Traveling mechanism of pipeline welding robot

Abstract

The utility model discloses a walking mechanism of a pipeline welding robot, belongs to the technical field of pipeline welding robots, and solves the problem of low welding precision of the pipeline welding robot caused by low motion precision of an existing walking mechanism. The pipeline welding robot walking device comprises two walking assemblies symmetrically arranged on the two sides of the end face of a pipeline clamp, each walking assembly comprises a semi-annular rack and a semi-annular track, a sliding plate used for fixing a pipeline welding robot is arranged on each semi-annular track in a sliding mode, and a servo motor is fixed to each sliding plate; each servo motor is in transmission connection with a driving gear, and the two driving gears are engaged with the two semi-annular racks correspondingly. The pipeline welding robot is driven to move through meshing connection between the driving gear and the semi-annular rack, gear transmission is carried out through the servo motor, and compared with an existing walking mechanism moving through Mecanum wheels, the moving precision is higher, and the welding precision of the pipeline welding robot is better improved.

Description

Technical Field

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

[0002] Oil and natural gas are vital energy sources for modern society and are primarily transported through pipelines. With the accelerating pace of production in the energy industry, oil and gas pipeline network construction faces the urgent need to improve pipeline quality and, more importantly, efficiency. To ensure accurate and efficient pipeline welding, pipeline welding robots are widely used in industrial production. However, the welding accuracy of pipeline welding robots is closely linked to the precision of their travel mechanisms. Existing travel mechanisms suffer from low kinematic precision, which impacts the accuracy of pipeline welding robots.

[0003] For example, the invention patent with publication number CN110170850B discloses an underwater pipeline welding robot, which includes a walking mechanism. The walking mechanism is installed on the inner side of the shell and includes three walking units extending along the axis of the shell. Each walking unit includes a walking bracket and two Mecanum wheels. Although this invention can achieve circumferential movement of the robot along the pipeline through the Mecanum wheels, because the Mecanum wheels are set on the pipeline through rolling friction, the movement accuracy of the Mecanum wheels is low, which affects the welding accuracy of the pipeline welding robot. Utility Model Content

[0004] In view of the above problems in the prior art, the present invention provides a walking mechanism for a pipeline welding robot, which solves the problem that the existing walking mechanism has low motion accuracy, resulting in low welding accuracy of the pipeline welding robot.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0006] A pipeline welding robot walking mechanism is provided, comprising two walking assemblies symmetrically arranged on both sides of the end face of a pipeline clamp, each walking assembly comprising a semi-annular rack and a semi-annular track, each semi-annular track being slidably provided with a slide for fixing the pipeline welding robot, and each slide being fixed with a servo motor, each servo motor being transmission-connected with a driving gear, and the two driving gears being respectively engaged with the two semi-annular racks.

[0007] In this solution, a servo motor drives the driving gear to rotate on the semi-annular rack, driving the slide to move on the semi-annular track, so that the pipe welding robot can move along the circumference of the pipe. This solution uses the meshing connection between the driving gear and the semi-annular rack to drive the pipe welding robot to move, and uses the servo motor for gear transmission. Compared with the existing walking mechanism that moves by the Mecanum wheel, this solution has higher motion accuracy and is more conducive to improving the welding accuracy of the pipe welding robot.

[0008] Furthermore, the two semi-annular tracks each include an outer ring slide rail and an inner ring slide rail that are concentrically arranged, and the semi-annular rack is arranged between the outer ring slide rail and the inner ring slide rail.

[0009] Furthermore, each slide plate is an arc-shaped plate structure, and each slide plate is provided with an arc slider at each of its four corners. The four arc sliders are arranged in pairs and then slide on the outer ring slide rail and the inner ring slide rail respectively. The arrangement of the four arc sliders makes the slide plate move more smoothly on the outer ring slide rail and the inner ring slide rail.

[0010] Furthermore, two pads are fixed on the top surface of each slide, which are used to fix the two sides of the pipe welding robot base. The pads have increased thickness, which facilitates increasing the length of the bolt connection with the pipe welding robot base and improves the connection strength.

[0011] Furthermore, the output shaft of each servo motor is fixedly connected to the input end of a reducer, and the output shaft of each reducer passes through the slide and is fixedly connected to the driving gear. The reduction gear provides torque for the driving gear to facilitate the movement of the slide.

[0012] Furthermore, a mounting plate is fixed on the base of each reducer, and the mounting plate is bolted to the slide plate.

[0013] Furthermore, each mounting plate is provided with a protective cover for protecting the servo motor and the reducer.

[0014] Furthermore, the side of each protective cover close to the pipeline welding robot is exposed to the outside world. Since the side of the protective cover close to the pipeline welding robot is not easily affected by the outside world, the protective cover can be directly installed from the side of the servo motor and reducer through this side, improving the convenience of installation.

[0015] Furthermore, each slide plate is bolted with two guide bars, the inner sides of which are in contact with the two sides of the mounting plate respectively. The arrangement of the two guide bars facilitates the positioning of the mounting plate.

