CN108838588B

CN108838588B - Industrial robot for pipeline welding operation and automatic control method thereof

Info

Publication number: CN108838588B
Application number: CN201810741427.5A
Authority: CN
Inventors: 不公告发明人
Original assignee: Jiangxi Nanyou Steel Pipe Development Co ltd
Current assignee: JIANGXI NANYOU STEEL PIPE DEVELOPMENT Co.,Ltd.
Priority date: 2017-07-16
Filing date: 2018-07-09
Publication date: 2020-05-15
Anticipated expiration: 2038-07-09
Also published as: CN107150193A; CN108838588A

Abstract

The invention relates to an industrial robot for pipeline welding operation and an automatic control method thereof, belonging to the technical field of industrial robots. The industrial robot provided by the invention is composed of three sections of structures, and the sections are connected by the bendable connecting sections, so that the industrial robot can move in the bent pipeline and can be welded at the same time. When the welding gun travels at a curve, the displacement of each period of time is monitored, and the movement of the moving block on the guide rail is adjusted, so that the welding gun can adapt to the position change of the curve, and the problem of unstable welding at the curve is solved; meanwhile, the welding robot provided by the invention can simultaneously remove generated welding slag on line.

Description

Industrial robot for pipeline welding operation and automatic control method thereof

Technical Field

The invention relates to an industrial robot for pipeline welding operation and an automatic control method thereof, belonging to the technical field of industrial robots.

Background

Since the first industrial robot was installed and used in the united states in the 60 s of the 20 th century, industrial robots with diversity in operating functions have attracted much attention and become the core technology of a new era of automation. In industrial business, more and more manufacturers adopt robots as an important role in the production process. The welding is a work with high technical requirement and severe working environment, and people adopt a welding robot to replace manual work under many conditions.

The welding robot is the most widely used industrial robot, about half of the industrial robots in active service all over the world are used in the welding field, and the welding robot is mainly concentrated in the industries of automobiles, motorcycles, engineering machinery and the like, and particularly the automobile industry is the largest user of the welding robot. The welding robot breaks through the traditional rigid automation of welding, starts a new flexible automation mode, and is considered to be revolutionary progress of welding automation.

CN2652577Y discloses a no guide rail full position walking photoelectricity real-time tracking pipeline welding robot, mainly by crawling mechanism and automatic tracking device and constitute, adopt the body of crawling of cross formula magnetism truckle formula, automatic tracking system has the CCD sensor, horizontal tracking actuating mechanism, swing mechanism, vertical actuating mechanism, welder angle adjustment mechanism, welder, PLC control box, position implementation observing and controlling system and remote control panel constitute, wherein welder angle adjustment mechanism comprises pinion and angle adjustment gear, driving motor and leading wheel to be connected with vertical actuating mechanism through the connecting plate.

However, the welding robot cannot weld the inside of the pipe. Moreover, the welding action inside the bent pipeline, especially the pipeline which is suddenly bent at a large angle, has great operation difficulty for the current welding robot.

Disclosure of Invention

The purpose of the invention is: the problem that a conventional robot for welding operation inside a pipeline is not suitable for operation of bending the pipeline is solved, and particularly the welding operation at the vertical bending part of the pipeline is solved; meanwhile, the welding robot can eliminate welding slag generated in the pipeline during welding operation.

In a first aspect of the invention:

an industrial robot for pipeline welding operation is mainly composed of a welding section, a middle section and a welding slag removing section which are sequentially arranged from front to back, wherein the welding section is connected with the middle section through a front bending section, the middle section is connected with the welding slag removing section through a back bending section, and the front bending section and the back bending section can be freely bent; the welding section, the middle section and the welding slag removing section are all provided with a top supporting wheel and side supporting wheels positioned at two sides, and the connecting parts between the top supporting wheel and each section and between the side supporting wheels and each section have elasticity; the bottom of the welding section is provided with a guide rail, the guide rail is provided with a moving block, the moving block can move back and forth on the guide rail, and the bottom of the moving block is also provided with a welding gun for welding the inner wall of the pipeline;

also includes:

the driving device is used for driving the top supporting wheel and the side supporting wheels to rotate;

the front displacement recording unit is used for recording the movement distance of the top supporting wheel and the side supporting wheel on the welding section;

the rear displacement recording unit is used for recording the movement distance of the top supporting wheel and the side supporting wheel on the middle section;

and the main controller is used for controlling the movement of the moving block on the guide rail and the work of the welding gun according to the data recorded by the front displacement recording unit and the rear displacement recording unit.

