CN113953667A

CN113953667A - Multi-angle welded pipeline laser spot welding robot and welding method thereof

Info

Publication number: CN113953667A
Application number: CN202111198711.0A
Authority: CN
Inventors: 张�浩
Original assignee: Nanjing Heshang Technology Co ltd
Current assignee: Nanjing Heshang Technology Co ltd
Priority date: 2021-10-14
Filing date: 2021-10-14
Publication date: 2022-01-21

Abstract

The invention discloses a multi-angle welded pipeline laser spot welding robot and a welding method thereof, the laser spot welding robot comprises a supporting plate, a moving device is arranged at the top end of the supporting plate, first fixing plates are arranged on two sides of the top of the moving device, a first motor is arranged on one side of the top of each first fixing plate, a moving device is arranged on the top end of the supporting plate and on one side of the moving device, a lifting device is arranged at the top end of the moving device, a sliding plate is sleeved at one end of the lifting device, a pushing plate is arranged at the top end of the sliding plate, a first electric push rod is arranged on one side of the pushing plate, an adjusting device is arranged at the bottom end of the sliding plate, a welding head is arranged at the bottom end of the adjusting device, and a controller is arranged at the bottom end of the supporting plate. Has the advantages that: the robot is reasonable in structure and simple and convenient to operate, can improve the welding speed of pipelines, improves the diversity, flexibility and accuracy of the robot, and realizes automatic welding.

Description

Multi-angle welded pipeline laser spot welding robot and welding method thereof

Technical Field

The invention belongs to the technical field of pipeline welding, and particularly relates to a multi-angle welding pipeline laser spot welding robot and a welding method thereof.

Background

The laser spot welding robot is a tool used for improving production efficiency and reducing labor intensity of workers in a production environment, can replace heavy labor of people to realize mechanization and automation of production, can be operated under a harmful environment to protect personal safety, can be widely applied, is completed by the robot during welding, can repeatedly do the same action with the maximum advantage of the robot, and can never feel tired under the normal condition of the machine, and has high operation accuracy.

The pipeline is one of the common transportation modes of the fluid, has the advantages of small occupied space, low cost and the like, for the existing welding robot, the welding process does not need manual operation, but still needs manual monitoring of the welding condition, irritant gas and intense light are generated during the welding, and monitoring personnel are in the environment for a long time and are easy to cause irreversible damage to the health.

For example, patent No. CN109664065B discloses a multi-angle welded pipe laser spot welding robot and a welding method thereof, including that the right end of a base is provided with an arc-shaped groove, one end of an angle adjusting seat is fixedly connected to the left end of the base, and the other end of the angle adjusting seat is slidably connected in the arc-shaped groove; height adjusting subassembly fixed connection is in the rear end of base, welding subassembly sliding connection is in height adjusting subassembly's upper end, the fixed subassembly of pipeline is provided with two, two fixed subassemblies of pipeline difference sliding connection are at the both ends of angle modulation seat, however, because the bonding tool of welded pipe can only horizontal migration, thereby can only adjust the horizontal position of bonding tool, thereby make the bonding tool can only weld the pipeline perpendicularly, thereby can not weld the pipeline by the multi-angle, and then the pipeline of the irregular face of weld of welding that can not be better, because the distance of two pipelines of manual regulation, thereby the laminating welding of two pipelines is not convenient for, thereby extravagant weld time, and then influence welding efficiency.

An effective solution to the problems in the related art has not been proposed yet.

Disclosure of Invention

The purpose of the invention is as follows: the utility model provides a pipeline laser spot welding robot with multi-angle welding and a welding method thereof, which aims to overcome the technical problems in the prior art.

