CN108838588A - A kind of industrial robot and its autocontrol method carrying out pipeline weld job - Google Patents
A kind of industrial robot and its autocontrol method carrying out pipeline weld job Download PDFInfo
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- CN108838588A CN108838588A CN201810741427.5A CN201810741427A CN108838588A CN 108838588 A CN108838588 A CN 108838588A CN 201810741427 A CN201810741427 A CN 201810741427A CN 108838588 A CN108838588 A CN 108838588A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000003466 welding Methods 0.000 claims abstract description 171
- 239000002893 slag Substances 0.000 claims abstract description 57
- 238000006073 displacement reaction Methods 0.000 claims abstract description 37
- 230000008859 change Effects 0.000 claims abstract description 4
- 238000003860 storage Methods 0.000 claims description 27
- 238000005452 bending Methods 0.000 claims description 22
- 238000011144 upstream manufacturing Methods 0.000 claims description 20
- 238000006243 chemical reaction Methods 0.000 claims description 18
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- 239000002245 particle Substances 0.000 claims description 11
- 239000007921 spray Substances 0.000 claims description 8
- 239000013618 particulate matter Substances 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 210000003127 knee Anatomy 0.000 claims description 4
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- 238000005286 illumination Methods 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 3
- 238000007664 blowing Methods 0.000 claims description 2
- 239000002184 metal Substances 0.000 claims description 2
- 229920000642 polymer Polymers 0.000 claims description 2
- 230000005622 photoelectricity Effects 0.000 claims 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000012544 monitoring process Methods 0.000 abstract 1
- 239000000428 dust Substances 0.000 description 7
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of industrial robots and its autocontrol method for carrying out pipeline weld job, belong to Industrial Robot Technology field.Industrial robot provided by the invention is made of three-stage structure, is that it can be made to be moved inside curved pipeline, and welded simultaneously by that can be attached with curved linkage section between each section.Due to overcoming so that welding gun can adapt to the change in location of corner by monitoring the displacement of each time, and by adjusting movement of the movable block on guide rail and welding unstable problem in corner when corner is advanced；Meanwhile welding robot provided by the invention can remove the welding slag of generation online simultaneously.
Description
Technical field
The present invention relates to a kind of industrial robots and its autocontrol method for carrying out pipeline weld job, belong to industrial machine
Device people's technical field.
Background technique
Since the 1960s is since the U.S. installs and uses First industrial robot, with operating function diversity
Industrial robot just receive much attention, become the core technology of new automation age.In industrial enterprise circle, more and more factories
Family serves as the key player of production process using robot.Welding is a technical requirements height, the severe work of work situation,
People replace manual work using welding robot in many cases.
Welding robot is most widely used industrial robot, and there are about the works of half for the industrial robot of whole world active service
Industry robot is used for welding field, is concentrated mainly on the industries such as automobile, motorcycle, engineering machinery, especially automobile industry is
The maximum user of welding robot.Welding robot is broken through traditional welding and is rigidly automated, and a kind of flexible automation has been started
New paragon, it is considered to be have the revolutionary progress of Automation of Welding.
CN2652577Y discloses a kind of Full position walking photoelectric real time tracking pipeline welder robot, mainly by climbing
Row mechanism and autotracker composition, using the car body of creeping across formula magnet pulley vehicle type, automatic tracking system has CCD sensing
Device, horizontal tracing executing agency, swing mechanism, longitudinal executing agency, angle of welding gun regulating mechanism, welding gun, PLC control cabinet, position
It sets and implements TT&C system and remote control panel composition, wherein angle of welding gun regulating mechanism, by pinion gear and angular adjustment gear, driving
Motor and guide wheel group by connecting plate with longitudinal executing agency at and being connected.
But above-mentioned welding robot can not weld pipeline inside.Moreover, for curved pipeline, especially
It is the pipeline interior welds effect for having larger angle to bend suddenly, there is biggish operation for current welding robot
Difficulty.
Summary of the invention
The purpose of the present invention is：It solves the conventional robot for the operation of pipeline interior welds and is not suitable for crooked pipeline
The problem of operation, the especially weld job in the vertical bending place of pipeline；Welding robot of the invention simultaneously also can be realized
The welding slag generated inside pipeline is eliminated while weld job.
First aspect of the present invention：
It is a kind of carry out pipeline weld job industrial robot, mainly by successively from front to back welding section, interlude, except weldering
Slag section is constituted, and is connected between welding section and interlude by antecurvature tune, interlude and except being bent after passing through between welding slag section
Section connection, antecurvature tune and rear bending section can free bends；In welding section, interlude, except being both provided with top in welding slag section
Portion's support wheel and side support wheel positioned at two sides, the interconnecting piece between top braces wheel and side support wheel and each section have elasticity；
The bottom of welding section is provided with guide rail, movable block is provided on guide rail, movable block can be moved forward and backward on guide rail,
The bottom of movable block is additionally provided with welding gun, and welding gun is for welding inner wall of the pipe；
It further include having：
Driving device, for driving the rotation of top braces wheel and side support wheel；
Preceding displacement recording unit, for recording the move distance of top braces wheel and side support wheel on welding section；
Displacement record unit afterwards, for recording the move distance of top braces wheel and side support wheel on interlude；
Master controller, for being led according to the data of preceding displacement recording unit and rear displacement record unit record to control movable block
The work of movement and welding gun on rail.
