CN111515574A

CN111515574A - Automatic walking mechanism of automatic pipeline welding detection robot

Info

Publication number: CN111515574A
Application number: CN202010483686.XA
Authority: CN
Inventors: 不公告发明人
Original assignee: Guang Lin Su
Current assignee: Guang Lin Su
Priority date: 2020-06-01
Filing date: 2020-06-01
Publication date: 2020-08-11

Abstract

The invention discloses an automatic walking mechanism of an automatic welding detection robot for a pipeline, which comprises a first walking part, a second walking part, a third walking part, a first connecting part and a second connecting part, wherein the first walking part, the first connecting part, the second walking part, the second connecting part and the third walking part are sequentially connected end to form a whole, the joints are connected in a hinged and meshing transmission mode, and the first walking part, the first connecting part, the second walking part, the second connecting part and the third walking part can be clamped and connected on the pipeline in a hinged mode, so that the automatic walking operation is realized, the aim of automatic welding is fulfilled, the welding efficiency is greatly improved, and the trouble caused by the fact that a track is laid in advance in the traditional welding mode is avoided.

Description

Automatic walking mechanism of automatic pipeline welding detection robot

Technical Field

The invention relates to the technical field of pipeline welding, in particular to an automatic walking mechanism of an automatic pipeline welding and detecting robot.

Background

With the development of times and science and technology, more and more precise production equipment appears in the modern industrial production process. The production equipment is more and more advanced, the structure is more and more complicated, the standard component in the traditional meaning still has great significance, and the production cost can be reduced.

The round pipe is widely used in production and life, and can be used for pipelines, thermal equipment, machinery industry, petroleum geological drilling, containers, chemical industry and special purposes. In the field construction process of pipeline installation, often need use the on-spot butt welding of pipe to pipe, the pipe to pipe welding means commonly used at present includes two kinds of solutions, firstly manual welding, this kind of method efficiency is slow, the quality is unstable, technical quality requirement to workman itself is higher, the pipe is in welding process, generally utilize the manual work to carry out spot welding with the tip between two pipes and connect, then weld the gap between the pipe, need rotate the pipe through the manual work at the welded in-process according to the welded progress, work efficiency is lower, working strength is great, be difficult to satisfy large batch pipe welding, influence welding quality. The other method is semi-automatic welding of the rail, the rail is built on the pipe, and then the rail car is enabled to carry the welding gun to weld a circle around the circumference of the pipe.

Chinese patent CN201920853171.7 discloses a portable pipeline welding robot, including two automobile bodies that the pipe outer wall is relative, bottom of the car body is provided with the gyro wheel, magnetism is connected between gyro wheel and the pipe, the automobile body both sides are connected with doubly fast chain, connect through tightening structure between the doubly fast chain of two automobile bodies, be provided with the welding assembly on the automobile body, the welding assembly includes horizontal slider and vertical slider, be provided with anchor clamps on the vertical slider, set up welder in the anchor clamps, still be provided with laser welding seam tracker on the automobile body, just can realize automatic welding operation owing to need advancing to set up the track, consequently can not realize the automatic walking of machine on the pipeline, further welded efficiency has been reduced.

Disclosure of Invention

The technical problem to be solved by the invention is to provide an automatic walking mechanism of an automatic welding detection robot for pipelines, the technical scheme solves the problems, the robot can walk along the pipe wall under the condition of not arranging a track, the robot is convenient to install and disassemble, and the robot can automatically walk on the pipelines by sequentially connecting the first walking part, the first connecting part, the second walking part, the second connecting part and the third walking part end to form a whole, so that the welding efficiency is greatly improved.

In order to solve the technical problems, the invention provides the following technical scheme:

an automatic walking mechanism of a pipeline automatic welding detection robot comprises a first walking part, a second walking part, a third walking part, a first connecting part and a second connecting part;

the first walking part, the first connecting part, the second walking part, the second connecting part and the third walking part are sequentially connected end to form a whole, and the joints are connected in a hinged and meshing transmission mode.