In one embodiment, the industrial robot is used for welding inside a pipe.

In one embodiment, when the industrial robot moves to a bend of a pipeline, the main controller stops the welding gun, the welding section continues to move to the bend, the rear displacement recording unit starts to record the movement distance of the top supporting wheel and the side supporting wheel on the middle section, when the welding section completely enters the bent pipeline, the industrial robot stops moving forwards, the rear displacement recording unit sends the recorded first movement distance to the main controller, and after the main controller commands the moving block to move backwards for the first movement distance, the moving block gradually moves forwards for the first movement distance and simultaneously performs welding; next, the main controller stops the welding gun and enables the industrial robot to continue to advance, the front displacement recording unit starts to record the movement distance of the top supporting wheel and the side supporting wheel on the welding section, after the middle section completely enters the bent pipeline, the industrial robot stops advancing, the front displacement recording unit sends the recorded second movement distance to the main controller, and after the main controller commands the moving block to move backwards for the second movement distance, the moving block gradually moves forwards for the second movement distance and performs welding at the same time; after the welding is completed, the industrial robot continues to move forward and continue welding at the same time.

In one embodiment, the top and side support wheels on the same segment are arranged at an angle to each other in cross-section.

In one embodiment, the slag removal section is used to remove the generated slag simultaneously during welding and travel of the industrial robot.

In one embodiment, the slag removing section is provided with an air suction opening and an air outlet, the air suction opening is connected with the air outlet through a welding slag removing module, and the welding slag removing module removes welding slag in a filtering mode.

In one embodiment, the structure of the welding slag removing module comprises: the air inlet channel is communicated with an air suction inlet; an air suction pipeline communicated with the air inlet channel is also arranged and is communicated with the air outlet;

a light source is arranged on one side of the air inlet channel, a photoelectric conversion unit is arranged on the other side of the air inlet channel in the irradiation direction of the light source, and a glass baffle is arranged on the surface of the photoelectric conversion unit to protect a lens; the rotating wheel is arranged in the upstream direction of the air inlet channel on the same side as the glass baffle plate, the arc-shaped upstream guide plate is arranged outside the rotating wheel, and the rotating wheel can discharge air into the air inlet channel from a gap between the upstream guide plate and the rotating wheel after rotating; the other side of the air inlet channel in the downstream direction of the photoelectric conversion unit is provided with an air nozzle, the spraying direction of the air nozzle faces the air inlet channel, the air nozzle is connected with the pressure air storage chamber, and the air nozzle is provided with an electromagnetic valve which is used for controlling the opening and closing of the air nozzle; an arc downstream guide plate is arranged on the air inlet channel in the downstream direction of the glass baffle; the gas discharge direction of the upstream guide plate faces to the lower surface of the downstream guide plate, and the gas spraying direction of the gas spray head faces to the upper surface of the downstream guide plate; a tangential flow channel is arranged on the downstream side of the downstream guide plate and is used for containing gas tangentially flowing out of the downstream guide plate; a coarse filter screen is also arranged in the tangential flow passage, and the other end of the tangential flow passage is communicated with a gap formed between the rotating wheel and the upstream guide plate; a precise filter screen is also arranged in the air inlet channel positioned at the downstream side of the tangential flow channel, and the air inlet channel at the downstream side of the precise filter screen is connected to an air suction pipeline through a fan;

still including central control unit for the condition of the particle size in the entering air of analysis photoelectric conversion unit collection, when the particle diameter of particulate matter is greater than the threshold value, the affirmation has large granule debris to get into the air flue, and at this moment, central control unit sends out the instruction and makes the solenoid valve open, and the high-pressure gas in the pressure gas receiver is spout from the gas shower nozzle.