In one embodiment, the industrial robot is used for pipeline interior welds.
When in one embodiment, at industrial robot motion to pipe bending, master controller makes welding gun stop stopping work
Make, welding section continues on into knee, top braces wheel on rear displacement record unit start recording interlude and collateral
The move distance of wheel is supportted, after welding section is completely into pipeline after bending, industrial robot halts, rear displacement record list
First move distance of record is sent to master controller by member, master controller commands movable block move backward the first move distance it
Afterwards, movable block gradually travels forward the first move distance and is welded simultaneously；Next, master controller makes welding gun stop work
Make, and moves on industrial robot, top braces wheel and collateral support on preceding displacement recording unit start recording welding section
The move distance of wheel, after interlude is completely into extremely pipeline after bending, industrial robot halts, preceding displacement record
Second move distance of record is sent to master controller by member, master controller commands movable block move backward the second move distance it
Afterwards, movable block gradually travels forward the second move distance and is welded simultaneously；After the completion of welding, industrial robot continues forward
It runs and continues to weld simultaneously.
In one embodiment, the top braces wheel on same section and side support wheel are between each other a ° row on section
Column.
In one embodiment, except welding slag section is used to remove generation simultaneously during industrial robot welds and advances
Welding slag.
In one embodiment, it is provided with air inlet and exhaust outlet in the section that removes the gred, is passed through between air inlet and exhaust outlet
Except welding slag module connects, except welding slag module is to remove welding slag by way of filtering.
In one embodiment, except including in the structure of welding slag module：Air intake duct, the connection of air intake duct air inlet；Also set
It is equipped with the air-suction duct being connected with air intake duct, air-suction duct is connected to exhaust outlet；
The side of air intake duct is provided with light source, and the air intake duct other side on the direction of illumination of light source is provided with photoelectric conversion list
Member is equipped with glass baffle plate on photoelectric conversion unit surface and protects to camera lens；In the air intake duct with glass baffle plate in the same side
Updrift side, be provided with runner, the outside of runner is provided with the upstream deflector of arc, and runner after rotation can be by air
It is discharged from the gap between upstream deflector and runner into air intake duct；In the air intake duct of the downstream direction of photoelectric conversion unit
The other side is provided with gas tip, and injection direction is connect towards air intake duct, gas tip with pressure air storage chamber, and gas sprays
Solenoid valve is provided on head, solenoid valve is used to control the opening and closing of gas tip；On the air intake duct of the downstream direction of glass baffle plate
It is provided with the downstream deflector of arc；The gas discharge direction of upstream deflector towards the lower surface of downstream deflector, and gas
The gas emission direction of body spray head towards the upper surface of downstream deflector；In downstream, the downstream side of deflector is additionally provided with tangentially
Runner, tangential runner are used to accommodate the gas of downstream deflector tangentially flowed out；In tangential runner, it is additionally provided with coarse strainer,
The gap formed between the other end of tangential runner and runner and upstream deflector is connected；In the downstream side for being located at tangential runner
Air intake duct in, be additionally provided with accurate strainer, the air intake duct in the downstream side of accurate strainer is connected to air-suction duct by blower；
It further include having central control unit, the feelings of the granular size to get into the air for analyzing photoelectric conversion unit acquisition
Condition, when the partial size of particulate matter is greater than threshold value, identification has bulky grain sundries to enter air flue, at this point, central control unit sending refers to
Order opens solenoid valve, and the high pressure gas in pressure air storage chamber is sprayed from gas tip.
The lower section of coarse strainer and accurate strainer is all connected to welding slag holding tank.
It further include having gas pump, the input end of gas pump is connected to the air intake duct of the downstream side of accurate strainer, gas pump
Outlet end is connected to by conduit with pressure air storage chamber；Pressure sensor, pressure sensor and center are set in pressure air storage chamber
Control unit connection, when central control unit detects the pressure in pressure air storage chamber lower than first threshold, center control is single
Metacommand gas pump is started to work, and is made on the pressure recovery to second threshold in pressure air storage chamber；Second threshold is greater than first
Threshold value.
The material of coarse strainer is metal；The material of accurate strainer is polymer.
The second aspect of the invention：
A kind of autocontrol method for the industrial robot carrying out pipeline weld job, includes the following steps：
I) industrial robot is advanced inside pipeline, and carries out weld job to inner wall of the pipe surface by welding gun；
When ii) at industrial robot motion to pipe bending, master controller makes welding gun stop stopping working, and welding section is to knee
In continue on, the move distance of top braces wheel and side support wheel on rear displacement record unit start recording interlude, when
After welding section is completely into pipeline after bending, industrial robot halts, and rear displacement record unit is transported the first of record
Dynamic distance is sent to master controller, after master controller commands movable block moves the first move distance backward, movable block gradually to
The first move distance of preceding movement is simultaneously welded simultaneously；Next, master controller makes welding gun stop working, and make industrial robot
It moves on, the move distance of top braces wheel and side support wheel on preceding displacement recording unit start recording welding section, in the middle
Between section completely into after pipeline after bending, industrial robot halts, and preceding displacement recording unit is by the second fortune of record
Dynamic distance is sent to master controller, after master controller commands movable block moves the second move distance backward, movable block gradually to
The second move distance of preceding movement is simultaneously welded simultaneously；After the completion of welding, industrial robot continues to move forwards and continue simultaneously
Welding；
Iii) during industrial robot is advanced and is welded, slagging-off section sucking has the air of welding slag, and passes through
Elimination removes.