Preferably, the first traveling part comprises a first box body, a first rotary driver, a first synchronous belt wheel, a second synchronous belt wheel, a first synchronous belt, a first rotating shaft, a driving wheel, a second rotary driver, a first driving gear and a first wheel set; a hinge lug hinged with a first connecting part is arranged at one side of the first box body, a hinge lug hinged with a first rotating shaft is further arranged in the center of the bottom plate of the first box body, a abdicating groove for a driving wheel to pass through is formed in the bottom of the first box body, a first rotary driver is arranged in the first box body, a first synchronous belt wheel is sleeved on the output end of the first box body, the first rotating shaft is hinged with the hinge lug at the bottom of the first box body, a second synchronous belt wheel is sleeved on the middle position of the first rotating shaft, a pair of driving wheels are arranged at two ends of the first rotating shaft, the bottom of the pair of driving wheels extends out of the abdicating groove at the bottom of the first box body, the first synchronous belt is in transmission connection with the first synchronous belt wheel and the second synchronous belt wheel, a second rotary driver is arranged on the first box body, the output end of the second rotary driver extends out of the side wall of the first box body, the first rotary driver and the second rotary driver are electrically connected with the controller.

Preferably, the second traveling part includes a second casing, a third rotary drive, a second drive gear, and a second wheel set; the pair of third rotary drivers are arranged in the second box body, the output end of each third rotary driver extends out of the side wall of the second box body, the pair of second driving gears are arranged at the output ends of the pair of third rotary drivers respectively, the pair of second driving gears are in meshing transmission with the first connecting portion and the second connecting portion respectively, the two ends of the second box body are hinged to the first connecting portion and the second connecting portion simultaneously, and the second wheel set is arranged at the bottom of the second box body.

Preferably, the third traveling part comprises a third box body, a fourth rotary driver, a third driving gear, a deviation-rectifying steering assembly and a third wheel set; the one end that the second connecting portion were kept away from to the third box is equipped with the fixed plate that is used for installing the subassembly work end that turns to of rectifying, the third box still is equipped with the fluting that supplies the subassembly that turns to of rectifying to pass through simultaneously, one side that the third box is close to the second connecting portion is equipped with the articulated ear with second connecting portion articulated, fourth rotary actuator installs in the third box and the output stretches out the third box lateral wall, third drive gear cover is established on fourth rotary actuator output, third drive gear and second connecting portion meshing transmission, the subassembly that turns to of rectifying is installed on the third box and the work end stretches out from the third bottom of the box, the third wheel group is installed in the third bottom of the box, fourth rotary actuator, the subassembly that turns to of rectifying all is connected with the.

Preferably, the deviation rectifying steering assembly comprises a second rotating shaft, a worm wheel, a third synchronous pulley, a fifth rotating driver, a worm, a steering wheel, a fourth synchronous pulley and a second synchronous belt; the second rotating shaft is rotatably connected with the bottom of the third box body, the worm wheel and the third synchronous belt wheel are sleeved on the second rotating shaft from top to bottom, the fifth rotary driver is installed on the third box body, one end of the worm is fixedly connected with the output end of the fifth rotary driver, the other end of the worm is rotatably connected with the third box body, the worm is in meshing transmission with the worm wheel, the upper end of the steering wheel is rotatably connected with a fixing plate at the front end of the third box body, the fourth synchronous belt wheel is sleeved on the steering wheel, the second synchronous belt is simultaneously in transmission connection with the third synchronous belt wheel and the fourth synchronous belt wheel, and the fifth rotary driver is electrically connected with the controller.

Preferably, the first connecting part comprises a first hinge shaft, a second hinge shaft, a first driven gear and a second driven gear; first articulated shaft and second articulated shaft set up respectively at the both ends of first connecting portion, and first articulated shaft and second articulated shaft are articulated with first walking portion, third walking portion respectively, and first driven gear and second driven gear are fixed mounting respectively on first articulated shaft and second articulated shaft, and first driven gear and second driven gear mesh with first walking portion, second walking portion respectively.

Preferably, the second connecting part comprises a third hinge shaft, a fourth hinge shaft, a third driven gear and a fourth driven gear; the third hinge shaft and the fourth hinge shaft are respectively installed at two ends of the second connecting portion and are respectively hinged with the second walking portion and the third walking portion, the third driven gear and the fourth driven gear are respectively sleeved at the end portions of the third hinge shaft and the fourth hinge shaft, and the third driven gear and the fourth driven gear are respectively meshed with the second walking portion and the third walking portion.

Preferably, this application still includes a pipeline automatic weld inspection robot, includes a pipeline automatic weld inspection robot's automatic running gear.

Compared with the prior art, the invention has the beneficial effects that:

the first walking part, the first connecting part, the second walking part, the second connecting part and the third walking part are sequentially connected end to form a whole, and the connecting parts are connected in a hinged and meshing transmission mode, so that the automatic walking mechanism can be clamped on the pipeline to automatically walk, troubles caused by arrangement of a track are avoided, and the welding efficiency of the pipeline is greatly improved;

through the mutual connection between the deviation-rectifying steering assembly, the second rotating shaft, the worm wheel, the third synchronous belt wheel, the fifth rotary driver, the worm, the steering wheel, the fourth synchronous belt wheel and the second synchronous belt, the sliding direction of the automatic walking mechanism can be further adjusted, the normal welding operation of the pipeline is further guaranteed, and the welding efficiency is greatly improved.

