Automatic welding device for limited space
By designing an automated welding device, the problem of low efficiency in welding and reinforcing ultra-large diameter water pipelines in a limited space was solved, achieving efficient and safe automated welding, and improving welding quality and construction efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- BEIJING HANJIAN WATER CONSERVANCY & HYDROPOWER ENG CO LTD
- Filing Date
- 2025-06-05
- Publication Date
- 2026-05-12
AI Technical Summary
In existing technologies, ultra-large diameter water pipelines are prone to deformation under cyclical changes in internal pressure, leading to cracking of the concrete protective layer and corrosion and leakage of the water pipes. Manual welding reinforcement in a confined space is inefficient and highly dangerous.
设计一种包括焊接车、举升机构、多轴机械臂、焊接机构和除尘机构的自动焊接装置，利用履带行走机构、姿态传感器和智能控制柜，实现自动化焊接，适应有限空间并提高焊接质量和安全性。
The automated welding of ultra-large diameter water pipelines has been achieved, resulting in high-quality reinforcement, reduced risks associated with working at heights and in confined spaces, and improved construction efficiency and welding quality.
Smart Images
Figure CN224223066U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of welding and reinforcement of water pipelines, specifically to an automatic welding device for confined spaces. Background Technology
[0002] With the laying of water pipelines and the urgency of urban drinking water problems, the application of ultra-large diameter water pipelines is increasing.
[0003] However, due to the cyclical changes in internal pressure, water pipelines are prone to deformation, which can cause cracks in the concrete protective layer and corrosion and leakage, reducing the pressure-bearing capacity of the water pipelines and leading to ruptures or bursts.
[0004] When reinforcing the inner diameter of ultra-large diameter water pipelines with welded circular reinforcing plates, it is necessary to first groove the surface concrete of the steel cylinder according to the specified dimensions to expose the steel pipe. Then, based on the calculation results, the ultra-large diameter steel pipe is reinforced radially using manual welding. However, manual operation faces problems such as limited working space, operational hazards, severe dust interference during the operation, and low work efficiency. Utility Model Content
[0005] The purpose of this invention is to provide an automatic welding device for confined spaces to solve the problems caused by existing manual operations.
[0006] Therefore, embodiments of this utility model propose an automatic welding device for confined spaces.
[0007] The confined space automatic welding device according to an embodiment of the present invention includes one or two welding vehicles. Each welding vehicle includes a vehicle body, a lifting mechanism, a multi-axis robotic arm, a welding mechanism, and a dust removal mechanism. Two tracked walking mechanisms arranged in a figure-eight shape are disposed below the vehicle body. The lower end of the lifting mechanism is rotatably mounted on the vehicle body. The lower end of the multi-axis robotic arm is mounted on the top of the lifting mechanism. The main body of the welding mechanism is disposed on the vehicle body, and the welding end of the welding mechanism is connected to the front end of the multi-axis robotic arm. The main body of the dust removal mechanism is disposed on the vehicle body, and the suction port end of the dust removal mechanism is connected to the front end of the multi-axis robotic arm.
[0008] In some embodiments, the welding vehicle further includes a plurality of supporting hydraulic cylinders; the plurality of supporting hydraulic cylinders are disposed below the vehicle body.
[0009] In some embodiments, the lifting mechanism includes a support arm, a lifting platform, and a telescopic cylinder; the lower end of the support arm is rotatably mounted on the vehicle body, the lifting platform is mounted on the upper end of the support arm, the lower end of the telescopic cylinder is rotatably mounted on the vehicle body, and the upper end of the telescopic cylinder is rotatably connected to the bottom of the lifting platform.
[0010] In some embodiments, the support arm includes a first arm and two second arms; the first arm is plate-shaped, with its lower end rotatably mounted on the vehicle body, and the lifting platform is mounted on the upper end of the support arm; the second arms are rod-shaped, with their lower ends rotatably mounted on the vehicle body, and the lifting platform is mounted on the upper end of the support arm.
[0011] In some embodiments, the multi-axis robotic arm includes a base, a first rotating shaft disposed on the base, a first rotating part sleeved on the first rotating shaft, a first swing arm rotatably connected to the first rotating part, a second rotating part connected to the other end of the first swing arm, a first rotating arm rotatably inserted into the second rotating part, a second swing arm disposed at the front end of the first rotating arm, and a wrist rotation shaft disposed on the second swing arm; the wrist rotation shaft is connected to the welding end of the welding mechanism and the suction end of the dust removal mechanism.