In one embodiment, the control method for the section that removes the gred is：
S1 carries out air draught from air inlet by fan, and the air with welding slag sucks air intake duct；
S2 is filtered the gas sucked in air intake duct using accurate strainer, and filtration gas is passed sequentially through air-suction duct
It is discharged with exhaust outlet；
S3 carries out online granular size detection by the gas of light source and photoelectric conversion unit to sucking in air intake duct, when
When the average grain diameter of grain object is greater than threshold value, particulate matter is blown off air intake duct by the blowing of air intake duct lateral gas spray head, and leads to
It crosses coarse strainer to carry out filtering out large particle, the gas after filter returns to air intake duct；
S4, the air that runner generates after being rotated tangentially are flowed out from upstream deflector, and tangential direction is towards downstream deflector
Side, the emission direction of gas tip is towards the other side of downstream deflector；
S5 is monitored the gas pressure in the pressure air storage chamber being connected with gas tip, and when hypotony, precision is filtered
The air pressurized of net filtration is injected into pressure air storage chamber, to maintain the pressure in pressure air storage chamber.
The third aspect of the invention：
A kind of welding robot is made of for two sections front and back；
Leading portion is welding section, is provided with welding gun on welding section, for welding to pipeline inside；
Walking mechanism is additionally provided on welding section, for making welding robot walk inside pipeline；
Back segment is except welding slag section, for removing the welding slag of generation simultaneously during welding robot welds and advances.
Here can use structure as described above except welding slag section.
Beneficial effect
Industrial robot provided by the invention is made of three-stage structure, is by that can be carried out with curved linkage section between each section
Connection, can be such that it is moved inside curved pipeline, and welded simultaneously.Due to passing through when corner is advanced
The displacement of each time is monitored, and by adjusting movement of the movable block on guide rail, so that welding gun can adapt to the position of corner
Variation is set, overcomes and welds unstable problem in corner；Meanwhile welding robot provided by the invention can be online simultaneously
Remove the welding slag generated.
Detailed description of the invention
Fig. 1 is the front view of welding robot provided by the invention；
Fig. 2 is the structure chart of robot when carrying out operation in straight tube；
Fig. 3 is the structure chart that the robot of operation is carried out when the subsequent time in Fig. 2 enters to bend pipe；
Fig. 4 is the structure chart of the robot of the operation process of the subsequent time in Fig. 3；
Fig. 5 be inside welding robot except welding slag module structure chart.
Wherein, 1, welding section；2, interlude；3, welding slag section is removed；4, top braces wheel；5, side support wheel；6, guide rail；7, it moves
Motion block；8, welding gun；9, antecurvature tune；10, rear bending section；11, preceding displacement recording unit；12, rear displacement record unit；13, it inhales
Air port；14, exhaust outlet；15, welding slag module is removed；16, air-suction duct；17, air intake duct；18, fan；19, gas tip；20, it presses
Power air storage chamber；21, photoelectric conversion unit；22, runner；23, upstream deflector；24, downstream deflector；25, coarse strainer；26, smart
Close strainer；27, welding slag holding tank；28, glass baffle plate；29, light source；30, tangential runner；31, solenoid valve；32, conduit；33, gas
Body pump.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.In this hair
In bright description, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", "upper",
"lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " clockwise ", " counterclockwise " etc.
The orientation or positional relationship of instruction is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and letter
Change description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific orientation construct and
Operation, therefore be not considered as limiting the invention.In addition, the ordinal number used in the claims and specification is for example
" first ", " second ", " third " etc., it is any preferential, formerly or one due to itself containing for modifying claim
The sequence of claim is before another claim or executes the time sequencing of method and step.But as just mark
Label are used to distinguish such as element of the claim with specific names and another element with same names（Without
It is belonging to for succession）, to distinguish the element of claim.Define " first " as a result, the feature of " second " can be bright
Show or implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or two
More than a, unless otherwise specifically defined.It should be understood that " being connect " when an element is mentioned with another element
When, it can be connected directly with other elements or be indirectly connected with other elements, and inserted with element between them.Unless there are
Opposite explanation is specified, it includes listed element that otherwise term " includes " and " having ", which are interpreted as statement, and non-excluded
Meaning other elements.Word "include", "comprise" used herein, " having " or its any other variant are intended to cover nonexclusive
Property includes.E.g., including technique, method, article or the equipment for listing element are not necessarily limited by those elements, but can be with
This technique, method, article or the intrinsic element of equipment are not explicitly listed or belonged to including other.
