism, a first clamping mechanism) and a guide adjustment mechanism, the first clamping mechanism is arranged on the first rotating mechanism, and is used to clamp and adjust the pipe, the first rotating mechanism is arranged on the guide adjustment mechanism, the guide adjustment mechanism is used to drive the first rotating mechanism and the first clamping mechanism to achieve movement in at least two dimensions, and the guide adjustment mechanism is arranged on the outside of one of the base plates; and a welding structure, including a second rotating mechanism, a welding mechanism and a second clamping mechanism, the welding mechanism is arranged on the second rotating mechanism and is located in the operating space, and is used to clamp the welding gun system to weld the docked pipes, the second rotating mechanism is arranged inside the other base plate, and the second clamping mechanism is arranged outside the other base plate, and is used to clamp the pipe.

[0004] However, during the welding process, the welding power supply will block the line of sight, making it impossible to see the molten pool, resulting in a welding visual blind spot. As a result, the welding operator cannot see the arc position of the welding gun, resulting in problems such as unfused defects, reducing the stability of the welding operation and the consistency of the pipeline welding quality. Utility Model Content

[0005] The utility model aims to provide a pipeline welding machine head, which can realize the visibility of pipeline welding and improve the stability of welding operation and the consistency of welding quality.

[0006] One aspect of the utility model provides a pipe welding head, comprising: a base for fixedly connecting to a pipe to be welded; a rotating structure rotatably arranged on the base, the rotating structure can rotate along the circumference of the pipe to be welded; a welding structure for welding a weld, the welding structure is arranged on the rotating structure, the rotating structure is used to drive the welding structure to rotate in the circumference of the pipe to be welded; the pipe welding head also includes an imaging structure arranged on the rotating structure, the imaging structure can point to a welding molten pool, and is used to capture an image of the welding molten pool.

[0007] In one embodiment, the welding structure includes a welding gun and a wire guide mechanism for guiding the welding wire into the welding gun, and the welding gun and the wire guide mechanism are both arranged on the rotating structure; the imaging structure is located between the welding gun and the wire guide mechanism, so that the imaging structure can capture images of the welding molten pool, the tungsten electrode of the welding gun and the welding wire.

[0008] In one embodiment, a plurality of guide members are protruding from the rotating structure, and the guide members include a first guide segment and a second guide segment, and the first guide segment is closer to the rotating structure than the second guide segment; the welding structure also includes a welding cable electrically connected to the welding gun, and the imaging structure is electrically connected to an imaging structure cable, and the first guide segment of at least one of the guide members is used for winding the welding cable, and the second guide segment of at least one of the guide members is used for winding the imaging structure cable.

[0009] In one embodiment, the plurality of guide members include a first guide member, the first guide member is closer to the welding gun and the wire guide mechanism relative to the remaining guide members, the imaging structure is arranged on the second guide section of the first guide member, and the second guide sections of the remaining guide members are used to wind the imaging structure cable; the imaging structure includes an imaging device and an imaging adjustment module, the imaging device includes a lens, the imaging adjustment module is arranged on the second guide section, and the imaging device is arranged on the imaging adjustment module; the imaging adjustment module can rotate around the axial direction of the second guide section of the first guide member to drive the imaging device to rotate, thereby changing the direction of the lens.

[0010] In one embodiment, the wire guide mechanism includes a wire guide tube and a support member for supporting the wire guide tube, and the wire guide tube is arranged on the support member; the pipe welding machine head also includes a welding bracket arranged on the rotating structure, the support member has a sliding portion, and the welding bracket has a sliding matching portion. The sliding portion and the sliding matching portion are slidably matched, so that the support member can slide relative to the welding bracket, and the sliding portion can rotate along its axial direction to change the direction of the wire guide tube.

[0011] In one embodiment, the support member is a guide wire adjustment module for adjusting the direction of the guide wire tube, and the guide wire adjustment module includes a first guide wire adjustment unit and a second guide wire adjustment unit; the first guide wire adjustment unit can move in a first direction, and the second guide wire adjustment unit can move in a direction perpendicular to the first direction to change the position of the guide wire tube in the first direction and in a direction perpendicular to the first direction.

[0012] In one embodiment, the welding structure also includes a welding gun adjustment module for adjusting the direction of the tungsten electrode of the welding gun, the welding gun adjustment module is arranged on the welding bracket, and the welding gun is arranged on the welding gun adjustment module; the welding gun adjustment module includes a first welding gun adjustment unit and a second welding gun adjustment unit; the first welding gun adjustment unit can rotate relative to the welding bracket, and the second welding gun adjustment unit can rotate on a plane perpendicular to the rotation plane of the first welding gun adjustment unit to change the position of the tungsten electrode of the welding gun.

