Pipeline welding robot with welding seam positioning function and welding equipment

Abstract

The utility model discloses a pipeline welding robot and welding equipment with a welding seam positioning function, the welding robot comprises a supporting device and a welding device rotatably arranged on the supporting device, the welding device is provided with a mounting seat, and one end of the mounting seat far away from a mounting part is provided with a fixing rod; the end, away from the mounting base, of the fixing rod is rotationally connected with a fixing rod, the two ends of the fixing rod are fixedly connected with lantern rings correspondingly, the same welding wire output pipe is sleeved with the lantern rings correspondingly, and a welding seam contour sensor is installed at the end, away from the welding wire output pipe, of the bottom of the fixing base and used for recognizing a welding seam of a to-be-welded workpiece. A welding seam positioning sensor is installed at the end, close to the welding wire output pipe, of the bottom of the fixing base and used for reading welding data.

Description

TECHNICAL FIELD

[0001] The utility model belongs to pipeline welding field especially relates to a pipeline welding robot with weld joint positioning function and welding equipment. BACKGROUND

[0002] Pipeline welding refers to using various welding methods and technologies to connect pipeline, pipe connector (pipe fitting) and valve components to form a device for conveying gas, liquid or fluid with solid particles, and pipeline welding is widely used in many industries, such as power, petroleum, chemical industry, semiconductor, aerospace, automobile manufacturing, etc., and welding quality will directly affect product service life and safety.

[0003] Process pipeline is an important part of offshore oil and gas platform, which requires high quality and difficult process, and the existing process pipeline prefabrication production mode is manual welding and special machine welding (manual operation), which has the common characteristics of relying on high-skilled welding personnel, and has high requirements on welding experience, welding skill and welding operation, and the wall thickness, bevel inclination angle, internal and external mismatch of the welding position of two different pipelines make welding more difficult.

[0004] Therefore, it is urgent to design a welding robot to solve the above problems. INVENTION CONTENTS

[0005] In order to solve the technical problem of difficult weld joint positioning mentioned in the background art, a pipeline welding robot with weld joint positioning function is provided to solve the above problems.

[0006] In order to achieve the above purpose, the specific technical scheme of the pipeline welding robot with weld joint positioning function of the utility model is as follows:

[0007] A pipeline welding robot with weld joint positioning function, comprising a support device and a welding device rotatably arranged on the support device, a mounting seat is arranged on the welding device, a fixing rod is installed at one end of the mounting seat away from the mounting part, a fixing rod is rotatably connected at one end of the fixing rod away from the mounting seat, a thimble is fixedly connected at both ends of the fixing rod, the same welding wire output pipe is sleeved in the thimble, a weld contour sensor is installed at one end of the fixing seat bottom away from the welding wire output pipe, which is used for identifying the weld of the workpiece to be welded, and a weld joint positioning sensor is installed at one end of the fixing seat bottom close to the welding wire output pipe, which is used for reading welding data.

[0008] Further, a first support rod is fixedly connected to the inner side wall of the fixing seat close to the mounting seat, a second support rod is fixedly connected to the inner side wall of the fixing seat away from the mounting seat, a molten pool monitor is fixedly connected to one end of the second support rod away from the fixing seat, and the molten pool monitor is arranged towards the bottom of the guide column.

[0009] Further, the welding wire output pipe comprises a guide column, which is vertically arranged, and a welding wire conveying pipe is arranged on the middle upper part of the outer arc wall of the guide column near the side of the mounting base, and a welding gun is arranged on the middle upper part of the outer arc wall of the guide column away from the side of the mounting base.

[0010] Further, the welding gun can extend to the bottom end of the guide column, and the head of the welding gun is arranged towards the bottom of the guide column.

[0011] Further, two collars are arranged, and the two collars are respectively sleeved on the outer side of the welding wire conveying pipe and the middle lower part of the outer arc wall of the guide column.

