CN113653883A - Pipeline inner wall welding walking robot - Google Patents
Pipeline inner wall welding walking robot Download PDFInfo
- Publication number
- CN113653883A CN113653883A CN202110878417.8A CN202110878417A CN113653883A CN 113653883 A CN113653883 A CN 113653883A CN 202110878417 A CN202110878417 A CN 202110878417A CN 113653883 A CN113653883 A CN 113653883A
- Authority
- CN
- China
- Prior art keywords
- welding
- energy
- walking
- sleeve
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a pipeline inner wall welding walking robot which comprises a walking frame structure, a welding adjusting structure and a fixed welding head structure, wherein the welding adjusting structure is fixed on the front side face of the center of the walking frame structure, the fixed welding head structure is arranged on the rear side face of the walking frame structure, and the fixed welding head structure penetrates through the center of the walking frame structure and is connected with the welding adjusting structure. The welding device has the advantages that the welding arrangement of the inner wall of the pipeline is optimized, the traditional manual welding mode is changed, the welding device capable of walking in the pipeline is adopted, the danger of manual welding is reduced, the equipment can be welded in the pipeline under various working conditions, the equipment adopts the adjustable and energy-reducing telescopic walking arm, the shaking in the welding process is reduced, the annular welding in the pipeline can be realized by the equipment, the welding mode without dead angles is realized, the practical effect is good, and the welding device is suitable for popularization and use.
Description
Technical Field
The invention relates to the field of mechanical engineering, in particular to a walking robot for welding the inner wall of a pipeline.
Background
The welding is to use the high-temperature and high-pressure environment to weld two materials of the same material, the most common methods are pipeline welding, angle iron welding and the like, for pipeline welding, some pipelines with thin pipe walls can be welded at the outer sides of the pipelines to form tight welding seams, for some pipelines with thick pipe walls, not only the welding of the outer side walls of the pipelines but also the welding of the inner walls of the pipelines are needed, because the working scene and the environment of the welding in the pipelines are not ideal welding conditions, if an operator operates in a non-planar scene in the welding process, danger is easily formed for the operator, and in order to reduce the danger and increase the reliability of the welding of the inner walls of the pipelines, the robot for welding the inner walls of the pipelines is designed.
Disclosure of Invention
The invention aims to provide a walking robot for welding the inner wall of a pipeline, which aims to solve the technical problems and adopts the following technical scheme for realizing the aim:
the utility model provides a pipeline inner wall welding walking robot, includes walking frame construction, welding adjustment structure, fixed welding bonding tool structure, the welding adjustment structure is fixed at the central leading flank of walking frame construction, fixed welding bonding tool structure is established at the trailing flank of walking frame construction, and fixed welding bonding tool structure passes the center of walking frame construction and is connected with the welding adjustment structure.
On the basis of the technical scheme, the walking frame structure comprises a structure center frame, first-stage energy-reducing connecting arms, second-stage walking adjusting connecting arms and double-arm fixing buckles, wherein the first-stage energy-reducing connecting arms, the second-stage walking adjusting connecting arms and the double-arm fixing buckles are all provided with four groups of energy-reducing connecting arms, the four groups of first-stage energy-reducing connecting arms are respectively inserted into the inner side ends of the four groups of second-stage walking adjusting connecting arms, the first-stage energy-reducing connecting arms are all fixed at the inner side ends of the second-stage walking adjusting connecting arms through the double-arm fixing buckles, and the four groups of first-stage energy-reducing connecting arms are respectively connected to the outer side of the structure center frame.
On the basis of the technical scheme, the welding adjusting structure consists of a fixed outer scrabby, an outer sleeve arm, a motor fixing support plate and an adjusting motor, wherein the outer sleeve arm is provided with a plurality of groups, the outer sleeve arms of the groups are arranged on the rear side surface of the motor fixing support plate at equal circumferential angles, the fixed outer scrabby is arranged on the inner side of the rear end of the outer sleeve arm, the fixed outer scrabby, the outer sleeve arm and the motor fixing support plate are integrally formed, the adjusting motor is fixed on the front side surface of the motor fixing support plate, and the center of the motor fixing support plate is provided with a connecting through hole;
the fixed welding head structure penetrates through the connecting through hole to be connected with the adjusting motor, the outer sleeve arm is arranged on the outer side face of the structural center frame, the motor fixing and carrying plate is tightly attached to the front side face of the structural center frame, and the fixed outer support is arranged on the rear side face of the structural center frame.
