CN113385882A - Welding robot for welding circular tube and welding method thereof - Google Patents
Welding robot for welding circular tube and welding method thereof Download PDFInfo
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- CN113385882A CN113385882A CN202110636670.2A CN202110636670A CN113385882A CN 113385882 A CN113385882 A CN 113385882A CN 202110636670 A CN202110636670 A CN 202110636670A CN 113385882 A CN113385882 A CN 113385882A
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- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
- B23K37/0533—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor external pipe alignment clamps
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- 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
- 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
- B23K37/0252—Steering means
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention relates to a welding robot for welding round pipes and a welding method thereof. The combined sliding structure comprises a supporting sliding structure vertically arranged in the middle position above the base and a matched sliding assembly which is matched with the supporting sliding structure to slide and simultaneously drives the welding part to displace; place the supporting seat to and with place supporting seat sliding connection, be provided with two sets of pipe and adjust the structure, the pipe is adjusted the structure and is included that the multiunit setting is placing inside the supporting seat, realize the pipe and adjust the structure and place the gliding transmission assembly of supporting seat, and with the pipe is adjusted the welding, is used for providing the runing rest of support nature.
Description
Technical Field
The invention relates to the field of circular tube welding, in particular to a welding robot for circular tube welding and a welding method thereof.
Background
Welding equipment need weld the diversified work piece, deals with different welding workpiece, and welding equipment's structure, motion mode and auxiliary component all need carry out certain improvement, and in the pipeline welding process, the welded precision receives the influence that welding part stability and pipeline placed the performance very easily.
When the traditional welding equipment is used for welding a pipeline, the transmission of the mechanical arm adopts multi-shaft transmission, so that the transmission stability directly influences the later welding precision, and meanwhile, the placement stability of a circular pipe is also important while the motion stability of a welding part is ensured;
in addition, when guaranteeing that the pipe is placed stability, the pipe needs carry out certain regulation according to the welding needs, the all-round welding of being convenient for, consequently needs one kind at present can promote part displacement stability, can ensure again that the pipe places the welding robot of regulation nature.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a welding robot for welding circular pipes, and further provides a welding robot for welding circular pipes and a welding method thereof, so as to solve the problems in the prior art.
The technical scheme is as follows: a welding robot for pipe welding, including combination sliding construction, pipe adjustment mechanism two parts.
The combined sliding structure comprises a supporting sliding structure and a matched sliding assembly, wherein the supporting sliding structure is vertically arranged at the middle position above the base, and the matched sliding assembly is matched with the supporting sliding structure to slide and simultaneously drives the welding part to displace;
the round pipe adjusting structure is connected with the supporting seat in a sliding mode and is provided with two groups.
Through supporting sliding structure and cooperation slip subassembly and mutually supporting and slide, the displacement about driving the welding subassembly on arm and the arm, when the pipe is bulky, the too big deviation that appears of stroke of avoiding the arm transportation, isolate vertical displacement, when guaranteeing motion stability, the maintenance in later stage is more simple and convenient, adjust the structure through setting up two sets of pipes simultaneously, can place the pipe that needs the welded and adjust structurally spacing on the pipe, can carry out certain regulation to the position of pipe through the part that the structure was adjusted to the pipe simultaneously.
In a further embodiment, the structure is adjusted to the pipe includes that the multiunit setting is placing inside the supporting seat, realizes the pipe and adjusts the structure and place the gliding drive assembly of supporting seat, and with the pipe is adjusted the welding, is used for providing the runing rest of support nature, and with runing rest rotatable coupling, can carry out the cooperation rotating turret of angle modulation, and with cooperation rotating turret rotatable coupling, the first runner and the second runner that are used for rotating the regulation pipe position.
The distance between the structure is adjusted to two sets of pipes to drive assembly can be adjusted, and first runner and second runner can provide and support spacingly to the pipe when, can rotate and drive the whole rotation of pipe, can ensure the regulation performance of structure better, rotate support and rotating turret simultaneously and can make the rotation support performance more stable.
In a further embodiment, the supporting sliding structure comprises a bottom plate connected with the base and used for assembling and disassembling the supporting sliding structure, a supporting frame welded with the bottom plate, a fixing groove arranged on the inner side of the supporting frame, a sliding rail assembly arranged on the working surface of the supporting frame and matched with the sliding assembly, and a plurality of fixing holes formed in the working surface of the supporting frame.
