Mechanical arm for welding branch pipes

Abstract

The utility model relates to welding equipment technical field, the utility model provides a kind of manipulator for branch pipe welding, it includes connecting plate, the connecting plate is used to be connected with mechanical arm, support mechanism moves and is set on the connecting plate, the support mechanism is used to fix welding device, thrust component is set on the connecting plate, and it is located the side of the support mechanism, the thrust component acts on the support mechanism, provides the force that the support mechanism is close to welding pipe piece;Buffer is set on the support mechanism, and it is located the side of the thrust component, for providing the force that the support mechanism is close to the thrust component, for adjusting the force that the welding device is pressed to the welding pipe piece.Solved the technical problem that welding robot in prior art when welding, because the contact of welding wire and the to-be-welded pipe piece has no pressure or small pressure, leading to welding not firm.

Description

Technical Field

[0001] This utility model relates to the field of welding equipment technology, specifically to a robotic arm for welding branch pipes. Background Technology

[0002] In branch pipe welding scenarios such as pipeline engineering and equipment manufacturing, the stability of the contact pressure between the welding wire and the pipe fitting directly determines the weld strength and welding quality. Traditional branch pipe welding equipment (including manual welding and ordinary robotic arms) lacks a precise pressure regulation mechanism, resulting in problems such as uncontrolled contact pressure, poor adaptability, and insufficient welding consistency. This makes it difficult to meet the modern industrial demand for "high-strength, high-precision, and large-scale" welding, becoming a key bottleneck restricting the quality and efficiency of branch pipe welding.

[0003] Traditional welding methods generally suffer from the dual problems of "insufficient pressure" or "overpressure." Manual welding relies entirely on the operator's experience to control the contact force between the welding wire and the pipe fitting. There is no quantitative standard for pressure, which easily leads to poor contact between the welding wire and the pipe fitting due to insufficient pressure. This results in defects such as porosity and lack of fusion in the weld, leading to insufficient weld strength. The weld cracking rate can be as high as 15%-20% during later use. Ordinary robotic arms achieve contact through rigid drive of the robotic arm, lacking a buffer mechanism. This easily leads to excessive pressure, causing deformation of thin-walled pipe fittings and bending of the welding wire. Especially in the welding of small-diameter branch pipes (diameter ≤50mm), the deformation rate of the pipe fittings exceeds 10%, directly causing scrap.

[0004] Current conventional robotic arms rely on the rigidity of the arm itself for pressure control, lacking an independent pressure balancing structure. During welding, workpiece installation errors (such as alignment deviation ±0.5mm), robotic arm vibration, or uneven pipe surfaces can all cause instantaneous fluctuations in contact pressure, with fluctuations reaching 30%-40% of the design value. This unstable pressure transmission results in inconsistent weld depth and width, severely affecting the consistency of weld quality. In mass production, the weld pass rate can only be maintained at around 80%. Utility Model Content

[0005] To overcome the above-mentioned defects, embodiments of this utility model provide a robotic arm for branch pipe welding, which solves the technical problem in the prior art where welding robots have no pressure or low pressure when contacting the welding wire with the pipe to be welded, resulting in weak welding.

[0006] According to one aspect, at least one embodiment of the present invention provides a robotic arm for branch pipe welding, comprising: A connecting plate for connecting to a robotic arm; A support mechanism is movably mounted on the connecting plate and is used to fix the welding device. A thrust assembly is disposed on the connecting plate and located on one side of the support mechanism. The thrust assembly acts on the support mechanism to provide the support mechanism with a force that brings it closer to the welded pipe. A buffer element is disposed on the support mechanism and located on one side of the thrust assembly, for providing the support mechanism with force close to the thrust assembly, and for adjusting the force of the welding device pressing against the welding pipe.

[0007] As a further technical solution, the thrust assembly includes: A fixing plate is disposed on one side of the support mechanism; A first telescopic sleeve, one end of which is disposed on the fixed plate and the other end of which is disposed on the support mechanism, the first telescopic sleeve having a first telescopic cavity; A first elastic element is disposed within the first telescopic cavity and is used to provide the support mechanism with a force pressing against the welded pipe.

[0008] As a further technical solution, there are several first telescopic sleeves, and the several first telescopic sleeves are evenly arranged around the periphery of the fixed plate.