For the present invention in description scheme, " front ", " preceding ", " rear portion ", " rear " are when without illustrating, with welding section whole
Before the position of a robot is, after being in the position of entire robot except welding slag section." upstream ", " downstream " are in no special instruction
When, using the position except air inlet in welding slag module as upstream, the position of exhaust outlet is downstream.
The meaning of " at same section " refers on the same welding section or on the same interlude or same
In a welding slag section." each section ", which is meant that, refers to welding section, interlude and welding slag section.
Embodiment 1
As shown in Fig. 2, the industrial robot of pipeline weld job is carried out, mainly by welding section 1 successively from front to back, centre
Section 2 is constituted except welding slag section 3, is connected between welding section 1 and interlude 2 by antecurvature tune 9, interlude 2 with remove welding slag section 3
Between connected by rear bending section 10, antecurvature tune 9 can free bend with rear bending section 10.
As depicted in figs. 1 and 2, in welding section 1, interlude 2, except being both provided with top braces wheel 4 in welding slag section 3 and be located at
The side support wheel 5 of two sides, top braces wheel 4 and the side support wheel 5 positioned at two sides arrange on section in 120 degree between each other,
It is provided with spring in connecting rod between top braces wheel 4 and side support wheel 5 and welding section, interlude and welding slag section, so that even
Extension bar is provided with elasticity.Inside pipeline, top braces wheel 4 and the inner wall that pipeline is all closely attached on positioned at the side support wheel 5 of two sides,
So that welding robot has stable position, since connecting rod has elasticity, when can advance in crooked pipeline, even
Extension bar can also make welding robot carry out the travelings such as corresponding turning with the structure change of crooked pipeline.It further include having drive
Dynamic device, for driving the rotation of top braces wheel 4 and side support wheel 5.In Fig. 2, hacures are to represent tube wall, can be seen
Out, top braces wheel 4 and side support wheel 5 can be by being adjacent between flexible connecting rod and tube wall.
The bottom of welding section 1 is provided with guide rail 6, movable block 7 is provided on guide rail 6, movable block 7 can be on guide rail 6
It is moved forward and backward, is additionally provided with welding gun 8 in the bottom of movable block 7, welding gun 8 is for welding inner wall of the pipe；In Fig. 2
It is shown, after top braces wheel 4 and side support wheel 5 and tube wall are adjacent to, so that robot has stable operating surface, at this time
Welding gun 8 can weld the tube wall of bottom.
On welding robot, it is displaced recording unit 11 before being additionally provided with, for recording the top braces wheel on welding section 1
4 and side support wheel 5 move distance；It is additionally provided with rear displacement record unit 12, for recording the top braces wheel on interlude 2
4 and side support wheel 5 move distance；It is additionally provided with master controller, for according to preceding displacement recording unit 11 and rear displacement record
The data that unit 12 records control the work of movement and welding gun 8 of the movable block 7 on guide rail 6.Displacement record unit can be with
It is realized by being connected with 4/ side support wheel 5 of top braces wheel, support wheel along tube wall when being rotated, according to wheel
The diameter of turnning circle and wheel can calculate how many distance of having walked, therefore transposed recording unit can be using rotation
Counter is realized.
As shown in figure 3, master controller makes welding gun stop 8 stoppings when at the pipe bending of industrial robot motion to 90 degree
Work, welding section 1 is continued on into knee, and when due to being turned in crooked pipeline, the support wheel on welding section 1 is not
It is easy all to be bonded with tube wall, can there is a problem of that positional shift/industry face is unstable, it is therefore desirable to stop weld job.Work as weldering
Section 1 is connect while turning, since antecurvature tune 9 can be bent, interlude 2 not will receive the influence of the turning of welding section 1, rear position
The move distance for moving the top braces wheel 4 and side support wheel 5 on 12 start recording interlude 2 of recording unit, when welding section 1 is complete
Into after pipeline after bending, industrial robot halts, since welding section 1 and interlude 2 are all to be located at the same line of motion
On, therefore, the travel distance of interlude 2 is equal to the travel distance of welding section 1, it is therefore desirable to by this vacancy it is unwelded away from
From progress repair welding.At this point, the first move distance of record is sent to master controller, master controller life by rear displacement record unit 12
After enabling movable block 7 move the first move distance backward, movable block 7 gradually travels forward the first move distance and to be welded simultaneously
It connects, realizes the repair welding of vacancy distance in this way；Next, master controller makes welding gun 8 stop working, and make industrial robot after
It is continuous to advance, as shown in figure 4, in the action of this section, since interlude 2 needs to turn, the support wheel on interlude 2
It is easy to be easy to appear the case where cannot being bonded completely with tube wall, therefore will also result in the position of the welding gun 8 before interlude 2
Unstable problem, therefore when interlude 2 is turned, it is also desirable to welding gun 8 is closed, at the same time, preceding displacement recording unit 11 is opened
The move distance of the top braces wheel 4 and side support wheel 5 that begin on record welding section 1, when interlude 2 is completely into extremely after bending
After pipeline, industrial robot halts, since welding section 1 and interlude 2 are located on the same line of motion, welding section 1
The shift length recorded is exactly the move distance of interlude 2, and this distance is not process welding operation, therefore
Need to carry out repair welding, the second move distance of record is sent to master controller, master controller commands by preceding displacement recording unit 11
After movable block 7 moves the second move distance backward, movable block 7 gradually travels forward the second move distance and to be welded simultaneously
It connects, realizes the repair welding of the second move distance；After the completion of welding, industrial robot continues to move forwards and continues to weld simultaneously.