On the basis of the technical scheme, the fixed welding head structure consists of a welding rod imitation machine clamp, a welding head support, an adjusting connecting shaft and a progress spring, wherein the adjusting connecting shaft is arranged on the front side of the bottom end of the welding head support, the welding rod imitation machine clamp is connected to the welding head support and can slide up and down on the welding head support, the top end of the progress spring is fixed on the rear side of the top end of the welding head support, and the bottom end of the progress spring is fixed on the top side of the rear end of the welding rod imitation machine clamp;
the adjusting connecting shaft sequentially penetrates through the structural center frame and the connecting through hole to be connected with the adjusting motor, and the welding rod imitation machine clamp and the welding head support can rotate by taking the adjusting connecting shaft as an axis.
On the basis of the technical scheme, the structural center frame consists of a center shaft sleeve, side branch cylinders and a center bearing, wherein the side branch cylinders are provided with four groups, the four groups of side branch cylinders are arranged on the outer side of the center shaft sleeve at equal circumferential angles, the center shaft sleeve and the side branch cylinders are integrally formed, the center bearing is arranged in the center of the center shaft sleeve and can rotate in the axis of the center shaft sleeve, and energy-reducing connecting cylinder grooves are formed in the outer side ends of the side branch cylinders;
the one-level subtracts can the linking arm and connects at subtracting can the connecting cylinder inslot, and the one-level subtracts can the linking arm can be twitch at subtracting can the connecting cylinder inslot, the adjustment connecting axle is connected on central bearing, the outside at the center axle sleeve is established to the overcoat arm.
On the basis of the technical scheme, the primary energy-reducing connecting arm consists of an inner end spring, an outer end sleeve spring, a bearing plate and an energy-reducing supporting rod, the bearing plate is welded at the rear side end of the energy-reducing supporting rod, the outer end sleeve spring is sleeved at the rear side end of the energy-reducing supporting rod, the outer end sleeve spring is tightly attached to the front side surface of the bearing plate, the inner end spring is tightly attached to the rear side surface of the bearing plate, the secondary walking adjusting connecting arm consists of a long and short adjusting barrel, a wheel carrier and walking wheels, the wheel carrier is welded at the front side end of the long and short adjusting barrel, the walking wheels are connected to the wheel carrier, the energy-reducing supporting rod is inserted into the long and short adjusting barrel, fixing pin holes are formed in the energy-reducing supporting rod and the long and short adjusting barrel, and the fixing pin holes in the energy-reducing supporting rod and the long and short adjusting barrel correspond to each other;
the double-arm fixing buckle is composed of an outer clamping sleeve and a fixing pin, the fixing pin is arranged at the center of the outer clamping sleeve, the fixing pin penetrates through fixing pin holes in the energy-reducing support rod and the length adjusting cylinder, the outer clamping sleeve is sleeved outside the length adjusting cylinder, the inner end spring, the outer end sleeve spring and the bearing plate are all arranged in an energy-reducing connecting cylinder groove at the outer end of the side supporting cylinder, and the bearing plate can slide in the energy-reducing connecting cylinder groove.
On the basis of the technical scheme, the welding rod imitation machine clamp consists of a sliding frame, a rear fixing plate and a welding rod head end plate, wherein the rear fixing plate is arranged on the rear side of the top end of the sliding frame, the welding rod head end plate is arranged on the front side of the top end of the sliding frame, the rear fixing plate and the welding rod head end plate are integrally welded, a welding rod through hole is formed in the center of the welding rod head end plate, a welding head support consists of a rear sliding sleeve, a spring shaft, a front clamping plate and a welding machine electricity connecting ring, the rear sliding sleeve is connected to the rear side face of the front clamping plate through the spring shaft, the welding machine electricity connecting ring is arranged on the top end of the front side face of the front clamping plate, and the front clamping plate and the welding machine electricity connecting ring are integrally formed;
the rear sliding sleeve is sleeved outside the sliding frame, the rear sliding sleeve can slide up and down outside the sliding frame, the front clamping plate can rotate by taking the spring shaft as an axis, the top end of the progress spring is fixed on the bottom surface of the rear fixing plate, the bottom end of the progress spring is fixed on the top surface of the rear sliding sleeve, the adjusting connecting shaft and the sliding frame are integrally formed, and a welding rod clamping groove is formed in the rear side face of the front clamping plate.