[0013] In one embodiment, the pipe welding machine head also includes a welding gun control structure, which includes a yaw control component for controlling the position of the welding gun in the axial direction of the rotating structure and an arc pressure control component for controlling the position of the welding gun in the radial direction of the rotating structure, the arc pressure control component is arranged on the rotating structure, the yaw control component is installed on the arc pressure control component, and the welding bracket is installed on the yaw control component; the rotating structure is provided with a guide rail extending in the radial direction of the rotating structure, and the arc pressure control component is slidably arranged on the guide rail; before being installed on the pipe to be welded, the arc pressure control component can move in the extension direction of the welding bracket under the guidance of the guide rail, so that the welding bracket is away from the pipe to be welded, and then the welding gun and the wire guide mechanism are away from the pipe to be welded; the rotating structure is provided with a limiter, and the limiter is located at one end of the guide rail close to the extension direction of the welding bracket, and the limiter is used to limit the movement of the arc pressure control component.

[0014] In one embodiment, the pipe welding machine head further comprises a clamping structure for clamping the pipe to be welded, wherein the clamping structure and the rotating structure are respectively arranged on both sides of the base; the clamping structure comprises a clamping seat fixedly connected to the base and a first clamping arm and a second clamping arm arranged on the clamping seat, wherein the first clamping arm and the second clamping arm are arranged opposite to each other to form an opening for accommodating the pipe to be welded;

[0015] The clamping structure also includes a support plate for positioning the pipe to be welded, and the states of the support plate include a locked state and an active state. When the support plate is in the locked state, the support plate is fixedly arranged on the clamping seat; when the support plate is in the active state, the support plate can move relative to the clamping seat, whereby the support plate can be abutted against the pipe to be welded when the pipe to be welded is installed.

[0016] In one embodiment, the support plate has an indicator line, and the clamping seat has at least one scale line corresponding to the pipe diameter of the pipe to be welded; when the support plate is in the active state, the support plate can move to the corresponding position by aligning the indicator line with the scale line corresponding to the pipe diameter of the pipe to be welded, so that the position change of the support plate has a positioning effect of positioning the pipe to be welded of the corresponding diameter.

[0017] The utility model can take real-time images of the weld and the weld molten pool during the welding process through the imaging structure that rotates with the rotating structure, thereby alleviating the problem of difficulty in observing the six o'clock direction during full-position welding. During the welding process, the welding operator can directly obtain the real-time weld molten pool image, which is convenient for monitoring the welding process, optimizing the monitoring angle of view, avoiding the small front-end space of the welding structure and the poor angle of view from being unable to observe or photograph the molten pool, reducing the probability of welding defects, and realizing the visualization of full-position automatic welding equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which:

[0019] Figure 1 It is a front structural schematic diagram of a pipeline welding machine head according to an embodiment of the utility model;

[0020] Figure 2 yes Figure 1 A front view of a pipe welder head shown in ;

[0021] Figure 3 yes Figure 1 The back structural diagram of the pipe welding machine head shown in FIG.

[0022] Figure 4 yes Figure 1 A schematic diagram of the structure of a partial pipe welding machine head shown in FIG.

[0023] Figure 5 yes Figure 4 A side view of a portion of a pipe welder head shown in;

[0024] Figure 6 yes Figure 1 A schematic diagram of the structure of the welding gun, wire guide mechanism and welding bracket of the pipe welding machine head shown in FIG.

[0025] Figure 7 yes Figure 6 A top view of a welding gun, a wire guide mechanism, and a welding support as shown in FIG.

[0026] Figure 8 yes Figure 1 Schematic diagram of the clamping structure of the pipe welding machine head shown in. DETAILED DESCRIPTION

[0027] Reference will now be made in detail to embodiments of the present invention, one or more examples of which are shown in the accompanying drawings. Each example is provided to explain the present invention, rather than to limit the present invention. In fact, it will be apparent to those skilled in the art that various modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as part of one embodiment may be used together with another embodiment to produce yet another embodiment. Therefore, the present invention is intended to cover these modifications and variations that fall within the scope of the appended claims and their equivalents.

[0028] As used herein, the term "axial" refers to the central axis of the component (such as a pipe) or a direction parallel to the central axis thereof, the term "radial" refers to a direction perpendicular to the "axial", and the term "circumferential" refers to a direction around the "axial". The term "inside" refers to a position close to the component (such as a rotating structure), and the term "outside" refers to a position away from the component relative to the "inside". The terms "first", "second", and "third" may be used interchangeably to distinguish one component from another, and are not intended to indicate the position or importance of each component.

[0029] The automatic pipeline welding equipment has high requirements for groove processing, assembly accuracy and welding guide rail installation error. In addition, the welding process requires the welder to keep an eye on the welding molten pool and adjust the welding gun position in real time to ensure the centering of the weld, which requires a high level of welder proficiency. However, during the welding process, the welding power supply will block the observation line of sight, making it impossible to see the welding molten pool, and there is a welding visual blind spot, which causes the welding operator to be unable to see the welding gun arc position, resulting in unfused defects and other problems, reducing the stability of the welding operation and the consistency of the pipeline welding quality.

