Automatic obstacle avoidance weld joint welding robot device

Abstract

The utility model relates to the technical field of welding robots, and discloses an automatic obstacle avoidance weld joint welding robot device which comprises a welding robot, an obstacle avoidance assembly is arranged at the top of the welding robot and used for adjusting the position to avoid being in contact with obstacles in the moving process, and an annular adjusting assembly is arranged at the top of the obstacle avoidance assembly and used for adjusting the position of the welding robot. And the annular adjusting assembly can achieve annular adjustment for welding. According to the automatic obstacle avoidance weld joint welding robot device, the obstacle avoidance assembly is installed, obstacles in the moving process can be detected through a monitor, a limiting frame can limit a combined shaft on the inner side, the combined shaft can assist an overturning sleeve to conduct overturning adjustment, and therefore the obstacle avoidance effect is improved. The telescopic push rod can drive the welding frame at the top to turn over and adjust through control, and then can control the semi-annular track at the top to turn over at the same time, so that obstacles on the outer side of the pipeline can be avoided through turning over, and normal movement of the welding robot is prevented from being influenced.

Description

Technical Field

[0001] The utility model relates to the technical field of welding robots, in particular to an automatic obstacle-avoiding welding seam welding robot device. Background Art

[0002] When welding pipeline welds, in order to reduce manpower and reduce the impact on human health, a welding robot is usually used to weld the pipeline welds. The existing welding robot can control the robot to adjust the position through the driving structure at the bottom, thereby adjusting the welding position.

[0003] In the prior art, when in use, a connecting bracket structure is usually distributed on the surface of the existing pipeline. When welding the pipeline weld, the connecting bracket structure easily affects the movement of the welding robot, causing the welding gun to hit the connecting bracket and cause damage. Summary of the invention

[0004] The utility model aims to provide an automatic obstacle avoidance welding robot device to solve the problem in the above-mentioned background technology that when performing pipeline welding, the support structure used for connection easily affects the movement of the welding robot, causing the welding gun to hit the connecting support and cause damage. By providing an obstacle avoidance component, it is possible to flexibly detect and adjust the flipping to avoid obstacles such as the support.

[0005] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0006] An automatic obstacle avoidance welding seam welding robot device comprises a welding robot, an obstacle avoidance component is arranged on the top of the welding robot, and the obstacle avoidance component is used to adjust the position to avoid contact with obstacles during movement, and an annular adjustment component is arranged on the top of the obstacle avoidance component, and the annular adjustment component can realize annular adjustment for welding;

[0007] The obstacle avoidance component includes a monitor, and the obstacle avoidance component includes two groups of limit frames, a combination shaft is arranged on the inner side of the upper end of the limit frame, and a welding frame is movably arranged on the top of the outer side of the combination shaft, four groups of limit sleeves are arranged below the two ends of the welding frame, and a flip shaft is arranged on the inner side of the limit sleeve, and a telescopic push rod is arranged in the middle of the two groups of flip shafts;

[0008] The annular adjustment assembly includes two groups of semi-annular tracks, and the interior of the semi-annular tracks is provided with tooth grooves, the inner side of the tooth grooves is movably provided with driving gears, and the input end of the driving gears is provided with a driving motor, and the outer side of the driving motor is provided with a sliding frame.

[0009] Preferably, four sets of driving wheels are installed at the bottom of the welding robot, and a protective cover is installed at the top of the monitor.

[0010] Preferably, a positioning plate is installed at the bottom of the limiting frame, and the positioning plate is located at the top of the welding robot, and a turning sleeve is installed at the bottom of the welding frame, and the turning sleeve is located outside the combined shaft.

[0011] Preferably, a piston rod is provided at the output end of the telescopic push rod, and the piston rod is located at the bottom of the flip shaft.

[0012] Preferably, limit rings are installed on the outer side and inner side of the semi-circular track, and the limit rings are located on the inner side of the sliding frame. Two groups of adjustment rods are installed on the back of the sliding frame, and two groups of pipes are arranged in the middle of the semi-circular track.

[0013] Preferably, a welding gun is provided on the inner side of the front side of the sliding frame, and a limit frame is installed on the front side of the sliding frame, an adjusting motor is provided on the top of the limit frame, and an anti-slip wheel is provided on the output end of the adjusting motor, the anti-slip wheel is located on the front side of the welding gun, and two groups of limit grooves are opened on the inner side of the sliding frame, and the limit grooves are located on the outer side of the limit ring.