Compared with the prior art, the invention has the following advantages: the welding robot has the advantages that the welding setting of the inner wall of the pipeline is optimized, the traditional manual welding mode is changed, the welding robot capable of walking in the pipeline is adopted, the danger of manual welding is reduced, the equipment can be welded in the pipeline under various working conditions, the equipment adopts the adjustable and energy-reducing telescopic walking arm, the shaking in the welding process is reduced, the annular welding in the pipeline can be realized by the equipment, the welding mode without dead angles is realized, the practical effect is good, and the welding robot is suitable for popularization and use.
Drawings
Fig. 1 is a general appearance state diagram of the present invention.
FIG. 2 is a schematic view of the split structure of the present invention.
Fig. 3 is a schematic structural view of the walking frame of the present invention.
Fig. 4 is a schematic diagram of the welding adjustment structure according to the present invention after detachment.
Fig. 5 is a schematic view of a fixed-weld head according to the present invention.
FIG. 6 is a schematic view of the structural center frame of the present invention.
FIG. 7 is a schematic view of a primary energy-reducing connecting arm and a secondary walking adjusting connecting arm according to the present invention.
Fig. 8 is a schematic view of a weld head holder according to the present invention.
FIG. 9 is a schematic view of a welding electrode imitation clamp of the present invention.
In the figure: the welding device comprises a walking frame structure 1, a welding adjusting structure 2 and a fixed welding head structure 3;
the device comprises a structural center frame 1-1, a primary energy-reducing connecting arm 1-2, a secondary walking adjusting connecting arm 1-3 and a double-arm fixing buckle 1-4;
the motor fixing device comprises a fixing outer scrabbling 2-1, an outer sleeve arm 2-2, a motor fixing plate 2-3, an adjusting motor 2-4 and a connecting through hole 2-5;
the welding rod imitation machine clamp 3-1, the welding head bracket 3-2, the adjusting connecting shaft 3-3 and the progress spring 3-4;
the device comprises a central shaft sleeve 11-1, side branch sleeves 11-2, a central bearing 11-3, a connecting sleeve groove 11-4, an inner end spring 12-1, an outer end sleeve spring 12-2, a bearing plate 12-3, an energy reducing support rod 12-4, a length adjusting sleeve 13-1, a wheel carrier 13-2, a traveling wheel 13-3, a fixing pin hole 13-4, an outer cutting sleeve 14-1 and a fixing pin 14-2;
a sliding frame 31-1, a rear fixing plate 31-2, a welding rod head end plate 31-3, a welding rod through hole 31-4, a rear sliding sleeve 32-1, a spring shaft 32-2, a front clamping plate 32-3, a welding machine power connection ring 32-4 and a welding rod clamping groove 32-5.
Detailed Description
The invention is described in further detail below with reference to the figures and the detailed description.
The utility model provides a pipeline inner wall welding walking robot, includes walking frame construction 1, welding adjustment structure 2, fixed welding horn structure 3, the welding adjustment structure is fixed at walking frame construction 1's central leading flank, fixed welding horn structure 3 is established at walking frame construction 1's trailing flank, and fixed welding horn structure 3 passes walking frame construction 1's center and is connected with welding adjustment structure 2.
The walking frame structure 1 is composed of a structure center frame 1-1, a primary energy-reducing connecting arm 1-2, a secondary walking adjusting connecting arm 1-3 and a double-arm fixing buckle 1-4, four groups of the primary energy-reducing connecting arm 1-2, the secondary walking adjusting connecting arm 1-3 and the double-arm fixing buckle 1-4 are arranged, the four groups of the primary energy-reducing connecting arms 1-2 are respectively inserted at the inner side ends of the four groups of the secondary walking adjusting connecting arms 1-3, the primary energy-reducing connecting arm 1-2 is fixed at the inner side end of the secondary walking adjusting connecting arm 1-3 through the double-arm fixing buckle 1-4, and the four groups of the primary energy-reducing connecting arms 1-2 are respectively connected to the outer side of the structure center frame 1-1.