As shown in Figure 2 and Figure 4, except welding slag section 3 is used to remove life simultaneously during industrial robot welds and advances
At welding slag.It is provided with air inlet 13 and exhaust outlet 14 in slagging-off section 3, by removing welding slag between air inlet 13 and exhaust outlet 14
Module 15 connects, except welding slag module 15 is to remove welding slag by way of filtering.
Since there is dust, welding slags etc. inside pipeline, their granular size is different, if using more accurate strainer
When it is all filtered, it is larger on the one hand to will lead to filtration resistance, on the other hand, due to welding slag have biggish particle size with
And hardness, when entering screen surface from air flue, the impact force of welding slag is easy that the surface of accurate strainer is made to be damaged, long period of operation
Later, it is easy to cause the surface filtration accuracy decline of strainer.
In embodiment as shown in Figure 4, except including in the structure of welding slag module 15：Air intake duct 17, air intake duct
The connection of 17 air inlets 13；It is additionally provided with the air-suction duct 16 being connected with air intake duct 17, air-suction duct 16 is connected to exhaust outlet 14；
The side of air intake duct 17 is provided with light source 29, and 17 other side of air intake duct on the direction of illumination of light source 29 is provided with photoelectric conversion
Unit 21 is equipped with glass baffle plate 28 on 21 surface of photoelectric conversion unit and protects to camera lens；With glass baffle plate 28 same
The updrift side of the air intake duct 17 of side, is provided with runner 22, and the outside of runner 22 is provided with the upstream deflector 23 of arc, runner
Gap of the air between upstream deflector 23 and runner 22 can be discharged into air intake duct 17 after rotation；In photoelectric conversion
The other side of the air intake duct 17 of the downstream direction of unit 21, is provided with gas tip 19, and injection direction is towards air intake duct 17, gas
Body spray head 19 is connect with pressure air storage chamber 20, and solenoid valve 31 is provided on gas tip 19, and solenoid valve 31 is for controlling gas
The opening and closing of spray head 19；The downstream deflector 24 of arc is provided on the air intake duct 17 of the downstream direction of glass baffle plate 28；Upstream
The gas discharge direction of deflector 23 towards the lower surface of downstream deflector 24, and the gas emission direction court of gas tip 19
The upper surface of deflector 24 downstream towards；In downstream, the downstream side of deflector 24 is additionally provided with tangential runner 30, tangential runner 30
For accommodating the gas of downstream deflector 24 tangentially flowed out；In tangential runner 30, it is additionally provided with coarse strainer 25, tangential runner
The gap formed between 30 other end and runner 22 and upstream deflector 24 is connected；In the downstream side for being located at tangential runner 30
Air intake duct 17 in, be additionally provided with accurate strainer 26, the air intake duct 17 in the downstream side of accurate strainer 26 is connected to by blower 18
Air-suction duct 16；It further include having central control unit, for analyzing the particle of the acquisition of photoelectric conversion unit 21 to get into the air
The case where size, when the partial size of particulate matter is greater than threshold value, identification has bulky grain sundries to enter air flue, at this point, center control is single
Member, which issues instruction, opens solenoid valve 31, and the high pressure gas in pressure air storage chamber 20 is sprayed from gas tip 19.
It is aspirated first by fan 18, so that the welding slag and dust that are generated inside welded pipe line by welding gun 8 pass through suction
Air port 13 is inhaled into air intake duct 17, and dust can be intercepted by the accurate strainer 26 in air intake duct 17, and the air of filtration is from air-suction duct
16, welding robot is discharged in exhaust outlet 14.The light that light source 29 is issued to photoelectric conversion unit 21 simultaneously, photoelectric conversion unit 21
On-line analysis is carried out to light, obtains grain diameter size；It further include having circuit control module in welding robot：Center control
Unit, for analyze photoelectric conversion unit 21 acquisition the granular size to get into the air the case where, when the partial size of particulate matter is big
When threshold value, identification has bulky grain welding slag to enter air flue, opens solenoid valve 31 at this point, central control unit issues instruction, pressure
High pressure gas in power air storage chamber 20 is sprayed from gas tip 19, and bulky grain welding slag is blown off the direction of motion of air intake duct 17,
Due to being additionally provided with tangential runner 30 in the downstream direction of glass baffle plate 28, bulky grain welding slag can quilt after entering tangential runner 30
Coarse strainer 25 intercepts, without knocking accurate strainer 26.It is for issuing light to light source used herein of photoelectric conversion unit 21
The signal of line is detected, and the variation of optical signal is changed to the numerical value of grain diameter, used herein of the light of online granular size
Method can refering to existing technical literature CN104390897A, CN106198325A, CN102410974A,