The technical scheme is as follows: according to one aspect of the invention, a multi-angle welded pipeline laser spot welding robot is provided, which comprises a support plate, wherein a moving device is arranged at the top end of the support plate, first fixing plates are respectively arranged at two sides of the top of the moving device, a first motor is arranged at one side of the top of each first fixing plate, the output end of each first motor penetrates through each first fixing plate to be provided with a first rotating shaft, a fixing component is arranged at the other end of each first rotating shaft, a pipeline is arranged on the circumferential wall of each fixing component, a moving device is arranged at the top end of the support plate and positioned at one side of the moving device, a lifting device is arranged at the top end of each moving device, a sliding plate is sleeved at one end of each lifting device, a pushing plate is arranged at the top end of each sliding plate, a first electric push rod is arranged at one side of each pushing plate, the first electric push rods are arranged on the lifting devices, an adjusting device is arranged at the bottom end of each sliding plate, and a welding head is arranged at the bottom end of the adjusting device, and the welding head is positioned above the pipeline, the controller is arranged at the bottom end of the supporting plate, and the moving device, the first motor, the moving device, the lifting device, the first electric push rod and the adjusting device are all electrically connected with the controller.

In a further embodiment, in order to make the two fixed pipelines move relatively, so that the end faces of the two fixed pipelines are quickly attached to the middle, thereby improving the attaching efficiency of the two pipelines, and further improving the welding speed of the pipelines, the moving device comprises two second fixing plates arranged at the top end of a supporting plate, a moving track is arranged between the two second fixing plates, a mounting block is arranged in the middle of the moving track, a rotating part is arranged at the top of the mounting block, connecting rods are arranged on both sides of the top of the rotating part, a moving block is arranged at the other end of each connecting rod, the middle of the moving block is sleeved on the moving track, the moving blocks are positioned on both sides of the mounting block, a second electric push rod is arranged at the bottom of one moving block, a fixed block is arranged at the output end of the second electric push rod, and the other side of the fixed block is arranged on the side face of the mounting block, rotate the piece including setting up the rotor plate at installation piece top, the top both sides of rotor plate all are provided with the fixed column, and rotatory hole has been seted up at the middle part of rotor plate.

In a further embodiment, in order to enable the welding head to be capable of welding at different positions in the horizontal direction, the moving device comprises a moving guide rail arranged at the top end of the support plate, two third fixing plates are arranged on two sides of the top end of the moving guide rail, a second motor is arranged on one side of one third fixing plate, a moving screw rod is arranged at one end of the second motor, the other end of the moving screw rod is arranged on the other third fixing plate, and a moving sliding block is connected to the moving screw rod in a matching mode.

In a further embodiment, in order to adjust the height of the welding head, so that the welding head can be welded at different heights, and thus pipes with different thicknesses can be better welded, and further the diversity of the robot is improved, the lifting device comprises a first mounting plate arranged at the top end of the moving device, two lead screw fixing plates are arranged in the middle of one side of the first mounting plate, lead screws are arranged on the two lead screw fixing plates, a third motor is connected to the bottom ends of the lead screws, a fourth fixing plate is arranged on the third motor, one side of the fourth fixing plate is fixed on the side surface of the first mounting plate, two walking rails are symmetrically arranged on two sides of the lead screws, two track fixing plates are arranged at two ends of each walking rail, one side of each track fixing plate is fixed on the side surface of the first mounting plate, a lifting plate is sleeved on the outer walls of the two walking rails, and the middle parts of the lifting plates are matched and arranged on the lead screws, the lifter plate is including setting up the lifter block on walking track outer wall, and the both sides of lifter block are seted up with walking track matched with through-hole, and the middle part of lifter block is seted up with lead screw matched with screw hole, and one side of lifter block is provided with places the board, places the one end of board and has seted up the sliding tray.