The lower parts of the coarse filter screen and the precise filter screen are communicated with the welding slag storage tank.

The device also comprises an air pump, wherein the inlet end of the air pump is communicated with an air inlet channel at the downstream side of the precision filter screen, and the outlet end of the air pump is communicated with the pressure air storage chamber through a guide pipe; the method comprises the following steps that a pressure sensor is arranged in a pressure air storage chamber and is connected with a central control unit, and when the central control unit detects that the pressure in the pressure air storage chamber is lower than a first threshold value, the central control unit commands a gas pump to start working to enable the pressure in the pressure air storage chamber to be recovered to be higher than a second threshold value; the second threshold is greater than the first threshold.

The material of the coarse filter screen is metal; the material of the precision filter screen is polymer.

Second aspect of the invention:

an automatic control method of an industrial robot for performing a pipe welding operation, comprising the steps of:

i) the industrial robot moves in the pipeline and performs welding operation on the surface of the inner wall of the pipeline through a welding gun;

ii) when the industrial robot moves to the bend of the pipeline, the main controller stops the welding gun, the welding section continues to move to the bend, the rear displacement recording unit starts to record the movement distance of the top supporting wheel and the side supporting wheel on the middle section, when the welding section completely enters the bent pipeline, the industrial robot stops moving forwards, the rear displacement recording unit sends the recorded first movement distance to the main controller, and after the main controller commands the moving block to move backwards for the first movement distance, the moving block gradually moves forwards for the first movement distance and simultaneously performs welding; next, the main controller stops the welding gun and enables the industrial robot to continue to advance, the front displacement recording unit starts to record the movement distance of the top supporting wheel and the side supporting wheel on the welding section, after the middle section completely enters the bent pipeline, the industrial robot stops advancing, the front displacement recording unit sends the recorded second movement distance to the main controller, and after the main controller commands the moving block to move backwards for the second movement distance, the moving block gradually moves forwards for the second movement distance and performs welding at the same time; after the welding is finished, the industrial robot continues to move forwards and continues to weld at the same time;

iii) during the travel and welding of the industrial robot, the deslagging section sucks in air with welding slag and removes the air through filtration.

In one embodiment, the control method of the deslagging section is as follows:

s1, sucking air from the air suction opening through a fan, and sucking air with welding slag into the air inlet channel;

s2, filtering the gas sucked in the air inlet by a precision filter screen, and discharging the filtered gas through an air suction pipeline and an air outlet in sequence;

s3, detecting the particle size of the sucked gas on line through a light source and a photoelectric conversion unit in the air inlet channel, blowing the particles away from the air inlet channel through the blowing of the lateral gas nozzle of the air inlet channel when the average particle size of the particles is larger than a threshold value, filtering out large particles through a coarse filter screen, and returning the filtered gas to the air inlet channel;

s4, the air generated after the rotating wheel rotates tangentially flows out from the upstream guide plate, the tangential direction faces one side of the downstream guide plate, and the spraying direction of the gas spray head faces the other side of the downstream guide plate;

and S5, monitoring the gas pressure in the pressure gas storage chamber connected with the gas nozzle, and when the pressure is too low, pressurizing and injecting the air filtered by the precision filter screen into the pressure gas storage chamber to maintain the pressure in the pressure gas storage chamber.

The third aspect of the present invention:

a welding robot is composed of a front section and a rear section;

the front section is a welding section, and a welding gun is arranged on the welding section and used for welding the interior of the pipeline;

the welding section is also provided with a walking mechanism for enabling the welding robot to walk in the pipeline;

the rear section is a welding slag removing section which is used for simultaneously removing generated welding slag in the welding and advancing processes of the welding robot.

