Joint type pipe exterior pipe climbing robot and flexible welding mechanism

Abstract

The utility model relates to the technical field of flexible welding, in particular to a joint type external pipe climbing robot and a flexible welding mechanism, which comprise a welding mechanical arm, the welding mechanical arm is used for welding a pipeline, and a connecting rod and a welding head which are fixedly connected are arranged on the welding mechanical arm. The connecting rod is provided with a cleaning part used for cleaning the welding position. The cleaning part comprises a telescopic part, a connecting part and a cleaning head; the top end of the telescopic part is hinged to the connecting rod through a first pin shaft, the bottom end of the telescopic part is hinged to the middle of the connecting part through a second pin shaft, and the distance between the top end and the bottom end of the telescopic part is adjusted through telescopic movement of the telescopic part. The cleaning part is arranged at the position of the welding head, and the telescopic part, the connecting part and the cleaning head are matched with one another, so that the position to be welded can be repeatedly scrubbed, the cleanness of the position to be welded is ensured, and the condition of insufficient welding or infirm welding is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of flexible welding, in particular to an articulated outer-pipe climbing robot and a flexible welding mechanism. Background Art

[0002] The outside pipe climbing robot is usually equipped with a flexible welding mechanism to perform welding operations on the outside of the pipeline. The flexible welding mechanism generally refers to a welding robot arm, which can adjust the welding angle so as to perform welding operations at the optimal welding angle.

[0003] When there are holes on the outside of the pipeline that need to be welded, the flexible welding mechanism will be sent to the location to be welded by the pipe climbing robot, and then the flexible welding mechanism will be used for welding. However, in actual operation, the location to be welded is usually in a position that workers cannot approach, so the pollutants in the location to be welded cannot be manually cleaned. At this time, when the flexible welding mechanism is directly used to weld the uncleaned location to be welded, it is easy to have problems such as cold welding or loose welding. Utility Model Content

[0004] The utility model aims to provide an articulated outer-pipe climbing robot and a flexible welding mechanism to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the utility model provides the following technical solutions: a flexible welding mechanism, comprising a welding mechanical arm, the welding mechanical arm is used for welding pipes, and the welding mechanical arm is provided with a fixedly connected connecting rod and a welding head, and the connecting rod is provided with a cleaning component for cleaning the welding position;

[0006] The cleaning component comprises a telescopic portion, a connecting portion and a cleaning head;

[0007] The top end of the telescopic part is hinged to the connecting rod through a first pin, and the bottom end of the telescopic part is hinged to the middle part of the connecting part through a second pin, wherein the distance between the top end and the bottom end of the telescopic part is adjusted by its own telescopic movement;

[0008] One end of the connecting portion is hinged to the connecting rod through a third pin, and the other end of the connecting portion is connected to the cleaning head;

[0009] The first pin shaft, the second pin shaft and the third pin shaft are parallel to each other;

[0010] The telescopic part drives the cleaning head to perform arc-shaped reciprocating motion around the axis of the third pin shaft through a reciprocating telescopic action.

[0011] Preferably, the cleaning component further comprises a bracket, the bottom end of the bracket is fixedly connected to the connecting rod, and the top end of the bracket is hinged to the top end of the telescopic part via a first pin.

[0012] Preferably, the two connecting parts are respectively arranged on both sides of the welding head;

[0013] The cleaning head is connected in the middle of the other ends of the two connecting parts.

[0014] Preferably, the connecting portion includes a first transverse plate, a second transverse plate, a slide rail and a spring;

[0015] One end of the first cross plate is hinged to the connecting rod through a third pin shaft, the other end of the first cross plate is slidably connected to the second cross plate through the slide rail, the cleaning head is fixedly connected to the second cross plate, and the two ends of the spring are respectively fixedly connected to the first cross plate and the cleaning head.

[0016] Preferably, the cleaning head comprises a cotton sleeve and a frame;

[0017] The cotton sleeve is arranged on the outer side of the frame.

[0018] Preferably, the telescopic portion comprises a telescopic cylinder and a vertical plate;

[0019] The top end of the telescopic cylinder is hinged to the top end of the bracket through a first pin;

[0020] The bottom end of the telescopic cylinder is fixedly connected to the vertical plate;

[0021] The bottom end of the vertical plate is hinged to the first horizontal plate through a second pin shaft.

[0022] An articulated outer-pipe climbing robot comprises the above-mentioned flexible welding mechanism.

[0023] Compared with the prior art, the beneficial effects of the utility model are:

[0024] The utility model arranges a cleaning component at the welding head position, and utilizes the mutual cooperation among the telescopic part, the connecting part and the cleaning head to scrub the welding position for multiple times, thereby ensuring the cleanliness of the welding position and avoiding the occurrence of false welding or loose welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of a welding robot arm in the prior art;

[0026] Figure 2 It is a schematic diagram of the overall structure of the utility model;

[0027] Figure 3 It is a structural schematic diagram of the cleaning component of the utility model;

[0028] Figure 4 For this utility model Figure 3 Enlarged structural diagram at A in the middle.

