Welding robot suitable for inner wall of steel pipe

Abstract

The utility model discloses a welding robot suitable for the inner wall of a steel pipe, and relates to the technical field of welding of the inner wall of the steel pipe, the welding robot comprises an equipment plate, a cavity is arranged in the equipment plate, a controller is sleeved in the cavity, the back surface of the equipment plate is rotatably connected with a side plate through a bearing, and the side plate is connected with the inner wall of the equipment plate. The side face of the side plate is fixedly connected with four moving assemblies in a rectangular array mode. According to the welding robot suitable for the inner wall of the steel pipe, a driving motor in the moving assembly drives a lead screw to rotate, a sliding block is driven to linearly slide along a sliding groove, an extension plate fixed to the top face of the sliding block stretches out and draws back synchronously, and then a self-balancing assembly and a welding gun are pushed to move in the axial direction of the inner wall of the pipe; according to the structure, the extending depth of the welding gun is controlled by adjusting the position of the sliding block in the sliding groove, so that the depth requirements of different welding positions are met, the problem that the welding depth of traditional equipment is difficult to adjust due to fixed stroke limitation is solved, and the operation flexibility and operation efficiency of the welding robot are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of steel pipe inner wall welding technology, specifically a welding robot suitable for steel pipe inner walls. Background Technology

[0002] In the field of steel pipe manufacturing and repair, internal wall welding is a key process to ensure the sealing and structural strength of pipelines. However, existing welding equipment for the inner walls of steel pipes generally suffers from the following drawbacks:

[0003] Insufficient adaptability: Traditional welding equipment relies on a fixed-size support structure, making it difficult to penetrate into pipes of different diameters; it cannot automatically adjust the arm length to maintain the robot's centering and stability, affecting the welding effect.

[0004] Therefore, this utility model provides a welding robot suitable for the inner wall of steel pipes. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a welding robot suitable for the inner wall of steel pipes. It solves the problems of traditional welding equipment relying on fixed-size support structures, making it difficult to penetrate into pipes of different diameters; and the inability to automatically adjust the arm length to maintain the robot's central stability, thus affecting the welding effect.

[0006] To achieve the above objectives, this utility model is implemented through the following technical solution: a welding robot suitable for the inner wall of steel pipe, including an equipment plate, the equipment plate having a cavity inside, a controller being sleeved inside the cavity, a side plate being rotatably connected to the back of the equipment plate via a bearing, four moving components being fixedly connected to the sides of the side plate in a rectangular array, and a self-balancing component being fixedly connected to the sides of the moving components.

[0007] The moving component includes a device box fixedly connected to the side of the side plate, a drive motor sleeved inside the device box, a slide groove fixedly connected to the side of the device box, a slider slidably connected inside the slide groove, a lead screw threaded inside the slider, the lead screw fixedly connected to the output end of the drive motor, a limit plate fixedly connected to one end of the slide groove, and an extension plate fixedly connected to the top surface of the slider.

[0008] The self-balancing assembly includes an electric push rod fixedly connected to one end of an extension plate, a mounting plate fixedly connected to one end of the electric push rod, a welding torch fixedly connected to the side of the mounting plate, a pressure sensor provided on the side of the welding torch, an internal threaded tube fixedly connected to the side of the pressure sensor, a caster wheel connected to the internal thread of the internal threaded tube, and the pressure sensor electrically connected to a controller.

[0009] Preferably, the output end of the drive motor of the moving component is fixedly connected to a lead screw, the lead screw passes through the slider and drives the slider to slide along the slide groove through the thread, and the limiting plate is fixed to the end of the slide groove away from the drive motor.

[0010] Preferably, the four moving components of the side plate are arranged in a rectangular array. Each moving component has an extension plate end connected to a self-balancing component. The mounting plate of the self-balancing component is provided with a caster wheel. Each caster wheel is threadedly connected to a pressure sensor through an internal threaded tube. The pressure sensor detects the contact pressure between the corresponding caster wheel and the inner wall of the pipe in real time and feeds it back to the controller.

[0011] Preferably, the side plate is rotatably connected to the equipment plate via bearings, and when the extension plate of each moving component slides along the slide groove, it drives the self-balancing component to move synchronously.

[0012] Preferably, the welding torch is fixed to the side of the mounting plate and connected to an external gas source, and the welding direction of the welding torch is perpendicular to the support direction of the caster wheel.

