Crawling welding robot with welding seam tracking function
By designing a crawling welding robot with weld seam tracking function, and using support and cleaning structures to fix and clean the weld seam during the welding process, the problem of foreign objects affecting the welding effect is solved, thus improving welding quality and efficiency.
Patent Information
- Application Number
- CN202423218623.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-26
- Publication Date
- 2025-12-26
- Estimated Expiration
- 2034-12-26
AI Technical Summary
When welding large-diameter or ultra-large-diameter metal pipes, foreign objects can affect the welding effect, and existing robots have difficulty effectively tracking the weld and removing foreign objects.
Design a crawling welding robot with weld seam tracking function. The robot uses a support structure to fix the moving ring, and the welding structure works in conjunction with the outer toothed ring to achieve welding. The cleaning structure works in conjunction with the inner toothed ring to clean the welding position and ensure that the welding position is clean.
It enables automatic cleaning of the weld seam during the welding process, preventing foreign objects from affecting the welding effect and improving welding quality and efficiency.
Smart Images
Figure CN223718633U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to welding robot technical field especially relates to a kind of crawling welding robots with weld tracking function. BACKGROUND
[0002] Large diameter or super-large diameter metal pipeline is often used to transport various water, steam, oil and the like. Since the conveying distance is relatively long, a large number of pipelines are usually connected by welding. In addition to manual welding, more automated robotic welding is also available. Such robots mainly adsorb on the outer wall of the pipeline and weld the gap between the pipelines while performing circumferential motion on the outer wall of the pipeline. During the welding process, the welding position of the pipeline is relatively dirty, and the welding effect of the welding robot on the pipeline is greatly affected when foreign matter is present. Therefore, a crawling welding robot with weld tracking function is proposed. SUMMARY
[0003] The utility model mainly solves the technical problem existing in the prior art, and provides a crawling welding robot with weld tracking function.
[0004] To achieve the above purpose, the utility model adopts the following technical scheme. A crawling welding robot with weld tracking function includes a pipeline and a moving ring. The moving ring is movably installed on the outer side of the pipeline. Equidistant installation screw thread cavities are provided on the side surface of the moving ring. An installation barrel is connected to the inside of the installation screw thread cavity through internal threads. A support structure is provided in the inside of the installation barrel. A fixed external gear ring is fixedly arranged on the outer side of the moving ring. A fixed internal gear ring is provided in the inside of the moving ring. A movable first rotating block is arranged at one end of the moving ring. A welding structure is arranged on the side surface of the first rotating block. A cleaning structure is arranged on the bottom side of the first rotating block.
[0005] As a preferred embodiment, the installation barrel is a circular barrel with an opening downward. An extrusion block is fixedly installed on the bottom side of the installation barrel. The support structure includes a spring fixedly installed on the inner top side of the installation barrel. A first movable block is fixedly installed on the inside of the installation barrel corresponding to the lower end of the spring. A first movable cavity is provided on the bottom side of the first movable block. A rotating ball is movably installed in the inside of the first movable cavity. An anti-skid ring is fixedly installed on the outer side of the installation barrel.
[0006] As a preferred embodiment, a threaded column is movably installed on the upper side of the first movable block. An active screw thread cavity is provided on the upper end of the installation barrel corresponding to the position of the threaded column. An active column is fixedly installed on the upper end of the threaded column. The active column extends upward through the active screw thread cavity. A rotating handle is fixedly installed on the upper end of the active column.
[0007] As preferred, the upper end of the first movable block is provided with a movable column, one end of the threaded column extends into the interior of the movable column and is fixedly installed with a second movable block, and the second movable block is movably installed in the interior of the second movable cavity.
[0008] As preferred, the welding structure comprises a rotary motor, the rotary motor is fixedly installed on one side of the outer tooth ring corresponding to the first rotating block, the output end of the rotary motor is fixedly installed with a first adaptive gear, the first adaptive gear is matched with the outer tooth ring, the side of the first rotating block away from the rotary motor is fixedly installed with a weld joint detection device, the side surface of the rotary motor is fixedly installed with an automatic welding gun below the weld joint detection device, and the outer side of the moving ring is fixedly installed with a dust cover at the position corresponding to the outer tooth ring.