The welding adjusting structure 2 comprises a fixed outer scrabbling 2-1, a sleeve arm 2-2, a motor fixing and supporting plate 2-3 and an adjusting motor 2-4, the sleeve arm 2-2 is provided with a plurality of groups, the sleeve arms 2-2 are arranged on the rear side surface of the motor fixing and supporting plate 2-3 at equal circumferential angles, the fixed outer scrabbling 2-1 is arranged on the inner side of the rear end of the sleeve arm 2-2, the fixed outer scrabbling 2-1, the sleeve arm 2-2 and the motor fixing and supporting plate 2-3 are integrally formed, the adjusting motor 2-4 is fixed on the front side surface of the motor fixing and supporting plate 2-3, the center of the motor fixing and supporting plate 2-3 is provided with a connecting through hole 2-5, the fixed welding head structure 3 penetrates through the connecting through hole 2-5 to be connected with the adjusting motor 2-4, the outer sleeve arm 2-2 is arranged on the outer side surface of the structural center frame 1-1, the motor fixing and supporting plate 2-3 is tightly attached to the front side surface of the structural center frame 1-1, and the fixing and outer support 2-1 is arranged on the rear side surface of the structural center frame 1-1.
The fixed welding head structure 3 consists of a welding rod imitation machine clamp 3-1, a welding head support 3-2, an adjusting connecting shaft 3-3 and a progress spring 3-4, wherein the adjusting connecting shaft 3-3 is arranged on the front side of the bottom end of the welding head support 3-2, the welding rod imitation machine clamp 3-1 is connected to the welding head support 3-2, the welding rod imitation machine clamp 3-1 can slide up and down on the welding head support 3-2, the top end of the progress spring 3-4 is fixed on the rear side of the top end of the welding head support 3-2, the bottom end of the progress spring 3-4 is fixed on the top side of the rear end of the welding rod imitation machine clamp 3-1, the adjusting connecting shaft 3-3 sequentially penetrates through the structural center frame 1-1 and the connecting hole 2-5 to connect the adjusting motor 2-4, and the welding rod imitation machine clamp 3-1 and the welding head support 3-2 can take the adjusting connecting shaft 3-3 as an axis to connect the adjusting motor 2 And (4) rotating.
The structure center frame 1-1 is composed of a center shaft sleeve 11-1, side branch cylinders 11-2 and a center bearing 11-3, wherein four groups of side branch cylinders 11-2 are arranged, the four groups of side branch cylinders 11-2 are arranged on the outer side of the center shaft sleeve 11-1 in an equal circumferential angle mode, the center shaft sleeve 11-1 and the side branch cylinders 11-2 are integrally formed, the center bearing 11-3 is arranged in the center of the center shaft sleeve 11-1, the center bearing 11-3 can rotate on the axis of the center shaft sleeve 11-1, energy reducing connecting cylinder grooves 11-4 are formed in the outer side ends of the side branch cylinders 11-2, the first-stage energy reducing connecting arms 1-2 are connected in the energy reducing connecting cylinder grooves 11-4, and the first-stage energy reducing connecting arms 1-2 can be pulled in the energy reducing connecting cylinder grooves 11-4, the adjusting connecting shaft 3-3 is connected to the central bearing 11-3, and the outer sleeve arm 2-2 is arranged on the outer side of the central shaft sleeve 11-1.