Drawings

FIG. 1 is a perspective view illustrating the operation of the present invention;

FIG. 2 is a perspective view of the present invention;

FIG. 3 is an internal perspective view of a first walking portion of the present invention;

FIG. 4 is an exploded perspective view of FIG. 3;

FIG. 5 is an internal perspective view of a second runner of the present invention;

FIG. 6 is an internal perspective view of a third travel section of the present invention;

FIG. 7 is an exploded perspective view of FIG. 6;

FIG. 8 is a perspective view of a first connection portion of the present invention;

FIG. 9 is a top view of the present invention;

FIG. 10 is a perspective view of the welding mechanism of the present invention;

FIG. 11 is a perspective view of the asphalt paving mechanism of the present invention.

The reference numbers in the figures are:

1. a first traveling section; 1a, a first box body; 1b, a first rotary drive; 1c, a first synchronous pulley; 1d, a second synchronous pulley; 1e, a first synchronous belt; 1f, a first rotating shaft; 1g, driving wheels; 1h, a second rotary driver; 1i, a first driving gear; 1j, a first wheel set;

2. a second traveling section; 2a, a second box body; 2b, a third rotary drive; 2c, a second drive gear; 2d, a second wheel group;

3. a third traveling section; 3a, a third box body; 3b, a fourth rotary drive; 3c, a third driving gear; 3d, correcting the deviation and steering assembly; 3d1, second rotation axis; 3d2, worm gear; 3d3, third timing pulley; 3d4, fifth rotary drive; 3d5, worm; 3d6, steering wheel; 3d7, fourth timing pulley; 3d8, second timing belt; 3e, a third wheel set;

4. a first connection portion; 4a, a first hinge shaft; 4b, a second hinge shaft; 4c, a first driven gear; 4d, a second driven gear;

5. a second connecting portion; 5a, a third hinge shaft; 5b, a fourth articulated shaft; 5c, a third driven gear; 5d, a fourth driven gear;

6. a welding mechanism; 6a, a first material box; 6b, a first lifting component; 6b1, a first sliding table; 6b2, hangers; 6c, a welding gun;

7. an asphalt laying mechanism; 7a, a second material box; 7b, a second lifting component; 7c, an asphalt gun; 7d, a bracket; 7e, a roll shaft;

8. a weld tracker.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

1. As shown in fig. 1 and 2, an automatic traveling mechanism of a robot for automatically welding and detecting pipelines comprises an automatic traveling mechanism, a welding mechanism 6, an asphalt laying mechanism 7, a welding seam tracker 8, a power supply and a controller;

the automatic travelling mechanism comprises a first travelling part 1, a second travelling part 2, a third travelling part 3, a first connecting part 4 and a second connecting part 5;

the first walking part 1, the first connecting part 4, the second walking part 2, the second connecting part 5 and the third walking part 3 are sequentially connected end to form a whole, and the connecting parts are connected in a hinged and meshing transmission mode;

the welding mechanism 6 and the asphalt laying mechanism 7 are respectively arranged on the third walking part 3 and the first walking part 1, the welding seam tracker 8 is arranged on the output end of the welding mechanism 6 and moves together with the output end of the welding mechanism 6, and the first walking part 1, the second walking part 2, the third walking part 3, the welding mechanism 6, the asphalt laying mechanism 7 and the welding seam tracker 8 are all electrically connected with the controller and the power supply.