[0012] A welding device with a weld joint positioning function comprises a first ground rail and a second ground rail, and uses the above-mentioned pipe welding robot with a weld joint positioning function. The welding robot is arranged on the first ground rail, the second ground rail is provided with a positioner roller frame and a clamping mechanism, the positioner roller frame and the clamping mechanism are arranged in a spaced manner, and abut the two ends of a workpiece to be welded respectively, so as to clamp the workpiece to be welded shoulder by shoulder. The welding robot can move relative to the first ground rail to approach a welding position and perform welding.

[0013] Further, the positioner roller frame comprises a roller assembly, the roller assembly comprises a plurality of roller groups, and the plurality of roller groups are arranged in a symmetrical manner and used for abutting the outer side wall of the workpiece.

[0014] Further, the positioner roller frame further comprises a fixed plate arranged on the second ground rail, the fixed plate is provided with the roller assembly, the fixed plate is sleeved on the first driving member, the bottom of the first driving member is provided with a first transmission device, and the first transmission device is used to drive the positioner roller frame to move in a first direction.

[0015] Further, the positioner roller frame further comprises a second driving member, the second driving member is arranged in the fixed plate and connected to a fixed frame, the fixed frame is provided with the roller assembly, and the second driving member is used to drive the fixed frame to move in a second direction.

[0016] The second direction is perpendicular to the first direction.

[0017] Further, the clamping mechanism is a three-jaw chuck, a vertical first recess is arranged at the top center of the outer arc wall of the three-jaw chuck, and a workpiece is clamped to the outer wall of the workpiece on the inner side wall of the bottom of the first recess.

[0018] The pipeline welding robot with the weld positioning function has the following advantages: the welding robot uses a weld positioning sensor and a weld contour sensor, wherein the weld positioning sensor is used for identifying the weld of the workpiece to be welded, the weld contour sensor reads data such as the weld form, the bevel inclination angle and the weld width, modeling is performed on an operation terminal to intuitively understand the welding data, and in addition, the robot adjusts the welding direction by rotating the connecting arm arranged on the supporting device, and welding efficiency is further ensured.

[0019] The welding equipment with the weld positioning function has the following advantages: the welding equipment can adjust the position of the welding robot, meanwhile, two sets of clamping mechanisms are used for clamping and fixing the two ends of the workpiece, and the stability of the welding operation is further ensured. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a structural schematic view of the welding equipment with the weld positioning function of the utility model;

[0021] Figure 2 It is Figure 1 It is a structural enlarged view of the position A in the middle;

[0022] Figure 3 It is Figure 2 It is a structural enlarged view of the position B in the middle;

[0023] Figure 4 It is Figure 1 It is a structural enlarged view of the position C in the middle.

[0024] Mark description in the figure:

[0025] 10, first ground rail; 11, second ground rail; 12, workpiece to be welded; 13, control cabinet; 14, MAG welding power supply; 15, TIG welding power supply; 16, supporting platform; 17, moving platform; 18, clamping mechanism;

[0026] 20, first welding part; 21, rotating base; 22, first fixed disc; 23, first mechanical arm; 24, second fixed disc; 25, second mechanical arm;

[0027] 30, second welding part; 31, welding wire output pipe; 32, molten pool monitoring; 33, weld contour sensor; 34, mounting seat; 35, first supporting rod; 36, second supporting rod; 37, weld positioning sensor;

[0028] 40, positioner roller frame; 41, fixed plate; 42, sliding part; 43, sliding rod; 44, bracket; 45, roller assembly; 46, first driving part; 47, gear; 48, second driving part. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model below, obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor are within the protection scope of the utility model.

[0030] The person skilled in the art can understand that, although some embodiments herein include certain features included in other embodiments rather than other features, the combination of features of different embodiments means being within the scope of the utility model and forming different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0031] Pipe welding refers to connecting components such as pipes, pipe connectors (fittings) and valves by using various welding methods and techniques to form a device for conveying gas, liquid or fluid with solid particles, and pipe welding is widely used in many industries, such as power, oil, chemical industry, semiconductor, aerospace, automobile manufacturing, etc., and the welding quality will directly affect the service life and safety of the product.

