CN105855766A - Butt pipe type welding robot - Google Patents

Butt pipe type welding robot Download PDF

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Publication number
CN105855766A
CN105855766A CN201610297841.2A CN201610297841A CN105855766A CN 105855766 A CN105855766 A CN 105855766A CN 201610297841 A CN201610297841 A CN 201610297841A CN 105855766 A CN105855766 A CN 105855766A
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China
Prior art keywords
welding
base
wire
guide rail
motor
Prior art date
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Granted
Application number
CN201610297841.2A
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Chinese (zh)
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CN105855766B (en
Inventor
赵丹
高春晓
刘少刚
程元
黄河
陈璐
王涛
石新新
孙文祎
李征远
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Harbin Engineering University
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Harbin Engineering University
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Priority to CN201610297841.2A priority Critical patent/CN105855766B/en
Publication of CN105855766A publication Critical patent/CN105855766A/en
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Publication of CN105855766B publication Critical patent/CN105855766B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0211Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0217Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being fixed to the workpiece
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0241Attachments between the welding or cutting element and the carriage
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0247Driving means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00Articles made by soldering, welding or cutting
    • B23K2101/04Tubular or hollow articles
    • B23K2101/06Tubes

Abstract

The invention provides a butt pipe type welding robot which comprises a welding guide rail which is formed by two symmetric semi-rail structures, a walking mechanism, a radial lifting mechanism, a swinging mechanism and a wire feeding mechanism, wherein the welding guide rail is fixed to a pipeline to be welded through a fixing device; the wire feeding mechanism has the function of uniformly sending welding wires to a welding part, so that filling of a solder is met, and the effect of uniformly filling is reached; the walking mechanism is mainly used for dragging a welding tractor to move surrounding the pipe wall along the welding guide rail; the welding part is composed of the swinging mechanism and the radial lifting mechanism; the swinging mechanism has the main function of regulating a welding gun to be at the position in the direction of a busbar of the welded pipeline to align to a weld groove before welding starts and carrying out micro swinging movement in the welding process; and the radial lifting mechanism has the main function of regulating the height between the welding gun and the weld groove so as to meet the requirement of solder filling height. The butt pipe type welding robot has the characteristics of small size of a whole machine, light weight, convenience in installation and the like.