In a further embodiment, in order to adjust the angle of the welding head, so that the welding head can adjust the pipeline at different angles, thereby welding irregular welding surfaces better and more accurately, and further improving the flexibility and accuracy of the robot, the adjusting device comprises a second support plate arranged at the bottom end of the sliding plate, a first rotating rod is arranged at the bottom of the second support plate, a second rotating rod is arranged in the middle of the first rotating rod, the second rotating rod is arranged perpendicular to the first rotating rod, brackets are arranged at two ends of the second rotating rod, the welding head is arranged in the middle of the bottom end of each bracket, a fifth fixing plate is arranged at one side of the second support plate, a third electric push rod is arranged at one side of the fifth fixing plate, a first rack is arranged at the output end of the third electric push rod, a first gear meshed with one side of the first rack, and the middle of the first gear is arranged on the first rotating rod, the opposite side of first rack is provided with first gag lever post, and first gag lever post setting is in the one end of first dwang, bottom one side be provided with the sixth fixed plate, one side of sixth fixed plate is provided with fourth electric putter, fourth electric putter's output is provided with the second rack, one side of second rack is provided with the second gear of meshing, and the middle part of second gear sets up on the second dwang, the opposite side of second rack is provided with the second gag lever post, and the second gag lever post sets up the one end at the second dwang, the support is including setting up the rotation post at the second dwang both ends, the rotation hole has been seted up at the middle part of rotation post, be provided with the U-shaped frame on the circumference wall of two rotation posts, set up on the first gag lever post with first rack matched with first spacing groove, set up on the second gag lever post with second rack matched with second spacing groove.

According to another aspect of the present invention, there is provided a welding method of a multi-angle welded pipe laser spot welding robot,

the welding method of the multi-angle welded pipeline laser spot welding robot comprises the following steps:

s1: fixing the pipeline to be welded through a fixing component;

s2: starting a movement device through a controller to attach the welding surfaces of the two pipelines;

s3: the controller starts the moving device, the lifting device, the first electric push rod and the adjusting device to adjust the position of the welding head;

s4: the two pipelines are welded through the welding head, and the first motor is started to rotate the pipelines to realize continuous welding.

Has the advantages that:

1. the robot is reasonable in structure and simple and convenient to operate, can improve the welding speed of pipelines, improves the diversity, flexibility and accuracy of the robot, and realizes automatic welding.

2. Through setting up the telecontrol equipment to make two fixed pipeline relative motion, thereby make the terminal surface of two fixed pipelines laminate to the centre fast, thereby improve the laminating efficiency of two pipelines, and then improve the welding speed of pipeline.

3. Through setting up elevating gear to can adjust the height of bonding tool, thereby make the bonding tool can be in not co-altitude and weld, thereby the pipeline to different thicknesses that can be better welds, and then improve the variety of this robot.

4. Through setting up adjusting device to can adjust bonding tool angle, thereby make the bonding tool can carry out the regulation of different angles to the pipeline, thereby can be better more accurate weld irregular welding face, and then improve the flexibility and the accuracy of this robot.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is one of perspective views of a multi-angle welded pipe laser spot welding robot according to an embodiment of the present invention;

FIG. 2 is a second perspective view of a multi-angle welded pipe laser spot welding robot according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a moving device of a multi-angle welding pipe laser spot welding robot according to an embodiment of the invention;

FIG. 4 is a schematic structural diagram of a rotating member of a multi-angle welded pipe laser spot welding robot according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a mobile device of a multi-angle welding pipe laser spot welding robot according to an embodiment of the invention;

FIG. 6 is a schematic structural diagram of a lifting device of a multi-angle welding pipe laser spot welding robot according to an embodiment of the invention;

FIG. 7 is a schematic structural diagram of a lifting plate of a multi-angle welding pipe laser spot welding robot according to an embodiment of the invention;

FIG. 8 is an enlarged view of a portion of FIG. 2 at A;

FIG. 9 is a schematic structural diagram of an adjusting device of a multi-angle welding pipeline laser spot welding robot according to an embodiment of the invention;

FIG. 10 is a schematic structural diagram of a support of a multi-angle welding pipe laser spot welding robot according to an embodiment of the invention.

In the figure:

1. a support plate; 2. a motion device; 201. a second fixing plate; 202. a motion track; 203. mounting blocks; 204. a rotating member; 20401. a rotating plate; 20402. fixing a column; 20403. rotating the hole; 205. a connecting rod; 206. a motion block; 207. a second electric push rod; 208. a fixed block; 3. a first fixing plate; 4. a first motor; 5. a first rotating shaft; 6. a fixing assembly; 7. a pipeline; 8. a mobile device; 801. a moving guide rail; 802. a third fixing plate; 803. a second motor; 804. moving the screw rod; 805. moving the slide block; 9. a lifting device; 901. a first mounting plate; 902. A screw rod fixing plate; 903. a screw rod; 904. a third motor; 905. a fourth fixing plate; 906. a traveling rail; 907. a rail fixing plate; 908. a lifting plate; 90801. a lifting block; 90802. a through hole; 90803. a threaded hole; 90804. placing the plate; 90805. a sliding groove; 10. a sliding plate; 11. a push plate; 12. a first electric push rod; 13. an adjustment device; 1301. a second support plate; 1302. a first rotating lever; 1303. a second rotating lever; 1304. a support; 130401, rotating column; 130402, a rotation hole; 130403, U-shaped frame; 1305. a fifth fixing plate; 1306. a third electric push rod; 1307. a first rack; 1308. a first gear; 1309. a first limit rod; 1310. a sixth fixing plate; 1311. a fourth electric push rod; 1312. a second rack; 1313. a second gear; 1314. a second limiting rod; 14. a welding head; 15. and a controller.

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.

According to the embodiment of the invention, a multi-angle welded pipeline laser spot welding robot and a welding method thereof are provided.

As shown in fig. 1-2, the multi-angle welded pipe laser spot welding robot according to the embodiment of the present invention includes a supporting plate 1, a moving device 2 is disposed on a top end of the supporting plate 1, a first fixing plate 3 is disposed on both sides of a top portion of the moving device 2, a first motor 4 is disposed on one side of the top portion of the first fixing plate 3, an output end of the first motor 4 penetrates through the first fixing plate 3 and is provided with a first rotating shaft 5, the other end of the first rotating shaft 5 is provided with a fixing component 6, a pipe 7 is disposed on a circumferential wall of the fixing component 6, a moving device 8 is disposed on a top end of the supporting plate 1 and on one side of the moving device 2, a lifting device 9 is disposed on a top end of the moving device 8, a sliding plate 10 is sleeved on one end of the lifting device 9, a pushing plate 11 is disposed on a top end of the sliding plate 10, a first electric push rod 12 is disposed on one side of the pushing plate 11, and the first electric push rod 12 is disposed on the lifting device 9, the bottom end of the sliding plate 10 is provided with an adjusting device 13, the bottom end of the adjusting device 13 is provided with a welding head 14, the welding head 14 is positioned above the pipeline 7, the bottom end of the supporting plate 1 is provided with a controller 15, and the moving device 2, the first motor 4, the moving device 8, the lifting device 9, the first electric push rod 12 and the adjusting device 13 are all electrically connected with the controller 15.

As shown in fig. 1-4, in one embodiment, for the above-mentioned moving device 2, the moving device 2 includes two second fixing plates 201 disposed at the top end of the supporting plate 1, a moving track 202 is disposed between the two second fixing plates 201, a mounting block 203 is disposed at the middle part of the moving track 202, a rotating member 204 is disposed at the top part of the mounting block 203, two sides of the top part of the rotating member 204 are both provided with a connecting rod 205, the other end of the connecting rod 205 is provided with a moving block 206, the middle part of the moving block 206 is sleeved on the moving track 202, and the moving block 206 is located at two sides of the mounting block 203, wherein the bottom of one moving block 206 is provided with a second electric push rod 207, the output end of the second electric push rod 207 is provided with a fixing block 208, and the other side of the fixing block 208 is disposed at the side surface of the mounting block 203, the rotating member 204 includes a rotating plate 20401 disposed at the top part of the mounting block 203, two sides of the top end of the rotating plate 20401 are both provided with fixing columns 20402, rotation hole 20403 has been seted up at the middle part of rotor plate 20401 to make two fixed pipeline 7 relative motion, thereby make the terminal surface of two fixed pipelines 7 laminate to the centre fast, thereby improve the laminating efficiency of two pipelines 7, and then improve pipeline 7's welding speed.

The working principle of the movement device 2 is as follows: when needs are laminated to the face of weld of two pipelines 7, will need two welded pipelines 7 to fix respectively through two sets of fixed subassembly 6, then, start second electric putter 207 through controller 15 and shorten, thereby stimulate left motion piece 206 and move right, thereby make connecting rod 205 move, thereby promote to rotate piece 204 and rotate, thereby stimulate connecting rod 205 on right side, thereby drive motion piece 206 on right side and move left, and then make two pipelines 7 carry out relative motion, and then make the face of weld of two pipelines 7 laminate fast and weld, the position of the face of weld laminating according to two pipelines 7 again.