[0012] In some embodiments, the base is frustum-shaped, and the first rotating shaft is vertically disposed on the base; the first rotating part is sleeved on the first rotating shaft, and the first rotating part is also provided with a first through hole; the first swing arm is plate-shaped, and side rotating shafts are provided at both ends of the first swing arm, one of the side rotating shafts is disposed in the first through hole; the second rotating part is sleeved on the other side rotating shaft, and the second rotating part is also provided with a second through hole; the first rotating arm is rotatably inserted into the second through hole.
[0013] In some embodiments, the welding mechanism is a carbon dioxide shielded welding machine, and the welding torch of the welding machine is mounted on the wrist rotation shaft.
[0014] In some embodiments, the welding vehicle further includes a gas storage cylinder containing carbon dioxide, and the gas storage cylinder is disposed on the vehicle body.
[0015] In some embodiments, the welding vehicle further includes an intelligent control cabinet, which is mounted on the vehicle body and is used to control the tracked walking mechanism, the lifting mechanism, the multi-axis robotic arm, the welding mechanism, and the dust removal mechanism.
[0016] In some embodiments, the confined space automatic welding device further includes a remote terminal, and the intelligent control cabinet is connected to the remote terminal via wireless transmission.
[0017] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Other features and aspects of this disclosure will become clearer from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description
[0018] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0019] Figure 1 This is a schematic diagram of a welding vehicle according to an embodiment of the present utility model.
[0020] Figure 2 This is a schematic diagram of a vehicle body according to an embodiment of the present utility model.
[0021] Figure 3 This is a schematic diagram of a lifting mechanism according to an embodiment of the present utility model.
[0022] Figure 4 This is a schematic diagram of a multi-axis robotic arm according to an embodiment of the present invention.
[0023] Figure label:
[0024] The confined space automatic welding device 100 includes a welding vehicle 101, a vehicle body 10, a tracked walking mechanism 11, a supporting hydraulic cylinder 12, a lifting mechanism 20, a supporting arm 21, a first support arm 211, a second support arm 212, a lifting platform 22, a telescopic cylinder 23, a multi-axis robotic arm 30, a base 31, a first rotating shaft 311, a first rotating part 32, a first through hole 321, a first swing arm 33, a side rotating shaft 331, a second rotating part 34, a second through hole 341, a first rotating arm 35, a second swing arm 36, a wrist rotation shaft 37, a welding mechanism 40, a dust removal mechanism 50, a gas storage cylinder 60, and an intelligent control cabinet 70. Detailed Implementation
[0025] The technical solution of this utility model will be clearly and completely described below with reference to specific implementation schemes. However, those skilled in the art should understand that the implementation schemes described below are only for illustrating this utility model and should not be regarded as limiting the scope of this utility model. Based on the implementation schemes in this utility model, all other implementation schemes obtained by those skilled in the art without creative effort are within the protection scope of this utility model.
[0026] The laying of water pipelines and the application of ultra-large diameter water pipelines have solved the problem of urban water shortage.
[0027] However, over time, large-diameter water pipelines are prone to deformation, cracking of the inner concrete protective layer, rupture, or bursting due to internal pressure cyclic changes and external load variations.
[0028] like Figures 1-4 As shown, the confined space automatic welding device 100 according to an embodiment of the present invention includes one or two welding carriages 101. The welding carriage 101 includes a body 10, a lifting mechanism 20, a multi-axis robotic arm 30, a welding mechanism 40, and a dust removal mechanism 50.
[0029] Two tracked walking mechanisms 11 arranged in a figure-eight shape are provided below the vehicle body 10. The lower end of the lifting mechanism 20 is rotatably mounted on the vehicle body 10. The lower end of the multi-axis robotic arm 30 is mounted on the top of the lifting mechanism 20. The main body of the welding mechanism 40 is mounted on the vehicle body 10, and the welding end of the welding mechanism 40 is connected to the front end of the multi-axis robotic arm 30. The main body of the dust removal mechanism 50 is mounted on the vehicle body 10, and the suction port end of the dust removal mechanism 50 is connected to the front end of the multi-axis robotic arm 30.
[0030] The confined space automatic welding device 100 of this utility model can reinforce the radial stiffeners of ultra-large diameter water pipelines. It automatically adjusts the welding mechanism's posture angle, welding speed, welding current, and the coordination speed of the two welding vehicles based on the radius of curvature, stiffener thickness, and elevation angle, thereby improving welding speed and quality while reducing the risks of high-altitude and confined space operations. The confined space automatic welding device 100 of this utility model features high equipment utilization, low overall cost, and automatic height adjustment based on the inner diameter of the water pipeline. It also boasts advantages such as high automation, high construction efficiency, high safety factor, and good welding quality.