The slag removing section can be constructed as described above.

Advantageous effects

The industrial robot provided by the invention is composed of three sections of structures, and the sections are connected by the bendable connecting sections, so that the industrial robot can move in the bent pipeline and can be welded at the same time. When the welding gun travels at a curve, the displacement of each period of time is monitored, and the movement of the moving block on the guide rail is adjusted, so that the welding gun can adapt to the position change of the curve, and the problem of unstable welding at the curve is solved; meanwhile, the welding robot provided by the invention can simultaneously remove generated welding slag on line.

Drawings

FIG. 1 is a front view of a welding robot provided by the present invention;

fig. 2 is a structural view of a robot when performing work in a straight pipe;

fig. 3 is a structural view of a robot that performs work when entering a pipe bending section at the next time in fig. 2;

fig. 4 is a structural diagram of the robot of the working process at the next time in fig. 3;

fig. 5 is a structural view of a dross removal module in the welding robot.

Wherein, 1, welding section; 2. a middle section; 3. removing welding slag; 4. a top support wheel; 5. a side support wheel; 6. a guide rail; 7. a moving block; 8. a welding gun; 9. a front bend section; 10. a rear bend section; 11. a front displacement recording unit; 12. a rear displacement recording unit; 13. an air suction opening; 14. an air outlet; 15. a welding slag removing module; 16. an air suction pipeline; 17. an air inlet channel; 18. a fan; 19. a gas shower; 20. a pressure gas storage chamber; 21. a photoelectric conversion unit; 22. a rotating wheel; 23. an upstream baffle; 24. a downstream flow deflector; 25. coarse filtration; 26. a precise filter screen; 27. a welding slag storage tank; 28. a glass baffle; 29. a light source; 30. a tangential flow channel; 31. an electromagnetic valve; 32. a conduit; 33. and a gas pump.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, ordinal terms such as "first," "second," "third," etc., used in the claims and the specification are used to modify a claim term without necessarily implying any order of precedence, or order of any claim prior to or with respect to another claim or the order in which method steps are performed. However, merely used as a label to distinguish one element of a claim having a particular name from another element having the same name (rather than being sequentially owned), to distinguish the elements of the claim. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected to the other element with the element interposed therebetween. Unless explicitly stated to the contrary, the terms "comprising" and "having" are to be understood as meaning the inclusion of the listed elements, but not the exclusion of any other elements. The words "include," "have," or any other variation thereof, as used herein, are intended to cover a non-exclusive inclusion. For example, a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

When the structure is described, the front part, the rear part and the rear part are taken as the front part of the welding section in the whole robot and the position of the welding slag removing section in the whole robot is taken as the rear part when no special description is given. When not specifically stated, the "upstream" and "downstream" are defined by the position of the air inlet in the dross removal module as the upstream and the position of the air outlet as the downstream.

By "in the same segment" is meant in the same weld segment, or in the same intermediate segment, or in the same slag segment. "sections" is meant to refer to welded sections, intermediate sections, and slag sections.

Example 1

As shown in fig. 2, the industrial robot for pipeline welding operation is mainly composed of a welding section 1, an intermediate section 2 and a welding slag removing section 3 which are sequentially arranged from front to back, wherein the welding section 1 is connected with the intermediate section 2 through a front bending section 9, the intermediate section 2 is connected with the welding slag removing section 3 through a back bending section 10, and the front bending section 9 and the back bending section 10 can be freely bent.

