Automatic climbing and welding equipment for steel pipe of power tower

Abstract

The utility model relates to a kind of electric power tower steel pipe automatic climbing type welding equipment, including climbing device, including sliding rod group, the upper ring seat and lower ring seat of sliding connection on the sliding rod group, and several clamping mechanisms connected in the inner wall of the upper ring seat and lower ring seat;The upper ring seat or the lower ring seat is connected with the sliding rod group slidingly by sliding block connector, and the sliding block connector is rotatably connected with the upper ring seat or the lower ring seat;Efficient and safe climbing is realized by setting climbing device, and continuous climbing is realized using the alternate clamping of upper / lower ring seat and bidirectional screw rod drive, and upper / lower ring seat is stably clamped under the clamping action of clamping structure, and clamping mechanism can adapt to the change of conical pipe diameter;By setting the upper / lower ring seat, rotating disc into semicircular ring structure, the circumferential vertical obstacle (such as cable connection frame) of tower steel pipe can be avoided, to ensure the climbing of climbing device.

Description

Technical Field

[0001] This utility model belongs to the field of power tower welding, specifically designing an automatic climbing welding equipment for power tower steel pipes. Background Technology

[0002] In the construction of large steel structures such as wind turbine towers and communication towers, the high-altitude welding of tower steel pipes (mostly tapered or polygonal pipes) has the following defects:

[0003] Manual welding is high-risk: traditional methods require scaffolding or suspended platforms, which are dangerous and inefficient for working at heights.

[0004] Automation is difficult: the diameter of the tower steel pipe gradually changes (decreasing from bottom to top) and there are often vertical obstacles such as cables around the circumference, making it difficult for ordinary crawling robots to hold and avoid obstacles stably;

[0005] Incomplete welding coverage: Fixed equipment cannot achieve full circumferential welding of the pipe body, requiring frequent position adjustments. Utility Model Content

[0006] In order to solve the above-mentioned problems in the existing technology, the purpose of this utility model is to provide an automatic climbing welding equipment for power tower steel pipes.

[0007] The technical solution adopted in this utility model includes:

[0008] The climbing device includes a sliding rod assembly, an upper ring seat and a lower ring seat slidably connected to the sliding rod assembly, and a plurality of clamping mechanisms connected to the inner circular walls of the upper ring seat and the lower ring seat; the upper ring seat or the lower ring seat is slidably connected to the sliding rod assembly through a slider connector, and the slider connector is rotatably connected to the upper ring seat or the lower ring seat;

[0009] A rotating ring is rotatably connected to the top of the upper ring seat, and its top forms a support platform;

[0010] The welding apparatus includes a multi-degree-of-freedom welding robot connected to the support platform.

[0011] As a preferred embodiment of this utility model, the sliding rod assembly includes a guide rod that slides in cooperation with the slider connector and a bidirectional lead screw that drives the slider connector to slide along the guide rod; the bidirectional lead screw is used to drive the upper ring seat and the lower ring seat to move synchronously relative to each other.

[0012] As a preferred embodiment of this utility model, the two ends of the guide slide are connected to end plates via bearing seats, and one of the end plates is connected to a first driving member that drives the bidirectional lead screw to rotate.

[0013] As a preferred embodiment of this utility model, the end of the slider connector away from the bidirectional lead screw is provided with an arc-shaped groove for the upper ring seat or the lower ring seat to rotate, and the upper ring seat or the lower ring seat is rotatably connected in the arc-shaped groove; a first drive gear is rotatably provided in the arc-shaped groove, and a first annular rack that meshes with the first drive gear is provided on the circumferential surface of the upper ring seat or the lower ring seat.

[0014] As a preferred embodiment of this invention, the upper ring seat, the lower ring seat, and the rotating ring are semi-circular rings.

[0015] As a preferred embodiment of this utility model, a guide limiting roller is fitted to the inner circular surface of the upper ring seat or the lower ring seat. The guide limiting roller is rotatably connected in the arc-shaped groove and is used to limit the rotation of the upper ring seat or the lower ring seat between the first drive gear and the guide limiting roller.