[0009] As a further technical solution, the supporting mechanism includes: Connecting seat, the connecting seat being slidably disposed on the connecting plate; A swinging component, which is oscillatingly mounted on the connecting seat, and the welding device is mounted on the swinging component; Two elastic support components are provided, each mounted on the connecting seat. The two elastic support components act on both ends of the swing member to provide the welding device with a force pressing against the welding pipe.

[0010] As a further technical solution, the two elastic support components have different lengths, with the longer elastic support component providing thrust and the shorter elastic support component providing pressure, so that the swinging member is in an inclined state, and the welding end of the welding device is pressed onto the welding pipe.

[0011] As a further technical solution, the elastic support component includes: A second telescopic sleeve, the second telescopic sleeve having a second telescopic cavity; The second elastic element is disposed in the second telescopic cavity and is used to provide the force pressing the welded pipe against the welded pipe; Two fixing components are hinged to the second telescopic sleeve, and the two fixing components are fixedly connected to the connecting seat and the swing component, respectively.

[0012] As a further technical solution, the buffer is slidably disposed on the connecting plate, and the buffer includes: A buffer plate, which is slidably disposed on the connecting plate and located between the thrust assembly and the support mechanism; The third elastic element has two ends that act on the buffer plate and the support mechanism respectively, and is used to provide the support mechanism with a force close to the buffer plate; A lead screw is rotatably mounted on the fixed plate and threaded through the buffer plate. It is used to adjust the relative position of the buffer plate and the fixed plate, thereby adjusting the force of the welding device pressing on the welded pipe.

[0013] As a further technical solution, the third elastic element is at least one.

[0014] As a further technical solution, the elastic coefficient of the third elastic element is smaller than that of the first elastic element.

[0015] As a further technical solution, the robotic arm is a five-axis robotic arm.

[0016] The beneficial effects of this utility model are as follows: In this invention, the connecting plate serves as a basic load-bearing component, used for fixed connection with the robotic arm. It provides an installation benchmark for the support mechanism, thrust assembly, etc., ensuring coordinated action of each component and precise pressure transmission. The support mechanism is movably mounted on the connecting plate to fix the welding device (including the welding wire assembly). Its movability, combined with pressure adjustment, enables precise docking and pressure maintenance between the welding wire and the pipe to be welded. The thrust assembly is mounted on the connecting plate and located on one side of the support mechanism. Its core function is to apply a continuous driving force to the support mechanism, pushing it to bring the welding device closer to the pipe to be welded. This directly supplements the pressure required for the welding wire to contact the pipe, solving the problem of "no pressure" between the welding wire and the pipe during welding. To address the pain point of "low force / pressure," the buffer component is mounted on the support mechanism and on the same side as the thrust assembly. It applies a reverse buffering force to the support mechanism towards the thrust assembly, forming a force balance with the thrust assembly. This avoids damage to the pipe or welding wire due to excessive thrust, and also allows for precise adjustment of the contact pressure, ensuring that the pressure remains stable within the reasonable range required for welding (meeting the fit requirements without excessive squeezing). The pressure value of the thrust assembly can be precisely adjusted based on the calculated movement distance after the welding end comes into contact with the welding position, after the robotic arm moves the welding device to the welding position before welding is energized. This allows the robotic arm to press down further, causing the thrust assembly and the buffer component to be stressed simultaneously.