[0032] Process pipelines are an important part of offshore oil and gas platforms, which require high quality and great process difficulty. The existing process pipeline prefabrication production mode is manual welding and special machine welding (manual operation), which has the common characteristics of relying on high-skilled welding personnel, and has extremely high requirements on welding experience, welding skills and welding operation. Moreover, due to the factors such as wall thickness, bevel inclination angle, internal and external mismatch of the welding position of two different pipes, welding becomes more difficult. Therefore, it is urgent to design a welding robot to solve the above problems.

[0033] The utility model discloses a kind of pipe welding robots with weld joint positioning function and a kind of welding equipment with weld joint positioning function are described below with reference to the drawings Figure 1 to the drawings Figure 4 The utility model discloses a kind of pipe welding robots with weld joint positioning function and a kind of welding equipment with weld joint positioning function are described below with reference to the drawings

[0034] The utility model provides a kind of pipe welding robots with weld joint positioning function, such as Figure 1As shown, the welding robot comprises a support device and a welding device rotatably arranged on the support device, the welding device is provided with a mounting seat 34, a fixed rod is arranged at the end of the mounting seat 34 away from the mounting part, a fixed rod is rotatably connected to the end of the fixed rod away from the mounting seat 34, and a sleeve ring is fixedly connected to both ends of the fixed rod. The same welding wire output pipe 31 is sleeved in the sleeve ring, the weld contour sensor 33 is arranged at the end of the fixed seat bottom away from the welding wire output pipe 31, which is used to identify the weld of the workpiece to be welded 12, and the weld positioning sensor 37 is arranged at the end of the fixed seat bottom close to the welding wire output pipe 31, which is used to read the welding data.

[0035] The welding robot uses the weld positioning sensor 37 and the weld contour sensor 33, wherein the weld positioning sensor 37 is used to identify the weld of the workpiece to be welded 12, and the weld contour sensor 33 reads data such as weld shape, bevel inclination angle and weld width, and models on the operation terminal to intuitively understand the welding data. In addition, the robot adjusts the welding direction by rotating the welding device arranged on the support device, further ensuring the welding efficiency.

[0036] Further, as shown in the drawings, Figure 3 The first support rod 35 is fixedly connected to the inner side wall of the fixed seat close to the mounting seat 34, the second support rod 36 is fixedly connected to the inner side wall of the fixed seat away from the mounting seat 34, the molten pool monitor 32 is fixedly connected to the end of the second support rod 36 away from the fixed seat, and the first support rod 35 is fixedly connected to the second support rod 36 away from the fixed seat. The molten pool monitor 32 is arranged towards the bottom of the guide column. The molten pool monitor 32 is used to monitor the welding state in real time, so that the operator can be away from the welding area, and at the same time, the welding process can be recorded for subsequent data analysis and reference.

[0037] Further, the welding wire output pipe 31 comprises a guide column, the guide column is vertically arranged, and a welding wire conveying pipe is arranged on the outer arc wall of the guide column at the middle upper part of the side close to the mounting seat 34, and a welding gun is arranged on the outer arc wall of the guide column at the middle upper part of the side away from the mounting seat 34.

[0038] Further, the welding gun can extend to the bottom end of the guide column, and the gun head of the welding gun is arranged towards the bottom of the guide column.

[0039] Further, two sleeve rings are arranged, and the two sleeve rings are respectively sleeved on the outer side of the welding wire conveying pipe and the middle lower part of the outer arc wall of the guide column.

[0040] Referring to Figure 2As shown, the welding device comprises a first welding member 20 and a second welding member 30, wherein the first welding member 20 comprises a rotating base 21 fixedly connected to the top of the support device, a rotating disc is rotationally connected to the top of the rotating base 21, a first fixed disc 22 is fixedly connected to one end of the top of the rotating disc, the axial extension direction of the first fixed disc 22 is perpendicular to the axial extension direction of the rotating base 21, a first mechanical arm 23 is rotationally connected to one side wall of the first fixed disc 22, a second fixed disc 24 is rotationally connected to one end of the first mechanical arm 23 away from the rotating base 21, the side wall of the second fixed disc 24 away from the rotating base 21 is a plane, a second mechanical arm 25 is fixedly connected to one side wall of the second fixed disc 24 away from the rotating base 21, and the length direction of the second mechanical arm 25 is arranged towards the second ground rail 11, so as to facilitate welding of the workpiece 12 to be welded.