[0016] As a preferred embodiment of this utility model, the clamping mechanism includes an electric push rod, the fixed end of which is fixedly connected to the inner circular surface of the upper or lower ring seat, and the telescopic end of which is connected to an arc-shaped pressure block; the clamping mechanism realizes the clamping and release of the upper or lower ring seat on the tower steel pipe through the coordinated action of several electric push rods.

[0017] As a preferred embodiment of this utility model, a second driving member is fixedly provided on the inner wall of the upper ring seat, and a second driving gear is driven at the output end of the second driving member. A second annular rack is formed on the inner wall of the rotating ring to mesh with the second driving gear.

[0018] As a preferred embodiment of the present invention, the welding device further includes visual imaging components located on both sides of the welding robot, the visual imaging components being used for real-time imaging of the welding area.

[0019] As a preferred embodiment of this invention, a control box is provided on the top of the end plate near the welding robot, and the control box contains a battery module and an electronic control module.

[0020] The beneficial effects of this utility model are as follows:

[0021] This utility model is an automatic climbing welding device for power tower steel pipes. It achieves efficient and safe climbing by setting up a climbing device. It uses alternating upper / lower ring seats and bidirectional screw drive to achieve continuous climbing. The upper / lower ring seats achieve stable clamping under the clamping action of the clamping structure, and the clamping mechanism can adapt to changes in the diameter of the tapered pipe. By setting the upper / lower ring seats and the rotating disk into a semi-circular ring structure, it can avoid vertical obstacles around the tower steel pipe (such as cable connection frames) to ensure the climbing of the climbing device. The upper / lower ring seats and the rotating ring are set into a rotatable structure. The welding device connected to the rotating disk can achieve 360-degree rotational welding along the circumference of the tower steel pipe, realizing all-round precise welding. Attached Figure Description

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and specific implementation methods.

[0023] Figure 1 This is a schematic diagram of the structure of this utility model;

[0024] Figure 2 This is a schematic diagram of the structure of this utility model;

[0025] Figure 3 This is a schematic diagram of the structure of this utility model.

[0026] In the figure: 1 Climbing device, 11 Sliding rod assembly, 111 Guide slide rod, 112 Bidirectional lead screw, 113 End plate, 114 First driving component, 12 Upper ring seat, 121 First annular rack, 122 Second driving component, 123 Second driving gear, 13 Lower ring seat, 14 Slider connector, 141 Arc groove, 142 First driving gear, 143 Guide limiting roller, 15 Clamping mechanism, 151 Electric push rod, 152 Arc-shaped pressure block;

[0027] 2. Rotating ring; 21. Support platform; 22. Second ring rack;

[0028] 3. Welding equipment; 31. Welding robot;

[0029] 4 steel pipe towers. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the present utility model; that is, the described embodiments are only some embodiments of the present utility model, and not all embodiments. The components of the embodiments of the present utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0032] The following is combined with Figure 1-3 This invention describes a specific embodiment of an automatic climbing welding device for power tower steel pipes, comprising:

[0033] The climbing device 1 includes a sliding rod assembly 11, an upper ring seat 12 and a lower ring seat 13 slidably connected to the sliding rod assembly 11, and a plurality of clamping mechanisms 15 connected to the inner circular walls of the upper ring seat 12 and the lower ring seat 13. The upper ring seat 12 and the lower ring seat 13 can be clamped onto the tower steel pipe 4 through the clamping mechanisms 15. Since the upper ring seat 12 and the lower ring seat 13 can be driven to move synchronously relative to each other through a drive assembly, when climbing on the tower steel pipe 4, the upper ring seat 12 and the lower ring seat 13 alternately clamp onto the tower steel pipe 4 and cooperate with each other to achieve climbing on the tower steel pipe 4. The upper ring seat 12 or the lower ring seat 13 is slidably connected to the sliding rod assembly 11 through a slider connector 14, and the slider connector 14 is rotatably connected to the upper ring seat 12 or the lower ring seat 13. The slider connector 14 is used for the upper ring seat 12 or the lower ring seat 13 to slide on the sliding rod assembly 11.