[0016] Furthermore, each slide plate is bolted to a clamping strip, with its ends adjacent to one end of each guide strip. Two clamping bolts are bolted to the clamping strip, and the threaded ends of the two clamping bolts pass through the clamping strip and are bolted to the side of the mounting plate. The clamping bolts on the clamping strip over-position the mounting plate, not only improving positioning accuracy but also enhancing anti-loosening capabilities and reducing relative movement.

[0017] The utility model discloses a pipeline welding robot walking mechanism, which has the following beneficial effects:

[0018] The utility model drives the pipeline welding robot to move through the meshing connection between the driving gear and the semi-annular rack, and performs gear transmission through a servo motor. Compared with the existing walking mechanism that moves through the Mecanum wheel, the movement accuracy is higher and it is more conducive to improving the welding accuracy of the pipeline welding robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of the pipeline welding robot's walking mechanism installed on the pipeline fixture;

[0020] Figure 2 This is a partial enlarged view of the pipeline welding robot's walking mechanism installed on the pipeline fixture;

[0021] Figure 3 Schematic diagram of the bottom of the skateboard;

[0022] Figure 4 It is a schematic diagram of the connection between the mounting plate and the slide plate;

[0023] Among them: 1. Semi-annular track; 11. Outer ring slide rail; 12. Inner ring slide rail; 2. Semi-annular rack; 3. Slide plate; 31. Arc slider; 4. Protective cover; 41. Guide strip; 42. Clamping strip; 43. Clamping bolt; 5. Reducer; 51. Driving gear; 52. Mounting plate; 6. Servo motor; 7. Spacer. DETAILED DESCRIPTION

[0024] The specific implementation methods of the present invention are described below to facilitate understanding of the present invention by those skilled in the art. However, it should be clear that the present invention is not limited to the scope of the specific implementation methods. For those skilled in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the appended claims, these changes are obvious, and all utility model creations using the concept of the present invention are protected.

[0025] This embodiment provides a walking mechanism for a pipeline welding robot, which is used to solve the problem of low motion accuracy of existing walking mechanisms resulting in low welding accuracy of pipeline welding robots. Its structure will be demonstrated in detail below.

[0026] refer to Figure 1 and Figure 2 The walking mechanism of the pipeline welding robot includes two walking components, each of which includes a semi-annular track 1, a semi-annular rack 2, a slide 3, a servo motor 6 and a pipeline welding robot.

[0027] Two semi-annular racks 2 and two semi-annular tracks 1 are symmetrically arranged on either side of the end face of the pipe clamp. Specifically, each semi-annular track 1 includes a concentrically arranged outer ring slide 11 and inner ring slide 12, with the semi-annular rack 2 positioned between the outer ring slide 11 and the inner ring slide 12. The pipe clamp in this embodiment is conventional, comprising two semicircular clamps hinged at one end. The pipe clamp can be a self-adjusting pipe clamp and a pipe clamp used in a robot, as disclosed in Publication No. CN115722861A, or a pipe clamp used in a self-adjusting pipe welding robot, as disclosed in Publication No. CN115922161B.

[0028] The slides 3 are used to secure the pipe welding robot and slide on the semi-circular track 1. Specifically, each slide 3 is an arc-shaped plate with circular sliders 31 at its four corners. The four circular sliders 31 are arranged in pairs and slide on the outer and inner ring rails 11, 12, respectively. The presence of the four circular sliders 31 ensures smooth movement of the slides 3 on the outer and inner ring rails 11, 12.

[0029] Each slide 3 is secured to a servo motor 6, each of which is connected to a driving gear 51. The two driving gears 51 mesh with the two semi-annular racks 2. The servo motors 6 drive the driving gears 51 to rotate on the semi-annular racks 2, driving the slides 3 along the semi-annular track 1, allowing the pipe welding robot to move along the circumference of the pipe.

[0030] As a specific transmission structure of the servo motor 6 and the driving gear 51, refer to Figure 2 and Figure 3 The output shaft of each servo motor 6 is fixedly connected to the input of a reducer 5. The output shaft of each reducer 5 passes through the slide 3 and is fixedly connected to the driving gear 51. The reducer 5 provides torque to the driving gear 51, which facilitates the movement of the slide 3. The servo motor 6 is electrically connected to the host computer, which can precisely control the speed and angle of rotation of the servo motor 6.

[0031] As a structure for fixing the pipeline welding robot and the slide plate 3, refer to Figure 2 Two pads 7 are fixed to the top surface of each slide 3, respectively, for securing connections to the two sides of the pipe welding robot base. The increased thickness of the pads 7 facilitates increasing the length of the bolted connections to the pipe welding robot base, thereby improving the connection strength. The welding robot of this embodiment is conventional technology and can be a five-axis or six-axis robotic arm. Since this embodiment is conventional technology, its specific operating principle and connection relationship will not be further described in this embodiment.