[0041] Referring to Figures 1-4 As shown, a baffle is arranged on the side of the weld seam positioning sensor 37 away from the weld seam contour sensor 33, and the baffle is fixedly connected to the fixed seat. It should be noted that the baffle is used to prevent the strong light generated during the working process of the second welding member 30 from affecting the weld seam contour sensor 33 and the weld seam positioning sensor 37 during the welding process.

[0042] The embodiment also provides a welding device with a weld seam positioning function, which comprises a first ground rail 10 and a second ground rail 11, and uses the above-mentioned pipeline welding robot with a weld seam positioning function. The welding robot is arranged on the first ground rail 10, the second ground rail 11 is provided with a positioner roller frame 40 and a clamping mechanism 18, the positioner roller frame 40 and the clamping mechanism 18 are arranged at intervals and abut the two ends of the workpiece 12 to be welded respectively, the workpiece 12 to be welded is clamped shoulder by shoulder, and the welding robot can move relative to the first ground rail 10 to approach the welding position and perform welding.

[0043] It should be noted that the rotating base 21 drives the rotating disc to rotate, the rotating disc drives the first fixed disc 22 at the top thereof to rotate, drives the first mechanical arm 23 and various components thereon to move, the arm spread range thereof is large, and the state thereof can be adjusted according to different welding points.

[0044] Specifically, the welding robot is slidably connected with the first ground rail 10 through the moving platform 17.

[0045] It should be noted that the first ground rail 10 is internally provided with a first driving component for driving the moving platform 17, which can be one of an electric guide rail, a pneumatic or hydraulic drive, or a centralized driving mode, and the second ground rail 11 is also internally provided with a second driving component for driving the positioner roller frame 40 to move.

[0046] In the embodiment, the welding torch used by the welding robot is a MAG welding torch and a TIG welding torch, which aims to weld workpieces of different materials. In addition, the control cabinet 13 is arranged at one end of the top of the moving platform 17, the MAG welding power supply 14 is arranged on the side of the support platform 16 close to the control cabinet 13, and the TIG welding power supply 15 is arranged at the end of the support platform 16 away from the MAG welding power supply 14.

[0047] Optionally, the first ground rail 10 is provided with a moving device for the movement of the moving platform 17 in the length direction of the first ground rail 10.

[0048] It should be noted that the control cabinet 13 mainly controls the first welding member 20 and the second welding member 30 thereon, and the control cabinet 13 and the control terminal are electrically connected.

[0049] Further, as shown in Figure 4 The positioner roller frame 40 includes a roller assembly 45, the roller assembly 45 includes a plurality of roller groups, and the plurality of roller groups are symmetrically arranged and used for abutting against the outer side wall of the workpiece.

[0050] Further, the positioner roller frame 40 further includes a fixed plate 41 located on the second ground rail 11, the fixed plate 41 is provided with the roller assembly 45, the fixed plate 41 is sleeved on the first driving member 46, and the bottom of the first driving member 46 is provided with a first transmission device, the first transmission device is used to drive the positioner roller frame 40 to move in the first direction.

[0051] Further, the positioner roller frame 40 further includes a second driving member 48, the second driving member 48 is arranged through the fixed plate 41 and connected to a fixed frame, the fixed frame is provided with the roller assembly 45, and the second driving member 48 is used to drive the fixed frame to move in the second direction; wherein the second direction is perpendicular to the first direction.

[0052] Specifically, the roller assembly 45 includes four positioning rollers arranged on the top of the fixed frame and symmetrically arranged about the center of the top of the fixed frame, and the positioning rollers are used to realize rolling contact with the workpiece to be welded 12.