The primary energy-reducing connecting arm 1-2 consists of an inner end spring 12-1, an outer end sleeve spring 12-2, a bearing plate 12-3 and an energy-reducing supporting rod 12-4, the bearing plate 12-3 is welded at the rear side end of the energy-reducing supporting rod 12-4, the outer end sleeve spring 12-2 is sleeved at the rear side end of the energy-reducing supporting rod 12-4, the outer end sleeve spring 12-2 is tightly attached to the front side surface of the bearing plate 12-3, the inner end spring 12-1 is tightly attached to the rear side surface of the bearing plate 12-3, the secondary walking adjusting connecting arm 1-3 consists of a long and short adjusting cylinder 13-1, a wheel carrier 13-2 and a walking wheel 13-3, the wheel carrier 13-2 is welded at the front side end of the long and short adjusting cylinder 13-1, and the walking wheel 13-3 is connected to the wheel carrier 13-2, the energy-reducing support rod 12-4 is inserted in the long and short adjusting cylinder 13-1, the energy-reducing support rod 12-4 and the long and short adjusting cylinder 13-1 are respectively provided with a fixing pin hole 13-4, the energy-reducing support rod 12-4 and the fixing pin hole 13-4 on the long and short adjusting cylinder 13-1 correspond to each other, the double-arm fixing buckle 1-4 consists of an outer cutting sleeve 14-1 and a fixing pin 14-2, the fixing pin 14-2 is arranged at the center of the outer cutting sleeve 14-1, the fixing pin 14-2 penetrates through the energy-reducing support rod 12-4 and the fixing pin hole 13-4 on the long and short adjusting cylinder 13-1, the outer cutting sleeve 14-1 is sleeved outside the long and short adjusting cylinder 13-1, and the inner end spring 12-1, the outer end sleeve spring 12-2, The supporting plates 12-3 are all arranged in the energy-reducing connecting cylinder grooves 11-4 at the outer side ends of the side branch cylinders 11-2, and the supporting plates 12-3 can slide in the energy-reducing connecting cylinder grooves 11-4.
The welding rod imitation machine clamp 3-1 consists of a sliding frame 31-1, a rear fixing plate 31-2 and a welding rod head end plate 31-3, the rear fixing plate 31-2 is arranged on the rear side of the top end of the sliding frame 31-1, the welding rod head end plate 31-3 is arranged on the front side of the top end of the sliding frame 31-1, the rear fixing plate 31-2 and the welding rod head end plate 31-3 are integrally welded, a welding rod perforation 31-4 is arranged at the center of the welding rod head end plate 31-3, the welding rod support 3-2 consists of a rear sliding sleeve 32-1, a spring shaft 32-2, a front clamping plate 32-3 and a welding machine power-on ring 32-4, the rear sliding sleeve 32-1 is connected to the rear side face of the front clamping plate 32-3 through the spring shaft 32-2, the welding machine power-on ring 32-4 is arranged at the top end of the front side face of the front clamping plate 32-3, the front clamp plate 32-3 and the welding machine electricity-connecting ring 32-4 are integrally formed, the rear sliding sleeve 32-1 is sleeved outside the sliding frame 31-1, the rear sliding sleeve 32-1 can slide up and down outside the sliding frame 31-1, the front clamp plate 32-3 can rotate by taking the spring shaft 32-2 as an axis, the top end of the progress spring 3-4 is fixed on the bottom surface of the rear fixing plate 31-2, the bottom end of the progress spring 3-4 is fixed on the top surface of the rear sliding sleeve 32-1, the adjusting connecting shaft 3-3 and the sliding frame 31-1 are integrally formed, and the rear side surface of the front clamp plate 32-3 is provided with a welding rod clamping groove 32-5.
The working principle of the invention is as follows: the use mode of the device is simple and mainly comprises the adjustment of different pipe diameters and the use and adjustment of welding heads.
The first one is the adjustment of different pipe diameters, need be according to being connected of the big or small adjustment second grade walking adjustment linking arm of pipe diameter and one-level energy reduction linking arm of use, and make the depth of connection of its four groups second grade walking adjustment linking arms all the same, specifically for letting the energy reduction bracing piece insert in the length adjustment section of thick bamboo, then utilize the fixed pin to insert in the fixed pin is downthehole, and make its outer cutting ferrule cover put in the outside of length adjustment section of thick bamboo, prevent that second grade walking adjustment linking arm from droing from the one-level energy reduction linking arm outside, the inner spring and the outer end cover spring of one-level energy reduction linking arm medial extremity can play fine buffering absorbing effect in advancing process.