As shown in fig. 1-2 and 5, in an embodiment, for the moving device 8, the moving device 8 includes a moving guide 801 disposed at the top end of the support plate 1, two third fixing plates 802 are disposed on two sides of the top end of the moving guide 801, one side of one third fixing plate 802 is provided with a second motor 803, one end of the second motor 803 is provided with a moving screw 804, the other end of the moving screw 804 is disposed on the other third fixing plate 802, and a moving slider 805 is fittingly connected to the moving screw 804, so that the welding head 14 can be welded at different positions in the horizontal direction.

The working principle of the moving device 8 is as follows: when the horizontal position of the welding head 14 is adjusted, the controller 15 starts the second motor 803 to rotate, so as to drive the movable screw rod 804 to rotate, so as to drive the movable slider 805 to move horizontally, and further adjust the horizontal position of the welding head 14.

As shown in fig. 1-2 and fig. 6-7, in one embodiment, for the above-mentioned lifting device 9, the lifting device 9 includes a first mounting plate 901 disposed on the top end of the moving device 8, two screw fixing plates 902 are disposed in the middle of one side of the first mounting plate 901, a screw 903 is disposed on the two screw fixing plates 902, a third motor 904 is connected to the bottom end of the screw 903, a fourth fixing plate 905 is disposed on the third motor 904, one side of the fourth fixing plate 905 is fixed on the side of the first mounting plate 901, two walking rails 906 are symmetrically disposed on both sides of the screw 903, two ends of the two walking rails 906 are each provided with a rail fixing plate 907, one side of the rail fixing plate 907 is fixed on the side of the first mounting plate 901, a lifting plate 908 is sleeved on the outer walls of the two walking rails 906, and the middle of the lifting plate 908 is disposed on the screw 903 in a matching manner, lifting plate 908 is including setting up the elevator 90801 on walking track 906 outer wall, elevator 90801's both sides are seted up with walking track 906 matched with through-hole 90802, elevator 90801's middle part is seted up with lead screw 903 matched with screw hole 90803, one side of elevator 90801 is provided with places board 90804, the one end of placing board 90804 is seted up sliding tray 90805, thereby can adjust the height of bonding tool 14, thereby make bonding tool 14 can be in not co-altitude and weld, thereby can be better weld different thickness's pipeline 7, and then improve the variety of this robot.

The working principle of the lifting device 9 is as follows: when adjusting the height position of bonding tool 14, start third motor 904 through controller 15 and rotate to drive lead screw 903 and rotate, thereby drive lifter plate 908 along walking track 906 up-and-down motion, thereby make bonding tool 14 can adjust to suitable welding position and carry out the welding of pipeline 7, and then effective accurate welding.