[0029] In the figure: 1. welding robot arm; 11. connecting rod; 12. welding head; 2. pipeline; 3. cleaning component; 31. telescopic part; 311. telescopic cylinder; 312. vertical plate; 32. bracket; 33. connecting part; 331. first horizontal plate; 332. second horizontal plate; 333. slide rail; 334. spring; 34. cleaning head; 341. cotton sleeve; 342. frame. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] See also Figure 1-Figure 4 , the utility model provides a technical solution:

[0032] A flexible welding mechanism includes a welding robot arm 1, the welding robot arm 1 is used to weld a pipe 2, and the welding robot arm 1 is provided with a fixedly connected connecting rod 11 and a welding head 12, wherein the connecting rod 11 is used to fixedly connect the welding head 12 and the swing arm of the welding robot arm 1, so that the swing arm of the welding robot arm 1 can drive the welding head 12 to move together to adjust the position of the welding head 12. The above is the prior art and will not be further elaborated here.

[0033] The difference between the present invention and the prior art is that: Figure 2-Figure 4 As shown, in this embodiment, a cleaning component 3 for cleaning the welding position is provided on the connecting rod 11; the specific structure and specific principle of the cleaning component 3 are as follows.

[0034] Specifically, the cleaning component 3 includes a telescopic portion 31, a connecting portion 33 and a cleaning head 34. The cleaning head 34 performs arc-shaped reciprocating motion under the cooperative drive of the telescopic portion 31 and the connecting portion 33, so that the welding position can be scrubbed multiple times to remove pollutants at the welding position and improve the firmness after welding.

[0035] The top of the telescopic part 31 is hinged to the connecting rod 11 through a first pin, and the bottom of the telescopic part 31 is hinged to the middle of the connecting part 33 through a second pin. The distance between the top and bottom of the telescopic part 31 is adjusted by its own telescopic movement. When the telescopic part 31 is extended, the distance between the top and bottom of the telescopic part 31 increases. Conversely, when the telescopic part 31 is contracted, the distance between the top and bottom of the telescopic part 31 decreases. One end of the connecting part 33 is hinged to the connecting rod 11 through a third pin, and the other end of the connecting part 33 is connected to the cleaning head 34; and the first pin, the second pin and the third pin are parallel to each other.

[0036] The telescopic portion 31 drives the cleaning head 34 to perform arc-shaped reciprocating motion around the axis of the third pin shaft through a reciprocating telescopic action.

[0037] In actual use, such as Figure 2-Figure 4 As shown, at this time, the telescopic portion 31 is arranged vertically, the connecting portion 33 is arranged horizontally, and the cleaning head 34 is against the position to be welded; the telescopic portion 31 is started and gradually extended, and the telescopic portion 31 at this time will push the connecting portion 33 to move downward through the second pin shaft. Since one end of the connecting portion 33 is hinged to the connecting rod 11 through the third pin shaft, the gradual extension of the telescopic portion 31 will push the cleaning head 34 arranged at the other end of the connecting portion 33 to make an arc movement downward around the axis of the third pin shaft; when the telescopic portion 31 is extended to a predetermined length, The telescopic portion 31 starts to contract, thereby driving the connecting portion 33 and the cleaning head 34 to return from the position below the welding head 12 to the state shown in the figure, and then driving the cleaning head 34 to make an arc movement upward around the axis of the third pin shaft. In this cycle, the cleaning head 34 can be used to scrub the position to be welded multiple times; after the scrubbing is completed, the telescopic portion 31 is used to drive the cleaning head 34 to move upward around the axis of the third pin shaft to the highest position. At this time, the cleaning head 34 avoids the end of the welding head 12 and will not affect the welding operation of the welding head 12 on the position to be welded.

[0038] In the above scheme, by setting the cleaning component 3 at the welding head 12, the telescopic part 31, the connecting part 33 and the cleaning head 34 cooperate with each other, so that the welding position can be scrubbed multiple times to ensure the cleanliness of the welding position and avoid the occurrence of cold welding or loose welding.

[0039] like Figure 2-Figure 4 As shown, the cleaning component 3 also includes a bracket 32, the bottom end of the bracket 32 ​​is fixedly connected to the connecting rod 11. In this embodiment, Figure 3 As shown, the bracket 32 ​​is substantially L-shaped, and the top end of the bracket 32 ​​is hinged to the top end of the telescopic portion 31 through a first pin.

[0040] In this embodiment, two connecting parts 33 are provided, and the two connecting parts 33 are respectively arranged on both sides of the welding head 12; and the cleaning head 34 is connected in the middle of the other ends of the two connecting parts 33, as shown in the figure. At this time, the two connecting parts 33 cooperate with one cleaning head 34 to protect the welding head 12 and prevent the welding head 12 from being damaged due to accidental impact.