Two uses and the adjustment for the bonding tool, need to be connected fixed welding bonding tool structure and welding adjustment structure, when needs carry out angle adjustment, adjustment motor drive, drive the rotation of adjustment connecting axle, can follow the rotation of adjustment connecting axle with the integrative bonding tool support of adjustment connecting axle and rotate, place the welding rod clamp inslot of front plate with the welded end, then pass the welding rod with the top of its welding rod and perforate, connect the power cord that the welding machine needs to be connected on the welding machine electricity ring, in the pipeline, make the outer end of its welding rod hug closely at the welding position, progress spring this moment is stretched, in welding process gradually, the welding rod shortens gradually, slide sleeve removes after progress spring this moment can be spur, and drive the welding rod and go forward one by one.
The foregoing is a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that variations, modifications, substitutions and alterations can be made in the embodiment without departing from the principles and spirit of the invention.
Claims (7)
1. The utility model provides a pipeline inner wall welding walking robot, its characterized in that, includes walking frame structure (1), welding adjustment structure (2), fixed welding bonding tool structure (3), the central leading flank in walking frame structure (1) is fixed to welding adjustment structure (), the trailing flank in walking frame structure (1) is established in fixed welding bonding tool structure (3), and fixed welding bonding tool structure (3) pass the center of walking frame structure (1) and be connected with welding adjustment structure (2).
2. The robot for welding and walking on the inner wall of a pipeline as claimed in claim 1, wherein the walking frame structure (1) is composed of a structure center frame (1-1), a first-stage energy-reducing connecting arm (1-2), a second-stage walking adjusting connecting arm (1-3) and two-arm fixing buckles (1-4), four groups of the first-stage energy-reducing connecting arm (1-2), the second-stage walking adjusting connecting arm (1-3) and the two-arm fixing buckles (1-4) are respectively arranged, the four groups of the first-stage energy-reducing connecting arms (1-2) are respectively inserted into the inner side ends of the four groups of the second-stage walking adjusting connecting arms (1-3), and the first-stage energy-reducing connecting arms (1-2) are fixed at the inner side ends of the second-stage walking adjusting connecting arms (1-3) through the two-arm fixing buckles (1-4), the four groups of first-stage energy-reducing connecting arms (1-2) are respectively connected to the outer sides of the structural center frame (1-1).
3. The walking robot for welding the inner wall of the pipeline according to claim 1, wherein the welding adjusting structure (2) is composed of a fixed outer scrabbling (2-1), an outer sleeving arm (2-2), a motor fixing and carrying plate (2-3) and an adjusting motor (2-4), the outer sleeving arm (2-2) is provided with a plurality of groups, the outer sleeving arm (2-2) is arranged on the rear side surface of the motor fixing and carrying plate (2-3) at an equal circumferential angle, the fixed outer scrabbling (2-1) is arranged on the inner side of the rear end of the outer sleeving arm (2-2), the fixed outer scrabbling (2-1), the outer sleeving arm (2-2) and the motor fixing and carrying plate (2-3) are integrally formed, and the adjusting motor (2-4) is fixed on the front side surface of the motor fixing and carrying plate (2-3), the center of the motor fixing and supporting plate (2-3) is provided with a connecting through hole (2-5), the fixing and welding head structure (3) penetrates through the connecting through hole (2-5) to be connected with an adjusting motor (2-4), the outer sleeve arm (2-2) is arranged on the outer side face of the structure center frame (1-1), the motor fixing and supporting plate (2-3) is tightly attached to the front side face of the structure center frame (1-1), and the fixing outer scratcher (2-1) is arranged on the rear side face of the structure center frame (1-1).
4. The pipe inner wall welding walking robot as claimed in claim 1, wherein the fixed welding head structure (3) is composed of a welding rod imitator clamp (3-1), a welding head bracket (3-2), an adjusting connecting shaft (3-3) and a progress spring (3-4), the adjusting connecting shaft (3-3) is arranged at the front side of the bottom end of the welding head bracket (3-2), the welding rod imitator clamp (3-1) is connected to the welding head bracket (3-2), the welding rod imitator clamp (3-1) can slide up and down on the welding head bracket (3-2), the top end of the progress spring (3-4) is fixed at the rear side of the top end of the welding head bracket (3-2), the bottom end of the progress spring (3-4) is fixed at the top side of the rear end of the welding rod imitator clamp (3-1), the adjusting connecting shaft (3-3) sequentially penetrates through the structural center frame (1-1) and the connecting through hole (2-5) to be connected with the adjusting motor (2-4), and the welding rod imitation clamp (3-1) and the welding head support (3-2) can rotate by taking the adjusting connecting shaft (3-3) as an axis.