[0032] As a further solution of this embodiment, refer to Figure 4A mounting plate 52 is fixed to the base of each reducer 5, and the mounting plate 52 is bolted to the slide plate 3. A protective cover 4 for protecting the servo motor 6 and the reducer 5 is provided on each mounting plate 52.

[0033] Because the side of the protective cover 4 near the pipe welding robot is less susceptible to external influences, the side of each protective cover 4 near the pipe welding robot is exposed to the outside world. Through this side, the protective cover 4 can be directly installed from the side of the servo motor 6 and the reducer 5, improving the convenience of installing the protective cover 4.

[0034] In order to improve the positioning accuracy of the mounting plate 52, refer to Figure 4 , two guide bars 41 are bolted to each slide plate 3, and the inner sides of the two guide bars 41 are respectively in contact with the two sides of the mounting plate 52. The provision of the two guide bars 41 facilitates the positioning of the mounting plate 52.

[0035] Each slide plate 3 is bolted to a clamping strip 42, with both ends of the clamping strip 42 adjacent to one end of each guide strip 41. Two clamping bolts 43 are bolted to the clamping strip 42, with the threaded ends of the two clamping bolts 43 passing through the clamping strip 42 and bolted to the side of the mounting plate. The clamping bolts 43 on the clamping strip 42 over-position the mounting plate 52, not only improving positioning accuracy but also enhancing anti-loosening capabilities and reducing relative movement.

[0036] To sum up, the working principle of this solution is as follows: this solution drives the pipeline welding robot to move through the meshing connection between the driving gear 51 and the semi-annular rack 2, and performs gear transmission through the servo motor 6. Compared with the existing walking mechanism that moves through the Mecanum wheel, the motion accuracy is higher, which is more conducive to improving the welding accuracy of the pipeline welding robot.

[0037] Although the specific embodiments of the utility model are described in detail in conjunction with the accompanying drawings, this should not be construed as limiting the scope of protection of this patent. Within the scope described by the claims, various modifications and variations that can be made by those skilled in the art without creative work still fall within the scope of protection of this patent.

Claims

1. The walking mechanism of the pipeline welding robot is characterized by: The invention comprises two walking assemblies symmetrically arranged on both sides of the end face of the pipe clamp, each of the walking assemblies comprises a semi-annular rack (2) and a semi-annular track (1), a slide plate (3) for fixing the pipe welding robot is slidably arranged on each semi-annular track (1), and a servo motor (6) is fixed on each slide plate (3), and each servo motor (6) is connected to a driving gear (51) in a transmission manner, and the two driving gears (51) are respectively engaged with the two semi-annular racks (2).

2. The pipeline welding robot walking mechanism according to claim 1, characterized in that: The two semi-annular tracks (1) each comprise an outer ring slide rail (11) and an inner ring slide rail (12) that are concentrically arranged, and the semi-annular rack (2) is arranged between the outer ring slide rail (11) and the inner ring slide rail (12).

3. The walking mechanism of the pipeline welding robot according to claim 2, characterized in that: Each of the slides (3) is an arc-shaped plate structure, and arc sliders (31) are provided on the four corners of each slide (3). The four arc sliders (31) are formed into a group of two and are slidably provided on the outer ring slide rail (11) and the inner ring slide rail (12).

4. The pipeline welding robot walking mechanism according to claim 2, characterized in that: Two pads (7) are fixed on the top surface of each slide plate (3) and are respectively used for fixed connection with two sides of the pipe welding robot base.

5. The traveling mechanism of the pipeline welding robot according to claim 2, characterized in that: The output shaft of each servo motor (6) is fixedly connected to the input end of a reducer (5), and the output shaft of each reducer (5) passes through the slide plate (3) and is fixedly connected to the driving gear (51).

6. The pipeline welding robot walking mechanism according to claim 5, characterized in that: A mounting plate (52) is fixed on the base of each speed reducer (5), and the mounting plate (52) is bolted to the slide plate (3).

7. The pipeline welding robot walking mechanism according to claim 6, characterized in that: Each of the mounting plates (52) is provided with a protective cover (4) for protecting the servo motor (6) and the reducer (5).

8. The pipeline welding robot walking mechanism according to claim 7, characterized in that: The side of each protective cover (4) close to the pipeline welding robot is exposed to the outside world.

9. The pipeline welding robot walking mechanism according to claim 6, characterized in that: Two guide bars (41) are bolted to each of the slide plates (3), and the inner sides of the two guide bars (41) are in contact with both sides of the mounting plate (52) respectively.

10. The traveling mechanism of the pipeline welding robot according to claim 9, characterized in that: Each of the slide plates (3) is bolted to a clamping strip (42), with both ends of the clamping strip (42) close to one end of the two guide strips (41), and two clamping bolts (43) are bolted to the clamping strip (42), and the threaded ends of the two clamping bolts (43) pass through the clamping strip (42) and are bolted to the side surfaces of the mounting plate.

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