As shown in fig. 1 and 2, the welding segment 1, the middle segment 2 and the welding slag removing segment 3 are all provided with a top supporting wheel 4 and side supporting wheels 5 positioned on two sides, the top supporting wheel 4 and the side supporting wheels 5 positioned on two sides are mutually arranged at 120 degrees on the cross section, and springs are arranged on connecting rods between the top supporting wheel 4 and the side supporting wheels 5 and between the welding segment, the middle segment and the welding slag segment, so that the connecting rods have elasticity. Inside the pipeline, top supporting wheel 4 and the side supporting wheel 5 that is located both sides all paste the inner wall in the pipeline for welding robot has stable position, because the connecting rod has elasticity, consequently can be when marcing in crooked pipeline, and the connecting rod also can make welding robot carry out corresponding turn etc. and march along with crooked pipeline's structural change. And the driving device is used for driving the top supporting wheel 4 and the side supporting wheel 5 to rotate. In fig. 2, the hatching represents the pipe wall, and it can be seen that the top support wheels 4 and the side support wheels 5 can be tightly attached to the pipe wall through the elastic connecting rods.

The bottom of the welding section 1 is provided with a guide rail 6, a moving block 7 is arranged on the guide rail 6, the moving block 7 can move back and forth on the guide rail 6, the bottom of the moving block 7 is also provided with a welding gun 8, and the welding gun 8 is used for welding the inner wall of the pipeline; as shown in fig. 2, after the top support wheels 4 and the side support wheels 5 are attached to the pipe wall, the robot has a stable operation surface, and the welding gun 8 can weld the pipe wall at the bottom.

A front displacement recording unit 11 is also arranged on the welding robot and used for recording the movement distance of the top supporting wheel 4 and the side supporting wheel 5 on the welding section 1; a rear displacement recording unit 12 is also arranged and used for recording the movement distance of the top supporting wheel 4 and the side supporting wheel 5 on the middle section 2; a main controller is also provided for controlling the movement of the moving block 7 on the guide rail 6 and the operation of the welding gun 8 based on the data recorded by the front displacement recording unit 11 and the rear displacement recording unit 12. The displacement recording unit can be realized by connecting with the top supporting wheel 4/the side supporting wheels 5, when the supporting wheels rotate along the pipe wall, the distance of walking can be calculated according to the number of rotating turns of the wheels and the diameters of the wheels, and therefore the displacement recording unit can be realized by adopting a rotary counter.

As shown in fig. 3, when the industrial robot moves to a 90-degree pipe bend, the main controller stops 8 the welding gun to stop working, and the welding segment 1 continues to move to the bend, and when the pipe bends, the support wheels on the welding segment 1 are not easy to be attached to the pipe wall, so that the problems of position deviation and unstable industrial surface exist, and therefore, the welding operation needs to be stopped. When the welding section 1 is in a turning state, the front bending section 9 can be bent, the middle section 2 cannot be influenced by the turning of the welding section 1, the rear displacement recording unit 12 starts to record the movement distance of the top supporting wheel 4 and the side supporting wheel 5 on the middle section 2, after the welding section 1 completely enters a bent pipeline, the industrial robot stops advancing, and the welding section 1 and the middle section 2 are located on the same movement line, so that the advancing distance of the middle section 2 is equal to the advancing distance of the welding section 1, and the gap non-welding distance needs to be subjected to repair welding. At this time, the rear displacement recording unit 12 sends the recorded first movement distance to the main controller, and after the main controller commands the moving block 7 to move backward by the first movement distance, the moving block 7 gradually moves forward by the first movement distance and performs welding at the same time, so that repair welding of the vacant distance is realized; next, the main controller stops the operation of the welding gun 8 and makes the industrial robot continue to advance, as shown in fig. 4, during the operation of the section, because the middle section 2 needs to turn, the supporting wheels on the middle section 2 are easy to be in a condition that the supporting wheels cannot be completely attached to the pipe wall, so that the problem that the position of the welding gun 8 before the middle section 2 is unstable is caused, therefore, when the middle section 2 turns, the welding gun 8 needs to be closed, meanwhile, the front displacement recording unit 11 starts to record the movement distance of the top supporting wheel 4 and the side supporting wheel 5 on the welding section 1, after the middle section 2 completely enters the bent pipe, the industrial robot stops advancing, because the welding section 1 and the middle section 2 are on the same movement line, therefore, the displacement distance recorded by the welding section 1 is the movement distance of the middle section 2, and the distance is not subjected to the welding operation, therefore, repair welding is needed, the front displacement recording unit 11 sends the recorded second movement distance to the main controller, and after the main controller commands the moving block 7 to move backwards for the second movement distance, the moving block 7 gradually moves forwards for the second movement distance and performs welding at the same time, so that repair welding of the second movement distance is realized; after the welding is completed, the industrial robot continues to move forward and continue welding at the same time.