5. The walking robot for welding the inner wall of the pipeline according to claim 2, wherein the structural center frame (1-1) is composed of a center shaft sleeve (11-1), side branch cylinders (11-2) and a center bearing (11-3), the side branch cylinders (11-2) are provided with four groups, the four groups of side branch cylinders (11-2) are arranged at the outer side of the center shaft sleeve (11-1) in an equal circumferential angle mode, the center shaft sleeve (11-1) and the side branch cylinders (11-2) are integrally formed, the center bearing (11-3) is arranged at the center of the center shaft sleeve (11-1), the center bearing (11-3) can rotate at the axis of the center shaft sleeve (11-1), the outer side ends of the side branch cylinders (11-2) are provided with energy-reducing connecting cylinder grooves (11-4), the energy-reducing connecting arm is characterized in that the one-level energy-reducing connecting arm (1-2) is connected in an energy-reducing connecting barrel groove (11-4), the one-level energy-reducing connecting arm (1-2) can be pulled in the energy-reducing connecting barrel groove (11-4), the adjusting connecting shaft (3-3) is connected to a central bearing (11-3), and the outer sleeve arm (2-2) is arranged on the outer side of the central shaft sleeve (11-1).
6. The pipeline inner wall welding walking robot as claimed in claim 2, wherein the primary energy-reducing connecting arm (1-2) is composed of an inner end spring (12-1), an outer end sleeve spring (12-2), a bearing plate (12-3) and an energy-reducing supporting rod (12-4), the bearing plate (12-3) is welded at the rear end of the energy-reducing supporting rod (12-4), the outer end sleeve spring (12-2) is sleeved at the rear end of the energy-reducing supporting rod (12-4), the outer end sleeve spring (12-2) is tightly attached to the front side face of the bearing plate (12-3), the inner end spring (12-1) is tightly attached to the rear side face of the bearing plate (12-3), and the secondary walking adjusting connecting arm (1-3) is composed of a length adjusting cylinder (13-1), The energy-reducing support rod comprises a wheel carrier (13-2) and a traveling wheel (13-3), the wheel carrier (13-2) is welded at the front side end of a length adjusting cylinder (13-1), the traveling wheel (13-3) is connected to the wheel carrier (13-2), the energy-reducing support rod (12-4) is inserted in the length adjusting cylinder (13-1), the energy-reducing support rod (12-4) and the length adjusting cylinder (13-1) are both provided with fixing pin holes (13-4), the energy-reducing support rod (12-4) and the fixing pin holes (13-4) on the length adjusting cylinder (13-1) correspond to each other, the two-arm fixing buckle (1-4) comprises an outer clamping sleeve (14-1) and a fixing pin (14-2), the fixing pin clamping sleeve (14-2) is arranged at the center of the outer clamping sleeve (14-1), the fixing pin (14-2) penetrates through a fixed pin hole (13-4) in the energy-reducing support rod (12-4) and the length adjusting cylinder (13-1), the outer clamping sleeve (14-1) is sleeved on the outer side of the length adjusting cylinder (13-1), the inner end spring (12-1), the outer end sleeve spring (12-2) and the bearing plate (12-3) are all arranged in an energy-reducing connecting cylinder groove (11-4) in the outer side end of the side supporting cylinder (11-2), and the bearing plate (12-3) can slide in the energy-reducing connecting cylinder groove (11-4).