The power supply supplies power to the whole robot, and the interference of an external power line to the rotation motion of the robot around the pipe wall is avoided. The power supply can be installed at any place of the robot. The first connecting portion 4 and the second connecting portion 5 function to connect the first traveling portion 1, the second traveling portion 2, and the third traveling portion 3, and the first traveling portion 1, the second traveling portion 2, and the third traveling portion 3 form three clamping points on the pipe wall so as to hold the pipe wall tightly. First walking portion 1 adds the whole weight of pitch laying mechanism 7 of installing on first walking portion 1 and is bigger than other component sum weight, then first walking portion 1 can make other parts raise then make third walking portion 3 attached on the pipe wall, then the whole bending of running gear is attached to on the pipe wall. The first walking part 1 provides driving force for the whole walking mechanism and drives the walking mechanism to rotate around the pipe wall in a rear-driving mode. The staff can assist the running gear to adhere to appointed welding position, can also find the welding department through the automatic pursuit of welding seam tracker 8 then send the signal to the controller, and the controller then controls relevant subassembly on the third running portion 3 and rectifies a deviation to the running gear wholly. The welding mechanism 6 and the asphalt laying mechanism 7 are respectively provided with welding flux and asphalt to supply materials for the working ends of the welding mechanism and the asphalt laying mechanism. The walking mechanism adopts a structure similar to a joint. The robot integrally holds the pipe wall tightly and rotates, the welding mechanism 6 welds the butt joint of the pipes, and the first walking part 1 at the rear end rotates to lay and uniformly smear asphalt on the welded welding line. When the robot moves for a circle around the pipe wall, the walking mechanism of the robot stretches through reverse movement, so that the robot can be conveniently separated from the pipe wall;

first walking portion, first connecting portion, second walking portion, second connecting portion, third walking portion form a whole and the junction adopts the articulated driven mode of meshing that adds to connect end to end in proper order, can make the automatic walking of automatic running gear joint on the pipeline to avoid setting up the trouble that the track caused, great improvement to the welding efficiency of pipeline.

As shown in fig. 3 and 4, the first traveling unit 1 includes a first casing 1a, a first rotary driver 1b, a first timing pulley 1c, a second timing pulley 1d, a first timing belt 1e, a first rotating shaft 1f, a driving wheel 1g, a second rotary driver 1h, a first driving gear 1i, and a first wheel set 1 j; a hinge lug hinged with the first connecting part 4 is arranged at one side of the first box body 1a, a hinge lug hinged with the first rotating shaft 1f is further arranged at the center of the bottom plate of the first box body 1a, a abdicating groove for the driving wheel 1g to pass through is arranged at the bottom of the first box body 1a, a first rotary driver 1b is arranged in the first box body 1a, a first synchronous belt wheel 1c is sleeved on the output end of the first box body 1a, the first rotating shaft 1f is hinged with the hinge lug at the bottom of the first box body 1a, a second synchronous belt wheel 1d is sleeved at the middle position of the first rotating shaft 1f, a pair of driving wheels 1g is arranged at two ends of the first rotating shaft 1f, the bottom of the pair of driving wheels extends out of the abdicating groove at the bottom of the first box body 1a, a first synchronous belt 1e is in transmission connection with the first synchronous belt wheel 1c and the second synchronous belt wheel 1d, a second rotary driver, first drive gear 1i cup joints on second rotary actuator 1h output, and first drive gear 1i and the meshing transmission of first connecting portion 4 one end, and first wheel group 1j rotationally sets up in first box 1a bottom, and first rotary actuator 1b, second rotary actuator 1h all are connected with the controller electricity.

The first box body 1a provides support, the first rotary driver 1b and the second rotary driver 1h are all servo motors provided with screw speed reducers, and the screw speed reducers can provide self-locking capacity for the motors and increase the driving force of the motors. The controller makes first synchronous pulley 1c rotate along with first rotary actuator 1b output together through driving first rotary actuator 1b, the effect through first hold-in range 1e transmits the moment of torsion of first synchronous pulley 1c to second synchronous pulley 1d, second synchronous pulley 1d drives first pivot 1f rotatory, thereby first pivot 1f drives a pair of drive wheel 1g rotatory drive robot global motion, first wheel group 1j only plays driven and supported effect, reduce surface friction. The controller sends a signal to the second rotary driver 1h, the second rotary driver 1h receives the signal and then drives the first driving gear 1i to rotate, and the first driving gear 1i rotates to enable the first connecting part 4 to rotate around the hinged position of the first walking part 1 through the meshing transmission effect with the first connecting part 4.

As shown in fig. 5, the second traveling unit 2 includes a second casing 2a, a third rotary drive 2b, a second drive gear 2c, and a second wheel group 2 d; the pair of third rotary drivers 2b are arranged in the second box body 2a, the output end of each third rotary driver 2b extends out of the side wall of the second box body 2a, the pair of second driving gears 2c are respectively arranged at the output ends of the pair of third rotary drivers 2b, the pair of second driving gears 2c are respectively in meshing transmission with the first connecting portion 4 and the second connecting portion 5, the two ends of the second box body 2a are also hinged to the first connecting portion 4 and the second connecting portion 5, and the second wheel set 2d is arranged at the bottom of the second box body 2 a.