As shown in fig. 2 and 4, the slag removing section 3 is used to remove the generated slag simultaneously during welding and traveling of the industrial robot. The slag removing section 3 is provided with an air suction opening 13 and an air outlet 14, the air suction opening 13 is connected with the air outlet 14 through a slag removing module 15, and the slag removing module 15 removes the welding slag through a filtering mode.

Because there are dust, welding slag, etc. in the pipeline, their granule size is different, if use more accurate filter screen when filtering it all, can lead to on the one hand the filtration resistance to be great, and on the other hand, because the welding slag has great particle size and hardness, when getting into the filter screen surface from the air flue, the impact force of welding slag makes the surface of accurate filter screen receive the damage easily, after long-term operation, leads to the surperficial filtration precision of filter screen to descend easily.

In the embodiment shown in fig. 4, the structure of the slag removing module 15 includes: the air inlet 17 is communicated with an air suction port 13 of the air inlet 17; an air suction pipeline 16 communicated with the air inlet channel 17 is also arranged, and the air suction pipeline 16 is communicated with the air outlet 14; a light source 29 is arranged on one side of the air inlet channel 17, a photoelectric conversion unit 21 is arranged on the other side of the air inlet channel 17 in the irradiation direction of the light source 29, and a glass baffle 28 is arranged on the surface of the photoelectric conversion unit 21 to protect the lens; the runner 22 is arranged in the upstream direction of the air inlet 17 on the same side with the glass baffle plate 28, the outer part of the runner 22 is provided with an arc-shaped upstream guide plate 23, and the runner can discharge air from the gap between the upstream guide plate 23 and the runner 22 to the air inlet 17 after rotating; a gas nozzle 19 is arranged on the other side of the gas inlet 17 in the downstream direction of the photoelectric conversion unit 21, the injection direction of the gas nozzle is towards the gas inlet 17, the gas nozzle 19 is connected with the pressure gas storage chamber 20, and an electromagnetic valve 31 is arranged on the gas nozzle 19, and the electromagnetic valve 31 is used for controlling the opening and closing of the gas nozzle 19; an arc-shaped downstream guide plate 24 is arranged on the air inlet 17 at the downstream direction of the glass baffle plate 28; the gas discharge direction of the upstream baffle 23 is toward the lower surface of the downstream baffle 24, and the gas ejection direction of the gas nozzle 19 is toward the upper surface of the downstream baffle 24; a tangential flow channel 30 is also arranged on the downstream side of the downstream baffle 24, and the tangential flow channel 30 is used for containing the gas tangentially flowing out of the downstream baffle 24; a coarse filter screen 25 is further arranged in the tangential flow passage 30, and the other end of the tangential flow passage 30 is communicated with a gap formed between the rotating wheel 22 and the upstream guide plate 24; a precision filter screen 26 is also arranged in the air inlet 17 positioned at the downstream side of the tangential flow channel 30, and the air inlet 17 at the downstream side of the precision filter screen 26 is connected to the air suction pipeline 16 through a fan 18; the air purifier also comprises a central control unit which is used for analyzing the size of particles in the inlet air collected by the photoelectric conversion unit 21, when the particle size of the particles is larger than a threshold value, large-particle impurities are determined to enter an air passage, at the moment, the central control unit sends an instruction to open the electromagnetic valve 31, and high-pressure air in the pressure air storage chamber 20 is sprayed out from the air nozzle 19.