As shown in fig. 1-2 and 8-10, in one embodiment, for the above-mentioned adjusting device 13, the adjusting device 13 includes a second support plate 1301 disposed at the bottom end of the sliding plate 10, a first rotating rod 1302 is disposed at the bottom of the second support plate 1301, a second rotating rod 1303 is disposed at the middle of the first rotating rod 1302, the second rotating rod 1303 is disposed perpendicular to the first rotating rod 1302, brackets 1304 are disposed at both ends of the second rotating rod 1303, a welding head 14 is disposed at the middle of the bottom end of the bracket 1304, a fifth fixing plate 1305 is disposed at one side of the second support plate 1301, a third electric push rod 1306 is disposed at one side of the fifth fixing plate 1305, a first rack 1307 is disposed at the output end of the third electric push rod 1306, a first gear 1308 engaged with one side of the first rack 1307 is disposed, the middle of the first gear is disposed on the first rotating rod 1302, a first limit rod 1309 is disposed at the other side of the first rack 1307, a first limit rod 1309 is arranged at one end of the first rotating rod 1302, a sixth fixing plate 1310 is arranged at one side of the bottom of the first limit rod 1309, a fourth electric push rod 1311 is arranged at one side of the sixth fixing plate 1310, a second rack 1312 is arranged at the output end of the fourth electric push rod 1311, a second gear 1313 meshed with one side of the second rack 1312 is arranged at one end of the second rotating rod 1303, the middle of the second gear 1313 is arranged on the second rotating rod 1303, a second limit rod 1314 is arranged at the other side of the second rack 1312, the second limit rod 1314 is arranged at one end of the second rotating rod 1303, the bracket 1304 comprises rotating columns 130401 arranged at two ends of the second rotating rod 1303, rotating holes 130402 are arranged at the middle of the rotating columns 130401, a U-shaped frame 403 is arranged on the circumferential wall of the two rotating columns 130401, a first limit groove 1307 matched with the first rack 1307 is arranged on the first limit rod 1309, a second limit groove 1314 matched with the second rack 1312 is arranged on the second limit rod 130, therefore, the angle of the welding head 14 can be adjusted, the welding head 14 can adjust different angles of the pipeline, irregular welding surfaces can be welded better and more accurately, and flexibility and accuracy of the robot are improved.

The operating principle of the adjusting device 13 is as follows: when irregular welding surfaces are welded, the third electric push rod 1306 is started to act through the controller 15, so that the first rack 1307 is driven to move, the first gear 1308 is driven to rotate, the first rotating rod 1302 is driven to rotate, the support 1304 is driven to rotate back and forth, the angle of the welding head 14 is adjusted, the fourth electric push rod 1311 is started to act through the controller 15, the second gear 1312 is driven to move, the second gear 1313 is driven to rotate, the second rotating rod 1303 is driven to rotate, the support 1304 is driven to rotate left and right, the angle of the welding head 14 is adjusted, the welding head 14 can be subjected to multi-angle adjustment for welding, and flexibility and accuracy of the robot are improved.

For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.

In practical application, firstly, two pipelines 7 to be welded are respectively fixed by two groups of fixing assemblies 6, then, the second electric push rod 207 is started by the controller 15 to shorten, so that the motion block 206 on the left side is pulled to move rightwards, so that the connecting rod 205 moves, so that the rotating piece 204 is pushed to rotate, so that the connecting rod 205 on the right side is pulled, so that the motion block 206 on the right side is driven to move leftwards, so that the two pipelines 7 move relatively, so that the welding surfaces of the two pipelines 7 are quickly jointed for welding, then, according to the joint position of the welding surfaces of the two pipelines 7, the second motor 803 is started by the controller 15 to rotate, so that the movable screw rod 804 is driven to rotate, so that the movable sliding block 805 is driven to move horizontally, so that the horizontal position of the welding head 14 is adjusted, and then, the third motor 904 is started by the controller 15 to rotate, thereby drive lead screw 903 and rotate, thereby drive lifter plate 908 is along walking track 906 up-and-down motion, thereby make bonding tool 14 can adjust suitable welding position and carry out the welding of pipeline 7, and then effective accurate welding, rethread controller 15 starts the action of first electric putter 12, thereby promote or stimulate slurcam 11, thereby make sliding plate 10 slide from beginning to end, and then adjust bonding tool 14's front and back position, finally, start first motor 4 through controller 15 and rotate, thereby drive first pivot 5 and rotate, thereby make fixed subassembly 6 rotate, thereby drive pipeline 7 rotates, and then carry out comprehensive welding to pipeline 7's welding department, the welding is accomplished.

When irregular welding surfaces are welded, the controller 15 starts the third electric push rod 1306 to act, thereby moving the first rack 1307 and driving the first gear 1308 to rotate, so that the first rotating rod 1302 rotates and the support 1304 rotates back and forth, and then the angle of the welding head 14 is adjusted, and the fourth electric push rod 1311 is started to act through the controller 15, thereby driving the second gear 1312 to move, and thus driving the second gear 1313 to rotate, so that the second rotating rod 1303 rotates, and thus the bracket 1304 rotates left and right, further adjusting the angle of the welding head 14, further performing multi-angle adjustment on the welding head 14 for welding, improving the flexibility and accuracy of the robot, starting the moving device 8 and the lifting device 9 through the controller 15, thereby adjusting the welding head 14 to the proper welding distance and position for better welding of the pipe 7.