The third rotary driver 2b is a servo motor provided with a screw reducer. The second wheel set 2d is located in the second housing 2a and its internal components as a whole to provide support and rolling action. The controller controls the pair of third rotary drivers 2b to operate so as to drive the pair of second driving gears 2c to rotate, thereby enabling the first connecting portions 4 and the second connecting portions 5 on both sides of the second traveling unit 2 to be retracted or extended.

As shown in fig. 6 and 7, the third traveling part 3 includes a third casing 3a, a fourth rotary driver 3b, a third driving gear 3c, a deviation rectifying steering assembly 3d, and a third wheel set 3 e; one end of the third box body 3a far away from the second connecting part 5 is provided with a fixing plate for installing the working end of the deviation rectifying steering component 3d, meanwhile, the third box body 3a is also provided with a notch for the deviation-rectifying steering component 3d to pass through, one side of the third box body 3a, which is close to the second connecting part 5, is provided with a hinge lug hinged with the second connecting part 5, the fourth rotary driver 3b is installed in the third box body 3a, the output end of the fourth rotary driver extends out of the side wall of the third box body 3a, the third driving gear 3c is sleeved on the output end of the fourth rotary driver 3b, the third driving gear 3c is in meshing transmission with the second connecting part 5, the deviation-rectifying steering component 3d is installed on the third box body 3a, the working end of the deviation-rectifying steering component extends out of the bottom of the third box body 3a, the third wheel set 3e is installed at the bottom of the third box body 3a, and the fourth rotary.

The fourth rotary driver 3b is a servo motor provided with a screw reducer. The controller controls the fourth rotary driver 3b to rotate so as to drive the third driving gear 3c to rotate, and then the turnover is realized through the meshing action with the second connecting part 5. The third wheel set 3e allows the third traveling part 3 to travel on the pipe wall in a rolling manner as a whole. The controller corrects the whole trend of the travelling mechanism by controlling the direction change of the working end of the deviation-correcting steering component 3d, so that the whole operation is more accurate.

As shown in fig. 7, the deviation rectifying steering assembly 3d includes a second rotating shaft 3d1, a worm wheel 3d2, a third synchronous pulley 3d3, a fifth rotary driver 3d4, a worm 3d5, a steering wheel 3d6, a fourth synchronous pulley 3d7 and a second synchronous belt 3d 8; the second rotating shaft 3d1 is rotatably connected with the bottom of the third box 3a, a worm wheel 3d2 and a third synchronous pulley 3d3 are sleeved on the second rotating shaft 3d1 from top to bottom, a fifth rotary driver 3d4 is installed on the third box 3a, one end of a worm 3d5 is fixedly connected with the output end of a fifth rotary driver 3d4, the other end of the worm is rotatably connected with the third box 3a, the worm 3d5 is in meshing transmission with the worm wheel 3d2, the upper end of a steering wheel 3d6 is rotatably connected with a fixing plate at the front end of the third box 3a, a fourth synchronous pulley 3d7 is sleeved on the steering wheel 3d6, the second synchronous pulley 3d8 is simultaneously in transmission connection with the third synchronous pulley 3d3 and the fourth synchronous pulley 3d7, and the fifth rotary driver 3d4 is electrically connected with the controller;

The fifth rotary driver 3d4 is a servo motor with a screw reducer. The controller sends a signal to the fifth rotation driver 3d4, the fifth rotation driver 3d4 drives the worm 3d5 to rotate after receiving the signal, the worm 3d5 drives the steering wheel 3d6 to drive the second rotating shaft 3d1 and the third synchronous pulley 3d3 to rotate together, the second synchronous belt 3d8 transmits the torque of the third synchronous pulley 3d3 to the fourth synchronous pulley 3d7, and the fourth synchronous pulley 3d7 drives the steering wheel 3d6 to rotate, so that the moving direction of the travelling mechanism is changed.

As shown in fig. 8 and 9, the first connecting portion 4 includes a first hinge shaft 4a, a second hinge shaft 4b, a first driven gear 4c and a second driven gear 4 d; first articulated shaft 4a and second articulated shaft 4b set up respectively at the both ends of first connecting portion 4, and first articulated shaft 4a and second articulated shaft 4b are articulated with first walking portion 1, third walking portion 3 respectively, and first driven gear 4c and second driven gear 4d are fixed mounting respectively on first articulated shaft 4a and second articulated shaft 4b, and first driven gear 4c and second driven gear 4d mesh with first walking portion 1, second walking portion 2 respectively.