Firstly, the welding slag and dust generated by the welding gun 8 in the welding pipeline are sucked into the air inlet channel 17 through the air suction opening 13 by the suction fan 18, the dust is intercepted by the precise filter screen 26 in the air inlet channel 17, and the filtered air is discharged out of the welding robot from the air suction pipeline 16 and the air outlet 14. Meanwhile, the light source 29 emits light to the photoelectric conversion unit 21, and the photoelectric conversion unit 21 performs online analysis on the light to obtain the particle size; the welding robot also comprises a circuit control module: the central control unit for the condition of the particle size in the entering air that the analysis photoelectric conversion unit 21 gathered, when the particle diameter of particulate matter is greater than the threshold value, it has large granule welding slag to get into the air flue to believe, at this moment, the central control unit sends out the instruction and makes solenoid valve 31 open, high-pressure gas in the pressure reservoir 20 is spouted from gas shower nozzle 19, blow away the motion direction of intake duct 17 with large granule welding slag, because the downstream direction at glass baffle 28 still is provided with tangential runner 30, large granule welding slag can be intercepted by coarse strainer 25 after getting into tangential runner 30, and can not hit precision screen 26. The photoelectric conversion unit 21 is used for detecting a signal of light emitted from a light source, and changes the change of the light signal into a numerical value of particle size, and the optical method of online particle size used herein can be referred to in the prior art documents CN104390897A, CN106198325A, CN102410974A, CN105424557A, CN106018197A, CN101029863A, CN101509931A, CN105334147A, research and development of online particle size detection system (the university of zhejiang university thesis, treble and augmented column, 2004), and the light transmission extinction method of online measurement of particle size (the optical instrument in 1998 period 01; liu ying, zhang zheng wei, zheng). The main principle is as follows: the laser is processed and then emitted to an air channel carrying particles in parallel, a particle group to be measured in a measuring area generates light scattering under the irradiation of the laser, the intensity and the spatial distribution of the scattered light are related to the size and the concentration of the particle group to be measured, the scattered light of the particle group is received by a Fourier lens, the scattering spectrum of the particle group is received by an annular photoelectric detector on the back focal plane of the lens and converted into a current signal, the current signal is sent to a single chip microcomputer system after signal processing and AD conversion, the single chip microcomputer analyzes and calculates the acquired data, and the data processing is carried out according to a Fraunhofer diffraction theory, and then the statistical data and the distribution curve of the particle size are displayed. Because in the use, the air that gas shower nozzle 19 spun can lead to the air in glass baffle 28 front end to produce the vortex, and the air that spouts and normally get into in intake duct 17 relative motion can make inside dust diffuse, and some dust can be attached to glass baffle 28, leads to photoelectric sensing system's sensitivity and accuracy to take place to descend. Therefore, the air is subjected to the steady flow of the upstream baffle 23 and then forms an air curtain to pass through the front of the glass baffle 28 through the rotation of the runner 22, and the dust of the turbulent air in the air inlet 17 is not attached to the glass baffle 28; as shown by the dotted line in fig. 4, at the same time, after the downstream baffle 24 is installed, since the air tangentially flowing out from the upstream baffle 23 directly flows to the lower surface of the downstream baffle 24 and the air sprayed from the air spray head 19 is sprayed to the upper surface of the downstream baffle 16, the two air can not directly intersect, the air in the air inlet channel 17 can be further prevented from colliding with each other, and the condition that the glass sheet is polluted by dust can be reduced. And because the other end of the tangential flow passage 30 is communicated with a gap formed between the runner 22 and the upstream guide plate 23, the air passing through the coarse filter screen 19 flows out of the upstream guide plate 23 and then is continuously filtered by the fine filter screen 26. The lower portions of the coarse filter screen 25 and the fine filter screen 26 are communicated with a slag storage tank 27. The welding slag and the dust can be conveniently taken out. The device also comprises an air pump 33, wherein the inlet end of the air pump 33 is communicated with the downstream side air inlet channel 17 of the precision filter screen 26, and the outlet end of the air pump 33 is communicated with the pressure air storage chamber 20; a pressure sensor is arranged in the pressure reservoir 20 and is connected to the central control unit, which commands the gas pump 33 to start operation when the central control unit detects that the pressure in the pressure reservoir 20 is below a first threshold value, so that the pressure in the pressure reservoir 20 is restored above a second threshold value. The pressure reservoir 20 is made of an elastic material, and when the pressure reservoir is pressurized, the internal gas pressure is increased, and when the solenoid valve 31 is opened, the elastic material is deformed again, so that the high-pressure gas is ejected.