[0009] As preferred, the end surface of the moving ring is provided with a rotating cavity, the second rotating block is movably installed in the interior of the rotating cavity, and one side of the second rotating block is fixedly installed on the side surface of the first rotating block.
[0010] As preferred, the cleaning structure comprises a connecting block, the connecting block is fixedly installed on the bottom side of the first rotating block, a second adaptive tooth is movably installed on one side of the connecting block, the second adaptive tooth is meshed with the inner tooth ring, and the cleaning wheel is fixedly installed at one end of the second adaptive tooth penetrating through the connecting block.
[0011] Beneficial effects
[0012] The utility model provides a kind of crawling welding robot with weld joint tracking function. With following
[0013] Beneficial effects:
[0014] (1), the crawling welding robot with weld joint tracking function, the fixed of the movement of the moving ring on pipeline is realized by supporting structure, the welding structure can be moved with the outside of the moving ring by the cooperation between welding structure and outer tooth ring, the position of weld joint is cleaned before welding by the cooperation between cleaning structure and inner tooth ring, avoid the situation that welding position exists foreign matter, influence the welding effect of welding robot to pipeline. BRIEF DESCRIPTION OF DRAWINGS
[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the description of embodiments or prior art. Obviously, the drawings in the following description are only exemplary, and for those skilled in the art, other implementation drawings can be obtained without creative labor according to the provided drawings.
[0016] The structure, proportion, size and the like shown in the specification are only used to cooperate with the content disclosed in the specification, for understanding and reading by those skilled in the art, and do not have technical substantive significance, and any modification of structure, change of proportion relationship or adjustment of size, without affecting the effects and purposes that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.
[0017] Figure 1 It is a schematic view of the overall structure of the present application.
[0018] Figure 2 It is a sectional view of the present application.
[0019] Figure 3 It is a schematic view of the overall structure of the present application Figure 2 It is a schematic view of the overall structure of the present application
[0020] Figure 4 It is a schematic view of the overall structure of the present application Figure 2 It is a schematic view of the overall structure of the present application
[0021] Legend:
[0022] 1, pipe; 2, moving ring; 3, mounting threaded cavity; 4, mounting barrel; 511, spring; 512, first movable block; 513, first movable cavity; 514, rotating ball; 611, movable threaded cavity; 612, movable column; 613, rotating handle; 614, threaded column; 621, second movable cavity; 622, second movable block; 623, extrusion block; 631, anti-skid ring; 711, outer gear ring; 712, first rotating block; 713, rotating motor; 714, first matching gear; 715, dust cover; 721, weld detection device; 722, automatic welding gun; 731, rotating cavity; 732, second rotating block; 811, inner gear ring; 812, connecting block; 813, second matching tooth; 814, cleaning wheel. DETAILED DESCRIPTION
[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0024] As Figures 1-4As shown, a kind of welding seam tracking function's creeping welding robot, including pipeline 1 and moving ring 2, moving ring 2 is movably installed on the outside of pipeline 1, and the side of moving ring 2 is equidistantly provided with installation threaded cavity 3, and the inside of installation threaded cavity 3 is connected with installation barrel 4, the inside of installation barrel 4 is provided with support structure, the outside of moving ring 2 is fixedly provided with fixed outer gear ring 711, the inside of moving ring 2 is provided with fixed inner gear ring 811, one end of moving ring 2 is provided with movable first rotating block 712, the side of first rotating block 712 is provided with welding structure, the bottom side of first rotating block 712 is provided with cleaning structure, the movement of moving ring 2 on pipeline 1 is fixed by support structure, welding structure can be moved with the outside of moving ring 2 by the cooperation between welding structure and outer gear ring 711, the position of welding seam is cleaned before welding by the cooperation between cleaning structure and inner gear ring 811, installation barrel 4 is the open downward circular barrel, extrusion block 623 is fixedly installed on the bottom side of installation barrel 4, support structure includes spring 511 fixedly installed on the inside top side of installation barrel 4, first movable block 512 is fixedly installed on the inside lower end of installation barrel 4 corresponding to spring 511, first movable cavity 513 is formed on the bottom side of first movable block 512, rotating ball 514 is movably installed in the inside of first movable cavity 513, anti-skid ring 631 is fixedly installed on the outside of installation barrel 4, rotating ball 514 is attached to the outside of pipeline 1 by the extrusion of spring 511 to move moving ring 2, when moving ring 2 needs to be in stationary state, rotating installation barrel 4, extrusion block 623 is attached to the wall of pipeline 1 to limit the movement of installation barrel 4 by installation barrel 4, so that installation barrel 4 is stationary with moving ring 2 on the outside of pipeline 1, threaded column 614 is movably installed on the upper side of first movable block 512, movable threaded cavity 611 is formed on the upper end of installation barrel 4 corresponding to the position of threaded column 614, active column 612 is fixedly installed on the upper end of threaded column 614, active column 612 extends upward through movable threaded cavity 611, rotating handle 613 is fixedly installed on the upper end of active column 612, rotating handle 613 moves upward, active column 612 moves upward with rotating handle 613, active column 612 moves upward with threaded column 614 and first movable block 512, when threaded column 614 is screw-connected in the inside of movable threaded cavity 611, first movable block 512 and rotating ball 514 move to the inside of installation barrel 4, the upper end of first movable block 512 is provided with active column 612, one end of threaded column 614 extends to the inside of active column 612 and is fixedly installed with second movable block 622, second movable block 622 is movably installed in the inside of second movable cavity 621.