[0031] It is understandable that the travel of ultra-large diameter pipelines on the arc surface is prone to tilting and not traveling in a straight line, and the water and silt in the pipeline can easily cause the traveling wheels to slip. The design of the figure-eight track walking mechanism 11 can solve the problem of slippage caused by the small contact area of the arc surface and the presence of water and silt.
[0032] It is understandable that, in response to the problem of large deformation and easy flow of molten pool when welding thin stiffening plates on the inner circumferential arc surface of ultra-large diameter water conveyance steel pipes, the confined space automatic welding device 100 of this utility model adopts a double welding carriage 101 to improve the welding speed. During overhead welding, it automatically adjusts the welding current, welding feed speed and wire feed speed according to the posture angle, welding deformation parameters and molten pool size, thereby improving the welding quality of radial stiffening plate reinforcement of ultra-large diameter water conveyance steel pipes.
[0033] Preferably, an attitude sensor can also be installed on the track walking mechanism 11. When the output value of the attitude sensor exceeds the threshold, the intelligent control cabinet 70 can automatically correct the track walking mechanism to avoid the wiring mechanism from deviating and causing the automatic welding device in the confined space to tip over.
[0034] In some embodiments, such as Figures 1-2 As shown, the welding vehicle 101 also includes a plurality of supporting hydraulic cylinders 12, which are disposed below the vehicle body 10.
[0035] Understandably, the support hydraulic cylinder 12 improves the stability of the welding vehicle 101 during welding.
[0036] In some embodiments, such as Figure 3 As shown, the lifting mechanism 20 includes a support arm 21, a lifting platform 22, and a telescopic cylinder 23. The lower end of the support arm 21 is rotatably mounted on the vehicle body 10, the lifting platform 22 is mounted on the upper end of the support arm 21, the lower end of the telescopic cylinder 23 is rotatably mounted on the vehicle body 10, and the upper end of the telescopic cylinder 23 is rotatably connected to the bottom of the lifting platform 22.
[0037] Understandably, to address the issue of large circumferential welding radius required for ultra-large diameter water pipes, a lifting mechanism is designed in conjunction with a multi-axis robotic arm to complete circumferential radial welding operations, achieving automatic radial welding for diameters ≥ 4m. The lifting mechanism height can be automatically adjusted according to different radial positions, and a laser displacement sensor is installed on the lifting mechanism to detect the relative distance between the lifting mechanism and the upper surface of the vehicle body in real time, thereby achieving closed-loop control and detection of the welding vehicle 101.
[0038] In some embodiments, such as Figure 3 As shown, the support arm 21 includes a first arm 211 and two second arms 212. The first arm 211 is plate-shaped, and its lower end is rotatably mounted on the vehicle body 10. The lifting platform 22 is mounted on the upper end of the support arm 21. The second arms 212 are rod-shaped, and their lower ends are rotatably mounted on the vehicle body 10. The lifting platform 22 is mounted on the upper end of the support arm 21.
[0039] In some embodiments, such as Figure 4As shown, the multi-axis robotic arm 30 includes a base 31, a first rotating shaft 311 disposed on the base 31, a first rotating part 32 sleeved on the first rotating shaft 311, a first swing arm 33 rotatably connected to the first rotating part 32, a second rotating part 34 connected to the other end of the first swing arm 33, a first rotating arm 35 rotatably inserted into the second rotating part 34, a second swing arm 36 disposed at the front end of the first rotating arm 35, and a wrist rotation shaft 37 disposed on the second swing arm 36. The wrist rotation shaft 37 is connected to the welding end of the welding mechanism 40 and the suction port end of the dust removal mechanism 50.
[0040] In some embodiments, such as Figure 4 As shown, the base 31 is frustum-shaped, the first rotating shaft 311 is vertically mounted on the base 31, the first rotating part 32 is sleeved on the first rotating shaft 311, the first rotating part 32 is also provided with a first through hole 321, the first swing arm 33 is long plate-shaped, the two ends of the first swing arm 33 are provided with side rotating shafts 331, one side rotating shaft 331 is set in the first through hole 321, the second rotating part 34 is sleeved on the other side rotating shaft 331, the second rotating part 34 is also provided with a second through hole 341, and the first rotating arm 35 is rotatably inserted into the second through hole 341.
[0041] In some embodiments, such as Figure 1 As shown, the welding mechanism 40 is a carbon dioxide shielded welding machine, and the welding torch of the welding machine is mounted on the wrist rotation shaft 37.