Description

A kind of welding robot docking tubular type
Technical field
The present invention relates to a kind of welding robot, particularly relate to a kind of welding robot docking tubular type, relate to terrestrial pipeline welding Field.
Background technology
It is frequently necessary to pipeline is welded in the laying of pipeline at present, and dock tubular type welding robot and play the part of in the welding of pipeline Drill important role.Owing to pipe welding robot major part is import, price costly, and traditional manual electricity Although arc welding flexible operation, but the technology of welder is required that high labor intensity simultaneously is very big, weld job bad environments, Welding quality is coarse and welding precision is low simultaneously, and weldquality and life-span cannot be ensured effectively, therefore uses automatic welding Robot is significant to welding production.
Along with global industry manufactures the continuous swift and violentization development of art and improves, the use unit butt welded seam of each pipeline welding Workmanship and service life have higher requirement, and in whole domestic industry pipe welding robot mainly with abroad Product is that it is auxiliary for leading domestic, but price is the highest, limits the buying of domestic enterprise, application and the raising of automatic welding level, This is with regard to exigence design and manufactures a kind of high-quality docking tubular type welding robot to adapt to current era to pipeline welding Requirement.
Welding robot not only can alleviate the labor intensity of welder and shorten weld interval, and is able to ensure that raising welding The service life of efficiency, weldquality and weld seam.Use automatic welding machine people will greatly lighten one's labor load, produce improving On the premise of quality, product yield also increases substantially, and gives and uses unit to bring the most considerable economic benefit.Modern industry Development, it is desirable to higher production efficiency, therefore, develop automatic welding machine people strong to overcoming conventional manual welding, productive labor The shortcomings such as degree is big, the quality of production unstable, labor efficiency is low and working condition is severe, improve production efficiency, ensure important pipeline Welding quality is significant, has good DEVELOPMENT PROSPECT and social benefit.
Summary of the invention
The invention aims in the case of pipeline is relatively fixed, complete the welding job of pipeline docking port and provide a kind of The welding robot of docking tubular type.
The object of the present invention is achieved like this: includes the welding guide rail of two symmetry half track structure compositions, walking mechanism, footpath To hoisting mechanism, swing mechanism and wire feeder, welding guide rail is fixed on pipeline to be welded by fixing device, described row Walking mechanism and include base III, the motor being arranged on base III, the gear III that is arranged on motor output end, described welding is led Being provided with gear ring on rail, gear III engages with gear ring;
Described radial lift mechanism includes connecting support, the motor I being arranged on connection support, being arranged on motor I output shaft Gear I, the ball screw being arranged on connecting plate, the gear II being arranged on ball screw, the screw mandrel that is arranged on ball screw Nut I and feed screw nut I be connected polished rod I and polished rod I end be connected welding gun base, described gear I nibbles with gear II Close, welding gun base is provided with gun rack, gun rack is provided with welding gun;
The ball screw that the motor II that described swinging structure includes base II, be arranged on base II is connected with motor II output shaft The polished rod II that II, the feed screw nut II being arranged on ball screw II and feed screw nut II are connected, the end of polished rod II and radial direction The connection support of hoisting mechanism is connected;
Described wire feeder include base I, be arranged on base I be wound with the silk wheel of welding wire, the wire feed that is arranged on base I Machine frame, the godet roller being arranged in wire-feed motor frame, it is positioned at the seal wire pinch roller below godet roller, is arranged on seal wire pinch roller Seal wire pinch roller bar, described wire-feed motor frame is also equipped with provide the wire-feed motor of wire feed power, the end of the welding wire on silk wheel to be positioned at Between godet roller and seal wire pinch roller;
Between described base I and base II, base II be connected by connecting plate between base III, base I, base II and the end The lower end of seat III is respectively symmetrically and is provided with four rolling I, and roller I contacts with welding guide rail outer surface, base I's and base III Lower end is also respectively provided with a pair roller II, roller II and contacts with welding guide rail inner surface.
Compared with prior art, the invention has the beneficial effects as follows: 1. the present invention utilizes welding guide rail and the combination of welding tractor, real Existing welding portion welding campaign on pipeline.2. welding portion is made up of swing mechanism and radial lift mechanism, it is possible to achieve Welding process is done micro-pendular motion and adjusts the welding gun height away from groove, to meet the requirement of fill solder height.3. the present invention is full The welding of foot most of pipelines docking, and mechanism is through small size change, it is possible to realize the welding job of a series of pipeline, Realize the serial of pipe welding robot, there is engineering practicabilities such as manufacturing and designing cycle short, low cost.4. the present invention is constituted Part is simple clearly, and the assembling in real time and the rapid welding that are suitable for welding scene work, and have stronger environmental suitability.
Accompanying drawing explanation
Fig. 1 is each several part mechanism of the present invention relation schematic diagram;
Fig. 2 is the structural representation of the main apparent direction of the present invention;
Fig. 3 is the structural representation in the left view direction of the present invention;
Fig. 4 is the structural representation overlooking direction of the present invention.