The bottom plate can promote the stability ability of connection, and the support frame provides the support for drive disk assembly, and guarantee stability through setting up the fixed slot, can reduce the consumption of material when guaranteeing stability, and slide rail set spare can provide the gliding drive power of upper and lower displacement.
In a further embodiment, the cooperation sliding subassembly including the cooperation mounting panel, and with sliding rail set adaptation sliding connection, simultaneously with cooperation mounting panel integrated into one piece's cooperation sliding sleeve to and set up at the cooperation sliding sleeve inboard, be used for the sliding tray of sliding rail set adaptation, and install the rotation location structure that the cooperation sliding sleeve is inboard, be used for promoting transmission stability.
The cooperation mounting panel is installed with the welding arm, when guaranteeing the wholeness assembly nature, can promote stability, and the cooperation sliding sleeve can realize sliding with the sliding part cooperation, promotes driven stability and precision, and the spout can ensure the slip space, promotes transmission stability, and the rotational positioning structure can be fixed a position and slide spacingly to the intermediate position in gliding, avoids sliding assembly to slide and the deviation appears.
In a further embodiment, install with fixed orifices position department relatively and stabilize sliding structure, it includes the cooperation slide to stabilize sliding structure, and sets up cooperation slide rear end, with the fixed orifices equidistance setting for the complex and rather than the locating lever of adaptation to and with the locating lever adaptation, be used for realizing installing spacing location strip.
Stabilize sliding structure and provide the required structure of rotation location structure rotation, cooperation slide cooperation location rotating-structure's rotation is fixed a position, and other accessories that the rear end set up are used for installing fixedly with the subassembly, are convenient for carry out the dismouting according to actual need.
In a further embodiment, the rotary positioning structure comprises a rotary output shaft, a rotary positioning wheel which is arranged on the rotary output shaft and is in transmission connection with the rotary output shaft, and a limit bump which is arranged at the middle position of the outer side of the rotary positioning wheel and is in a protruding type.
The rotation positioning wheel is of a structure with a protruding block in the middle, the protruding block slides in a limiting mode in the outer side of the sliding plate while the sliding rotation limiting mode is guaranteed, and the sliding position of the sliding assembly can be prevented from being deviated.
In a further embodiment, the two ends of the outer side of the matching sliding plate are both provided with a rotating wheel positioning groove and a limiting groove which is arranged on the inner side of the rotating wheel positioning groove and is integrated with the rotating wheel positioning groove.
The rotating wheel positioning groove and the limiting groove respectively slide in a limiting mode with the rotating positioning wheel and the limiting protruding block, and sliding performance of parts can be better guaranteed.
In a further embodiment, a threaded rod is arranged at one end of the positioning rod, matching positioning holes are uniformly formed in the positioning strips, the positions of the matching positioning holes are opposite to the extending positions of the positioning rod and limit the positioning rod, and a threaded sleeve is arranged at the rear end of the matching positioning holes and is rotatably connected with the threaded rod.
Realize fixedly through threaded rod and thread bush cooperation, the one end of threaded rod extends to the other end of cooperation locating hole simultaneously, and the fixed stability of installation is higher.
In a further embodiment, both ends in the pipe placing direction are provided with a stopper.
The limiting of the pipeline can be carried out while the pipeline is welded.
The welding method of the welding robot for welding the circular tube comprises the following steps of:
s1, manually placing the pipeline, placing the pipeline to be welded above the circular tube adjusting structures, adjusting the distance between the two groups of circular tube adjusting structures according to the length of the pipeline, and adjusting the supporting position of the pipeline;
s2, adjusting the height of the welding arm according to the height of the pipeline, matching with the sliding assembly to slide up and down at the front end of the supporting sliding structure to realize height adjustment, and meanwhile, the welding assembly slides outside the mechanical arm to adjust the welding position and weld the pipeline through a welding head;
s3, in the pipeline welding process, after the upper end is welded, the rotating wheel in the circular tube adjusting structure rotates to drive one half of the welded pipeline to rotate, the pipeline with the lower end not welded is located at the upper end, the welding operation is repeated, and after the welding is finished, the welding comprehensiveness can be observed through the rotation of the rotating wheel;
and S4, after the welding is integrally completed, taking down the welded pipeline, and repeatedly placing and welding the pipeline.