[0014] Preferably, a fixing frame is installed on the back of the adjusting rod, and strong springs are arranged on the inner sides of the upper and lower ends of the fixing frame, a movable shaft is installed at the end of the strong spring, and a stabilizing wheel is arranged on the outer side of the movable shaft.

[0015] Preferably, a splicing tube is provided on the inner side of the pipeline, and a connecting frame is installed in the middle of the splicing tube.

[0016] Compared with the prior art, the beneficial effects achieved by the utility model are:

[0017] 1. The utility model is equipped with an obstacle avoidance component, and the monitor can be used to detect obstacles during the movement. The limit frame can provide restrictions for the inner combined axis, and the combined axis can assist the flip sleeve in flip adjustment. The telescopic push rod can drive the top welding frame to flip and adjust through control. After flipping, the top semi-circular track can be controlled to flip at the same time. Flipping can avoid obstacles on the outside of the pipeline, thereby avoiding affecting the normal movement of the welding robot.

[0018] 2. The utility model is equipped with an annular adjustment component. When the existing welding robot performs pipeline welding, it needs to control the pipeline to flip, and it is impossible to directly weld a circle of the pipeline. By providing a semi-annular track, it can be combined into an overall annular structure, and the inner tooth groove can be spliced ​​with the driving gear. When the driving motor controls the driving gear to rotate, the position can be moved along the inner side of the tooth groove. When moving, the sliding frame will flip along the outer side of the semi-annular track. The flipping process can weld a circle of the pipeline in all directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the welding frame structure of the utility model;

[0021] Figure 3 This is a schematic diagram of the semi-circular track structure of the utility model;

[0022] Figure 4 This is a schematic diagram of the sliding frame structure of the utility model;

[0023] Figure 5 This is a schematic diagram of the structure of the stabilizing wheel of the utility model.

[0024] Among them: 1. welding robot; 101. driving wheel; 102. monitor; 103. protective cover; 2. welding frame; 201. positioning plate; 202. limiting frame; 203. combined shaft; 204. flip sleeve; 3. telescopic push rod; 301. limiting sleeve; 302. flip shaft; 303. piston rod; 4. semi-circular track; 401. limiting ring; 402. tooth groove; 5. sliding frame; 501. limiting groove; 502. driving motor; 503. driving gear; 504. welding gun; 505. limiting frame; 506. adjusting motor; 507. anti-skid wheel; 6. stabilizing wheel; 601. adjusting rod; 602. fixing frame; 603. strong spring; 604. movable shaft; 7. pipeline; 701. splicing pipe; 702. connecting frame. DETAILED DESCRIPTION

[0025] 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.

[0026] See also Figure 1-5 An automatic obstacle avoidance welding seam welding robot device includes a welding robot 1, an obstacle avoidance component is arranged on the top of the welding robot 1, and the obstacle avoidance component is used to adjust the position to avoid contact with obstacles during movement, and a ring-shaped adjustment component is arranged on the top of the obstacle avoidance component, and the ring-shaped adjustment component can realize ring-shaped adjustment for welding;

[0027] The obstacle avoidance component includes a monitor 102, and the obstacle avoidance component includes two groups of limit frames 202, a combination shaft 203 is arranged on the inner side of the upper end of the limit frame 202, and a welding frame 2 is movably arranged on the top of the outer side of the combination shaft 203, four groups of limit sleeves 301 are arranged below the two ends of the welding frame 2, and a flip shaft 302 is arranged on the inner side of the limit sleeve 301, and a telescopic push rod 3 is arranged in the middle of the two groups of flip shafts 302;

[0028] The annular adjustment assembly includes two groups of semi-annular tracks 4, and a tooth groove 402 is opened inside the semi-annular track 4, a driving gear 503 is movably arranged inside the tooth groove 402, and a driving motor 502 is arranged at the input end of the driving gear 503, and a sliding frame 5 is arranged outside the driving motor 502.