In figure, each label is respectively as follows: 1. welding guide rail, 2. base I, 3. guide rail fixer, 4. connecting plate I, 5. base II, 6. motor I, 7. gear I, 8. gear II, 9. feed screw nut I, 10. ball-screw I, 11. polished rods I, 12. bases III, 13. Roller I, 14. motors II, 15. decelerators I, 16. shaft couplings II, 17. ball-screws II, 18. feed screw nuts II, 19. polished rods II, 20. connection supports, 21. welding gun bases, 22. gun racks regulation screws, 23. gun racks, 24. gun rack packing rings, 25. wheels, 26. Wing nut, 27. wire-feed motor frames, 28. wire-feed motor, 29. gears III, 30. decelerators II, 31. motors III, 32. seal wire pinch roller bars, 33. godet rollers, 34. seal wire wheel pressing shafts, 35. seal wire pinch rollers, 36. roller II.
Detailed description of the invention
With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings.
In conjunction with Fig. 1 to Fig. 4, the welding guide rail 1 of the present invention is fixed in, by guide rail fixer 3, the pipe needing to be soldered On road, being assemblied in by the welding robot of assembling on the pipeline needing welding, welding robot passes through radial lift mechanism, swing Mechanism realizes welding gun in welding and, for the alignment of weld seam, realizes the supply of welding wire in welding process by wire feeder, by walking Mechanism completes 360 degree of circumferential movement of welding mechanism, completes pipeline welding work, and detailed process is as follows:
Being rotated by motor I 6 driven gear I 7, and then driven gear II 8 rotates, gear II 8 is connected with ball-screw I 10 Transmission power, drives feed screw nut I 9 straight line of welding gun base 21 under polished rod I 11 guide effect on ball-screw I 10 Motion, realizes the straight line cyclic movement of feed screw nut I 9 by changing the positive and reverse steering of motor I 6 in actual mechanical process, And then drive the straight line cyclic movement of welding gun base 21, it is achieved the radial motion of welding gun phase before welding, thus reach welding In radially aligned problem.
Motor II 14 is connected the power providing oscillating motion with decelerator I 15, and decelerator I 15 is by shaft coupling II 16 and ball Leading screw II 17 connect, drive ball-screw II 17 rotary motion, and then ball-screw II 17 drive feed screw nut II 18 straight Line moves, and the straight line cycle realizing feed screw nut II 18 in actual mechanical process by changing the positive and reverse steering of motor II 14 back and forth transports Dynamic, the straight line cyclic movement of support 20 thus band is dynamically connected, it is achieved the axially-movable of welding gun phase before welding, thus reach Welding axially aligns problem.
Wire-feed motor 28 connect provide welding wire feeding motion power resources, wire-feed motor 28 include godet roller 33, seal wire pinch roller bar 32, The parts such as seal wire wheel pressing shaft 34 and seal wire pinch roller 35, lead the welding wire being wrapped on silk wheel 25 under the drive of wire-feed motor 28 Guide to commissure, complete the feed motion of welding wire in welding process.
Roller I 13 is fixed with base I 2, base II 5 and base III 12, roller II 36 with on base II 5 and base III 12, Motor III 31 is connected the power source providing welding robot walking motion, decelerator II 30 and gear III 29 with decelerator II 30 Connecing, rotated by motor III 31 rotation driven gear III 29, gear III 29 contacts with the gear ring structure engagement on welding guide rail 1 Motion, what every pair roller I 13 was all symmetrical is distributed in base I 2, base II 5 and the both sides of base III 12, at motor III 31 In work, roller I 13 and roller II 36 achieve overall structure and move on soldered pipeline, roller I 13 and roller II 36 Complete welding tractor location on welding guide rail 1 and the constraint in motion, and then complete the walking mechanism of welding.
Welding machine robot passes sequentially through above-mentioned radial lift motion, oscillating motion, wire feed motion and walking movement, completes docking The welding job of pipeline.
Following several factor is should be taken into account time actually used.
1 be embodied as in the build-in attribute such as diameter and material factors of being considered as pipeline.
2 be embodied as in the site factors such as the working environment being considered as pipeline welding.
Docking tubular type welding robot is exactly to complete the welding job of pipeline docking port, machine in the case of pipeline is relatively fixed People makes welding gun carry out around vessel wall motion along pipeline docking port by mechanical system and electrical system, thus realizes pipeline pair The automatic welding connect.Robot of the present invention has the features such as machine volume is little, lightweight, easy for installation, can be widely applied In pipeline welding field.
The mechanical part of docking tubular type welding robot is mainly made up of welding guide rail and welding tractor, and the function of welding guide rail is dress It is stuck on soldered pipeline for welding tractor walking and the mechanism of location;Welding tractor is the main body of this welding robot, it by Wire feeder, walking mechanism and welding portion composition.The function of wire feeder is uniformly welding wire to be delivered to welding portion, meets The filling of solder and uniformly filling, walking mechanism mainly drags welding tractor and carries out moving around tube wall along welding guide rail, Welding portion is made up of swing mechanism and radial lift mechanism, and the major function of swing mechanism is to regulate welding gun before welding starts to exist The position being soldered pipeline generatrix direction makes welding gun be directed at groove, does micro-pendular motion, radial lift mechanism main in welding process Function is to adjust the welding gun height away from groove, to meet the requirement of fill solder height.
The each several part mechanism relation of welding robot as it is shown in figure 1, include radial lift mechanism, swing mechanism, walking mechanism and Wire feeder.According to Fig. 1 and Fig. 4, wire feeder, swing mechanism and walking mechanism are connected successively and are arranged circumferentially in weldering Connecing on guide rail, swing mechanism and radial lift mechanism are axial arranged and be connected, the frame for movement of composition welding robot.
Welding guide rail 1 is made up of two symmetry half track structure splicings, is fixed by the symmetrical fixing device 3 of circumference On the pipeline needing welding.
Walking mechanism is made up of the gear ring welded on guide rail 1, gear III 29, decelerator II 30 and motor III 31, is fixed on base On III 12, welding the gear motion that contacts of the gear ring structure on guide rail 1 and gear III 29, gear III 29 passes through with motor III 31 Decelerator II 30 connects, and under the driving of motor III 31, carries out the regulation of rotating speed and torque through decelerator II 30, makes welding Dolly completes circumference welding action along gear ring on pipeline.