[0030] Figures 1 to 3The schematic diagram of the structure of an embodiment of the pipe welding head 10 of the utility model is shown. The utility model provides a pipe welding head 10, comprising: a base 100 for fixedly connecting with the pipe 1 to be welded, a rotating structure 200 and a welding structure 300. The rotating structure 200 is rotatably arranged on the base 100, and can rotate along the circumference of the pipe 1 to be welded. The base 100, as the basis of the rotating structure 200, has high stability. The rotating component mainly provides a welding speed rotating around the pipe 1 to be welded during the welding process. The welding structure 300 is used for welding the weld, and the welding structure 300 is arranged on the rotating structure 200, and the rotating structure 200 is used to drive the welding structure 300 to rotate in the circumference of the pipe 1 to be welded, so as to realize the full-position welding of the pipe. An embodiment of the pipe welding head 10 provided by the utility model also includes an imaging structure 400 arranged on the rotating structure 200. The lens 411 of the imaging structure 400 can point to the welding pool 20, and is used to take an image of the welding pool 20. The weld pool 20 is a temporary melting area formed by the welding material (such as welding wire) and the material on the surface of the pipe being melted together during the welding process.

[0031] The utility model can take real-time images of the weld and the welding molten pool 20 during the welding process by means of the imaging structure 400 that rotates with the rotating structure 200, thereby alleviating the problem of difficulty in observing the six o'clock direction during full-position welding. During the welding process, the welding operator can directly obtain the real-time welding molten pool 20 image, which is convenient for monitoring the welding process, optimizing the monitoring viewing angle, avoiding the small front-end space of the welding structure 300 and the poor viewing angle from being unable to observe or photograph the molten pool, reducing the probability of welding defects, and realizing the visualization of full-position automatic welding equipment.

[0032] The base 100 is provided with a driving structure (not shown), which is connected to the rotating structure 200 and is used to drive the rotating structure 200 to rotate. The driving structure can be selected as a motor and a transmission component. During the operation of the pipe welding head, the relative position of the base 100 and the pipe 1 to be welded remains unchanged, and the rotating structure 200 rotates relative to the base 100 and the pipe 1 to be welded.

[0033] The imaging structure 400 can obtain an image of the welding molten pool 20 and transmit it to a control unit (not shown) and a display unit (not shown) to display the image of the welding molten pool 20 in real time. At the same time, the welding quality information of the weld can also be displayed on a handheld welding controller (not shown) to facilitate observation by welding operators and reduce the labor intensity of the operators.

[0034] In one embodiment, the welding structure 300 includes a welding gun 310 and a wire guide mechanism 320 for guiding the welding wire into the welding gun 310, and the welding gun 310 and the wire guide mechanism 320 are both arranged on the rotating structure 200. When the rotating structure 200 rotates around the pipe 1 to be welded, the welding gun 310, the wire guide mechanism 320 and the imaging structure 400 are driven to rotate together. The imaging structure 400 is located between the welding gun 310 and the wire guide mechanism 320, so that the imaging structure 400 can capture images of the welding pool 20, the tungsten electrode 311 of the welding gun 310 and the welding wire. The imaging structure 400 located between the welding gun 310 and the wire guide mechanism 320 can completely obtain images of the welding pool 20, the tungsten electrode 311 of the welding gun 310 and the welding wire, and the imaging effect is better.

[0035] In one embodiment, the imaging structure 400 includes an imaging device 410 and an imaging adjustment module 420. The imaging device 410 is used to acquire images in real time. The imaging device 410 includes a lens 411, which can be a camera. The imaging device 410 is arranged in the imaging adjustment module 420, and the imaging adjustment module 420 can adjust the direction of the lens 411 of the imaging device 410 so that the lens 411 can be aligned with the welding pool 20. The imaging adjustment module 420 can be electrically adjusted, with a high degree of automation, and the direction of the lens 411 can be automatically adjusted using a control unit; it can also be manually adjusted, which is more flexible.

[0036] Since there is a certain distance between the rotating structure 200 and the welding pool 20 in the radial direction of the pipe 1 to be welded, the imaging adjustment module 420 and the imaging device 410 are protruded from the rotating structure 200. In one embodiment, a plurality of guide members are protruded from the rotating structure 200, and the guide members are used to wrap the cables of the components of the pipe welding head 10 to fix the cables and prevent them from wrapping around the pipe or other components during the rotation of the rotating structure 200. Among them, the imaging adjustment module 420 is arranged on one of the plurality of guide members.

[0037] The number and position of the guides can be adjusted. Figures 1 to 3 In the embodiment of the pipe welding machine head 10 shown, there are four guide members, all of which are located at the outer edge of the rotating structure 200, namely, the first guide member 510, the second guide member 520, the third guide member 530 and the fourth guide member 540. The first guide member 510 is closer to the welding gun 310 and the wire guide mechanism 320 than the other guide members. Figure 2 , the first guide member 510 is located at Figure 2 On the left side of the figure, the second guide member 520 is located above the right side of the first guide member 510, and the third guide member 530 and the fourth guide member 540 are located below the first guide member 510.