[0025] The welding structure comprises a rotary motor 713, the rotary motor 713 is fixedly installed on one side of the outer tooth ring 711 corresponding to the first rotating block 712, the output end of the rotary motor 713 is fixedly installed with a first adaptive gear 714, the first adaptive gear 714 is matched with the outer tooth ring 711, the side, away from the rotary motor 713, of the first rotating block 712 is fixedly installed with a weld joint detection device 721, the weld joint detection device 721 is prior art and will not be repeated here, the side of the rotary motor 713 is fixedly installed with an automatic welding gun 722 below the weld joint detection device 721, the automatic welding gun 722 is prior art and will not be repeated here, the outer side of the moving ring 2 is fixedly installed with a dust cover 715 corresponding to the position of the outer tooth ring 711, the rotary motor 713 rotates the first adaptive gear 714, the first adaptive gear 714 is meshed with the outer tooth ring 711, so that the first rotating block 712 moves along the track of the outer tooth ring 711, the first rotating block 712 drives the weld joint detection device 721 and the automatic welding gun 722 to move, the end surface of the moving ring 2 is provided with a rotating cavity 731, the second rotating block 732 is movably installed in the rotating cavity 731, and the side of the second rotating block 732 is fixedly installed on the side of the first rotating block 712.
[0026] The cleaning structure comprises a connecting block 812, the connecting block 812 is fixedly installed on the bottom side of the first rotating block 712, the second adaptive tooth 813 is movably installed on one side of the connecting block 812, the second adaptive tooth 813 is meshed with the inner tooth ring 811, the cleaning wheel 814 is fixedly installed at one end of the second adaptive tooth 813 and penetrates through the connecting block 812, when the first rotating block 712 moves along with the welding structure, the second adaptive tooth 813 moves, the second adaptive tooth 813 rotates after being meshed with the inner tooth ring 811, and the second adaptive tooth 813 drives the cleaning wheel 814 to rotate.
[0027] The working principle of the utility model:
[0028] The fixed movement of the moving ring 2 on the pipeline 1 is realized by the support structure, the welding structure can move along the outside of the moving ring 2 by the cooperation between the welding structure and the outer tooth ring 711, the cleaning structure can clean the position of the weld before welding by the cooperation between the cleaning structure and the inner tooth ring 811, in use, the rotating ball 514 is attached to the outside of the pipeline 1 by the extrusion of the spring 511 to move the moving ring 2, when the moving ring 2 needs to be in a stationary state, the installation barrel 4 is rotated, the extrusion block 623 is attached to the wall of the pipeline 1 to limit the movement of the installation barrel 4, so that the installation barrel 4 is stationary with the moving ring 2 on the outside of the pipeline 1, the rotating handle 613 is moved upwards, the rotating handle 613 moves upwards with the movable column 612, the movable column 612 moves upwards with the threaded column 614 and the first movable block 512, when the threaded column 614 is screw-connected in the inside of the movable threaded cavity 611, the first movable block 512 and the rotating ball 514 move to the inside of the installation barrel 4, when the rotating motor 713 rotates, the first adaptive gear 714 rotates, the first adaptive gear 714 is engaged with the outer tooth ring 711, so that the first rotating block 712 moves along the track of the outer tooth ring 711, the first rotating block 712 drives the weld detection device 721 and the automatic welding gun 722 to move, when the first rotating block 712 moves with the welding structure, the second adaptive tooth 813 moves, the second adaptive tooth 813 rotates after being engaged with the inner tooth ring 811, and the cleaning wheel 814 is driven to rotate by the second adaptive tooth 813.