Radial lift mechanism is by motor I 6, gear I 7, gear II 8, feed screw nut I 9, ball screw I 10 and polished rod I 11 Composition, motor I 6 drives gear I 7, gear I 7 and gear II 8 gear motion, and driven gear II 8 moves, and gear II 8 carries The rotary motion of dynamic ball screw I 10, drives feed screw nut I 9 radial motion on ball screw I 10, feed screw nut successively I 9 radial motions driving polished rod I 11, thus polished rod I 11 drives welding gun base 21 radial motion, it is achieved in welding process Radial alignment move back and forth.
Swing mechanism is by motor II 14, decelerator I 15, shaft coupling II 16, ball screw II 17, feed screw nut II 18 and polished rod II 19 compositions, are fixed on base II 5, and motor II 14 links together with decelerator I 15, will be subtracted by shaft coupling II 16 Speed device I 15 links together with ball screw II 17, and motor II 14 drives ball wire by decelerator I 15, shaft coupling II 16 Bar II 17 rotary motion, ball screw II 17 drives feed screw nut II 18 linear motion, and then drives polished rod II 19 linear motion, Thus band is dynamically connected, support 20 moves along pipeline bus direction, it is achieved the generatrix direction of welding portion and micro-swinging motion.
Wire feeder is made up of silk wheel 25, wing nut 26, wire-feed motor frame 27, wire-feed motor 28, is fixed on base I 2, Wire-feed motor frame 27 is made up of seal wire pinch roller bar 32, godet roller 33, seal wire wheel pressing shaft 34, seal wire pinch roller 35, passes through wire feed Machine 28 provides power resources, by the welding wire guide that is wrapped on silk wheel 25 at pipe welding seam, it is achieved welding wire in welding process Feed motion.
Base I 2, base II 5 and base III 12 are linked together, by each frame for movement of welding robot by connecting plate I 4 Part fits together.
Welding gun part is made up of welding gun base 21, gun rack regulation screw 22, gun rack 23, gun rack packing ring 24, gun rack 23 are fixed on welding gun base 21, can be finely adjusted by the angle of gun rack regulation screw 22 Butt welding gun, and gun rack Packing ring 24 can realize the small size adaptability of welding gun size.
Base I 2, base II 5 and base III 12 are connected with roller I 13, and roller I 13 is arranged symmetrically in the two of welding guide rail 1 Side, by roller I 13 and contacting of welding guide rail 1, it is achieved welding robot axial restraint on soldered pipeline.Base I 2 and base III 12 be connected with roller II 36, roller II 36 is arranged symmetrically on base I 2 and base III 12, passes through roller II 36 with welding the contacting of guide rail 1, it is achieved radially fixed on soldered pipeline of welding robot.
Select the type of welding wire according to pipe material and welding manner, welding wire is placed in wire feeder, afterwards according to pipe diameter Select a model met in a series of welding guide rail, welding guide rail is fixed on pipeline, provide walking for welding robot With the track of location, welding mechanism can realize axially, radially and the motion of micro-swinging, it is achieved precisely welding for weld seam, The degree of freedom improving welding robot welding portion can realize the raising in weldquality and life-span.Welding tractor is by walking mechanism band The dynamic circumferential movement realized on welding guide rail, drives welding portion motion on welding guide rail gear ring to realize by welding tractor The function of docking tubular type welding.
The present invention relates to terrestrial pipeline welding field, a kind of need flat mouth to weld in the circular pipe welding engineering on land Working condition under, carry out dock tubular type solder technology research, design one docking tubular type welding robot, complete land pipe The butt-welded operation in road.
Docking tubular type welding robot is exactly to complete the welding job of pipeline docking port, machine in the case of pipeline is relatively fixed People makes welding gun carry out around vessel wall motion along pipeline docking port by mechanical system and electrical system, thus realizes pipeline Automatic welding.
Docking tubular type welding robot possess three degree of freedom, one degree of freedom be around welded pipe line rotate, thus realize around The butt weld of pipeline is welded;One degree of freedom is to move along welded pipe line generatrix direction, to realize adjusting welding gun in weldering The welding of generatrix direction position, adapter road and micro-swing welding;Another one degree of freedom is with reality along the radial motion of welded pipe line Existing welding gun adjustment of height at bevel for welding.Therefore to realize the welding action of pipeline docking, dock tubular type welding robot Must complete following action:
(1) action that welding gun moves at soldered pipeline generatrix direction, makes welding gun alignment docking pipe welding seam;
(2) welding gun is in the action of soldered pipeline radial direction lifter motion, makes welding gun have a certain distance to meet from butting grooves The requirement of solder packed height;
(3) adjust welding gun at soldered pipeline circumferencial direction around pipe spinning movement, complete axial welding job;
(4) welding gun is for the wire feed action of welding wire, completes the feeding of welding wire in welding process;
(5) in welding process, soldering tip carries out the action of micro-pendulum welding, adaptation condition welding job in the case of slightly changing.
The mechanical part of docking tubular type welding robot is mainly made up of welding guide rail and welding tractor, and the function of welding guide rail is dress It is stuck in and needs on the pipeline of welding for welding tractor walking and the mechanism of location, stationarity that welding robot is walked and position Levels of precision is directly determined by the performance of welding guide rail;Welding tractor is the main body of this welding robot, it by wire feeder, OK Walk mechanism and welding portion composition.The function of wire feeder is uniformly welding wire to be delivered to welding portion, meets the filling of solder also And reach the effect uniformly filled, walking mechanism mainly drags welding tractor and carries out moving around tube wall along welding guide rail, Welding portion is made up of swing mechanism and radial lift mechanism, and the major function of swing mechanism is to regulate welding gun before welding starts to exist The position being soldered pipeline generatrix direction makes welding gun be directed at groove, does micro-pendular motion, radial lift mechanism main in welding process Function is to adjust the welding gun height away from groove, to meet the requirement of fill solder height.