According to an embodiment of the present invention, there is also provided a welding method of a multi-angle welded pipe laser spot welding robot, the welding method including the steps of:

s1: fixing the pipeline 7 to be welded through a fixing component 6;

s2: the controller 15 starts the movement device 2 to joint the welding surfaces of the two pipelines 7;

s3: the controller 15 starts the moving device 8, the lifting device 9, the first electric push rod 12 and the adjusting device 13 to adjust the position of the welding head 14;

s4: two pipelines 7 are welded through a welding head 14, and a first motor 4 is started to rotate the pipelines 7 to realize continuous welding.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a multi-angle welded pipeline laser spot welding robot, includes backup pad (1), its characterized in that:

a moving device (2) is arranged at the top end of the supporting plate (1), first fixing plates (3) are arranged on two sides of the top of the moving device (2), a first motor (4) is arranged on one side of the top of each first fixing plate (3), a first rotating shaft (5) is arranged at the output end of each first motor (4) in a penetrating mode through the corresponding first fixing plate (3), a fixing component (6) is arranged at the other end of each first rotating shaft (5), and a pipeline (7) is arranged on the circumferential wall of each fixing component (6);

a moving device (8) is arranged at the top end of the supporting plate (1) and on one side of the moving device (2), a lifting device (9) is arranged at the top end of the moving device (8), a sliding plate (10) is sleeved at one end of the lifting device (9), a pushing plate (11) is arranged at the top end of the sliding plate (10), a first electric push rod (12) is arranged on one side of the pushing plate (11), and the first electric push rod (12) is arranged on the lifting device (9);

the bottom end of the sliding plate (10) is provided with an adjusting device (13), the bottom end of the adjusting device (13) is provided with a welding head (14), the welding head (14) is located above the pipeline (7), the bottom end of the supporting plate (1) is provided with a controller (15), the moving device (2), the first motor (4), the moving device (8), the lifting device (9), the first electric push rod (12) and the adjusting device (13) are all electrically connected with the controller (15).

2. The multi-angle welded pipe laser spot welding robot according to claim 1, wherein the moving device (2) comprises two second fixing plates (201) arranged at the top end of the supporting plate (1), a moving track (202) is arranged between the two second fixing plates (201), a mounting block (203) is arranged in the middle of the moving track (202), a rotating member (204) is arranged at the top of the mounting block (203), connecting rods (205) are arranged on two sides of the top of the rotating member (204), and a moving block (206) is arranged at the other end of each connecting rod (205);

the middle part of the motion block (206) is sleeved on the motion track (202), the motion block (206) is located on two sides of the installation block (203), a second electric push rod (207) is arranged at the bottom of one of the motion block (206), a fixed block (208) is arranged at the output end of the second electric push rod (207), and the other side of the fixed block (208) is arranged on the side face of the installation block (203).

3. The multi-angle welded pipe laser spot welding robot according to claim 1, characterized in that the moving device (8) comprises a moving guide rail (801) arranged at the top end of the support plate (1), two third fixing plates (802) are arranged on two sides of the top end of the moving guide rail (801), one side of one of the third fixing plates (802) is provided with a second motor (803), one end of the second motor (803) is provided with a moving screw rod (804), the other end of the moving screw rod (804) is arranged on the other third fixing plate (802), and a moving slide block (805) is connected to the moving screw rod (804) in a matching manner.

4. The multi-angle welded pipe laser spot welding robot according to claim 1, wherein the lifting device (9) comprises a first mounting plate (901) arranged at the top end of the moving device (8), two lead screw fixing plates (902) are arranged in the middle of one side of the first mounting plate (901), a lead screw (903) is arranged on the two lead screw fixing plates (902), a third motor (904) is connected to the bottom end of the lead screw (903), a fourth fixing plate (905) is arranged on the third motor (904), and one side of the fourth fixing plate (905) is fixed on the side surface of the first mounting plate (901);

two walking rails (906) are symmetrically arranged on two sides of the screw rod (903), two ends of each walking rail (906) are provided with rail fixing plates (907), one sides of the rail fixing plates (907) are fixed on the side faces of the first mounting plate (901), lifting plates (908) are sleeved on the outer walls of the two walking rails (906), and the middle portions of the lifting plates (908) are arranged on the screw rod (903) in a matched mode.