[0017] The thrust assembly actively outputs driving force, propelling the support mechanism and welding device toward the pipe fitting, ensuring effective contact between the welding wire and the pipe fitting to be welded, directly solving the problem of weak welding caused by "no pressure / low pressure"; the buffer component offsets part of the thrust through reverse force, achieving precise adjustment of contact pressure, avoiding excessive pressure causing pipe fitting deformation or welding wire bending, or insufficient pressure failing to meet the fitting requirements, ensuring stable and controllable pressure; the coordinated action of the robotic arm drives the connecting plate and the overall components to adjust their spatial position, and the support mechanism moves on the connecting plate to adapt to the welding position of the pipe fitting, combined with the pressure adjustment mechanism, to achieve "precise alignment + stable pressure", ensuring a tight weld fit and a strong weld. Designed to address the issue of insufficient contact pressure between the welding wire and the pipe fitting, a bidirectional force balancing mechanism provides stable contact pressure, fundamentally improving weld strength. The design adapts to the contact pressure requirements of different pipe fitting specifications and welding processes by adjusting the driving force of the thrust assembly or the elastic parameters of the buffer component. The standardized connection between the connecting plate and the robotic arm allows for compatibility with various welding robot arms, making it suitable for a variety of branch pipe welding scenarios. Clearly defined components, a well-defined pressure transmission path, and no complex transmission structure ensure convenient operation and maintenance, guaranteeing pressure stability during long-term operation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model, the accompanying drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are merely some exemplary embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the exemplary embodiments of this utility model and these drawings without any creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of one embodiment of the present utility model; Figure 2 for Figure 1 A schematic diagram of the connecting plate and related structures in the embodiment; Figure 3 for Figure 2 A schematic diagram of the internal structure in the embodiment; In the diagram: robotic arm-1, connecting plate-2, support mechanism-3, connecting seat-301, swinging component-302, elastic support assembly-303, second telescopic sleeve-304, fixing component-306, thrust assembly-4, fixing plate-401, first telescopic sleeve-402, first telescopic cavity-403, first elastic component-404, buffer component-5, buffer plate-501, third elastic component-502, lead screw-503. Detailed Implementation The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit its scope.

[0020] To keep the drawings concise, only the parts relevant to the utility model are shown schematically in each drawing; these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some drawings, only one of the components with the same structure or function is schematically shown, or only one is labeled. In this document, "a" not only means "only one," but can also mean "more than one," and "several" includes "two" and "more than two."

[0021] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection 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.

[0022] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0023] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of description and simplification of operation, 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. Therefore, they should not be construed as limitations on this utility model.

[0024] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] like Figures 1-3As shown, this invention illustrates a manipulator for branch pipe welding in one embodiment, comprising a connecting plate 2 for connecting to a robotic arm 1, a support mechanism 3 movably mounted on the connecting plate 2 for fixing a welding device, a thrust assembly 4 mounted on the connecting plate 2 and located on one side of the support mechanism 3, the thrust assembly 4 acting on the support mechanism 3 to provide a force for the support mechanism 3 to approach the welding pipe, and a buffer 5 mounted on the support mechanism 3 and located on one side of the thrust assembly 4 to provide a force for the support mechanism 3 to approach the thrust assembly 4 and to adjust the force of the welding device pressing against the welding pipe.

[0026] In this embodiment, the connecting plate 2 serves as a basic load-bearing component, used for fixed connection with the robotic arm 1. It provides an installation reference for the support mechanism 3, thrust assembly 4, etc., ensuring coordinated action of each component and accurate pressure transmission. The support mechanism 3 is movably mounted on the connecting plate 2 to fix the welding device (including the welding wire assembly). Its movability, combined with pressure adjustment, enables precise docking and pressure maintenance between the welding wire and the pipe to be welded. The thrust assembly 4 is mounted on the connecting plate 2 and located on one side of the support mechanism 3. Its core function is to apply a continuous driving force to the support mechanism 3, pushing the support mechanism 3 to bring the welding device closer to the pipe to be welded, directly supplementing the pressure required for the welding wire to contact the pipe, and solving the problem of "no contact" between the welding wire and the pipe during welding. To address the pain point of "low pressure," the buffer 5 is mounted on the support mechanism 3 and is on the same side as the thrust assembly 4. It applies a reverse buffering force to the support mechanism 3 towards the thrust assembly 4, forming a force balance with the thrust assembly 4. This avoids excessive thrust that could damage the pipe or welding wire, and also allows for precise adjustment of the contact pressure, ensuring that the pressure remains stable within the reasonable range required for welding (meeting the fit requirements without excessive squeezing). The pressure value of the thrust assembly 4 can be precisely adjusted based on the calculated movement distance after the welding end comes into contact with the welding position, after the robotic arm moves the welding device to the welding position before welding is energized. This allows the thrust assembly 4 and the buffer 5 to be subjected to force simultaneously.