Claims

1. An industrial robot for pipeline welding operation is characterized by mainly comprising a welding section (1), a middle section (2) and a welding slag removing section (3) which are sequentially arranged from front to back, wherein the welding section (1) is connected with the middle section (2) through a front bending section (9), the middle section (2) is connected with the welding slag removing section (3) through a rear bending section (10), and the front bending section (9) and the rear bending section (10) can be freely bent; the welding section (1), the middle section (2) and the welding slag removing section (3) are respectively provided with a top supporting wheel (4) and side supporting wheels (5) positioned at two sides, and connecting parts between the top supporting wheel (4) and the side supporting wheels (5) and each section have elasticity; a guide rail (6) is arranged at the bottom of the welding section (1), a moving block (7) is arranged on the guide rail (6), the moving block (7) can move back and forth on the guide rail (6), a welding gun (8) is further arranged at the bottom of the moving block (7), and the welding gun (8) is used for welding the inner wall of the pipeline;

also includes:

the driving device is used for driving the top supporting wheel (4) and the side supporting wheels (5) to rotate;

the front displacement recording unit (11) is used for recording the movement distance of the top supporting wheel (4) and the side supporting wheel (5) on the welding section (1);

the rear displacement recording unit (12) is used for recording the movement distance of the top supporting wheel (4) and the side supporting wheel (5) on the middle section (2);

the front displacement recording unit (11) and the rear displacement recording unit comprise a rotation counter;

the main controller is used for controlling the movement of the moving block (7) on the guide rail (6) and the work of the welding gun (8) according to the data recorded by the front displacement recording unit (11) and the rear displacement recording unit (12); the industrial robot is used for welding the inside of a pipeline; when the industrial robot moves to a bend of a pipeline, the main controller enables the welding gun (8) to stop working, the welding section (1) continues to move towards the bend, the rear displacement recording unit (12) starts to record first movement distances of the top supporting wheel (4) and the side supporting wheels (5) on the middle section (2), when the welding section (1) completely enters the bent pipeline, the industrial robot stops moving forwards, the rear displacement recording unit (12) sends the recorded first movement distances to the main controller, and after the main controller commands the moving block (7) to move backwards for the first movement distances, the moving block (7) gradually moves forwards for the first movement distances and simultaneously performs welding; next, the main controller stops working of the welding gun (8) and enables the industrial robot to continue to advance, the front displacement recording unit (11) starts to record second movement distances of the top supporting wheel (4) and the side supporting wheel (5) on the welding section (1), the industrial robot stops advancing after the middle section (2) completely enters the bent pipeline, the front displacement recording unit (11) sends the recorded second movement distances to the main controller, and after the main controller commands the moving block (7) to move backwards for the second movement distances, the moving block (7) gradually moves forwards for the second movement distances and simultaneously performs welding; after the welding is completed, the industrial robot continues to move forward and continue welding at the same time.

2. An industrial robot for performing pipe welding operations according to claim 1, characterized in that the top support wheels (4) and the side support wheels (5) on the same segment are arranged 120 ° in cross-section with respect to each other.

3. An industrial robot for performing pipe welding operations according to claim 1, characterized in that the slag removing section (3) is adapted to remove the generated slag simultaneously during welding and travel of the industrial robot.

4. An industrial robot for performing pipe welding according to claim 3, characterized in that the slag removal section (3) is provided with an air suction opening (13) and an air exhaust opening (14), the air suction opening (13) and the air exhaust opening (14) are connected by a slag removal module (15), and the slag removal module (15) removes the slag by means of filtration.