First driven gear 4c and second driven gear 4d and first articulated shaft 4a, second articulated shaft 4b integrated into one piece, the structure is more stable, through first driven gear 4c, second driven gear 4d and first walking portion 1, the meshing effect of second walking portion 2, can make first walking portion 1 under the drive effect of first walking portion 1 and second walking portion 2, first connecting portion 4 and second connecting portion 5 carry out the rotatory book of turning over around mutual articulated department respectively and turn over thereby the realization is held tightly the pipe wall or is left the effect of pipe wall.

As shown in fig. 9, the second connecting portion 5 includes a third hinge shaft 5a, a fourth hinge shaft 5b, a third driven gear 5c and a fourth driven gear 5 d; the third hinge shaft 5a and the fourth hinge shaft 5b are respectively installed at two ends of the second connecting portion 5 and are respectively hinged to the second walking portion 2 and the third walking portion 3, the third driven gear 5c and the fourth driven gear 5d are respectively sleeved at the end portions of the third hinge shaft 5a and the fourth hinge shaft 5b, and the third driven gear 5c and the fourth driven gear 5d are further respectively meshed with the second walking portion 2 and the third walking portion 3.

Through the meshing action of the third driven gear 5c and the fourth driven gear 5d with the second walking part 2 and the third walking part 3, the second walking part 2, the second connecting part 5 and the third walking part 3 can rotate and turn around the mutual hinged part under the driving action of the second walking part 2 and the third walking part 3, so that the effect of tightly holding the pipe wall or leaving the pipe wall is realized.

As shown in fig. 10, the welding mechanism 6 includes a first bin 6a, a first lifting assembly 6b and a welding gun 6 c; the first material box 6a is installed on the third walking part 3, the first lifting assembly 6b is installed on a supporting arm extending out of the first material box 6a, the welding gun 6c and the welding seam tracker 8 are installed on the movable end of the first lifting assembly 6b, the welding gun 6c is connected with the inside of the first material box 6a through a pipeline, and the first lifting assembly 6b and the welding gun 6c are both electrically connected with the controller.

The controller drives the first lifting assembly 6b to enable the welding gun 6c and the welding seam tracker 8 to do lifting movement together so as to adjust the distance between the welding gun and the welding seam. The first magazine 6a provides solder for soldering. The controller controls the welding gun 6c to weld the joint of the pipeline.

As shown in fig. 10, the first lifting assembly 6b includes a first sliding table 6b1 and a hanging rack 6b 2; the hanger 6b2 is mounted on the movable end of the first slide table 6b1, and the welding gun 6c and the weld tracker 8 are mounted on the hanger 6b 2.

The first sliding table 6b1 is a screw rod sliding table. The movement of the hanger 6b2 is precisely controlled by the first slide 6b1 to control the positions of the welding gun 6c and the weld tracker 8.

As shown in fig. 11, the asphalt paving mechanism 7 includes a second material box 7a, a second lifting assembly 7b, an asphalt gun 7c, a bracket 7d and a roller 7 e; the second workbin 7a is installed on the first walking part 1, the second lifting assembly 7b is installed on a supporting arm extending out of the second workbin 7a, the structure of the second lifting assembly 7b is the same as that of the lifting assembly of the welding mechanism 6, the asphalt gun 7c and the support 7d are installed on the movable end of the second lifting assembly 7b, the roller shaft 7e is rotatably installed on the support 7d, the position of the roller shaft is far away from the first connecting part 4 relative to the asphalt gun 7c, the asphalt gun 7c is communicated with the second workbin 7a through a pipeline, and the asphalt gun 7c is electrically connected with the controller.

A valve for controlling the asphalt discharge is arranged in the second material box 7a, and the second material box 7a supplies materials to the asphalt gun 7 c. The controller controls the second lifting assembly 7b to adjust the position of the discharge end of the asphalt gun 7c so as to accurately fill asphalt into the weld joint, and then the roller shaft 7e uniformly smears the asphalt. The bracket 7d provides support for the roller shaft 7 e;

the asphalt paving mechanism can store asphalt through the second material box, the asphalt gun can spray the asphalt on the welded welding seam, the automatic asphalt spraying is realized, the anti-rust treatment can be carried out on the welding seam through the asphalt, the pipeline welding quality is greatly improved, meanwhile, the trouble caused by manual asphalt spraying is avoided, the efficiency is improved, the asphalt welding and paving efficiency is high, and the problem of welding seam oxidation is effectively solved;

the welding seam position can be detected through the welding seam tracker, and the welding quality of the welding seam can be greatly improved.

The working principle of the invention is as follows:

the power supply supplies power to the whole robot, and the interference of an external power line to the rotation motion of the robot around the pipe wall is avoided. The power supply can be installed at any place of the robot.