Has the advantages that: the invention relates to a welding robot for welding circular pipes and a welding method thereof, wherein the transmission of a welding arm is realized by the mutual matching of a supporting sliding structure and a matching sliding assembly, meanwhile, a circular pipe can be directly placed on an adjusting mechanism by installing a circular pipe adjusting structure, the distance of the circular pipe and the welding position can be adjusted to a certain extent, the flexibility in the actual welding process is better improved, and the problems that the displacement stability of the existing welding robot is not good enough and the adjusting performance of a pipeline is not flexible enough when the pipeline is welded are solved.
Drawings
Fig. 1 is a front view of a welding robot for welding round pipes according to the present invention.
Fig. 2 is a schematic structural diagram of the circular tube adjusting structure of the present invention.
Fig. 3 is a schematic structural view of the supporting sliding structure of the present invention.
Fig. 4 is a perspective view of the mating slide assembly.
Fig. 5 is a schematic structural view of a stable sliding structure.
The figures are numbered: the device comprises a base 1, a combined sliding structure 2, a supporting sliding structure 3, a bottom plate 301, a supporting frame 302, a fixing groove 303, a fixing hole 304, a sliding rail component 305, a matched sliding component 4, a matched mounting plate 401, a matched sliding sleeve 402, a sliding groove 403, a rotating positioning structure 404, a rotating output shaft 404a, a rotating positioning wheel 404b, a limiting bump 404c, a round pipe placing supporting seat 5, a round pipe adjusting structure 6, a sliding component 601, a rotating bracket 602, a matched rotating bracket 603, a first rotating wheel 604, a second rotating wheel 605, a limiting part 606, a centering sleeve 606a, an electric telescopic rod 606b, a rotating positioning wheel 606c, a stable sliding structure 7, a matched sliding plate 701, a rotating wheel positioning groove 701a, a limiting groove 701b, a positioning bar 702, a matched positioning hole 702a, a positioning rod 703, a threaded rod 704 and a threaded sleeve 705.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
The applicant thinks that when traditional welding equipment is welding the pipeline, because the transmission of arm adopts the multiaxis transmission, driven stability has directly influenced later stage welding's precision, and when guaranteeing welded part motion stability, the placing performance of pipe is still nimble comprehensive enough.
Therefore, the applicant designs a welding robot for welding circular tubes and a welding method thereof, the transmission of a welding arm is realized by the mutual matching of a supporting sliding structure and a matching sliding assembly, meanwhile, the circular tubes can be directly placed on an adjusting mechanism by installing a circular tube adjusting structure, the distance of the circular tubes and the welding position can be adjusted to a certain degree, and the flexibility of work is improved.
The invention relates to a welding robot for welding round pipes, which mainly comprises a combined sliding structure and a round pipe adjusting mechanism. The combined sliding structure 2 comprises a supporting sliding structure 3 and a matching sliding assembly 4, the matching sliding assembly 4 is installed at the front end of the supporting sliding structure 3, the supporting sliding structure 3 is fixedly connected with a base 1 at the lower end, the matching sliding assembly 4 is used for being connected with a welding arm, and welding actions are carried out through the work of a welding assembly and a welding head on the welding arm;
the round tube adjusting structure 6 comprises a sliding component 601, a rotating bracket 602, a matching rotating frame 603, a first rotating wheel 604, a second rotating wheel 605 and a limiting component 606, wherein multiple groups of sliding components 601 are arranged, the sliding component adopts a sliding rod sliding block as a transmission component, the sliding rod is fixed with the round tube placing and supporting seat 5, the sliding block is positioned below the round tube adjusting structure 6 and slides outside the sliding rod through a sliding sleeve to drive the whole round tube adjusting structure 6 to slide above the round tube placing and supporting seat 5, the rotating bracket 602 and the round tube adjusting structure 6 are arranged into a fixed structure, the matching rotating frame 603 is arranged on the inner side of the rotating bracket 602, the matching rotating frame 603 and the rotating bracket 602 can be in transmission connection through a fixed-angle rotating shaft, a certain adjustment can be carried out on the angle of the matching rotating frame 603 through the fixed-angle rotation of the rotating bracket 602, two matching rotating frames 603 are arranged, the first rotating wheel 604 and the second rotating wheel 605 are respectively arranged in the matching rotating frame 603, first runner 604 and second runner 605 all carry out the transmission through electronic pivot with cooperation rotating turret 603, the rotation through electronic pivot drives two runners and rotates the position to the pipe and carry out appropriate regulation, locating part 606 is all installed to the both sides that structure 6 was adjusted to the pipe, locating part 606 sets up to adjustable structure, can carry out certain regulation to spacing length according to the length of pipe, and simultaneously, the inboard intermediate position department of locating part 606 is provided with the carousel, can rotate in pipe pivoted, when guaranteeing pipe mobility, can not influence limiting structure performance.