[0027] The thrust assembly 4 actively outputs driving force, pushing the support mechanism 3 to move the welding device toward the pipe, so that the welding wire and the pipe to be welded can make effective contact, directly solving the problem of weak welding caused by "no pressure / low pressure"; the buffer 5 offsets part of the thrust through the reverse force, realizing precise adjustment of the contact pressure, avoiding excessive pressure causing pipe deformation and welding wire bending, or insufficient pressure still failing to meet the fitting requirements, ensuring stable and controllable pressure; the coordinated action robotic arm 1 drives the connecting plate 2 and the overall components to adjust the spatial position, and the support mechanism 3 moves on the connecting plate 2 to adapt to the welding position of the pipe, and with the pressure adjustment mechanism, achieves the guarantee of "precise alignment + stable pressure", ensuring that the weld is tightly fitted and the welding is firm. Designed to address the issue of insufficient contact pressure between the welding wire and the pipe fitting, a bidirectional force balancing mechanism provides stable contact pressure, fundamentally improving weld strength. The driving force of the thrust assembly 4 or the elastic parameters of the buffer 5 can be adjusted to adapt to the contact pressure requirements of different pipe fitting specifications and welding processes. The standardized connection between the connecting plate 2 and the robotic arm 1 allows for compatibility with the robotic arms of various welding robots, making it suitable for various branch pipe welding scenarios. The components have clear division of labor, a clear pressure transmission path, and no complex transmission structure, making operation and maintenance convenient and ensuring pressure stability during long-term operation.

[0028] Furthermore, the thrust assembly 4 includes a fixed plate 401, which is disposed on one side of the support mechanism 3. One end of the first telescopic sleeve 402 is disposed on the fixed plate 401, and the other end is disposed on the support mechanism 3. The first telescopic sleeve 402 has a first telescopic cavity 403, and a first elastic element 404 is disposed in the first telescopic cavity 403 to provide the support mechanism 3 with a force pressing against the welded pipe.

[0029] In this embodiment, the first elastic element 404 is built into the first telescopic cavity 403 to avoid interference from external impurities such as welding spatter and dust. The elastic tension decays slowly, and it can continuously output uniform driving force. Compared with traditional exposed elastic elements, the pressure stability is improved, ensuring that the contact pressure between the welding wire and the pipe is always within a reasonable range. The integrated design of "fixed plate + telescopic sleeve" is compact and does not occupy extra working space. The telescopic sleeve can extend and retract synchronously with the support mechanism 3 to avoid deformation and displacement of the elastic element. At the same time, it isolates oil and water vapor corrosion, extending the service life of the core components. The rigid connection between the first telescopic sleeve 402 and the fixed plate 401 and the support mechanism 3 provides a clear pressure transmission path without lateral force interference, improving pressure transmission efficiency and ensuring that the elastic force is accurately converted into the contact pressure between the welding wire and the pipe.

[0030] The continuous and stable thrust provided by the thrust assembly 4, together with the reverse buffering force of the buffer 5, forms a more precise force balance system. This improves the accuracy of contact pressure adjustment, reduces stability errors, and maintains a constant contact pressure between the welding wire and the pipe fitting, eliminating problems such as incomplete welding and lack of fusion caused by pressure fluctuations, resulting in a stable weld joint qualification rate. The compact structure of the thrust assembly 4 does not affect the sliding stroke of the support mechanism 3, and the driving force of the elastic element can be flexibly adjusted by replacing the first elastic element 404 with different elastic coefficients, making it compatible with more welding processes. No complex debugging is required; the pressure can be adjusted simply by replacing the elastic element, improving maintenance efficiency and adapting to continuous batch welding operations. The telescopic adaptability of the first telescopic sleeve 402, combined with the sliding of the support mechanism 3, shortens the pressure build-up response time. Combined with the precise positioning of the robotic arm, it achieves the synergy of "rapid alignment + instant stable pressure," further improving welding efficiency.

[0031] Furthermore, there are several first telescopic sleeves 402, and these first telescopic sleeves 402 are evenly arranged around the periphery of the fixed plate 401.

[0032] In this embodiment, multiple sets of sleeves are evenly arranged along the periphery of the fixed plate (3-4 sets are recommended), dispersing the driving force of the first elastic element 404 into multiple uniform forces, avoiding lateral displacement caused by single-point thrust, improving the in-plane consistency of the contact pressure between the welding wire and the pipe fitting, and eliminating local pressure that is too high or too low; the evenly distributed multiple sets of sleeves form a ring support, effectively sharing the load of the support mechanism 3, suppressing tilting or swaying when the support mechanism 3 slides, and improving the overall structural deformation resistance compared to a single sleeve; the multiple sets of sleeves are redundant, so even if a single sleeve fails, the remaining sleeves can still maintain the basic thrust output, avoiding welding interruption due to single-point failure, and improving the continuity of operation.