The first connecting portion 4 and the second connecting portion 5 function to connect the first traveling portion 1, the second traveling portion 2, and the third traveling portion 3, and the first traveling portion 1, the second traveling portion 2, and the third traveling portion 3 form three clamping points on the pipe wall so as to hold the pipe wall tightly. First walking portion 1 adds the whole weight of pitch laying mechanism 7 of installing on first walking portion 1 and is bigger than other component sum weight, then first walking portion 1 can make other parts raise then make third walking portion 3 attached on the pipe wall, then the whole bending of running gear is attached to on the pipe wall.

The first walking part 1 provides driving force for the whole walking mechanism and drives the walking mechanism to rotate around the pipe wall in a rear-driving mode.

The staff can assist the running gear to adhere to appointed welding position, can also find the welding department through the automatic pursuit of welding seam tracker 8 then send the signal to the controller, and the controller then controls relevant subassembly on the third running portion 3 and rectifies a deviation to the running gear wholly. The welding mechanism 6 and the asphalt laying mechanism 7 are respectively provided with welding flux and asphalt to supply materials for the working ends of the welding mechanism and the asphalt laying mechanism.

The walking mechanism adopts a structure similar to a joint.

The robot integrally holds the pipe wall tightly and rotates, the welding mechanism 6 welds the butt joint of the pipes, and the first walking part 1 at the rear end rotates to lay and uniformly smear asphalt on the welded welding line.

When the robot moves for a circle around the pipe wall, the walking mechanism of the robot stretches through reverse movement, so that the robot can be conveniently separated from the pipe wall, and the problem of seam oxidation in the later period is avoided by laying asphalt.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. An automatic walking mechanism of a pipeline automatic welding detection robot is characterized by comprising a first walking part (1), a second walking part (2), a third walking part (3), a first connecting part (4) and a second connecting part (5);

the first walking part (1), the first connecting part (4), the second walking part (2), the second connecting part (5) and the third walking part (3) are sequentially connected end to form a whole, and the joints are connected in a hinged and meshing transmission mode.

2. The automatic walking mechanism of the automatic pipe welding detection robot as claimed in claim 1, wherein the first walking part (1) comprises a first box body (1 a), a first rotary driver (1 b), a first synchronous pulley (1 c), a second synchronous pulley (1 d), a first synchronous belt (1 e), a first rotating shaft (1 f), a driving wheel (1 g), a second rotary driver (1 h), a first driving gear (1 i) and a first wheel set (1 j); one side of the first box body (1 a) is provided with a hinge lug hinged with the first connecting part (4), the center of the bottom plate of the first box body (1 a) is also provided with a hinge lug hinged with a first rotating shaft (1 f), the bottom of the first box body (1 a) is provided with a yielding groove for a driving wheel (1 g) to pass through, a first rotary driver (1 b) is arranged in the first box body (1 a), a first synchronous belt wheel (1 c) is sleeved on the output end of the first box body (1 a), the first rotating shaft (1 f) is hinged with the hinge lug at the bottom of the first box body (1 a), a second synchronous belt wheel (1 d) is sleeved at the middle position of the first rotating shaft (1 f), a pair of driving wheels (1 g) is arranged at the two ends of the first rotating shaft (1 f) and the bottom of the driving wheels extends out of the yielding groove at the bottom of the first box body (1 a), and a first synchronous belt (1 e) is in transmission connection with the first synchronous belt wheel (1 c) and the, second rotary actuator (1 h) is installed on first box (1 a) and the output stretches out first box (1 a) lateral wall, first drive gear (1 i) cup joints on second rotary actuator (1 h) output, first drive gear (1 i) and first connecting portion (4) one end meshing transmission, first wheel group (1 j) rotationally sets up in first box (1 a) bottom, first rotary actuator (1 b), second rotary actuator (1 h) all are connected with the controller electricity.

3. The automatic traveling mechanism of the automatic pipe welding inspection robot according to claim 1, wherein the second traveling part (2) comprises a second housing (2 a), a third rotary drive (2 b), a second driving gear (2 c) and a second wheel set (2 d); the pair of third rotary drivers (2 b) are arranged in the second box body (2 a), the output end of each third rotary driver (2 b) extends out of the side wall of the second box body (2 a), the pair of second driving gears (2 c) are respectively arranged at the output ends of the pair of third rotary drivers (2 b), the pair of second driving gears (2 c) are respectively in meshing transmission with the first connecting portion (4) and the second connecting portion (5), the two ends of the second box body (2 a) are also hinged with the first connecting portion (4) and the second connecting portion (5), and the second wheel set (2 d) is installed at the bottom of the second box body (2 a).