[0041] like Figure 2-Figure 4 As shown, the connecting part 33 includes a first transverse plate 331, a second transverse plate 332, a slide rail 333 and a spring 334; specifically, one end of the first transverse plate 331 is hinged to the connecting rod 11 through a third pin shaft, so that the first transverse plate 331 can rotate around the axis of the third pin shaft, and the other end of the first transverse plate 331 is slidably connected to the second transverse plate 332 through the slide rail 333, so that the second transverse plate 332 can slide on the first transverse plate 331, and the cleaning head 34 is fixedly connected to the second transverse plate 332, that is, the distance between the cleaning head 34 and the first transverse plate 331 is adjustable, and the two ends of the spring 334 are respectively fixedly connected to the first transverse plate 331 and the cleaning head 34.

[0042] In actual use, such as Figure 3-Figure 4 As shown, the spring 334 is in a contracted state at this time, and the elastic force of the spring 334 acts on the cleaning head 34, so that the cleaning head 34 is squeezed at the position to be welded with a certain force. Similarly, when the cleaning head 34 makes an arc-shaped reciprocating motion, whenever the cleaning head 34 is in a state as shown in FIG. Figure 2-Figure 4 In the state shown, the cleaning head 34 is pressed against the position to be welded with a certain force, thereby improving the effect of the cleaning head 34 in scrubbing the pollutants at the position to be welded.

[0043] In this embodiment, the cleaning head 34 includes a cotton sleeve 341 and a frame 342 . The frame 342 can be made of plastic or metal, and the cotton sleeve 341 can be made of sponge material. The cotton sleeve 341 is sleeved on the outside of the frame 342 .

[0044] In this embodiment, the telescopic part 31 includes a telescopic cylinder 311 and a vertical plate 312. The telescopic part 31 can be an electric push rod; the top of the telescopic cylinder 311 is hinged to the top of the bracket 32 ​​through a first pin shaft; the bottom end of the telescopic cylinder 311 is fixedly connected to the vertical plate 312; the bottom end of the vertical plate 312 is hinged to the first horizontal plate 331 through a second pin shaft.

[0045] An articulated outside-pipe climbing robot can move along a vertically or horizontally arranged pipeline. The robot includes the above-mentioned flexible welding mechanism, which is installed on the robot so that the articulated outside-pipe climbing robot can perform welding and other work on the pipeline while moving along the pipeline.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A flexible welding mechanism, comprising a welding mechanical arm, the welding mechanical arm is used for welding pipelines, and the welding mechanical arm is provided with a connecting rod and a welding head fixedly connected, characterized in that: The connecting rod is provided with a cleaning component for cleaning the welding position; The cleaning component comprises a telescopic portion, a connecting portion and a cleaning head; The top end of the telescopic part is hinged to the connecting rod through a first pin, and the bottom end of the telescopic part is hinged to the middle part of the connecting part through a second pin, wherein the distance between the top end and the bottom end of the telescopic part is adjusted by its own telescopic movement; One end of the connecting portion is hinged to the connecting rod through a third pin, and the other end of the connecting portion is connected to the cleaning head; The first pin shaft, the second pin shaft and the third pin shaft are parallel to each other; The telescopic part drives the cleaning head to perform arc-shaped reciprocating motion around the axis of the third pin shaft through a reciprocating telescopic action.

2. A flexible welding mechanism according to claim 1, characterized in that: The cleaning component also includes a bracket, the bottom end of the bracket is fixedly connected to the connecting rod, and the top end of the bracket is hinged to the top end of the telescopic part through a first pin shaft.

3. A flexible welding mechanism according to claim 1, characterized in that: The two connecting parts are respectively arranged on both sides of the welding head; The cleaning head is connected in the middle of the other ends of the two connecting parts.

4. A flexible welding mechanism according to claim 2, characterized in that: The connecting part includes a first transverse plate, a second transverse plate, a slide rail and a spring; One end of the first cross plate is hinged to the connecting rod through a third pin shaft, the other end of the first cross plate is slidably connected to the second cross plate through the slide rail, the cleaning head is fixedly connected to the second cross plate, and the two ends of the spring are respectively fixedly connected to the first cross plate and the cleaning head.

5. A flexible welding mechanism according to claim 4, characterized in that: The cleaning head comprises a cotton sleeve and a frame; The cotton sleeve is arranged on the outer side of the frame.

6. A flexible welding mechanism according to claim 5, characterized in that: The telescopic part includes a telescopic cylinder and a vertical plate; The top end of the telescopic cylinder is hinged to the top end of the bracket through a first pin; The bottom end of the telescopic cylinder is fixedly connected to the vertical plate; The bottom end of the vertical plate is hinged to the first horizontal plate through a second pin shaft.

7. An articulated outer pipe climbing robot, characterized in that: The robot comprises the flexible welding mechanism according to any one of claims 1-6.

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