[0053] Optionally, in actual arrangement, the outer arc walls of the four positioning rollers are tangent to the same circle away from the side of the bracket 44, wherein the heights of the two positioning rollers located in the middle are lower than the heights of the two positioning rollers located on the two sides respectively, that is, the four positioning rollers are abutted against different positions of the outer wall of the workpiece to be welded 12, so as to ensure the stability of clamping. It should be noted that the four positioning rollers are tangent to the outer arc walls of the workpiece to be welded 12, and the positioning rollers located on the two sides of the workpiece to be welded 12 are symmetrically arranged.

[0054] Further, the first driving member 46 is arranged on the top of the fixed plate 41, and the output end of the first driving member 46 is fixedly connected with a first rotating shaft, the first rotating shaft penetrates through the fixed plate 41, and the bottom is fixedly connected with a gear 47, one end of the top of the fixed plate 41 away from the first driving member 46 is fixedly connected with a door-shaped fixing frame, the top of the fixing frame is provided with vertical slide rods 43 on both sides, the bottom of the slide rod 43 penetrates through the fixing frame and the fixed plate 41, the top of the two slide rods 43 is fixedly connected with the fixing frame, the bottom of the fixed plate 41 is fixedly connected with slide parts 42 on both sides, the slide parts 42 are located on both sides of the fixing frame, the slide parts 42 are not in contact with the gear 47, and the slide parts 42 are used to guide the movement of the positioner roller frame 40, so as to prevent the positioner roller frame 40 from deviating.

[0055] It should be noted that the second ground rail 11 is provided with a tooth groove, a sliding groove and the like which are adapted to the slide parts 42, the slide rods 43, the gear 47 and the second driving member 48.

[0056] Further, the clamping mechanism 18 is a three-jaw chuck, a vertical first recess is arranged at the top center of the outer arc wall of the three-jaw chuck, and a workpiece is clamped to the outer wall of the workpiece on the inner side wall at the bottom of the first recess.

[0057] Specifically, a positioner head is installed at one end of the second ground rail 11, the positioner head comprises a base fixedly connected to one end of the second ground rail 11, and the three-jaw chuck is arranged in the base, in addition, in this embodiment, the axis extension direction of the three-jaw chuck is consistent with the length direction of the second ground rail 11, and the clamping jaw of the three-jaw chuck is located on the side of the three-jaw chuck close to the second ground rail 11, and the clamping mechanism 18 is arranged on the top of the second ground rail 11 away from the positioner head, and the recess bottom inner side wall and the clamping mechanism 18 can fix the two ends of the workpiece 12 to be welded.

[0058] It should be noted that since the top is provided with the first recess for placing the workpiece 12 to be welded, the three-jaw chuck adopts a chain and sprocket transmission mode to realize the clamping of the three clamping jaws on the workpiece 12 to be welded, and the center of the inner arc wall at the bottom of the first recess is consistent with the center of the longitudinal section of the workpiece 12 to be welded.

[0059] The working principle of the welding equipment with the weld positioning function provided in this embodiment is as follows:

[0060] First, the positioner roller frame 40 and the clamping mechanism 18 are in place, and the workpiece 12 to be welded is placed in the first groove bottom inner wall and the clamping mechanism 18 top by manual operation of hoisting and feeding, so that the workpiece 12 to be welded is tangent to and abuts against the four positioning rollers, then the positioner roller frame 40 clamps the workpiece 12 to be welded, then the position of the first welding piece 20 is adjusted to send the second welding piece 30 to the welding position of the workpiece 12 to be welded, the weld positioning sensor 37 and the weld contour sensor 33 start to position the weld and read the related data of the weld, the data is transmitted to the control terminal to automatically generate a welding program, the workpiece 12 to be welded is welded, and after the welding is completed, the workpiece 12 to be welded is taken down by manual hoisting and feeding.