[0038] In one embodiment, according to the requirement that the welding cable 340 needs to be pre-wound around for one circle before welding, the guide member adopts a segmented design. Each guide member includes a first guide segment 501 and a second guide segment 502, and the first guide segment 501 is closer to the rotating structure 200 relative to the second guide segment 502, that is, the first guide segment 501 is located on the inner side of the rotating structure 200, and the second guide segment 502 is located on the outer side of the rotating structure 200. The inner side and the outer side of the rotating structure 200 are the same side, and the distances between the two and the surface of the rotating structure 200 are different. The welding structure 300 also includes a welding cable 340 electrically connected to the welding gun 310, and the imaging structure 400 is electrically connected to an imaging structure cable (not shown). The first guide segment 501 of at least one guide member is used to wrap the welding cable 340, and the second guide segment 502 of at least one guide member is used to wrap the imaging structure cable. The first guide segment 501 can fix the welding cable 340, and the second guide segment 502 can fix the imaging device 410 and the imaging structure cable.

[0039] The welding cable 340 is pre-wound around the first guide section 501 (ie, the inner side) of the guide member in the reverse direction, so that the space between the welding gun 310 and the wire guide mechanism 320 is large enough to facilitate the installation of the imaging structure 400.

[0040] Furthermore, each guide member is provided with a baffle 503, and there are two baffles 503, which are respectively provided at the segmentation of the first guide section 501 and the second guide section 502 and at the end of the second guide section 502 (i.e., the end of the guide member), so as to prevent the cable from slipping out of the guide member and getting stuck in the rotating structure 200 during the rotation process, thereby preventing damage. Figures 1 to 3 As shown, the guide piece is in the shape of a column and has a circular cross section, which is convenient for cable winding and fixing.

[0041] The imaging structure 400 is disposed on the second guide section 502 of the first guide member 510, and further, the imaging adjustment module 420 is disposed on the second guide section 502. The second guide sections 502 of the remaining guide members, namely the second guide member 520, the third guide member 530 and the fourth guide member 540, are used to wind the imaging structure cable. Figure 4 and Figure 5 All of them are schematic diagrams of the imaging structure 400. The imaging adjustment module 420 can rotate around the axial direction of the second guide section 502 of the first guide member 510 to drive the imaging device 410 to rotate, thereby changing the direction of the lens 411. The axis of the first guide member 510 is perpendicular to the rotating structure 200, and the imaging adjustment module 420 can rotate in a first plane, which is parallel to the rotating structure 200.

[0042] Furthermore, the imaging adjustment module 420 has a hollow cylindrical portion, and matches the shape of the second guide section 502 of the first guide member 510. The second guide section of the first guide member 510 can be inserted into the cylindrical portion to achieve the installation of the imaging device 410. The cylindrical portion has an opening, and the locking screw can be tightened in the opening to achieve left-right adjustment (close to or away from the rotating structure 200) and angle adjustment (rotation adjustment in the first plane) of the imaging device 410 on the first guide member 510, so that the lens 411 of the imaging device 410 can be aligned with the welding pool 20.

[0043] In one embodiment, the pipe welding head 10 further includes a welding gun control structure 700, which includes a yaw control member 710 for controlling the position of the welding gun 310 in the axial direction of the rotating structure 200 and an arc pressure control member 720 for controlling the position of the welding gun 310 in the radial direction of the rotating structure 200, wherein the arc pressure control member 720 is disposed on the rotating structure 200, and the yaw control member 710 is mounted on the arc pressure control member 720. The pipe welding head 10 further includes a welding bracket 600 disposed on the rotating structure 200, and the welding bracket 600 is mounted on the yaw control member 710. During the welding process, the arc pressure control member 720 is used to control the vertical height between the tungsten electrode 311 of the welding gun 310 and the pipe wall of the pipe 1 to be welded, and the yaw control member 710 swings to meet the requirements of the weld width and ensure the flexibility of the welding operation.

[0044] In one embodiment, if Figures 1 to 6 As shown, one end of the welding bracket 600 has a bracket mounting portion 620, and the welding bracket 600 is mounted on the yaw control component 710 through the bracket mounting portion 620. The arc voltage control component 720, the yaw control component 710 and the welding bracket 600 can move together. The rotating structure 200 is provided with a guide rail 210 extending in the radial direction of the rotating structure 200, and the arc voltage control component 720 is slidably provided on the guide rail 210. Before being installed on the pipe 1 to be welded, the arc voltage control component 720 can move in the extension direction of the welding bracket 600 under the guidance of the guide rail 210, so as to make the welding bracket 600 away from the pipe 1 to be welded, and further make the welding gun 310 and the wire guide mechanism 320 away from the pipe 1 to be welded. As shown Figure 2 As shown, the guide rail 210 extends in the left-right direction and is located at the top of the rotating structure 200. The rotating structure 200 is also provided with a slider knob 220, which is located above the guide rail 210.