The cooperation sliding subassembly 4 includes cooperation mounting panel 401, cooperation sliding sleeve 402, sliding tray 403 and rotation location structure 404, the both sides of cooperation mounting panel 401 front end all are provided with cooperation sliding sleeve 402, the inside of cooperation sliding sleeve 402 is provided with sliding tray 403, cooperation sliding sleeve 402 realizes sliding with sliding rail subassembly 305 mutually supporting, rotation location structure 404 is all installed to the inboard of two cooperation sliding sleeves 402, rotation location structure 404 is provided with a plurality ofly, rotation location structure 404 can be in sliding sleeve and slide rail cooperation gliding from top to bottom, fix a position the motion orbit in the middle of, it is spacing to assist the sliding force of both sides.
In the above-mentioned rotational positioning structure, the rotational positioning structure includes a rotational output shaft 404a, a rotational positioning wheel 404b, and a limit bump 404c, the rotational output shaft 404a is fixed with the fitting mounting plate 401 by a bolt, and is rotationally connected with the rotational positioning wheel 404b, and the limit bump 404c is disposed on the outer side of the middle position of the rotational positioning wheel 404 b.
Stabilize sliding structure 7 and include cooperation slide 701, location strip 702, locating lever 703, threaded rod 704 and thread bush 705, the intermediate position department of cooperation slide 701 rear end installs locating lever 703, location strip 702 is installed to the inboard of locating lever 703, the one end of locating lever 703 runs through fixed orifices 304 and extends to inside the sliding tray 403, be connected with location strip 702 and fix a position, the rear end of locating lever 703 is provided with threaded rod 704, thread bush 705 is installed to the rear end of location strip 702, thread bush 705 and threaded rod 704 rotate through the screw thread and fix spacingly.
In the above-mentioned stable sliding structure, the outside of cooperation slide 701 both sides all is provided with runner positioning groove 701a, and runner positioning groove 701a inboard intermediate position department is provided with spacing recess 701b, and runner positioning groove 701a, spacing recess 701b are relative with the position of rotating locating wheel 404b and spacing lug 404c, can promote to rotate the stability of location structure rotational positioning, the condition of displacement derailment can not appear.
In the stable sliding structure, the positioning strip 702 is provided with the matching positioning hole 702a, so that the installation and positioning performance of the overall stable sliding structure can be improved, the overall position installation is more accurate, and the deviation can not occur.
Locating part 606 includes centering sleeve 606a, electric telescopic handle 606b and rotation locating wheel 606c, centering sleeve 606a is installed to the inboard intermediate position department of locating part 606, electric telescopic handle 606b is installed to centering sleeve 606 a's the outside, electric telescopic handle 606b is provided with four, rotation locating wheel 606c is installed in electric telescopic handle 606 b's the outside, it rotates with electric telescopic handle 606b to rotate locating wheel 606c and is connected, in order to solve the centering that the pipe can not be fine at the welding process in the pipe, consequently, be provided with centering sleeve 606a, electric telescopic handle 606b and rotation locating wheel 606c, flexible drive through electric telescopic handle rotates locating wheel 606c and moves to the pipe inner wall, can laminate with the pipe inner wall, guarantee rotation flexibility in the pivoted simultaneously, can promote the centering performance of pipeline.
On the basis of the welding robot for welding the circular tube, the invention provides a welding method of the welding robot for welding the circular tube, which comprises the following specific steps:
firstly, the manual work is placed two sections pipelines that need carry out the welding respectively in the top that the structure 6 was adjusted to the pipe, work through slip subassembly 601, make the distance between two pipelines change, the motion through locating part 606 is spacing to the pipeline, the laminating of the outer terminal surface of locating part 606 and pipeline, thereby make the inboard face of weld of pipeline on same water flat line, adjust the relative motion of structure 6 through two sets of pipes, drive the laminating of pipeline face of weld relative motion, the later stage welding part of being convenient for carries out welding operation.