4. The automatic walking mechanism of the automatic pipeline welding detection robot as claimed in claim 1, wherein the third walking part (3) comprises a third box body (3 a), a fourth rotary driver (3 b), a third driving gear (3 c), a deviation-rectifying steering assembly (3 d) and a third wheel set (3 e); a fixing plate for installing the working end of the deviation-rectifying steering component (3 d) is arranged at one end of the third box body (3 a) far away from the second connecting part (5), meanwhile, a slot for the deviation-rectifying steering component (3 d) to pass through is also arranged on the third box body (3 a), a hinge lug hinged with the second connecting part (5) is arranged at one side of the third box body (3 a) close to the second connecting part (5), a fourth rotary driver (3 b) is arranged in the third box body (3 a) and the output end of the fourth rotary driver extends out of the side wall of the third box body (3 a), a third driving gear (3 c) is sleeved on the output end of the fourth rotary driver (3 b), the third driving gear (3 c) is in meshing transmission with the second connecting part (5), the deviation-rectifying steering component (3 d) is arranged on the third box body (3 a) and the working end of the third box body (3 a) extends out of the bottom of the third box body (3 a), a third wheel set (, the fourth rotary driver (3 b) and the deviation rectifying steering assembly (3 d) are electrically connected with the controller.

5. The automatic walking mechanism of the automatic pipe welding inspection robot as claimed in claim 4, wherein the deviation-rectifying steering assembly (3 d) comprises a second rotating shaft (3 d 1), a worm gear (3 d 2), a third synchronous pulley (3 d 3), a fifth rotating driver (3 d 4), a worm (3 d 5), a steering wheel (3 d 6), a fourth synchronous pulley (3 d 7) and a second synchronous belt (3 d 8); the second rotating shaft (3 d 1) is rotatably connected with the bottom of the third box body (3 a), the worm wheel (3 d 2) and the third synchronous pulley (3 d 3) are sleeved on the second rotating shaft (3 d 1) from top to bottom, the fifth rotating driver (3 d 4) is installed on the third box body (3 a), one end of the worm (3 d 5) is fixedly connected with the output end of the fifth rotating driver (3 d 4), the other end of the worm is rotatably connected with the third box body (3 a), the worm (3 d 5) is in meshing transmission with the worm wheel (3 d 2), the upper end of the steering wheel (3 d 6) is rotatably connected with a fixing plate at the front end of the third box body (3 a), the fourth synchronous pulley (3 d 7) is sleeved on the steering wheel (3 d 6), the second synchronous belt (3 d 8) is simultaneously in transmission connection with the third synchronous pulley (3 d 3) and the fourth synchronous pulley (3 d 7), and the fifth rotating driver (3 d 4) is electrically connected with the controller.

6. The automatic walking mechanism of the automatic pipe welding inspection robot according to claim 1, wherein the first connecting part (4) comprises a first hinge shaft (4 a), a second hinge shaft (4 b), a first driven gear (4 c) and a second driven gear (4 d); first articulated shaft (4 a) and second articulated shaft (4 b) set up respectively at the both ends of first connecting portion (4), first articulated shaft (4 a) and second articulated shaft (4 b) are articulated with first walking portion (1), third walking portion (3) respectively, first driven gear (4 c) and second driven gear (4 d) are fixed mounting respectively on first articulated shaft (4 a) and second articulated shaft (4 b), first driven gear (4 c) and second driven gear (4 d) respectively with first walking portion (1), the meshing of second walking portion (2).

7. The automatic walking mechanism of the automatic pipe welding inspection robot according to claim 1, wherein the second connecting part (5) comprises a third hinge shaft (5 a), a fourth hinge shaft (5 b), a third driven gear (5 c) and a fourth driven gear (5 d); third articulated shaft (5 a) and fourth articulated shaft (5 b) are installed respectively at second connecting portion (5) both ends and are articulated with second walking portion (2), third walking portion (3) respectively, and third driven gear (5 c) and fourth driven gear (5 d) overlap respectively and establish the tip at third articulated shaft (5 a) and fourth articulated shaft (5 b), and third driven gear (5 c) and fourth driven gear (5 d) still mesh with second walking portion (2), third walking portion (3) respectively.

8. An automatic welding inspection robot for pipes, comprising the automatic traveling mechanism of an automatic welding inspection robot for pipes according to any one of claims 1 to 7.