[0045] The yaw control 710 is a linear module structure, which can align the tungsten electrode 311 of the welding gun 310 with the center of the weld before welding; the swing welding process requirements can be achieved during the welding process. The arc voltage control 720 includes two working states, namely manual state and electric state. Before welding, the arc voltage control 720 can be in a manual state. In the manual state, the welding operator can manually adjust the distance between the welding gun 310 and the pipe wall of the pipe 1 to be welded through the guide rail 210, which can adapt to pipes 1 to be welded with different diameters. During the welding process, the arc voltage control 720 can be in an electric state. In the electric state, the arc voltage control 720 can automatically adjust the above distance through the guide rail 210 and the lead screw structure to ensure that the distance between the tungsten electrode 311 of the welding gun 310 and the pipe 1 to be welded remains unchanged.

[0046] Before installing the pipe welding machine head 10 on the pipe to be welded 1, the slider knob 220 on the rotating table can be adjusted to push the arc voltage control member 720, the yaw control member 710 and the welding bracket 600 to the leftmost side of the guide rail 210 (i.e. Figure 2 The left side of the figure is used to prevent the pipeline from hitting the parts of the welding gun 310 and causing damage during the installation process. After the installation is completed, the distance between the tungsten electrode 311 of the welding gun 310 and the pipe wall of the pipe 1 to be welded is adjusted by the arc voltage control part 720, and the slider knob 220 is locked to complete the manual adjustment of the arc voltage control part 720.

[0047] The rotating structure 200 is provided with a limiter, which is located at one end of the guide rail 210 close to the extension direction of the welding bracket 600, that is, Figure 2 The limiting member is used to limit the movement of the arc voltage control member 720 to ensure that the arc voltage control member 720 slides on the guide rail 210. In one embodiment, the limiting member is the second guide member 520.

[0048] like Figure 2 As shown in FIG. 1 , the welding bracket 600 is arc-shaped, which is consistent with the shape of the rotating structure 200. The welding bracket 600 extends from the center of the rotating structure 200 to the Figure 2 The left side of the imaging structure 400 is extended to install the wire guide mechanism 320 and the welding gun 310. There is a certain distance between the wire guide mechanism 320 and the welding gun 310, and a space for accommodating the imaging structure 400 is formed between the two. The above space is in the same vertical plane as the tungsten electrode 311 and the wire guide tube 321 of the welding gun 310, ensuring that the image of the welding molten pool 20 captured by the imaging device 410 includes the entire morphology of the tungsten electrode 311, the molten pool, the welding wire, and the groove, so that the welding operator can adjust the welding parameters according to the actual situation.

[0049] In one embodiment, the wire guide mechanism 320 includes a wire guide tube 321 and a support member 322 for supporting the wire guide tube 321, and the wire guide tube 321 is disposed on the support member 322. The support member 322 has a sliding portion 322a, and the welding bracket 600 has a sliding matching portion 610. The sliding portion 322a and the sliding matching portion 610 are slidably matched, so that the support member 322 can slide relative to the welding bracket 600, and the sliding portion 322a can rotate along its axial direction to change the direction of the wire guide tube 321. Figure 2 , Figure 4 and Figure 6 As shown, the sliding fitting portion 610 is an arc-shaped slot, and the sliding portion 322a is a columnar portion. The width of the arc-shaped slot matches the columnar portion, so that the columnar portion can slide in the slot. Furthermore, the end of the columnar portion cooperates with the nut to prevent the support member 322 from detaching from the arc-shaped slot. Figure 6 As shown, the columnar portion is cylindrical and can move in the arc chute along the length direction of the arc chute to change the position of the wire guide tube 321 in the arc chute. Figure 6 and the columnar portion can rotate in the arc-shaped chute to change the guide wire tube 321 in the Figure 5 The up and down directions in the .

[0050] In one embodiment, the support member 322 is a guide wire adjustment module (hereinafter, reference numeral 322 represents the guide wire adjustment module) for adjusting the guide wire tube 321 to point to. The guide wire adjustment module 322 includes an adjustment base 322e, a first guide wire adjustment unit 322b, a second guide wire adjustment unit 322c and a guide wire clamping unit 322d. The first guide wire adjustment unit 322b can move in a first direction, and the second guide wire adjustment unit 322c can move in a direction perpendicular to the first direction to change the position of the guide wire tube 321 in the first direction and in a direction perpendicular to the first direction.

[0051] Specifically, the adjustment base 322e and the sliding portion 322a are fixedly connected. Figure 4 and Figure 5 As shown, the first guide wire adjustment unit 322b is slidably connected to the adjustment base 322e, and the first guide wire adjustment unit 322b can be Figure 4 The second guide wire adjusting unit 322c is slidably connected to the raised portion of the first guide wire adjusting unit 322b, and the second guide wire adjusting unit 322c can be moved in the AA direction (i.e., the first direction) shown in FIG. Figure 4 and Figure 5 The guide wire clamping unit 322d is used to clamp at least part of the guide wire tube 321, and can be moved in the BB direction (i.e., the direction perpendicular to the first direction) shown in FIG. Figure 4 and Figure 5The movement in the CC direction shown can be understood as the wire guide tube 321 can be pulled in the direction perpendicular to AA in the clamping unit of the wire guide tube 321. The AA direction, the BB direction and the CC direction are perpendicular to each other, realizing the multi-axis adjustment of the wire guide mechanism, meeting the need to adjust the position of the welding wire during the welding process.