Then, the height of the welding arm is adjusted according to the height of the pipeline, the matching sliding assembly 4 slides up and down at the front end of the supporting sliding structure 3, height adjustment is achieved, while height adjustment is achieved, the matching sliding sleeve 402 slides on the outer side of the sliding rail assembly 305, meanwhile, the rotating positioning structure 404 is in contact with the stable sliding structure 7, sliding stability is further guaranteed, the rotating positioning wheel 404b and the limiting lug 404c are matched with the rotating wheel positioning groove 701a and the limiting groove 701b to perform sliding limiting, oblique sliding is avoided, the up-down displacement stability of the mechanical arm is higher, the welding part slides on the outer side of the mechanical part, the welding head is driven to move to the pipeline welding position, and welding work is performed.
Subsequently, at pipeline welded in-process, the soldered connection welds the upper end of pipeline earlier, after the welding of upper end external diameter is accomplished, pipe adjustment structure 6 drives the pipeline and rotates, carry out the welding of lower extreme external diameter, rotate through two sets of first runners 604 and second runner 605 syntropy, it rotates to drive the pipe, in the time of the pipe pivoted, pipe outer end and locating part contact, the inboard carousel of locating part 606 rotates in step, realize the regulation of pipe, rotate and adjust the completion back, weld through the soldered connection, after the whole welding is accomplished, can drive the pipe through pipe adjustment structure 6 and rotate the inspection that carries out welding precision, the flexibility is higher.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A welding robot for pipeline welding, characterized by includes:
the combined sliding structure comprises a supporting sliding structure and a matched sliding assembly, wherein the supporting sliding structure is vertically arranged at the middle position above the base, and the matched sliding assembly is matched with the supporting sliding structure to slide and simultaneously drives the welding part to displace;
the supporting seat is placed, and the round pipe adjusting structure is connected with the supporting seat in a sliding mode and provided with two groups.
2. The welding robot for pipe welding according to claim 1, characterized in that: the pipe is adjusted the structure and is included that the multiunit sets up inside placing the supporting seat, realize the pipe and adjust the structure and place the gliding drive assembly of supporting seat, and with the pipe is adjusted the welding, is used for providing the runing rest of support nature, and with runing rest rotatable coupling, can carry out the cooperation rotating turret of angle modulation, and with cooperation rotating turret rotatable coupling, the first runner and the second runner that are used for rotating the regulation pipe position.
3. The welding robot for pipe welding according to claim 1, characterized in that: the supporting sliding structure comprises a base plate connected with the base and used for loading and unloading the supporting sliding structure, a supporting frame connected with the base plate in a welded mode, a fixing groove formed in the inner side of the supporting frame, a sliding rail assembly installed on the working face of the supporting frame and matched with the sliding assembly in a matched mode, and a plurality of fixing holes formed in the working face of the supporting frame.
4. The welding robot for pipe welding according to claim 3, characterized in that: the cooperation sliding assembly includes the cooperation mounting panel, and with sliding rail set adaptation sliding connection, simultaneously with cooperation mounting panel integrated into one piece's cooperation sliding sleeve to and set up in the cooperation sliding sleeve inboard, be used for the sliding tray of sliding rail set adaptation, and install the rotation location structure that the cooperation sliding sleeve is inboard, be used for promoting transmission stability.
5. The welding robot for pipe welding according to claim 3, characterized in that: install with the relative department in fixed orifices position and stabilize sliding structure, stabilize sliding structure and include the cooperation slide, and set up cooperation slide rear end, set up with the fixed orifices equidistance and be used for the complex and rather than the locating lever of adaptation to and with the locating lever adaptation, be used for realizing installing spacing location strip.
6. The welding robot for pipe welding according to claim 4, characterized in that: the rotary positioning structure comprises a rotary output shaft, a rotary positioning wheel and a limit lug, wherein the rotary positioning wheel is installed on the rotary output shaft and is in transmission connection with the rotary output shaft, and the limit lug is arranged at the middle position of the outer side of the rotary positioning wheel and is in a protruding type.
7. The welding robot for pipe welding according to claim 5, characterized in that: the two ends of the outer side of the matching sliding plate are provided with rotating wheel positioning grooves and limiting grooves which are arranged on the inner sides of the rotating wheel positioning grooves and integrated with the rotating wheel positioning grooves.