[0034] A rotating ring 2 is rotatably connected to the top of the upper ring seat 12, and a support platform 21 is formed on the top of the upper ring seat 12. The rotating ring 2 is rotatably connected to the top of the upper ring seat 12, and the support platform 21 formed on the top of the rotating ring 2 is used to connect the welding equipment. After the welding equipment is connected, the welding equipment can rotate around the circumference of the tower steel pipe 4 through the rotatable connection between the support platform 21 and the upper ring seat 12, so that the welding equipment can weld at any circumferential position of the tower steel pipe 4.

[0035] The welding device 3 includes a multi-degree-of-freedom welding robot 31 connected to the support platform 21, which performs circumferential welding on the tower steel pipe 4 by multi-degree-of-freedom welding and cooperating with the rotation of the support platform 21.

[0036] Please refer to Figures 1-2 As shown, the sliding rod assembly 11 includes a guide rod 111 that slides with the slider connector 14 and a bidirectional lead screw 112 that drives the slider connector 14 to slide along the guide rod 111. The bidirectional lead screw 112 is used to drive the upper ring seat 12 and the lower ring seat 13 to move synchronously relative to each other. The device is provided with two end plates 113, which are connected by a connecting rod. A baffle is fixed on the side away from the support platform 21. The guide rod 111 is rotatably provided between the end plates 113. The guide rod 111 is used to slide with the sliding connector, that is, to guide the sliding of the upper ring seat 12 and the lower ring seat 13. The bidirectional lead screw 112 is screw-fitted with the slider connector 14. The rotation of the bidirectional lead screw 112 can drive the upper ring seat 12 and the lower ring seat 13 to move synchronously relative to each other.

[0037] Please refer to Figures 2-3 As shown, the two ends of the guide slide rod 111 are connected to end plates 113 through bearing seats, and a first driving member 114 for driving the bidirectional lead screw 112 to rotate is connected on one of the end plates 113.

[0038] Please refer to Figure 2 As shown, the slider connector 14 has an arc-shaped groove 141 at one end away from the bidirectional lead screw 112, allowing the upper ring seat 12 or the lower ring seat 13 to rotate. The upper ring seat 12 or the lower ring seat 13 is rotatably connected within the arc-shaped groove 141. A first drive gear 142 is rotatably mounted within the arc-shaped groove 141. A first annular rack 121 meshes with the first drive gear 142 on the circumferential surface of the upper ring seat 12 or the lower ring seat 13. The lower ring seat 13 also has a first annular rack 121 on its circumferential surface. The slider connector 14 has an arc-shaped groove 141, and the first drive gear 142 is rotatably mounted within the arc-shaped groove 141. By driving the first drive gear 142 to rotate, it meshes with the first annular rack 142. The synchronous meshing transmission of strip 121 drives the rotation of the lower ring seat 13 or the upper ring seat 12 on the slider connector 14. During the welding process, the rotating ring 2, the upper ring seat 12 and the lower ring seat 13 are semi-circular rings. The rotation of the rotating ring 2 is limited by the stroke and cannot rotate to any position on the circumference of the tower steel pipe 4. By setting the upper ring seat 12 or the lower ring seat 13 to the slider connector 14 as a rotatable connection, the upper ring seat 12 or the lower ring seat 13 can be rotated. The position of the upper ring seat 12 or the lower ring seat 13 and the welding device 3 on the upper ring seat 12 in the axial direction of the tower steel pipe 4 can be changed. At the same time, with the rotatable adjustment structure of the support platform 21 on the upper ring seat 12, the welding robot 31 can be adjusted at any angle in the circumference of the tower steel pipe 4.