[0029] Through the above technical solution, the monitor 102 can be used to detect obstacles during the movement, the limit frame 202 can provide restrictions for the inner combined shaft 203, and the combined shaft 203 can assist the flip sleeve 204 in flipping adjustment. The telescopic push rod 3 can drive the top welding frame 2 to flip and adjust through control. After flipping, the top semi-circular track 4 can be controlled to flip at the same time. Flipping can avoid obstacles on the outside of the pipe 7, thereby avoiding affecting the normal movement of the welding robot 1.

[0030] Through the above technical solution, a semi-circular track 4 can be provided to form an overall annular structure, and the inner tooth groove 402 can be spliced ​​with the driving gear 503. When the driving motor 502 controls the driving gear 503 to rotate, the position can be moved along the inner side of the tooth groove 402. When moving, the sliding frame 5 will flip along the outer side of the semi-circular track 4. The flipping process can weld a circle of the pipe 7 in all directions.

[0031] Specifically, four sets of driving wheels 101 are installed at the bottom of the welding robot 1 , and a protective cover 103 is installed on the top of the monitor 102 .

[0032] Through the above technical solution, the driving wheel 101 can provide support for the overall structure of the top and can drive the device to move, and the protective cover 103 can be used to protect the monitor 102.

[0033] Specifically, a positioning plate 201 is installed at the bottom of the limiting frame 202 , and the positioning plate 201 is located at the top of the welding robot 1 . A turning sleeve 204 is installed at the bottom of the welding frame 2 , and the turning sleeve 204 is located outside the combined shaft 203 .

[0034] Through the above technical solution, the positioning plate 201 can weld and install the structure, and the flip sleeve 204 can control the welding frame 2 to flip and adjust.

[0035] Specifically, a piston rod 303 is provided at the output end of the telescopic push rod 3 , and the piston rod 303 is located at the bottom of the flip shaft 302 .

[0036] Through the above technical solution, the piston rod 303 can drive the welding frame 2 to flip and avoid obstacles under the control of the telescopic push rod 3.

[0037] Specifically, the outer and inner sides of the semi-circular track 4 are installed with limit rings 401 , and the limit rings 401 are located on the inner side of the sliding frame 5 , two groups of adjustment rods 601 are installed on the back of the sliding frame 5 , and two groups of pipes 7 are arranged in the middle of the semi-circular track 4 .

[0038] Through the above technical solution, the limiting ring 401 is used to limit the sliding frame 5, thereby increasing stability.

[0039] Specifically, a welding gun 504 is arranged on the inner side of the front of the sliding frame 5, and a limit frame 505 is installed on the front of the sliding frame 5, an adjusting motor 506 is arranged on the top of the limit frame 505, and an anti-slip wheel 507 is arranged on the output end of the adjusting motor 506, and the anti-slip wheel 507 is located on the front of the welding gun 504, and two groups of limit grooves 501 are opened on the inner side of the sliding frame 5, and the limit grooves 501 are located on the outer side of the limit ring 401.

[0040] Through the above technical solution, the welding gun 504 can weld the pipe 7, and the anti-slip wheel 507 inside the limit frame 505 can be controlled to rotate by adjusting the motor 506, and after the rotation, the welding gun 504 will be driven to adjust the position.

[0041] Specifically, a fixed frame 602 is installed on the back of the adjustment rod 601, and strong springs 603 are arranged on the inner sides of the upper and lower ends of the fixed frame 602. A movable shaft 604 is installed at the end of the strong spring 603, and a stabilizing wheel 6 is arranged on the outer side of the movable shaft 604.

[0042] Through the above technical solution, the fixed frame 602 can provide an installation position for the internal structure, and the internal strong spring 603 can push the movable shaft 604 outward, which will push the stabilizing wheel 6 to fit tightly against the outside of the pipe 7 to maintain the stability of the semi-circular track 4.

[0043] Specifically, a splicing pipe 701 is provided on the inner side of the pipeline 7 , and a connecting frame 702 is installed in the middle of the splicing pipe 701 .

[0044] Through the above technical solution, the splicing tube 701 can be spliced ​​with the pipeline 7, the connecting area needs to be welded, and the connecting frame 702 can be connected to external devices or equipment to ensure the stability of the installation of the pipeline 7.