8. The welding robot for pipe welding according to claim 5, characterized in that: the positioning device comprises a positioning rod and is characterized in that a threaded rod is arranged at one end of the positioning rod, matching positioning holes are uniformly formed in the positioning strips, the positions of the matching positioning holes are opposite to the extending positions of the positioning rod and limit the positioning rod, and a threaded sleeve is arranged at the rear end of the matching positioning holes and is rotatably connected with the threaded rod.
9. The welding robot for pipe welding according to claim 5, characterized in that: both ends along the pipeline placing direction are provided with limiting parts.
10. The welding method of the welding robot for pipeline welding according to any one of claims 1 to 9, characterized by comprising the steps of:
s1, manually placing the pipeline, placing the pipeline to be welded above the circular tube adjusting structures, adjusting the distance between the two groups of circular tube adjusting structures according to the length of the pipeline, and adjusting the supporting position of the pipeline;
s2, adjusting the height of the welding arm according to the height of the pipeline, matching with the sliding assembly to slide up and down at the front end of the supporting sliding structure to realize height adjustment, and meanwhile, the welding assembly slides outside the mechanical arm to adjust the welding position and weld the pipeline through a welding head;
s3, in the pipeline welding process, after the upper end is welded, the rotating wheel in the circular tube adjusting structure rotates to drive one half of the welded pipeline to rotate, the pipeline with the lower end not welded is located at the upper end, the welding operation is repeated, and after the welding is finished, the welding comprehensiveness can be observed through the rotation of the rotating wheel;
and S4, after the welding is integrally completed, taking down the welded pipeline, and repeatedly placing and welding the pipeline.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110636670.2A CN113385882A (en) | 2021-06-08 | 2021-06-08 | Welding robot for welding circular tube and welding method thereof |
| PCT/CN2021/107144 WO2022257229A1 (en) | 2021-06-08 | 2021-07-19 | Welding robot for round pipe welding, and welding method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110636670.2A CN113385882A (en) | 2021-06-08 | 2021-06-08 | Welding robot for welding circular tube and welding method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113385882A true CN113385882A (en) | 2021-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110636670.2A Withdrawn CN113385882A (en) | 2021-06-08 | 2021-06-08 | Welding robot for welding circular tube and welding method thereof |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113385882A (en) |
| WO (1) | WO2022257229A1 (en) |
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| CN116038197B (en) * | 2023-03-07 | 2023-06-20 | 杭州芬麦特机械有限公司 | Electromechanical device welding set with locate function |
| CN116100236B (en) * | 2023-04-11 | 2023-06-16 | 深圳市振勤电子科技有限公司 | Hardware welding device |
| CN116511776A (en) * | 2023-06-21 | 2023-08-01 | 安徽益科赛装备科技有限公司 | Be used for dust waste gas dusting tower welding treatment device |
| CN117161620A (en) * | 2023-10-10 | 2023-12-05 | 常州市金坛区望胜合金铸钢有限公司 | Metal casting surface processing device with welding slag cleaning function |
| CN117283225B (en) * | 2023-11-07 | 2024-03-26 | 济南考格尔汽车制造有限公司 | Arc welding method and equipment for tank truck hopper |
| CN117226369B (en) * | 2023-11-16 | 2024-01-23 | 四川长江液压天成机械有限公司 | Sliding sleeve and plate welding device |
| CN117300511B (en) * | 2023-11-29 | 2024-02-23 | 沈阳欧施盾新材料科技有限公司 | Be used for compound gas cylinder welded frock clamp |
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| CN203736432U (en) * | 2013-12-31 | 2014-07-30 | 上海西门子医疗器械有限公司 | Lifting mechanism and medical equipment |
| DE102014102385A1 (en) * | 2014-02-24 | 2015-08-27 | Johannes Baringer | MULTIFUNCTIONAL LIFTING SYSTEM |
| CN103911699B (en) * | 2014-03-11 | 2017-02-01 | 江苏中晖纺织机械有限公司 | Roving frame lower keel lifting device |
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2021
- 2021-06-08 CN CN202110636670.2A patent/CN113385882A/en not_active Withdrawn
- 2021-07-19 WO PCT/CN2021/107144 patent/WO2022257229A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022257229A1 (en) | 2022-12-15 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210914 |
|
| WW01 | Invention patent application withdrawn after publication |