CN105424557A,CN106018197A,CN101029863A,CN101509931A,CN105334147A,《Online granularity
The research and development of detection system》（Zhejiang University's master thesis, Cui Zengzhu, 2004）,《The light of particle size on-line measurement
Saturating light extinction method》（《Optical instrument》01 phase in 1998；Liu Tieying, Zhang Zhiwei, Zheng Gang, Cai little Shu）.Its cardinal principle is：Laser
The air flue of particle is loaded with directional light directive after processing, the candidate particles group in measurement zone generates light under the irradiation of laser
Scattering, intensity and its spatial distribution for scattering light are related with the size of tested particle swarm and concentration, and the scattering light of particle swarm is by Fu
Vertical leaf lens receive, and receive the scattering spectra of particle swarm with annular photodetector on the back focal plane of lens, are converted to electric current letter
Number, SCM system is sent into after signal processing and AD conversion, single-chip microcontroller by analysis and calculates collected data, root
After carrying out data processing according to Fraunhofer diffraction theory, the statistical data and distribution curve of granular size are shown.Due to using
In the process, gas tip 19 spray air will lead to 28 front end of glass baffle plate air generate flow-disturbing, the air of ejection with into
The air relative motion normally entered in air flue 17 can be such that internal dust diffuses, and some dusts can be attached to glass baffle plate 28
On, cause the sensitivity of optoelectronic induction system and accuracy to decline.Therefore, by the rotation of runner 22, can make air by
It forms air curtain after to the current stabilization of upstream deflector 23 to streak before glass baffle plate 28, without making the disorder in air intake duct 17
The dust of air is attached on glass baffle plate 28；As shown in phantom in figure 4, at the same time, after downstream deflector 24 being installed,
Since the air tangentially flowed out from upstream deflector 23 flows directly into the lower surface of downstream deflector 24, and in air nozzle 19
The air of ejection is the upper surface for spraying to downstream deflector 16, this two strands of air cannot directly intersect, just further avoid into
Air inside air flue 17 mutually clashes, and reduces the case where sheet glass is contaminated by dust.It is again another due to tangential runner 30
End is connected with the gap formed between runner 22 and upstream deflector 23, and the air after coarse strainer 19 is from upstream deflector
After 23 outflows, continuation is filtered from accurate strainer 26.The lower section of coarse strainer 25 and accurate strainer 26 all with welding slag holding tank 27
Connection.It can be convenient welding slag and dust taking-up.It further include having gas pump 33, the input end of gas pump 33 and accurate strainer 26
Downstream side air intake duct 17 is connected to, and the outlet end of gas pump 33 is connected to pressure air storage chamber 20；Pressure is set in pressure air storage chamber 20
Force snesor, pressure sensor are connect with central control unit, when central control unit detects the pressure in pressure air storage chamber 20
When power is lower than first threshold, central control unit order gas pump 33 is started to work, and makes the pressure recovery in pressure air storage chamber 20
To second threshold.The material of pressure air storage chamber 20 is elastic material, after compression, internal gas pressure can be made to mention
Height, when solenoid valve 31 is opened, elastic material restores deformation, sprays high pressure gas.
Claims (8)
1. a kind of industrial robot for carrying out pipeline weld job, which is characterized in that mainly by welding successively from front to back
Section（1）, interlude（2）, remove welding slag section（3）It is constituted, welding section（1）With interlude（2）Between pass through antecurvature tune（9）Even
It connects, interlude（2）With remove welding slag section（3）Between pass through rear bending section（10）Connection, antecurvature tune（9）With rear bending section（10）All
It can be with free bend；In welding section（1）, interlude（2）, remove welding slag section（3）On be both provided with top braces wheel（4）Be located at two
The side support wheel of side（5）, top braces wheel（4）With side support wheel（5）There is elasticity with the interconnecting piece between each section；In welding section
（1）Bottom be provided with guide rail（6）, guide rail（6）On be provided with movable block（7）, movable block（7）It can be in guide rail（6）Upper progress
It moves forward and backward, in movable block（7）Bottom be additionally provided with welding gun（8）, welding gun（8）For being welded to inner wall of the pipe；
It in one preferred embodiment, further include having：
Driving device, for driving top braces wheel（4）With side support wheel（5）Rotation；
Preceding displacement recording unit（11）, for recording welding section（1）On top braces wheel（4）With side support wheel（5）Movement
Distance；
Displacement record unit afterwards（12）, for recording interlude（2）On top braces wheel（4）With side support wheel（5）Movement
Distance；
The preceding displacement recording unit（11）With include revolution meter in rear displacement record unit；
Master controller, for according to preceding displacement recording unit（11）With rear displacement record unit（12）The data of record are moved to control
Motion block（7）In guide rail（6）On movement and welding gun（8）Work.