Claims (1)

1. the welding robot docking tubular type, it is characterised in that: include two symmetry half track structures composition welding guide rail, Walking mechanism, radial lift mechanism, swing mechanism and wire feeder, welding guide rail is fixed on pipe to be welded by fixing device On road, described walking mechanism includes base III, the motor being arranged on base III, the gear III that is arranged on motor output end, Being provided with gear ring on described welding guide rail, gear III engages with gear ring;
Described radial lift mechanism includes connecting support, the motor I being arranged on connection support, being arranged on motor I output shaft Gear I, the ball screw being arranged on connecting plate, the gear II being arranged on ball screw, the screw mandrel that is arranged on ball screw Nut I and feed screw nut I be connected polished rod I and polished rod I end be connected welding gun base, described gear I nibbles with gear II Close, welding gun base is provided with gun rack, gun rack is provided with welding gun;
The ball screw that the motor II that described swinging structure includes base II, be arranged on base II is connected with motor II output shaft The polished rod II that II, the feed screw nut II being arranged on ball screw II and feed screw nut II are connected, the end of polished rod II and radial direction The connection support of hoisting mechanism is connected;
Described wire feeder include base I, be arranged on base I be wound with the silk wheel of welding wire, the wire feed that is arranged on base I Machine frame, the godet roller being arranged in wire-feed motor frame, it is positioned at the seal wire pinch roller below godet roller, is arranged on seal wire pinch roller Seal wire pinch roller bar, described wire-feed motor frame is also equipped with provide the wire-feed motor of wire feed power, the end of the welding wire on silk wheel to be positioned at Between godet roller and seal wire pinch roller;
Between described base I and base II, base II be connected by connecting plate between base III, base I, base II and the end The lower end of seat III is respectively symmetrically and is provided with four rolling I, and roller I contacts with welding guide rail outer surface, base I's and base III Lower end is also respectively provided with a pair roller II, roller II and contacts with welding guide rail inner surface.
CN201610297841.2A 2016-05-06 2016-05-06 A kind of welding robot for docking tubular type Active CN105855766B (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106238993A (en) * 2016-09-28 2016-12-21 葛洲坝机械工业有限公司 One is applicable to penstock stiffening ring automatic welding system and welding method
CN106513948A (en) * 2017-01-10 2017-03-22 中通钢构股份有限公司 Adsorption type tubular column field welding robot
CN106624514A (en) * 2016-12-16 2017-05-10 浙江大成智能装备股份有限公司 Pipe pile welding robot
CN106736080A (en) * 2016-12-29 2017-05-31 湖北文理学院 A kind of las er-guidance pipe welding robot
CN107414369A (en) * 2017-09-10 2017-12-01 李大德 Large diameter steel pipe double welding gun Intelligent welding equipment
CN109352088A (en) * 2018-12-11 2019-02-19 哈尔滨工程大学 A kind of small-caliber pipeline bevel cut machine
CN109521159A (en) * 2018-12-10 2019-03-26 哈尔滨工程大学 A kind of carrying out flaw detection device for round body surface
CN110216401A (en) * 2019-06-05 2019-09-10 中地君豪建筑工程有限公司 Full-automatic tubular pole welding equipment and welding method
CN110560845A (en) * 2019-09-18 2019-12-13 中国核动力研究设计院 remote visual pipeline all-position automatic argon arc welding device
CN111390323A (en) * 2020-04-28 2020-07-10 佛山市海协科技有限公司 Welding system
CN111469000A (en) * 2020-05-29 2020-07-31 中北大学 Mechanical structure of pipeline polishing robot and working method thereof