[0042] In some embodiments, such as Figure 1 As shown, the confined space automatic welding device 100 also includes a gas cylinder 60, which stores carbon dioxide and is mounted on the vehicle body 10.
[0043] In some embodiments, such as Figure 1 As shown, the confined space automatic welding device 100 also includes an intelligent control cabinet 70, which is installed on the vehicle body 10. The intelligent control cabinet 70 is used to control the track walking mechanism 11, the lifting mechanism 20, the multi-axis robotic arm 30, the welding mechanism 40, and the dust removal mechanism 50.
[0044] In some embodiments, the confined space automatic welding device 100 also includes a remote terminal, and the intelligent control cabinet 70 is connected to the remote terminal via wireless transmission.
[0045] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.
[0046] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0047] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0048] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0049] In this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this utility model. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0050] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.
Claims
1. An automatic welding device for confined space, characterized in that, The confined space automatic welding device includes one or two welding carriages, wherein the welding carriages include: The vehicle body has two tracked walking mechanisms arranged in a figure-eight shape on its underside; A lifting mechanism, the lower end of which is rotatably mounted on the vehicle body; A multi-axis robotic arm, the lower end of which is mounted on top of the lifting mechanism; A welding mechanism, the main body of which is mounted on the vehicle body, and the welding end of which is connected to the front end of the multi-axis robotic arm; A dust removal mechanism, the main body of which is mounted on the vehicle body, and the suction port of which is connected to the front end of the multi-axis robotic arm.
2. The confined space automatic welding device according to claim 1, characterized in that, The welding vehicle also includes: multiple supporting hydraulic cylinders; Multiple of the aforementioned support hydraulic cylinders are located below the vehicle body.
3. The confined space automatic welding device according to claim 1, characterized in that, The lifting mechanism includes a support arm, a lifting platform, and a telescopic cylinder; The lower end of the support arm is rotatably mounted on the vehicle body, the lifting platform is mounted on the upper end of the support arm, the lower end of the telescopic cylinder is rotatably mounted on the vehicle body, and the upper end of the telescopic cylinder is rotatably connected to the bottom of the lifting platform.
4. The confined space automatic welding device according to claim 3, characterized in that, The support arm includes a first arm and two second arms; The first support arm is plate-shaped, and the lower end of the first support arm is rotatably mounted on the vehicle body. The lifting platform is mounted on the upper end of the support arm. The second support arm is rod-shaped, and its lower end is rotatably mounted on the vehicle body. The lifting platform is mounted on the upper end of the support arm.
5. The automatic welding device for confined space according to claim 1, characterized in that, The multi-axis robotic arm includes a base, a first rotating shaft disposed on the base, a first rotating part sleeved on the first rotating shaft, a first swing arm rotatably connected to the first rotating part, a second rotating part connected to the other end of the first swing arm, a first rotating arm rotatably inserted into the second rotating part, a second swing arm disposed at the front end of the first rotating arm, and a wrist rotation shaft disposed on the second swing arm. The wrist rotation shaft is connected to the welding end of the welding mechanism and the suction end of the dust removal mechanism.
6. The confined space automatic welding device according to claim 5, characterized in that, The base is frustum-shaped, and the first rotating shaft is vertically mounted on the base; The first rotating part is sleeved on the first rotating shaft, and the first rotating part is also provided with a first through hole; The first swing arm is a long plate shape, and side rotation shafts are provided at both ends of the first swing arm, with one of the side rotation shafts disposed in the first through hole; The second rotating part is sleeved on another side rotating shaft, and the second rotating part is also provided with a second through hole; The first rotating arm is rotatably inserted into the second through hole.
7. The confined space automatic welding device according to claim 5, characterized in that, The welding mechanism is a carbon dioxide shielded welding machine, and the welding torch of the welding machine is mounted on the wrist rotation shaft.
8. The confined space automatic welding device according to claim 7, characterized in that, The welding vehicle also includes: A gas storage cylinder containing carbon dioxide is mounted on the vehicle body.
9. The confined space automatic welding device according to claim 1, characterized in that, The welding vehicle also includes: An intelligent control cabinet is installed on the vehicle body. The intelligent control cabinet is used to control the tracked walking mechanism, the lifting mechanism, the multi-axis robotic arm, the welding mechanism, and the dust removal mechanism.
10. The confined space automatic welding device according to claim 9, characterized in that, Also includes: The intelligent control cabinet is connected to the remote terminal via wireless transmission.