[0052] According to welding requirements, the overall multi-dimensional adjustment design of the wire guide mechanism 320 can form a larger space between the welding gun 310 and the wire guide mechanism 320, which is convenient for installing the imaging device 410 and convenient for adjusting the direction of the lens 411, avoiding interference between the wire guide mechanism 320 and the imaging device 410 and the imaging adjustment module 420.

[0053] The first guide wire adjustment unit and the second guide wire adjustment unit 322c can be selected as dovetail groove type micro adjustment units, which have a simple structure and a better adjustment effect.

[0054] In one embodiment, the welding structure 300 further includes a welding gun adjustment module 330 for adjusting the direction of the tungsten electrode 311 of the welding gun 310. The welding gun adjustment module 330 is disposed on the welding bracket 600, and the welding gun 310 is disposed on the welding gun adjustment module 330. The welding gun adjustment module 330 includes a first welding gun adjustment unit 331 and a second welding gun adjustment unit 332. The first welding gun adjustment unit 331 can rotate relative to the welding bracket 600, and the second welding gun adjustment unit 332 can rotate on a plane perpendicular to the rotation plane of the first welding gun adjustment unit 331 to change the position of the tungsten electrode 311 of the welding gun 310. Figure 6 and Figure 7 The first welding gun adjustment unit 331 has a cylindrical first adjustment portion, and the welding bracket 600 has a first adjustment hole adapted to the first adjustment portion, and the first adjustment portion can rotate in the first adjustment hole, that is, Figure 6 The second welding gun adjustment unit 332 has a second adjustment portion in a cylindrical shape, and the first welding gun adjustment unit 331 has a second adjustment hole adapted to the second adjustment portion, and the second adjustment portion can rotate in the second adjustment hole, that is, Figure 7 The EE rotation direction in the welding bracket 600 is a plane perpendicular to the rotation plane. The welding bracket 600 and the welding gun 310 are connected by two axes, so that the welding gun 310 can be adjusted in forward and backward angles, and inward and outward angles.

[0055] refer to Figure 3 and Figure 8In one embodiment, the pipe welding head 10 further includes a clamping structure 800 for clamping the pipe 1 to be welded, and the clamping structure 800 and the rotating structure 200 are respectively arranged on both sides of the base 100. The clamping structure 800 includes a clamping seat 810 fixedly connected to the base 100 and a first clamping arm 820 and a second clamping arm 830 arranged on the clamping seat 810, and the first clamping arm 820 and the second clamping arm 830 are arranged opposite to each other to form an opening for accommodating the pipe 1 to be welded. The clamping structure 800 further includes a first clamp 840 arranged on the inner side of the first clamping arm 820 and a second clamp 850 arranged on the inner side of the second clamping arm 830 to improve the positioning effect of the pipe 1 to be welded.

[0056] The clamping structure 800 also includes a clamp opening adjustment knob 880 and a handle 890. The distance between the first clamp 840 and the second clamp 850 can be adjusted by rotating the clamp opening adjustment knob 880 to allow the pipe to enter, so as to adapt to pipes 1 to be welded of different diameters. The distance between the first clamp 840 and the second clamp 850 can be locked by rotating the handle 890 to clamp the pipe.

[0057] The clamping structure 800 further includes a support plate 860 for positioning the pipe 1 to be welded. The states of the support plate 860 include a locked state and an active state. When the support plate 860 is in the locked state, the support plate 860 is fixedly arranged on the clamping seat 810. When the support plate 860 is in the active state, the support plate 860 can move relative to the clamping seat 810, whereby the support plate 860 can abut against the pipe 1 to be welded when the pipe 1 to be welded is installed.

[0058] Continue to refer Figure 8 , the support plate 860 has an indicator line (not shown), and the clamping seat 810 has at least one scale line 811 corresponding to the diameter of the pipe 1 to be welded. When the support plate 860 is in an active state, the support plate 860 can be moved to a corresponding position by aligning the indicator line with the scale line 811 corresponding to the diameter of the pipe 1 to be welded, so that the position change of the support plate 860 has a positioning function of positioning the pipe 1 to be welded with the corresponding diameter. The clamping structure 800 also includes a fastener 870, and the support plate 860 has a limiting portion 861. When the support plate 860 is in a locked state, the fastener 870 passes through the limiting portion 861 and is fastened to the clamping seat 810.

[0059] The support plate 860 can be adjusted according to the pipe diameter to be at a position corresponding to the pipe diameter height, so as to achieve placement and positioning before clamping, and adapt to clamping of pipes with different pipe diameters. The support plate 860 can be placed and positioned before the clamping structure 800 clamps the pipe 1 to be welded, which can save more effort and reduce labor intensity during the subsequent installation of pipes with the same pipe diameter, and facilitate operators to quickly adjust and install; and can improve the fixing effect of the pipe during the welding process.