[0039] Please refer to the figure. The upper ring seat 12, lower ring seat 13 and rotating ring 2 are semi-circular rings. During the climbing welding, since there are obstacles in the same vertical direction around the tower steel pipe 4, the upper ring seat 12, upper ring seat 13 and rotating ring 2 are set as semi-circular ring structures to avoid the obstacles during the climbing process.

[0040] Please refer to Figures 2-3 As shown, a guide limiting roller 143 is fitted to the inner circular surface of the upper ring seat 12 or the lower ring seat 13. The guide limiting roller 143 is rotatably connected in the arc groove 141 and is used to limit the rotation of the upper ring seat 12 or the lower ring seat 13 between the first drive gear 142 and the guide limiting roller 143. The second drive member 122 drives the second drive gear 123 to rotate. While the second drive gear 123 rotates, it meshes with the first annular rack 121 to realize the rotation of the upper ring seat 12 or the lower ring seat 13 in the arc groove 141. The guide limiting roller 143 is used to limit the rotation of the upper ring seat 12 or the lower ring seat 13.

[0041] Please refer to Figure 2As shown, the clamping mechanism 15 includes an electric push rod 151. The fixed end of the electric push rod 151 is fixedly connected to the inner circular surface of the upper ring seat 12 or the lower ring seat 13, and its telescopic end is connected to an arc-shaped pressure block 152. The clamping mechanism 15 achieves the clamping and release of the upper ring seat 12 or the lower ring seat 13 on the tower steel pipe 4 through the coordinated action of several electric push rods 151. The electric push rod 151 is used to control the movement of the arc-shaped pressure block 152 at its output end, and achieves contact with the tower steel pipe 4 through its telescopic movement. The tower steel pipe 4 is a polygonal pipe, and its diameter decreases sequentially from bottom to top. Under the clamping action, the clamping mechanism 15 can achieve the clamping of the upper ring seat 12 or the lower ring seat 13 on the tower steel pipe 4. At the same time, since the diameter of the tower steel pipe 4 decreases from bottom to top, it can prevent the lower ring seat 12 from being lowered after clamping. To improve the stability of the clamping, during the climbing process, as the upper ring seat 12 and the lower ring seat 13 move closer to each other, the upper ring seat 12 remains clamped to the tower steel pipe 4, while the lower ring seat 13 releases its clamping from the tower steel pipe 4. At this time, since the upper ring seat 12 is clamped and fixed to the tower steel pipe 4, the lower ring seat 13 can move upward along the length direction of the tower steel pipe 4 until the upper ring seat 12 and the lower ring seat 13 move to the closest distance. At this time, the lower ring seat 13 is clamped onto the tower steel pipe 4. After clamping, the clamping of the upper ring seat 12 on the tower steel pipe 4 is released, and the upper ring seat 12 and the lower ring seat 13 are controlled to move away from each other. Since the lower ring seat 13 end is clamped and fixed, and the upper ring seat 12 end is unclamped and fixed, the mutual movement of the upper ring seat 12 and the lower ring seat 13 realizes the upward movement of the upper ring seat 12. Repeating the above operation can realize the upward movement of the upper ring seat 12 and the lower ring seat 13.

[0042] Please refer to the figure. The inner wall of the upper ring seat 12 is fixedly provided with a second driving member 122. The output end of the second driving member 122 is provided with a second driving gear 123. The inner circular wall of the rotating ring 2 is formed with a second annular rack 22 that meshes with the second driving gear 123. The output end of the second driving member 122 is provided with a first driving gear 142. The first driving gear 142 meshes with the second annular rack 22 on the inner circular wall of the rotating ring 2, so that the second driving member 122 drives the rotating ring 2 to rotate on the upper ring seat 12, thereby changing the position of the welding robot 31 in the circumference of the tower steel pipe 4. It should be noted that in order to avoid welding sparks from splashing onto the driving equipment, protective covers can be set on the driving member and the easily exposed parts of the wiring harness for protection against high temperature.