[0033] The balanced thrust provided by multiple sets of uniform sleeves, combined with the reverse buffering force of buffer 5, improves the accuracy and stability of contact pressure adjustment, reduces pressure fluctuations at the full contact surface between the welding wire and the pipe fitting, avoids localized incomplete welds caused by uneven welding wire pressure, and ensures a stable weld joint qualification rate. The ring support, in conjunction with the sliding of the support mechanism 3, increases the overall rigidity of the mechanism, reduces pressure fluctuations caused by vibration during welding, and ensures more uniform force distribution on the uniformly distributed sleeves, reducing wear on individual sleeves and extending their service life. Furthermore, the standardized sleeves can be replaced individually without overall disassembly, reducing maintenance costs and making it suitable for large-scale continuous batch welding operations.

[0034] Furthermore, the support mechanism 3 includes a connecting seat 301, which is slidably mounted on the connecting plate 2. A swing member 302 is swingably mounted on the connecting seat 301. A welding device is mounted on the swing member 302. There are two elastic support components 303, both mounted on the connecting seat 301. The two elastic support components 303 act on both ends of the swing member 302 respectively to provide the welding device to press against the welding pipe.

[0035] In this embodiment, the swinging component 302 can swing around the connecting seat 301 (swing angle ±5°), which can automatically conform to the inclined surface, curved surface or irregular welding surface of the pipe to be welded, avoiding poor contact of the welding wire caused by pipe assembly deviation or uneven welding surface. Compared with the fixed support structure, the welding surface adaptation coverage is improved. Two elastic support components 303 act symmetrically on both ends of the swinging component 302 to form a bidirectional elastic support, so that the force on the welding device is evenly distributed along the swing axis, avoiding the tilting of the welding device caused by single-point force, reducing the local contact pressure fluctuation between the welding wire and the welding surface, and reducing the risk of local false welding. The secondary buffer protection is enhanced. The elastic support component 303, the thrust component 4 and the buffer component 5 form a "triple elastic buffer", which can absorb the impact force caused by pipe vibration and mechanical arm micro-movement during the welding process, reduce the hard collision between the welding wire and the pipe, reduce the welding wire loss rate and the pipe surface damage rate.

[0036] Furthermore, the two elastic support components 303 have different lengths. The longer elastic support component 303 provides thrust, while the shorter elastic support component 303 provides pressure, causing the swing member 302 to be in an inclined state, and the welding end of the welding device to press against the welding pipe.

[0037] In this embodiment, the longer elastic support component 303 provides thrust, and the shorter component provides pressure, forming a directional torque. This allows the swing component 302 to maintain a preset tilt angle (which can be adjusted according to welding requirements). Without the need for an additional positioning mechanism, the welding end of the welding device can be accurately pressed onto the welding surface of the pipe fitting. Compared with components of equal length, the directional fitting accuracy is improved. The combination of thrust and pressure forms a bidirectional locking force, preventing the swing component 302 from shaking irregularly during the welding process. The contact pressure between the welding end and the pipe fitting is concentrated in the welding area, increasing the pressure density and effectively solving the problem of "pressure dispersion leading to poor fit" when welding large-diameter or curved pipe fittings. By adjusting the length difference between the two sets of components, the tilt posture of the welding device can be preset to adapt to the standardized welding of the angle between the branch pipe and the main pipe, reducing the robot arm posture debugging time and improving the welding preparation efficiency of a single station.

[0038] Furthermore, the elastic support assembly 303 includes a second telescopic sleeve 304, which has a second telescopic cavity. A second elastic element is disposed in the second telescopic cavity to provide a force for pressing the welded pipe against the welded pipe. There are two fixing elements 306, which are respectively hinged on the second telescopic sleeve 304. The two fixing elements 306 are respectively fixedly connected to the connecting seat 301 and the swing element 302.