2. the industrial robot according to claim 1 for carrying out pipeline weld job, which is characterized in that the industrial machine
Device people is used for pipeline interior welds；When at industrial robot motion to pipe bending, master controller stops welding gun（8）Stop work
Make, welding section（1）It is continued on into knee, rear displacement record unit（12）Start recording interlude（2）On top branch
Support wheel（4）With side support wheel（5）Move distance, work as welding section（1）After pipeline after bending, industrial robot stops
Only advance, rear displacement record unit（12）First move distance of record is sent to master controller, master controller commands are mobile
Block（7）After moving the first move distance backward, movable block（7）It gradually travels forward and the first move distance and is welded simultaneously
It connects；Next, master controller makes welding gun（8）It stops working, and moves on industrial robot, preceding displacement recording unit（11）
Start recording welding section（1）On top braces wheel（4）With side support wheel（5）Move distance, work as interlude（2）Completely into
After to pipeline after bending, industrial robot halts, preceding displacement recording unit（11）Second move distance of record is sent out
It send to master controller, master controller commands movable block（7）After moving the second move distance backward, movable block（7）Gradually forward
It moves the second move distance and is welded simultaneously；After the completion of welding, industrial robot continues to move forwards and continues to weld simultaneously
It connects.
3. the industrial robot according to claim 1 for carrying out pipeline weld job, which is characterized in that on same section
Top braces wheel（4）With side support wheel（5）It is between each other 120 ° of arrangements on section.
4. the industrial robot according to claim 1 for carrying out pipeline weld job, which is characterized in that remove welding slag section（3）
For removing the welding slag of generation simultaneously during industrial robot welds and advances.
5. the industrial robot according to claim 4 for carrying out pipeline weld job, which is characterized in that slagging-off section（3）On
It is provided with air inlet（13）And exhaust outlet（14）, air inlet（13）And exhaust outlet（14）Between by remove welding slag module（15）Even
It connects, removes welding slag module（15）It is to remove welding slag by way of filtering.
6. the industrial robot according to claim 5 for carrying out pipeline weld job, which is characterized in that remove welding slag module
（15）Structure in include：Air intake duct（17）, air intake duct（17）Air inlet（13）Connection；It is additionally provided with and air intake duct（17）Phase
The air-suction duct of connection（16）, air-suction duct（16）With exhaust outlet（14）Connection；Air intake duct（17）Side be provided with light source
（29）, in light source（29）Direction of illumination on air intake duct（17）The other side is provided with photoelectric conversion unit（21）, turn in photoelectricity
Change unit（21）Surface is equipped with glass baffle plate（28）Camera lens is protected；With glass baffle plate（28）Air intake duct in the same side
（17）Updrift side, be provided with runner（22）, runner（22）Outside be provided with the upstream deflector of arc（23）, runner exists
It can be by air from upstream deflector after rotation（23）With runner（22）Between gap to air intake duct（17）Middle discharge；In photoelectricity
Converting unit（21）Downstream direction air intake duct（17）The other side, be provided with gas tip（19）, injection direction direction
Air intake duct（17）, gas tip（19）With pressure air storage chamber（20）Connection, and gas tip（19）On be provided with solenoid valve（31）,
Solenoid valve（31）For controlling gas tip（19）Opening and closing；In glass baffle plate（28）Downstream direction air intake duct（17）On set
It is equipped with the downstream deflector of arc（24）；Upstream deflector（23）Gas discharge direction toward downstream deflector（24）Under
Surface, and gas tip（19）Gas emission direction toward downstream deflector（24）Upper surface；In downstream deflector
（24）Downstream side be additionally provided with tangential runner（30）, tangential runner（30 for accommodating downstream deflector（24）Tangential outflow
Gas；In tangential runner（30）In, it is additionally provided with coarse strainer（25）, tangential runner（30）The other end and runner（22）With it is upper
Swim deflector（24）Between the gap that is formed be connected；It is being located at tangential runner（30）Downstream side air intake duct（17）In, also
It is provided with accurate strainer（26）, accurate strainer（26）Downstream side air intake duct（17）Pass through blower（18）It is connected to air-suction duct
（16）；It further include having central control unit, for analyzing photoelectric conversion unit（21）The granular size of acquisition to get into the air
The case where, when the partial size of particulate matter is greater than threshold value, identification has bulky grain sundries to enter air flue, at this point, central control unit is sent out
Instruction makes solenoid valve out（31）It opens, pressure air storage chamber（20）In high pressure gas from gas tip（19）Middle ejection；Coarse strainer
（25）With accurate strainer（26）Lower section all with welding slag holding tank（27）Connection；It further include having gas pump（22）, gas pump（22）
Input end and accurate strainer downstream side air intake duct（17）Connection, gas pump（22）Outlet end pass through conduit（32）With pressure
Power air storage chamber（20）Connection；In pressure air storage chamber（20）Middle setting pressure sensor, pressure sensor and central control unit connect
It connects, when central control unit detects pressure air storage chamber（20）In pressure be lower than first threshold when, central control unit order
Gas pump（22）It starts to work, makes pressure air storage chamber（20）In pressure recovery to second threshold on；Second threshold is greater than the
One threshold value；Coarse strainer（25）Material be metal；Accurate strainer（26）Material be polymer.