[0060] Before installing the pipe welding head 10, loosen the fastener 870 on the support plate 860 and align the indicator line on the support plate 860 with the scale line 811. Then tighten the fastener 870, place the pipe welding head 10 on the pipe 1 to be welded, adjust the handle 890 and the clamp opening adjustment knob 880, clamp the first clamp 840 and the second clamp 850 on the pipe, and complete the installation of the pipe welding head 10. According to the on-site construction experience, the indicator lines of the support plate 860 of different pipe diameters and the scale line 811 on the clamping seat 810 can be set according to the coverage range of the first clamp 840 and the second clamp 850, so as to facilitate the operator to quickly adjust and install.

[0061] like Figure 8 As shown, there is one scale line 811, corresponding to the pipe 1 to be welded with a diameter of 114.3 mm. According to actual conditions, there can be two or more scale lines 811, corresponding to pipes 1 to be welded with different diameters, respectively, to expand the applicability of the clamping structure 800.

[0062] In one embodiment, if Figure 1 , Figure 4 and Figure 5 As shown, the welding cable 340 has a connecting section 341, which extends in the axial direction of the rotating structure 200, and one end of the connecting section 341 is connected to the welding gun 310. Figure 5 , connecting section 341 at Figure 5 The lateral connection design and lateral connection method of the welding cable 340 are beneficial to the spatial design of the welding gun 310, and prevent the welding cable 340 from blocking the space for personnel to observe the welding gun 310 during welding.

[0063] In one embodiment, the pipe welding head 10 further includes a wire feeder 910 and a wire feeding reel mounting box 920 disposed on the rotating structure 200 to achieve stable feeding and recovery of the welding wire.

[0064] The pipe welding head 10 provided by the utility model is a visual pipe full-position automatic welding head, which belongs to welding automation equipment. Taking the installation process of a pipe with a diameter of 114.3 mm in the installation industry as an example, the following is a specific implementation process of an embodiment of the pipe welding head 10 of the utility model:

[0065] Before installation, adjust the linear slider knob 220 on the rotating table, push the arc voltage control component 720, the sway control component 710 and the welding bracket 600 to the leftmost side of the guide rail 210 to prevent the welded pipe 1 from hitting the components of the pipe welding head 10 and causing damage during the installation process.

[0066] Before welding, determine that the diameter of the pipe 1 to be welded is 114.3 mm, align the indicator line of the support plate 860 with the 114.3 mm scale line 811 on the clamping seat 810, adjust the clamp opening adjustment knob 880 to make the opening larger than 114.3 mm, place the pipe welding machine head 10 on the pipe 1 to be welded, and adjust the handle 890 so that the first clamp 840 and the second clamp 850 are clamped on the pipe 1 to be welded.

[0067] After the pipe welding machine head 10 is installed, the arc voltage control member 720 is pushed, the distance between the welding gun 310 and the pipe wall is adjusted to 3-5 mm, and the slider knob 220 is locked.

[0068] Then adjust the welding gun 310, the wire guide mechanism 320 and the imaging structure 400 so that they are as follows: Figure 2 As shown, the welding wire can be delivered to the position of the welding pool 20, and the lens 411 of the imaging device 410 points to the position of the welding pool 20. At the same time, the lens 411 is adjusted to make the captured image clear.

[0069] The rotating structure 200 is controlled to rotate in the opposite direction of welding, so that the welding cable 340 is wound around the first guide sections 501 of the plurality of guide members to form a circle of cable.

[0070] During the welding process, the welding operator can directly monitor the welding process through the real-time welding molten pool 20 image captured by the imaging device 410, so as to avoid the occurrence of welding defects due to the small front end space of the welding gun 310 and the poor viewing angle that cannot observe or capture the molten pool.

[0071] Although the utility model is disclosed as above with preferred embodiments, it is not intended to limit the utility model. Any person skilled in the art can make possible changes and modifications without departing from the spirit and scope of the utility model. Therefore, any modification, equivalent change and modification made to the above embodiments based on the technical essence of the utility model without departing from the content of the technical solution of the utility model shall fall within the protection scope defined by the claims of the utility model.

Claims

1. A pipeline welding head, comprising: A base for fixed connection with the pipe to be welded; A rotating structure rotatably arranged on the base, wherein the rotating structure can rotate along the circumference of the pipe to be welded; A welding structure for welding a weld, wherein the welding structure is arranged on the rotating structure, and the rotating structure is used to drive the welding structure to rotate in the circumferential direction of the pipe to be welded; It is characterized in that the pipe welding machine head also includes an imaging structure arranged on the rotating structure, and the imaging structure can point to the welding pool and be used to capture the image of the welding pool.

2. The pipe welding head according to claim 1, characterized in that: The welding structure comprises a welding gun and a wire guide mechanism for guiding welding wire into the welding gun, and the welding gun and the wire guide mechanism are both arranged on the rotating structure; The imaging structure is located between the welding gun and the wire guide mechanism, so that the imaging structure can capture images of the welding pool, the tungsten electrode of the welding gun, and the welding wire.