[0013] Preferably, the controller controls the extension and retraction of the corresponding electric push rods according to the signals fed back by the four pressure sensors, so that the pressure of each universal wheel on the inner wall of the pipe is balanced, thereby adjusting the centering position of the welding robot.

[0014] Beneficial effects

[0015] This invention provides a welding robot suitable for the inner wall of steel pipes. Compared with the prior art, it has the following advantages:

[0016] 1. This welding robot, applicable to the inner wall of steel pipes, uses a drive motor in the moving assembly to rotate the lead screw, causing the slider to slide linearly along the groove. This causes the extension plate fixed to the top surface of the slider to extend and retract synchronously, thereby pushing the self-balancing assembly and the welding torch to move axially towards the inner wall of the pipe. This structure controls the extension depth of the welding torch by adjusting the position of the slider in the groove, thus adapting to the depth requirements of different welding positions. It solves the problem of difficult welding depth adjustment and the need for repeated manual adjustments caused by the fixed stroke limitation of traditional equipment, significantly improving the operational flexibility and efficiency of the welding robot.

[0017] 2. This welding robot, suitable for the inner wall of steel pipes, utilizes a self-balancing assembly with pressure sensors, casters, and electric push rods in a coordinated design. The controller receives contact pressure signals from the four pressure sensors in real time and independently controls the extension and retraction of each electric push rod, ensuring dynamic and balanced pressure from the four casters on the inner wall of the pipe. This guarantees the robot remains centered on the pipe throughout the welding process. This structure overcomes the shortcomings of traditional equipment that suffer from misalignment due to the lack of automatic arm length adjustment, effectively improving welding accuracy and weld quality. Attached Figure Description

[0018] Figure 1 This is a three-dimensional schematic diagram of the overall appearance of this utility model;

[0019] Figure 2 This is a three-dimensional appearance diagram of the mobile component of this utility model;

[0020] Figure 3 This is a three-dimensional appearance diagram of the self-balancing component of this utility model.

[0021] Figure 4 This is a three-dimensional diagram showing the disassembled appearance of this utility model.

[0022] In the diagram: 1. Equipment board; 2. Controller; 3. Bearing; 4. Side plate; 5. Moving component; 51. Equipment box; 52. Drive motor; 53. Slide rail; 54. Slider; 55. Lead screw; 56. Limit plate; 57. Extension plate; 6. Self-balancing component; 61. Electric push rod; 62. Mounting plate; 63. Welding torch; 64. Pressure sensor; 65. Internal threaded tube; 66. Caster wheel. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] This utility model provides two technical solutions:

[0025] Figures 1-4 The first embodiment is shown: a welding robot suitable for the inner wall of a steel pipe, including a device plate 1, the inside of which is provided with a cavity, and a controller 2 is sleeved inside the cavity. A side plate 4 is rotatably connected to the back of the device plate 1 via a bearing 3. Four moving components 5 are fixedly connected to the sides of the side plate 4 in a rectangular array. A self-balancing component 6 is fixedly connected to the sides of the moving components 5. The moving components 5 include a device box 51 fixedly connected to the side of the side plate 4. A drive motor 52 is sleeved inside the device box 51. A slide groove 53 is fixedly connected to the side of the device box 51. A slider 54 is slidably connected inside the slide groove 53. A lead screw 55 is threadedly connected inside the slider 54. The lead screw 55 is fixedly connected to the output end of the drive motor 52. A limit plate 56 is fixedly connected to one end of the slide groove 53. An extension plate 57 is fixedly connected to the top surface of the slider 54.

[0026] Specifically, the side plate 4 of the equipment plate 1 rotates axially via bearing 3. Among the four moving components 5 arranged in a rectangular array on the side plate 4, a 57BYG series drive motor 52 drives a lead screw 55 to rotate, causing a threaded slider 54 to slide along a groove 53. The extension plate 57 at the top of the slider 54 extends and retracts synchronously with the sliding displacement, pushing the self-balancing component 6 and the welding torch 63 to move axially along the pipe. An STM32F4 series controller 2 controls the direction and speed of the drive motor 52 to adjust the insertion depth of the welding torch 63. Through this structural linkage, the welding torch 63 achieves full coverage of welding positions at different depths on the inner wall of the pipe, replacing the manual adjustment of traditional equipment and significantly improving operational efficiency.