7. the autocontrol method of the industrial robot described in claim 1 for carrying out pipeline weld job, which is characterized in that packet
Include following steps：
Industrial robot is advanced inside pipeline, and passes through welding gun（8）Weld job is carried out to inner wall of the pipe surface；
When at industrial robot motion to pipe bending, master controller stops welding gun（8）It stops working, welding section（1）To curved
It is continued in bent place, rear displacement record unit（12）Start recording interlude（2）On top braces wheel（4）With side support wheel
（5）Move distance, work as welding section（1）After pipeline after bending, industrial robot halts, rear displacement record
Unit（12）First move distance of record is sent to master controller, master controller commands movable block（7）First is moved backward
After move distance, movable block（7）It gradually travels forward and the first move distance and is welded simultaneously；Next, master controller
Make welding gun（8）It stops working, and moves on industrial robot, preceding displacement recording unit（11）Start recording welding section（On 1
Top braces wheel（4）With side support wheel（5）Move distance, work as interlude（2）After extremely pipeline after bending, work
Industry robot halts, preceding displacement recording unit（11）Second move distance of record is sent to master controller, main control
Device order movable block（7）After moving the second move distance backward, movable block（7）Gradually travel forward the second move distance and same
Shi Jinhang welding；After the completion of welding, industrial robot continues to move forwards and continues to weld simultaneously；
During industrial robot is advanced and is welded, remove the gred section（3）Sucking has the air of welding slag, and by filtering
Removal.
8. the autocontrol method of the industrial robot according to claim 7 for carrying out pipeline weld job, feature exist
In remove the gred section（3）Control method be：
S1 passes through fan（18）From air inlet（13）Air draught is carried out, the air with welding slag sucks air intake duct（17）；
S2, to air intake duct（17）The gas of middle sucking is using accurate strainer（26）It is filtered, and filtration gas is passed sequentially through
Air-suction duct（16）And exhaust outlet（14）Discharge；
S3, in air intake duct（Pass through light source in 17（29 and photoelectric conversion unit（21）Online granular size is carried out to the gas of sucking
Detection passes through air intake duct when the average grain diameter of particulate matter is greater than threshold value（17）Lateral gas spray head（19）Blowing by particle
Object blows off air intake duct（17）, and pass through coarse strainer（25）It carries out filtering out large particle, the gas after filter returns to air intake duct（17）；
S4, runner（22）The air generated after being rotated is from upstream deflector（23）Tangential outflow, tangential direction is towards downstream
Deflector（24）Side, gas tip（19）Emission direction towards downstream deflector（24）The other side；
S5, to gas tip（19）Connected pressure air storage chamber（20）In gas pressure be monitored, when hypotony,
By accurate strainer（26）The air pressurized of filtration is injected into pressure air storage chamber（20）In, to maintain pressure air storage chamber（20）In pressure
Power.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710578284.6A CN107150193A (en) | 2017-07-16 | 2017-07-16 | A kind of industrial robot and its autocontrol method for carrying out pipeline welding operation |
| CN2017105782846 | 2017-07-16 |
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| Publication Number | Publication Date |
|---|---|
| CN108838588A true CN108838588A (en) | 2018-11-20 |
| CN108838588B CN108838588B (en) | 2020-05-15 |
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| CN201710578284.6A Withdrawn CN107150193A (en) | 2017-07-16 | 2017-07-16 | A kind of industrial robot and its autocontrol method for carrying out pipeline welding operation |
| CN201810741427.5A Active CN108838588B (en) | 2017-07-16 | 2018-07-09 | Industrial robot for pipeline welding operation and automatic control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114888509A (en) * | 2022-06-14 | 2022-08-12 | 安徽龙太电气科技有限公司 | Auxiliary device for industrial metal welding |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108194757A (en) * | 2017-12-28 | 2018-06-22 | 徐州徐工环境技术有限公司 | Pipeline repairing apparatus and repair method, sewer pipe tool car |
| CN110802341B (en) * | 2019-12-03 | 2021-08-06 | 江西省致能智造产业技术研究有限公司 | Inside welding robot of major diameter pipe |
| CN113770614B (en) * | 2021-10-09 | 2024-01-02 | 南京埃斯顿酷卓科技有限公司 | Welding robot capable of performing stable feeding in bending environment and feeding method thereof |
| CN116967669B (en) * | 2023-08-28 | 2024-02-27 | 江苏科耐特智能机器人有限公司 | Intelligent robot pipeline welding equipment and welding method |
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| JPS5933079A (en) * | 1982-08-16 | 1984-02-22 | Nikki Koji Kk | Back seal device for piping welding |
| JPH071129A (en) * | 1991-04-18 | 1995-01-06 | Sadao Shimizu | Welding method for seam of inside surface of metallic pipe having bent part |
| JPH11285896A (en) * | 1998-03-31 | 1999-10-19 | Kurimoto Ltd | Fixing device for pipe welding |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108838588B (en) | 2020-05-15 |
| CN107150193A (en) | 2017-09-12 |
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Effective date of registration: 20200416 Address after: 330006 No. 1778 Changhong Road, Changdong Industrial Zone, Qingshan Lake District, Nanchang City, Jiangxi Province Applicant after: JIANGXI NANYOU STEEL PIPE DEVELOPMENT Co.,Ltd. Address before: 210002 Nanjing 24 dimensional Environmental Protection Engineering Co., Ltd., 24 floor, Fuxin International Building, 359 Hongwu Road, Qinhuai District, Jiangsu Applicant before: Mao Qiangping |
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