7. The pipe inner wall welding walking robot as claimed in claim 4, wherein the welding rod imitation clamp (3-1) is composed of a sliding frame (31-1), a rear fixing plate (31-2) and a welding rod head end plate (31-3), the rear fixing plate (31-2) is arranged on the rear side of the top end of the sliding frame (31-1), the welding rod head end plate (31-3) is arranged on the front side of the top end of the sliding frame (31-1), the rear fixing plate (31-2) and the welding rod head end plate (31-3) are integrally welded, a welding rod through hole (31-4) is formed in the center of the welding rod head end plate (31-3), and the welding rod support (3-2) is composed of a rear sliding sleeve (32-1), a spring shaft (32-2), The welding machine is characterized by comprising a front clamping plate (32-3) and a welding machine electricity connecting ring (32-4), wherein a rear sliding sleeve (32-1) is connected to the rear side face of the front clamping plate (32-3) through a spring shaft (32-2), the welding machine electricity connecting ring (32-4) is arranged at the top end of the front side face of the front clamping plate (32-3), the front clamping plate (32-3) and the welding machine electricity connecting ring (32-4) are integrally formed, the rear sliding sleeve (32-1) is sleeved on the outer side of a sliding frame (31-1), the rear sliding sleeve (32-1) can slide up and down on the outer side of the sliding frame (31-1), the front clamping plate (32-3) can rotate by taking the spring shaft (32-2) as an axis, the top end of a progress spring (3-4) is fixed on the bottom face of a rear fixing plate (31-2), the bottom end of the progress spring (3-4) is fixed on the top face of the rear sliding sleeve (32-1), the adjusting connecting shaft (3-3) and the sliding frame (31-1) are integrally formed, and a welding rod clamping groove (32-5) is formed in the rear side face of the front clamping plate (32-3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110878417.8A CN113653883A (en) | 2021-08-02 | 2021-08-02 | Pipeline inner wall welding walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110878417.8A CN113653883A (en) | 2021-08-02 | 2021-08-02 | Pipeline inner wall welding walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113653883A true CN113653883A (en) | 2021-11-16 |
Family
ID=78478227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110878417.8A Withdrawn CN113653883A (en) | 2021-08-02 | 2021-08-02 | Pipeline inner wall welding walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113653883A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114523238A (en) * | 2022-03-15 | 2022-05-24 | 上海雅跃智能科技有限公司 | Centering and positioning device for tubular pile inner wall welding equipment |
-
2021
- 2021-08-02 CN CN202110878417.8A patent/CN113653883A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114523238A (en) * | 2022-03-15 | 2022-05-24 | 上海雅跃智能科技有限公司 | Centering and positioning device for tubular pile inner wall welding equipment |
| CN114523238B (en) * | 2022-03-15 | 2024-05-07 | 上海雅跃智能科技有限公司 | Centering and positioning device for tubular pile inner wall welding equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201007411Y (en) | Piping spigot-and-socket connector | |
| CN218612613U (en) | Automatic welding device for boiler header pipe joint | |
| CN113653883A (en) | Pipeline inner wall welding walking robot | |
| CN107414379A (en) | Welding device | |
| CN203681774U (en) | Handlebar frame of folding bicycle | |
| CN102133604B (en) | Pipe contracting device | |
| CN209551011U (en) | A kind of stainless steel tube welder | |
| CN208600953U (en) | Differential disc angle tooth accessory automation electric welding fixture | |
| CN110513535A (en) | Double dynamical ejector sleeve machine | |
| CN206326357U (en) | Skid locking mechanism | |
| CN111763969B (en) | Railway track coating equipment | |
| CN211589165U (en) | Universal joint bearing press-in clamping device | |
| CN211564081U (en) | Processing device for straight welded pipe | |
| CN211551008U (en) | Highway detects core machine fixing device | |
| CN208276376U (en) | A kind of multiposition thin-wall steel tube bonding machine | |
| CN218719379U (en) | Pipeline supporting and hanging frame for building electromechanical installation | |
| CN205325146U (en) | Semi -manufactured goods trachea subassembly on brake trachea assembly machine is got with connector clamp and is emboliaed mechanism | |
| CN206855319U (en) | A kind of rotary tooling fixture | |
| CN218985737U (en) | Reaming device for processing medicine bag tube | |
| CN219212198U (en) | Double-position head rotating machine | |
| CN103950495A (en) | Adjustable portable bicycle | |
| CN221113727U (en) | Automobile tail multi-group bicycle transportation bracket convenient to install | |
| CN220816956U (en) | Pipeline supporting device for hydraulic engineering | |
| CN210562345U (en) | Bending-resistant and bending-resistant test frame for tubular pile | |
| CN205414820U (en) | Welding stent shifts |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20211116 |
|
| WW01 | Invention patent application withdrawn after publication |