[0027] In this embodiment, the self-balancing component 6 includes an electric push rod 61 fixedly connected to one end of the extension plate 57. One end of the electric push rod 61 is fixedly connected to a mounting plate 62. A welding torch 63 is fixedly connected to the side of the mounting plate 62. A pressure sensor 64 is provided on the side of the welding torch 63. An internal threaded tube 65 is fixedly connected to the side of the pressure sensor 64. A universal wheel 66 is connected to the internal thread of the internal threaded tube 65. The pressure sensor 64 is electrically connected to the controller 2.

[0028] Specifically, when the welding torch 63 moves to the target welding position, the LINAK LA36 series electric push rod 61 of the self-balancing component 6 pushes the mounting plate 62 radially, causing the caster wheel 66 to contact the inner wall of the pipe. The Honeywell FSS series pressure sensor 64 detects the contact pressure of the caster wheel 66 in real time and feeds it back to the controller 2. Based on the independent signals from the four pressure sensors 64, the controller 2 uses a PID algorithm to control the extension and retraction of the corresponding electric push rod 61, dynamically adjusting the support pressure of the caster wheel 66. Through multi-component collaborative feedback and control, the robot is ensured to remain centered and stable during the welding process, eliminating the risk of deviation and improving welding accuracy and forming quality.

[0029] Figures 1-4 The second embodiment is shown. The main difference from the first embodiment is that the output end of the drive motor 52 of the moving component 5 is fixedly connected to the lead screw 55. The lead screw 55 passes through the slider 54 and drives the slider 54 to slide along the slide groove 53 through the thread. The limiting plate 56 is fixed to the end of the slide groove 53 away from the drive motor 52.

[0030] Specifically, the drive motor 52 is fixed inside the equipment box 51, and its output end is directly connected to the lead screw 55. The lead screw 55 passes through the slider 54 and drives the slider 54 to slide linearly along the slide groove 53 through the thread. The end of the slide groove 53 is fixed with a limiting plate 56 to limit the maximum stroke of the slider 54. High-precision displacement control is achieved through the threaded engagement between the lead screw 55 and the slider 54. The limiting plate 56 prevents the slider 54 from disengaging from the slide groove 53, ensuring the transmission stability and reliability of the moving component 5 and avoiding mechanical damage caused by overtravel.

[0031] The side plate 4 is rotatably connected to the equipment plate 1 via the bearing 3. When the extension plate 57 of each moving component 5 slides along the slide groove 53, it drives the self-balancing component 6 to move synchronously.

[0032] Specifically, the side plate 4 is rotatably connected to the equipment plate 1 via the bearing 3. When the drive motor 52 drives the slider 54 to slide along the slide groove 53, the extension plate 57 drives the self-balancing component 6 to move axially synchronously. The side plate 4 can rotate around the axis of the bearing 3 to adjust the circumferential angle of the moving component 5 and the welding torch 63. The rotational freedom of the side plate 4, combined with the axial displacement capability of the moving component 5, allows the welding torch 63 to cover welds of different angles and depths on the inner wall of the pipe, adapting to complex weld trajectories such as rings and spirals, and improving the flexibility of the welding process.

[0033] The welding torch 63 is fixed to the side of the mounting plate 62 and connected to an external gas source. The welding direction of the welding torch 63 is perpendicular to the support direction of the caster wheel 66.

[0034] Specifically, the welding torch 63 is fixed to the side of the mounting plate 62 and connected to an external gas source. Its welding spray direction is perpendicular to the support direction of the caster wheel 66, that is, the axis of the welding torch 63 is perpendicular to the radial direction of the pipe. The caster wheel 66 is connected to the pressure sensor 64 through the internal threaded tube 65 and rolls along the inner wall of the pipe for support. The vertical layout design of the welding torch 63 and the caster wheel 66 allows the reaction force during welding to be distributed to the inner wall of the pipe through the caster wheel 66, avoiding weld deviation due to force displacement of the welding torch 63; at the same time, vertical welding can reduce the interference of fumes on the moving mechanism and improve the welding quality.