[0039] Flexible and interference-free force transmission: The two fixed parts 306 are hinged to the connecting seat 301 and the swinging part 302 respectively. With the telescopic characteristics of the second telescopic sleeve 304, the angle and length can be adaptively adjusted according to the tilt and swing of the swinging part 302, avoiding motion jamming caused by rigid connection, thus improving force transmission efficiency. Compared with non-hinged structure, the flexibility of motion adaptation is improved. The second elastic element 305 is built into the second telescopic cavity, isolating welding spatter and dust interference. The elastic tension decays slowly, and it can continuously output uniform force. With the length difference design, it can accurately match the "thrust / pressure" requirements, and the pressure stability error is reduced. The integrated design of "telescopic sleeve + built-in elastic element" is compact and does not occupy extra space. At the same time, it protects the second elastic element from oil and water vapor corrosion, and extends the service life of core components.

[0040] Furthermore, the buffer 5 is slidably disposed on the connecting plate 2. The buffer 5 includes a buffer plate 501, which is slidably disposed on the connecting plate 2 and located between the thrust assembly 4 and the support mechanism 3. The two ends of the third elastic member 502 act on the buffer plate 501 and the support mechanism 3 respectively, to provide the support mechanism 3 with a force close to the buffer plate 501. The lead screw 503 is rotatably disposed on the fixed plate 401 and threaded through the buffer plate 501, to adjust the relative position of the buffer plate 501 and the fixed plate 401, thereby adjusting the force of the welding device pressing on the welding pipe.

[0041] In this embodiment, the buffer plate 501 is slidably mounted on the connecting plate 2. With the screw 503 threadedly engaging with the buffer plate 501, rotating the screw 503 allows for fine adjustment of the relative position between the buffer plate 501 and the fixed plate 401, thereby changing the preload of the third elastic element 502. This achieves stepless adjustment of the welding contact pressure and improves adjustment accuracy. Compared to the original fixed elastic force design, the pressure adaptability range is widened, which can match the welding pressure requirements of pipes of different materials and thicknesses. After adjustment, the screw 503 can be self-locked by the thread to fix the position of the buffer plate 501, ensuring that the preload of the third elastic element 502 is stable over a long period without loosening or shifting. Compared to the non-locking structure, the pressure stability is improved, making it suitable for long-term continuous welding operations.

[0042] Furthermore, the third elastic element 502 is at least one.

[0043] In this embodiment, multiple third elastic elements (2-4 recommended) are symmetrically arranged along the contact surface between the buffer plate 501 and the support mechanism 3, dispersing the reverse buffering force into a multi-point force, avoiding pressure deviation caused by a single elastic element, improving the consistency of the buffering force within the plane, and reducing the risk of sudden pressure changes; the pressure adjustment range is wider, and the buffering force adjustment range (20-300N) can be flexibly expanded by increasing or decreasing the number of third elastic elements or replacing components with different elastic coefficients. Compared with a single elastic element, the adjustment range is widened, which can meet the low-pressure buffering requirements of thin-walled pipes and also adapt to the high-pressure offsetting requirements of thick-walled pipes; multiple elastic elements serve as backups for each other, and even if a single component fails, the remaining elastic elements can still maintain the basic buffering function, avoiding pressure runaway due to buffer failure, improving the fault tolerance rate of the buffering system, and further enhancing the continuity of operation.

[0044] Furthermore, the elastic coefficient of the third elastic element 502 is less than that of the first elastic element 404.

[0045] In this embodiment, the first elastic element 404 (high elastic coefficient) provides the core driving force to ensure effective contact pressure between the welding wire and the fitting; the third elastic element 502 (low elastic coefficient) focuses on flexible buffering, preventing excessive reverse force from offsetting the thrust, thus clearly defining the primary and secondary forces and improving pressure transmission efficiency; the third elastic element 502 with a low elastic coefficient has higher deformation sensitivity (the deformation is higher than that of the high elastic coefficient element under the same pressure), which can accurately absorb small pressure fluctuations and avoid pressure sudden changes caused by rigid buffering. It is especially suitable for low-pressure welding requirements of thin-walled pipes and precision fittings. The ratio of high driving force to low resistance buffering makes it easier for the force balance system to achieve dynamic stability, and the pressure fluctuation amplitude is reduced compared to the "equal elastic coefficient" design, maintaining constant contact pressure without frequent adjustments.

[0046] Furthermore, robotic arm 1 is a five-axis robotic arm.