3. The pipe welding head according to claim 2, characterized in that: A plurality of guide members are protruding from the rotating structure, and the guide members include a first guide segment and a second guide segment, and the first guide segment is closer to the rotating structure than the second guide segment; The welding structure also includes a welding cable electrically connected to the welding gun, the imaging structure is electrically connected to the imaging structure cable, the first guide section of at least one of the guide members is used to wind the welding cable, and the second guide section of at least one of the guide members is used to wind the imaging structure cable.

4. The pipe welding head according to claim 3, characterized in that: The plurality of guide members include a first guide member, the first guide member is closer to the welding gun and the wire guide mechanism than the other guide members, the imaging structure is arranged on the second guide section of the first guide member, and the second guide sections of the other guide members are used to wind the imaging structure cable; The imaging structure comprises an imaging device and an imaging adjustment module, the imaging device comprises a lens, the imaging adjustment module is arranged on the second guide section, and the imaging device is arranged on the imaging adjustment module; The imaging adjustment module can rotate around the axial direction of the second guide section of the first guide member to drive the imaging device to rotate, thereby changing the direction of the lens.

5. The pipe welding head according to any one of claims 2 to 4, characterized in that: The wire guide mechanism comprises a wire guide tube and a support member for supporting the wire guide tube, and the wire guide tube is arranged on the support member; The pipe welding machine head also includes a welding bracket arranged on the rotating structure, the support member has a sliding portion, and the welding bracket has a sliding matching portion. The sliding portion and the sliding matching portion are slidably matched, so that the support member can slide relative to the welding bracket, and the sliding portion can rotate along its axial direction to change the direction of the wire guide tube.

6. The pipe welding head according to claim 5, characterized in that: The support member is a guide wire adjustment module for adjusting the direction of the guide wire tube, and the guide wire adjustment module includes a first guide wire adjustment unit and a second guide wire adjustment unit; The first guide wire adjusting unit can move in a first direction, and the second guide wire adjusting unit can move in a direction perpendicular to the first direction, so as to change the position of the guide wire tube in the first direction and in a direction perpendicular to the first direction.

7. The pipe welding head according to claim 5, characterized in that: The welding structure further comprises a welding gun adjusting module for adjusting the direction of the tungsten electrode of the welding gun, the welding gun adjusting module is arranged on the welding bracket, and the welding gun is arranged on the welding gun adjusting module; The welding gun adjustment module includes a first welding gun adjustment unit and a second welding gun adjustment unit; The first welding gun adjusting unit can rotate relative to the welding bracket, and the second welding gun adjusting unit can rotate on a plane perpendicular to the rotation plane of the first welding gun adjusting unit to change the position of the tungsten electrode of the welding gun.

8. The pipe welding head according to claim 5, characterized in that: The pipeline welding machine head further includes a welding gun control structure, the welding gun control structure includes a yaw control component for controlling the position of the welding gun in the axial direction of the rotating structure and an arc pressure control component for controlling the position of the welding gun in the radial direction of the rotating structure, the arc pressure control component is arranged on the rotating structure, the yaw control component is mounted on the arc pressure control component, and the welding bracket is mounted on the yaw control component; The rotating structure is provided with a guide rail extending in the radial direction of the rotating structure, and the arc voltage control member is slidably arranged on the guide rail; Before being installed on the pipe to be welded, the arc voltage control member can move in the extension direction of the welding bracket under the guidance of the guide rail, so that the welding bracket is away from the pipe to be welded, and then the welding gun and the wire guide mechanism are away from the pipe to be welded; The rotating structure is provided with a limiting member, and the limiting member is located at one end of the guide rail close to the extending direction of the welding bracket, and the limiting member is used to limit the movement of the arc voltage control member.

9. The pipe welding head according to any one of claims 1 to 4, characterized in that: The pipe welding machine head further comprises a clamping structure for clamping the pipe to be welded, wherein the clamping structure and the rotating structure are respectively arranged on two sides of the base; The clamping structure comprises a clamping seat fixedly connected to the base, and a first clamping arm and a second clamping arm arranged on the clamping seat, wherein the first clamping arm and the second clamping arm are arranged opposite to each other to form an opening for accommodating the pipe to be welded; The clamping structure also includes a support plate for positioning the pipe to be welded, and the states of the support plate include a locked state and an active state. When the support plate is in the locked state, the support plate is fixedly arranged on the clamping seat; when the support plate is in the active state, the support plate can move relative to the clamping seat, whereby the support plate can be abutted against the pipe to be welded when the pipe to be welded is installed.

10. The pipe welding head according to claim 9, characterized in that: The support plate has an indicator line, and the clamping seat has at least one scale line corresponding to the pipe diameter of the pipe to be welded; When the support plate is in the active state, the support plate can move to a corresponding position by aligning the indicator line with the scale line corresponding to the pipe diameter of the pipe to be welded, so that the position change of the support plate has a positioning effect of positioning the pipe to be welded of the corresponding pipe diameter.

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