5. The multi-angle welded pipe laser spot welding robot according to claim 1, wherein the adjusting device (13) comprises a second support plate (1301) arranged at the bottom end of the sliding plate (10), a first rotating rod (1302) is arranged at the bottom of the second support plate (1301), a second rotating rod (1303) is arranged in the middle of the first rotating rod (1302), the second rotating rod (1303) is arranged perpendicular to the first rotating rod (1302), brackets (1304) are arranged at two ends of the second rotating rod (1303), and the welding head (14) is arranged in the middle of the bottom end of each bracket (1304);

a fifth fixing plate (1305) is arranged on one side of the second supporting plate (1301), a third electric push rod (1306) is arranged on one side of the fifth fixing plate (1305), a first rack (1307) is arranged at the output end of the third electric push rod (1306), a first gear (1308) meshed with the first rack (1307) is arranged on one side of the first rack (1307), the middle of the first gear (1308) is arranged on the first rotating rod (1302), a first limiting rod (1309) is arranged on the other side of the first rack (1307), and the first limiting rod (1309) is arranged at one end of the first rotating rod (1302);

a sixth fixing plate (1310) is arranged on one side of the bottom, a fourth electric push rod (1311) is arranged on one side of the sixth fixing plate (1310), a second rack (1312) is arranged at the output end of the fourth electric push rod (1311), a second gear (1313) meshed with one side of the second rack (1312) is arranged on one side of the second rack, the middle of the second gear (1313) is arranged on the second rotating rod (1303), a second limiting rod (1314) is arranged on the other side of the second rack (1312), and the second limiting rod (1314) is arranged at one end of the second rotating rod (1303).

6. The multi-angle welded pipe laser spot welding robot according to claim 5, characterized in that the bracket (1304) comprises rotating columns (130401) arranged at two ends of the second rotating rod (1303), a rotating hole (130402) is formed in the middle of each rotating column (130401), and U-shaped frames (130403) are arranged on the circumferential walls of the two rotating columns (130401).

7. The multi-angle welded pipe laser spot welding robot according to claim 5, characterized in that the first limit rod (1309) is provided with a first limit groove matched with the first rack (1307), and the second limit rod (1314) is provided with a second limit groove matched with the second rack (1312).

8. The multi-angle welded pipe laser spot welding robot according to claim 2, wherein the rotating member (204) comprises a rotating plate (20401) arranged on the top of the mounting block (203), fixed columns (20402) are arranged on two sides of the top end of the rotating plate (20401), and a rotating hole (20403) is formed in the middle of the rotating plate (20401).

9. The multi-angle welded pipe laser spot welding robot according to claim 4, wherein the lifting plate (908) comprises a lifting block (90801) arranged on the outer wall of the walking track (906), through holes (90802) matched with the walking track (906) are formed in two sides of the lifting block (90801), threaded holes (90803) matched with the screw rod (903) are formed in the middle of the lifting block (90801), a placing plate (90804) is arranged on one side of the lifting block (90801), and a sliding groove (90805) is formed in one end of the placing plate (90804).

10. A welding method of a multi-angle welded pipe laser spot welding robot for welding the multi-angle welded pipe laser spot welding robot as claimed in any one of claims 1 to 9, comprising the steps of:

s1: fixing the pipeline (7) to be welded through the fixing component (6);

s2: the controller (15) starts the motion device (2) to joint the welding surfaces of the two pipelines (7);

s3: the controller (15) is used for starting the moving device (8), the lifting device (9), the first electric push rod (12) and the adjusting device (13) to adjust the position of the welding head (14);

s4: and (3) welding the two pipelines (7) through the welding head (14), and starting the first motor (4) to rotate the pipelines (7) to realize continuous welding.