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CN104625348A (en) * 2014-12-19 2015-05-20 北京星通浩宇科技发展有限公司 TIG welding head with multi-axis servo movement mechanism and welding method
CN205032873U (en) * 2015-09-29 2016-02-17 中国化学工程第十六建设有限公司 Full position automatic weld machine of pipeline
CN205702972U (en) * 2016-05-06 2016-11-23 哈尔滨工程大学 A kind of welding robot docking tubular type

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Publication number Priority date Publication date Assignee Title
JPH02179359A (en) * 1988-12-28 1990-07-12 Mitsubishi Heavy Ind Ltd Automatic tig welding equipment for piping
CN202278283U (en) * 2011-09-28 2012-06-20 中国第一重型机械股份公司 Circumferential all-position TIG (Tungsten extremely inert gas) automatic surfacing equipment for inner surface of 90-degree bent pipe
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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106238993A (en) * 2016-09-28 2016-12-21 葛洲坝机械工业有限公司 One is applicable to penstock stiffening ring automatic welding system and welding method
CN106238993B (en) * 2016-09-28 2017-11-10 中国葛洲坝集团机械船舶有限公司 One kind is applied to penstock stiffening ring automatic welding system and welding method
CN106624514A (en) * 2016-12-16 2017-05-10 浙江大成智能装备股份有限公司 Pipe pile welding robot
CN106736080A (en) * 2016-12-29 2017-05-31 湖北文理学院 A kind of las er-guidance pipe welding robot
CN106736080B (en) * 2016-12-29 2018-06-12 湖北文理学院 A kind of las er-guidance pipe welding robot
CN106513948A (en) * 2017-01-10 2017-03-22 中通钢构股份有限公司 Adsorption type tubular column field welding robot
CN107414369A (en) * 2017-09-10 2017-12-01 李大德 Large diameter steel pipe double welding gun Intelligent welding equipment
CN107414369B (en) * 2017-09-10 2019-01-22 安徽颍瑞源焊管科技有限公司 Large diameter steel pipe double welding gun Intelligent welding equipment
CN109521159A (en) * 2018-12-10 2019-03-26 哈尔滨工程大学 A kind of carrying out flaw detection device for round body surface
CN109352088A (en) * 2018-12-11 2019-02-19 哈尔滨工程大学 A kind of small-caliber pipeline bevel cut machine
CN110216401A (en) * 2019-06-05 2019-09-10 中地君豪建筑工程有限公司 Full-automatic tubular pole welding equipment and welding method
CN110560845A (en) * 2019-09-18 2019-12-13 中国核动力研究设计院 remote visual pipeline all-position automatic argon arc welding device
CN111390323A (en) * 2020-04-28 2020-07-10 佛山市海协科技有限公司 Welding system
CN111469000A (en) * 2020-05-29 2020-07-31 中北大学 Mechanical structure of pipeline polishing robot and working method thereof

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