[0043] Please refer to the figure. The welding device 3 also includes visual imaging components located on both sides of the welding robot 31. The visual imaging components are used for real-time imaging of the welding area. It should be noted that when the imaging components cannot image the working area or the imaging field of view is blurry, the support platform 21 can bear the weight of the workers. After the anti-fall rope is hung down from the top of the tower steel pipe 4 for safety protection, manual assisted welding can be carried out at height.

[0044] Please refer to the figure. A control box is provided on the top of the end plate 113 near the welding robot 31. The control box contains a battery module and an electronic control module to realize the mechanical transmission cooperation between the devices and realize the background operation control.

[0045] Working principle of this utility model:

[0046] During the climbing process: the upper ring seat 12 releases its clamping from the tower steel pipe 4, the lower ring seat 13 clamps the tower steel pipe 4, and the first driving component 114 drives the bidirectional screw 112 to rotate. The bidirectional screw 112 drives the upper ring seat 12 and the lower ring seat 13 to move away from each other. The lower ring seat 13 is a fixed end, and the upper ring seat 12 is a free sliding end. The upper ring seat 12 moves upward under the driving action.

[0047] After the upper ring seat 12 moves to the maximum travel distance, it is clamped and fixed to the tower steel pipe 4 by the clamping and holding mechanism 15. At this time, the clamping and holding mechanism 15 of the lower ring seat 13 is released from clamping the tower steel pipe 4. Then, the upper ring seat 12 and the lower ring seat 13 are driven to move closer to each other by the first driving member 114. During the movement, since the upper end of the upper ring seat 12 is a fixed end and the lower ring seat 13 is a free sliding end, the lower ring seat 13 moves upward under the driving action.

[0048] By repeatedly executing the above steps, the device can achieve stable climbing along the conical tower steel pipe 4;

[0049] Clamping mechanism 15:

[0050] The arc-shaped pressure block 152 at the output end of the electric push rod 151 is controlled to extend and retract, so that it extends and retracts to abut against the circumference of the tower steel pipe 4, which can realize the clamping of the upper ring seat 12 or the lower ring seat 13 on the tower steel pipe 4. In addition, since the diameter of the tower steel pipe 4 is gradually changed, it can prevent the clamping mechanism 15 from sliding down after clamping.

[0051] Welding posture adjustment in progress:

[0052] The upper ring seat 12 and the lower ring seat 13 can rotate around the circumference of the tower steel pipe 4. That is, the driving component drives the first driving gear 142 to rotate. The second driving gear 123 at the output end of the first driving gear 142 meshes with the first annular rack 121 on the outer peripheral wall of the lower ring seat 13. The rotation of the upper ring seat 12 or the lower ring seat 13 is blocked by the guide limiting roller 143. Finally, the upper ring seat 12 or the lower ring seat 13 can rotate on the slider connector 14. The bottom of the rotating ring 2 is rotatably connected to the upper ring seat 12. The upper ring seat 12 is provided with a second driving component 122 to drive its rotation. The rotation of the rotating ring 2, in conjunction with the rotation of the upper ring seat 12 on the slider connector 14, drives the support platform 21 and the welding robot 31 to rotate 360° around the axis of the tower steel pipe 4, covering any weld angle.

[0053] When the tower has climbed to a certain height, the welding device 3 performs welding on the circumference of the tower steel pipe 4 while controlling the rotation of the support platform 21 and the upper ring seat 12.

[0054] After climbing and rotating for positioning, the multi-degree-of-freedom welding robot 31 performs welding in real time using a vision imaging component. If the imaging is abnormal or the vision is blurry, a manual assistance mode can be activated for welding at height.

[0055] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0056] The above description is merely an example and illustration of the structure of this utility model. Those skilled in the art can make various modifications or additions to the specific embodiments described or use similar methods to replace them, as long as they do not deviate from the structure of the utility model or exceed the scope defined in the claims, they should all fall within the protection scope of this utility model.