[0061] It should be noted that the workpiece 12 to be welded in the embodiment is a cylindrical shape, and the weld position is a metal pipe at the middle position, and the two ends thereof are in contact with the clamping mechanism 18 and the positioner roller frame 40 respectively, so that the two ends of the workpiece 12 to be welded are supported and clamped.

[0062] Obviously, the above embodiments of the utility model are only examples for clearly illustrating the utility model, and are not a limitation on the embodiments of the utility model. For ordinary skilled persons in the art, other different forms of changes or variations can be made on the basis of the above description. Here, it is not necessary and impossible to enumerate all the embodiments. Any modification, equivalent replacement and improvement, etc. made within the spirit and principle of the utility model should be included in the protection scope of the utility model claims.

Claims

1. A pipe welding robot with weld seam positioning function, characterized in that, The welding device comprises a mounting seat, a fixed rod is mounted at one end of the mounting seat away from the mounting part, a fixed rod is rotatably connected at one end of the fixed rod away from the mounting seat, a sleeve ring is fixedly connected at both ends of the fixed rod, the same welding wire output pipe is sleeved in the sleeve ring, a weld contour sensor is mounted at the bottom of the fixed seat away from the welding wire output pipe, and is used for identifying the weld of the workpiece to be welded.

2. The pipe welding robot with a weld-seam positioning function according to claim 1, characterized by, A first support rod is fixedly connected to the inner side wall of the fixed seat close to the mounting seat, a second support rod is fixedly connected to the inner side wall of the fixed seat away from the mounting seat, a molten pool monitor is fixedly connected at one end of the second support rod away from the fixed seat, and the first support rod is fixedly connected to the second support rod at one end away from the fixed seat.

3. The pipe welding robot having a weld-seam positioning function according to claim 1, characterized by, The welding wire output pipe comprises a guide column, the guide column is vertically arranged, a welding wire conveying pipe is mounted on the outer arc wall of the guide column at the middle upper part of one side close to the mounting seat, and a welding gun is mounted on the outer arc wall of the guide column at the middle upper part of one side away from the mounting seat.

4. The pipe welding robot having a weld-seam positioning function according to claim 3, characterized by, The welding gun can extend to the bottom end of the guide column, and the gun head of the welding gun is arranged towards the bottom of the guide column.

5. Pipe welding robot with weld positioning function according to any one of claims 1-4, characterized in that, The sleeve ring is provided with two, and the two sleeve rings are respectively sleeved on the outer side of the welding wire conveying pipe and the middle lower part of the outer arc wall of the guide column.

6. A welding apparatus having a weld joint positioning function, comprising a first ground rail and a second ground rail, characterized by, The welding robot is arranged on the first ground rail, the variable position machine roller frame and the clamping mechanism are arranged on the second ground rail, the variable position machine roller frame and the clamping mechanism are arranged at intervals, and the two ends of the workpiece to be welded are respectively supported, so that the workpiece to be welded is clamped, and the welding robot can move relative to the first ground rail to approach the welding position and perform welding.

7. The welding apparatus of claim 6, wherein, The variable position machine roller frame comprises a roller assembly, the roller assembly comprises a plurality of roller groups, and the plurality of roller groups are symmetrically arranged and used for abutting against the outer side wall of the workpiece.

8. The welding apparatus of claim 7, wherein, The variable position machine roller frame further comprises a fixed plate on the second ground rail, the fixed plate is provided with the roller assembly, the fixed plate is sleeved on the first driving member, the bottom of the first driving member is provided with a first transmission device, and the first transmission device drives the variable position machine roller frame to move in the first direction.

9. The welding apparatus of claim 8, wherein, The variable position machine roller frame further comprises a second driving member, the second driving member penetrates through the fixed plate and is connected to a fixed frame, the fixed frame is provided with the roller assembly, and the second driving member drives the fixed frame to move in the second direction. The second direction is perpendicular to the first direction.

10. The welding apparatus of claim 6, wherein, The clamping mechanism is a three-jaw chuck, a vertical first groove is arranged at the top center of the outer arc wall of the three-jaw chuck, and the workpiece is clamped on the outer wall of the workpiece.

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