[0035] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0036] Working principle: After the welding robot enters the pipeline, the controller 2 of the equipment board 1 starts the drive motor 52. The drive motor 52 drives the lead screw 55 to rotate, and drives the slider 54 to slide along the slide groove 53, so that the extension plate 57 pushes the self-balancing component 6 and the welding torch 63 to move axially towards the pipeline to the target welding depth. At the same time, the side plate 4 rotates relative to the equipment board 1 through the bearing 3 to adjust the circumferential welding angle of the welding torch 63. The electric push rod 61 of the self-balancing component 6 pushes the mounting plate 62 to extend radially, so that the universal wheel 66 contacts the inner wall of the pipeline. The pressure sensor 64 detects the contact pressure in real time and feeds it back to the controller 2. The controller 2 controls the extension and retraction of the corresponding electric push rod 61 through the PID algorithm based on the independent signals of the four pressure sensors 64, dynamically balancing the support pressure of the universal wheel 66 to ensure the robot is centered and stable. During the welding process, the welding torch 63 welds along the direction perpendicular to the support of the universal wheel 66. The reaction force is distributed to the inner wall of the pipeline through the universal wheel 66 to avoid deviation. Through multi-component collaborative control, the welding torch 63 can accurately cover weld seams of different depths and angles on the inner wall of the pipe, while maintaining the robot's dynamic balance, significantly improving welding quality and efficiency.

[0037] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0038] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A welding robot suitable for the inner wall of steel pipes, comprising an equipment plate (1), characterized in that: The device plate (1) has a cavity inside, and a controller (2) is sleeved inside the cavity. The back of the device plate (1) is rotatably connected to a side plate (4) via a bearing (3). The side of the side plate (4) is fixedly connected to four moving components (5) in a rectangular array. The side of the moving components (5) is fixedly connected to a self-balancing component (6). The moving component (5) includes a device box (51) fixedly connected to the side of the side plate (4). A drive motor (52) is sleeved inside the device box (51). A slide groove (53) is fixedly connected to the side of the device box (51). A slider (54) is slidably connected inside the slide groove (53). A lead screw (55) is threaded inside the slider (54). The lead screw (55) is fixedly connected to the output end of the drive motor (52). A limit plate (56) is fixedly connected to one end of the slide groove (53). An extension plate (57) is fixedly connected to the top surface of the slider (54). The self-balancing assembly (6) includes an electric push rod (61) fixedly connected to one end of an extension plate (57), an mounting plate (62) fixedly connected to one end of the electric push rod (61), a welding torch (63) fixedly connected to the side of the mounting plate (62), a pressure sensor (64) provided on the side of the welding torch (63), an internal thread tube (65) fixedly connected to the side of the pressure sensor (64), a universal wheel (66) connected to the internal thread of the internal thread tube (65), and the pressure sensor (64) electrically connected to the controller (2).

2. The welding robot suitable for the inner wall of steel pipe according to claim 1, characterized in that: The output end of the drive motor (52) of the moving component (5) is fixedly connected to a lead screw (55). The lead screw (55) passes through the slider (54) and drives the slider (54) to slide along the slide groove (53) through the thread. The limiting plate (56) is fixed to the end of the slide groove (53) away from the drive motor (52).

3. The welding robot suitable for the inner wall of steel pipe according to claim 1, characterized in that: The four moving components (5) of the side plate (4) are arranged in a rectangular array. The end of the extension plate (57) of each moving component (5) is connected to a self-balancing component (6). The mounting plate (62) of the self-balancing component (6) is provided with a caster wheel (66). Each caster wheel (66) is threadedly connected to the pressure sensor (64) through an inner thread tube (65). The pressure sensor (64) detects the contact pressure between the corresponding caster wheel (66) and the inner wall of the pipe in real time and feeds it back to the controller (2).

4. The welding robot suitable for the inner wall of steel pipe according to claim 1, characterized in that: The side plate (4) is rotatably connected to the equipment plate (1) through the bearing (3). When the extension plate (57) of each moving component (5) slides along the slide groove (53), it drives the self-balancing component (6) to move synchronously.

5. A welding robot suitable for the inner wall of steel pipes according to claim 1, characterized in that: The welding torch (63) is fixed to the side of the mounting plate (62) and connected to an external gas source. The welding direction of the welding torch (63) is perpendicular to the support direction of the caster wheel (66).

6. The welding robot suitable for the inner wall of steel pipe according to claim 1, characterized in that: The controller (2) controls the extension and retraction of the corresponding electric push rods (61) according to the signals fed back by the four pressure sensors (64), so that the pressure of each universal wheel (66) on the inner wall of the pipe is balanced, thereby adjusting the center position of the welding robot.

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