Claims

1. An automatic climbing welding device for steel pipes of power towers, characterized in that, include: The climbing device (1) includes a sliding rod assembly (11), an upper ring seat (12) and a lower ring seat (13) slidably connected to the sliding rod assembly (11), and a plurality of clamping mechanisms (15) connected to the inner circular walls of the upper ring seat (12) and the lower ring seat (13); the upper ring seat (12) or the lower ring seat (13) is slidably connected to the sliding rod assembly (11) through a slider connector (14), and the slider connector (14) is rotatably connected to the upper ring seat (12) or the lower ring seat (13); The rotating ring (2) is rotatably connected to the top of the upper ring seat (12), and its top forms a support platform (21); The welding device (3) includes a multi-degree-of-freedom welding robot (31) connected to the support platform (21).

2. The automatic climbing welding equipment for power tower steel pipes according to claim 1, characterized in that: The sliding rod assembly (11) includes a guide slide rod (111) that slides with the slider connector (14) and a bidirectional lead screw (112) that drives the slider connector (14) to slide along the guide slide rod (111); the bidirectional lead screw (112) is used to drive the upper ring seat (12) and the lower ring seat (13) to move synchronously relative to each other.

3. The automatic climbing welding equipment for power tower steel pipes according to claim 2, characterized in that: The guide slide (111) has end plates (113) connected to both ends via bearing seats, and one of the end plates (113) is connected to a first driving member (114) that drives the bidirectional lead screw (112) to rotate.

4. The automatic climbing welding equipment for power tower steel pipes according to claim 3, characterized in that: The slider connector (14) has an arc-shaped groove (141) at one end away from the bidirectional lead screw (112) for the upper ring seat (12) or the lower ring seat (13) to rotate. The upper ring seat (12) or the lower ring seat (13) is rotatably connected in the arc-shaped groove (141). A first drive gear (142) is rotatably provided in the arc-shaped groove (141). A first annular rack (121) that meshes with the first drive gear (142) is provided on the circumferential surface of the upper ring seat (12) or the lower ring seat (13).

5. The automatic climbing welding equipment for power tower steel pipes according to claim 1, characterized in that: The upper ring seat (12), lower ring seat (13) and rotating ring (2) are semi-circular rings.

6. The automatic climbing welding equipment for power tower steel pipes according to claim 4, characterized in that: The upper ring seat (12) or the lower ring seat (13) is fitted with a guide limiting roller (143) on its inner circular surface. The guide limiting roller (143) is rotatably connected in the arc groove (141) and is used to restrict the upper ring seat (12) or the lower ring seat (13) from being rotatably connected between the first drive gear (142) and the guide limiting roller (143).

7. The automatic climbing welding equipment for power tower steel pipes according to claim 1, characterized in that: The clamping mechanism (15) includes an electric push rod (151), the fixed end of which is fixedly connected to the inner circular surface of the upper ring seat (12) or the lower ring seat (13), and the telescopic end is connected to an arc-shaped pressure block (152); the clamping mechanism (15) achieves the clamping and release of the upper ring seat (12) or the lower ring seat (13) on the tower steel pipe (4) through the coordinated action of several electric push rods (151).

8. The automatic climbing welding equipment for power tower steel pipes according to claim 1, characterized in that: The inner wall of the upper ring seat (12) is fixedly provided with a second driving member (122), and the output end of the second driving member (122) is provided with a second driving gear (123). The inner wall of the rotating ring (2) is formed with a second annular rack (22) that meshes with the second driving gear (123).

9. The automatic climbing welding equipment for power tower steel pipes according to claim 3, characterized in that: The welding device (3) also includes visual imaging components located on both sides of the welding robot (31), which are used for real-time imaging of the welding area.

10. The automatic climbing welding equipment for power tower steel pipes according to claim 9, characterized in that: A control box is provided on the top of the end plate (113) near the side of the welding robot (31), and the control box contains a battery module and an electronic control module.

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