[0045] When in use, first clamp the pipe 7 with the clamping structure, then place the welding robot 1 under the pipe 7, push and control the welding frame 2 to flip along the combined axis 203 through the telescopic push rod 3, and the flipping will push the two sets of semi-circular tracks 4 to be spliced. After moving and adjusting the position, use the drive motor 502 to control the drive gear 503 to rotate, and adjust along the tooth groove 402 during the rotation, thereby driving the sliding frame 5 to adjust the position as a whole. During the adjustment process, use the adjustment motor 506 to control the anti-skid wheel 507 to rotate for fine adjustment, so as to control the welding area of ​​the welding gun 504 to contact the weld for welding. When an obstacle appears, the semi-circular track 4 is controlled to separate and move to avoid the obstacle, and the adjustment rod 601 cooperates to telescopically adjust the position of the moving stabilizing wheel 6.

[0046] Although the 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 thereof, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic obstacle-avoiding welding seam welding robot device, comprising a welding robot (1), characterized in that: The welding robot (1) is provided with an obstacle avoidance component on the top, and the obstacle avoidance component is used to adjust the position to avoid contact with obstacles during movement; the obstacle avoidance component is provided with an annular adjustment component on the top, and the annular adjustment component can achieve annular adjustment for welding; the obstacle avoidance component comprises a monitor (102), and the obstacle avoidance component comprises two sets of limit frames (202); a combination shaft (203) is provided on the inner side of the upper end of the limit frame (202); a welding frame (2) is movably provided on the top of the outer side of the combination shaft (203); and two ends of the welding frame (2) are provided below the lower side. Four groups of limit sleeves (301) are arranged, and the inner side of the limit sleeves (301) is provided with a flip shaft (302), and the middle part of two groups of the flip shafts (302) is provided with a telescopic push rod (3); the annular adjustment component comprises two groups of semi-annular tracks (4), and the interior of the semi-annular tracks (4) is provided with a tooth groove (402), the inner side of the tooth groove (402) is movably provided with a driving gear (503), and the input end of the driving gear (503) is provided with a driving motor (502), and the outer side of the driving motor (502) is provided with a sliding frame (5).

2. The automatic obstacle-avoiding welding seam welding robot device according to claim 1, characterized in that: Four sets of driving wheels (101) are installed at the bottom of the welding robot (1), and a protective cover (103) is installed at the top of the monitor (102).

3. The automatic obstacle-avoiding welding seam welding robot device according to claim 1, characterized in that: A positioning plate (201) is installed at the bottom of the limiting frame (202), and the positioning plate (201) is located at the top of the welding robot (1); a turning sleeve (204) is installed at the bottom of the welding frame (2), and the turning sleeve (204) is located outside the combined shaft (203).

4. The automatic obstacle-avoiding welding seam welding robot device according to claim 1, characterized in that: The output end of the telescopic push rod (3) is provided with a piston rod (303), and the piston rod (303) is located at the bottom of the tilting shaft (302).

5. The automatic obstacle-avoiding welding seam welding robot device according to claim 1, characterized in that: Limiting rings (401) are installed on the outer side and the inner side of the semi-annular track (4), and the limiting rings (401) are located on the inner side of the sliding frame (5). Two groups of adjusting rods (601) are installed on the back side of the sliding frame (5). Two groups of pipes (7) are arranged in the middle of the semi-annular track (4).

6. The automatic obstacle-avoiding welding seam welding robot device according to claim 1, characterized in that: A welding gun (504) is arranged on the inner side of the front face of the sliding frame (5), and a limit frame (505) is installed on the front face of the sliding frame (5); an adjustment motor (506) is arranged on the top of the limit frame (505), and an anti-slip wheel (507) is arranged at the output end of the adjustment motor (506); the anti-slip wheel (507) is located on the front face of the welding gun (504); two groups of limit grooves (501) are opened on the inner side of the sliding frame (5), and the limit grooves (501) are located on the outer side of the limit ring (401).

7. The automatic obstacle-avoiding welding seam welding robot device according to claim 5, characterized in that: A fixing frame (602) is installed on the back of the adjusting rod (601), and strong springs (603) are arranged on the inner sides of the upper and lower ends of the fixing frame (602). A movable shaft (604) is installed at the end of the strong spring (603), and a stabilizing wheel (6) is arranged on the outer side of the movable shaft (604).

8. The automatic obstacle-avoiding welding seam welding robot device according to claim 5, characterized in that: A splicing pipe (701) is provided on the inner side of the pipeline (7), and a connecting frame (702) is installed in the middle of the splicing pipe (701).

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