[0047] In this embodiment, the five-axis robotic arm has multi-degree-of-freedom (rotation + swing + translation) adjustment capabilities, enabling 360° spatial posture switching. Compared to the low-axis robotic arm 1, the operating posture adaptability is improved, allowing it to easily reach deep cavities, densely arranged, and multi-angle tilted branch pipe welding positions without moving the workpiece or adjusting the fixture. The spatial positioning accuracy of the five-axis linkage control reaches ±0.02mm, and the repeatability error is ≤0.01mm, which can accurately guide the welding device to the preset welding point. Combined with the pressure adjustment of the thrust component 4 and the buffer component 5, it achieves dual precise control of "position + pressure". It supports complex curved welding path planning and can adapt to the continuous welding of irregularly shaped branch pipes and curved surface welds without segmented operation. The continuity of single weld welding is improved, avoiding joint defects caused by segmented welding.

[0048] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A robotic arm for welding branch pipes, characterized in that, include: A connecting plate (2) is used to connect to the robotic arm (1); Support mechanism (3), which is movably mounted on the connecting plate (2), is used to fix the welding device; The thrust assembly (4) is disposed on the connecting plate (2) and located on one side of the support mechanism (3). The thrust assembly (4) acts on the support mechanism (3) to provide the support mechanism (3) with a force that brings it closer to the welded pipe. A buffer (5) is disposed on the support mechanism (3) and located on one side of the thrust assembly (4) to provide the support mechanism (3) with force close to the thrust assembly (4) and to adjust the force of the welding device pressing against the welding pipe.

2. The robotic arm for branch pipe welding according to claim 1, characterized in that, The thrust assembly (4) includes: A fixing plate (401) is disposed on one side of the support mechanism (3); The first telescopic sleeve (402) has one end on the fixed plate (401) and the other end on the support mechanism (3). The first telescopic sleeve (402) has a first telescopic cavity (403). The first elastic element (404) is disposed in the first telescopic cavity (403) and is used to provide the force of the support mechanism (3) pressing against the welded pipe.

3. The robotic arm for branch pipe welding according to claim 2, characterized in that, There are several first telescopic sleeves (402), and several first telescopic sleeves (402) are evenly arranged on the periphery of the fixed plate (401).

4. The robotic arm for branch pipe welding according to claim 1, characterized in that, The support mechanism (3) includes: Connecting seat (301), the connecting seat (301) is slidably disposed on the connecting plate (2); A swinging component (302) is swinging on the connecting seat (301), and the welding device is provided on the swinging component (302); Two elastic support components (303) are provided on the connecting seat (301). The two elastic support components (303) act on the two ends of the swing member (302) respectively to provide the welding device to press against the welding pipe.

5. A robotic arm for branch pipe welding according to claim 4, characterized in that, The two elastic support components (303) have different lengths. The longer elastic support component (303) provides thrust, and the shorter elastic support component (303) provides pressure, so that the swing member (302) is in an inclined state, and the welding end of the welding device is pressed on the welding pipe.

6. The robotic arm for branch pipe welding according to claim 4, characterized in that, The elastic support component (303) includes: The second telescopic sleeve (304) has a second telescopic cavity; The second elastic element is disposed in the second telescopic cavity and is used to provide the force pressing the welded pipe against the welded pipe; Two fasteners (306) are hinged to the second telescopic sleeve (304) respectively. The two fasteners (306) are fixedly connected to the connecting seat (301) and the swinging member (302) respectively.

7. A robotic arm for branch pipe welding according to claim 2, characterized in that, The buffer (5) is slidably disposed on the connecting plate (2), and the buffer (5) includes: A buffer plate (501) is slidably disposed on the connecting plate (2) and located between the thrust assembly (4) and the support mechanism (3); The third elastic element (502) has two ends that act on the buffer plate (501) and the support mechanism (3) respectively, and is used to provide the support mechanism (3) with a force close to the buffer plate (501); A lead screw (503) is rotatably mounted on the fixed plate (401) and threaded through the buffer plate (501) to adjust the relative position of the buffer plate (501) and the fixed plate (401), thereby adjusting the force of the welding device pressing on the welding pipe.

8. A robotic arm for branch pipe welding according to claim 7, characterized in that, The third elastic element (502) is at least one.

9. A robotic arm for branch pipe welding according to claim 7, characterized in that, The elastic coefficient of the third elastic element (502) is less than that of the first elastic element (404).

10. A robotic arm for branch pipe welding according to claim 1, characterized in that, The robotic arm (1) is a five-axis robotic arm.

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