[0029] The basic principle and main features of the present application and the advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.
Claims
1. A pipe welding robot with a weld seam tracking function, comprising a pipe (1) and a moving ring (2) which is movably mounted on the outside of the pipe (1), characterized in that: The side of the moving ring (2) is equidistantly provided with a mounting threaded cavity (3), the inside of the mounting threaded cavity (3) is connected with a mounting barrel (4), the inside of the mounting barrel (4) is provided with a supporting structure, the outside of the moving ring (2) is fixedly provided with a fixed external gear ring (711), the inside of the moving ring (2) is provided with a fixed internal gear ring (811), one end of the moving ring (2) is provided with a movable first rotating block (712), the side of the first rotating block (712) is provided with a welding structure, and the bottom side of the first rotating block (712) is provided with a cleaning structure.
2. The creeping welding robot having a weld seam tracking function according to claim 1, characterized in that: The mounting barrel (4) is a circular barrel with an opening downward, the bottom side of the mounting barrel (4) is fixedly provided with an extrusion block (623), the supporting structure comprises a spring (511) fixedly installed on the inside top side of the mounting barrel (4), the inside of the mounting barrel (4) is fixedly provided with a first movable block (512) corresponding to the lower end of the spring (511), the bottom side of the first movable block (512) is provided with a first movable cavity (513), and the inside of the first movable cavity (513) is movably provided with a rotating ball (514). The outside of the mounting barrel (4) is fixedly provided with an anti-skid ring (631).
3. The creeping welding robot having a weld seam tracking function according to claim 2, characterized in that: The upper side of the first movable block (512) is movably provided with a threaded column (614), the upper end of the mounting barrel (4) is provided with a movable threaded cavity (611) corresponding to the position of the threaded column (614), the upper end of the threaded column (614) is fixedly provided with a movable column (612), the movable column (612) extends upwardly through the movable threaded cavity (611), and the upper end of the movable column (612) is fixedly provided with a rotating handle (613).
4. The creeping welding robot having a weld seam tracking function according to claim 3, characterized in that: The upper end of the first movable block (512) is provided with a movable column (612), one end of the threaded column (614) extends into the inside of the movable column (612) and is fixedly provided with a second movable block (622), and the second movable block (622) is movably installed in the inside of a second movable cavity (621).
5. The creeping welding robot having a weld seam tracking function according to claim 1, characterized in that: The welding structure comprises a rotating motor (713) fixedly installed on one side of the first rotating block (712) corresponding to the external gear ring (711), a first adaptive gear (714) fixedly installed on the output end of the rotating motor (713), the first adaptive gear (714) being matched with the external gear ring (711), a welding seam detection device (721) fixedly installed on the side of the first rotating block (712) away from the rotating motor (713), and an automatic welding gun (722) fixedly installed on the side of the rotating motor (713) corresponding to the lower side of the welding seam detection device (721). The outside of the moving ring (2) is fixedly provided with a dust cover (715) corresponding to the position of the external gear ring (711).
6. The creeping welding robot having a weld seam tracking function according to claim 5, characterized in that: The end surface of the moving ring (2) is provided with a rotating cavity (731), the inside of the rotating cavity (731) is movably provided with a second rotating block (732), and one side of the second rotating block (732) is fixedly installed on the side of the first rotating block (712).
7. The creeping welding robot having a weld seam tracking function according to claim 1, characterized in that: The cleaning structure comprises a connecting block (812) fixedly installed on the bottom side of the first rotating block (712), one side of the connecting block (812) movably installed with a second adaptive tooth (813), the second adaptive tooth (813) is in mesh with the inner tooth ring (811), and one end of the second adaptive tooth (813) penetrates through the connecting block (812) and is fixedly installed with a cleaning wheel (814).