CN115070295A - Welding construction process for long pipeline robot - Google Patents

Abstract

The application relates to the technical field of pipeline welding, in particular to a welding construction process for a long pipeline robot, which comprises the following steps: s1, preparing before welding, and grinding the groove at the welding seam; s2, prewelding, namely, carrying out multi-position broken welding and fixing on the welding seam of the pipeline, and backing and prewelding the pipeline; and S3, welding, namely welding the pipeline welding seam by using welding equipment. According to the method, through the preparation step before welding, which is additionally arranged before welding, on one hand, paint or rust mixed between welding seams can be reduced, so that bubbles are generated during welding, and further, air holes are mixed in the welding seams, so that the welding quality can be maintained; on the other hand, the welding seam is polished during welding, so that the groove becomes smooth, slag inclusion caused by pothole at the groove is reduced, and the welding quality is further maintained; the spot welding and backing prewelding of the pipeline welding line can reduce the welding line shrinkage caused by hard force release during welding, so that the pipeline deformation is caused.

Description

Welding construction process for long pipeline robot

Technical Field

The application relates to the technical field of pipeline welding, in particular to a welding construction process of a long pipeline robot.

Background

At present, welding technology is one of the widely used connection modes, the welding field environment is quite severe, and harmful gas generated by a welding gun during welding and dazzling arc light generated by the welding gun during welding easily threaten the life safety of welders. Therefore, the life safety of workers is threatened and the environment of a welding field is improved in order to reduce the welding time. In most fields in China, the welding robot technology is widely used in the welding production.

Through retrieval, chinese patent with application number CN208895437U discloses a welding robot and an automatic assembly welding system having the same, wherein the welding robot comprises a body, a movable arm connected to the body, and a welding mechanism connected to the movable arm, the body comprises a body and an extending neck with adjustable height relative to the body; the digging arm is including the translation arm, first rocking arm and the second rocking arm that connect gradually, the translation arm front and back orientation and along its self length direction remove set up in stretch on the necking down, first rocking arm around first transverse axis pivoted set up in the front end of translation arm, the second rocking arm is around the second transverse axis pivoted set up in first rocking arm keeps away from the one end of translation arm, welding mechanism is connected to the second rocking arm and keeps away from the one end of first rocking arm just has and is used for welded welder.

In the process of implementing the application, the inventor finds that at least the following problems exist in the technology, when the assembly welding is carried out, the welding seam is not polished, paint or rust is mixed in the welding seam, so that air holes or slag inclusion exists in the welding seam, and the welding quality is reduced.

Disclosure of Invention

In order to reduce welding seam blowholes and slag inclusion and maintain welding quality, the application provides a welding construction process of a long pipeline robot.

The application provides a long pipeline robot welding construction technology adopts following technical scheme:

a welding construction process of a long pipeline robot comprises the following steps:

s1, preparing before welding, and grinding the groove at the welding seam;

s2, prewelding, namely, carrying out multi-position broken welding and fixing on the welding seam of the pipeline, and backing and prewelding the pipeline;

and S3, welding, namely welding the pipeline welding seam by using welding equipment.

By adopting the technical scheme, when a long pipeline or a large-diameter pipeline is welded, firstly, a welding seam is polished, then, after the welding seam of the pipeline is fixed by spot welding, backing pre-welding is carried out, steel pipes on two sides of the welding seam are further fixed, and then, welding is carried out by using welding equipment; by adding the pre-welding preparation step before welding, on one hand, paint or rust mixed between welding seams can be reduced, so that bubbles are generated during welding, air holes are mixed in the welding seams, and the welding quality is maintained; on the other hand, the welding seam is polished during welding, so that the groove becomes smooth, slag inclusion caused by pothole at the groove is reduced, and the welding quality is further maintained; the spot welding and backing prewelding of the pipeline welding line can reduce the welding line shrinkage caused by hard force release during welding, so that the pipeline deformation is caused.

Optionally, when welding is performed in S3, a weld seam preheating process is performed first, and after welding is completed, the temperature is slowly reduced, and the welding device automatically identifies the position of the weld seam, and performs fine-tuning welding along with the position of the weld seam.

By adopting the technical scheme, after the welding seam is polished, spot welding is carried out for fixation, then preheating treatment is carried out, welding equipment carries out fine adjustment along with the position of the welding seam through automatic identification of the welding seam, and after the welding is finished, slow cooling is carried out; through the steps, the local high temperature gradient formed during welding is reduced or a large temperature gradient is caused locally due to rapid cooling, so that local embrittlement is easily caused due to non-uniform metal crystallization state, and the welding quality is maintained; meanwhile, the welding seam is automatically identified, so that the welding offset of welding equipment can be reduced, the condition of missing welding or multi-welding is caused, the secondary treatment of the welding seam is caused, the welding quality is improved, and the working efficiency is improved.

Optionally, when welding is performed in S3, multilayer welding is performed according to the thickness of the steel pipe, and submerged arc crater welding is performed at the end of welding, so as to reduce craters formed by welding pause.

By adopting the technical scheme, the steel pipe welding is developed quickly, but still belongs to the steel pipe welding with medium and small calibers, the requirements on the steel pipe for the pipeline are higher and higher along with the development of pipeline construction towards the direction of long distance and high pressure, the tonnage of a press is improved, the welded pipe is also developed towards the direction of large diameter, large wall thickness and high strength, the pipeline with large wall thickness is welded, and multilayer welding is needed; on one hand, the multi-layer welding facilitates the matching of the welding seam and the wall thickness, on the other hand, the heat input quantity can be reduced, the deformation can be reduced, and the probability of generating defects can be reduced; on the other hand, the arc pits are buried, so that the smoothness of the welding seams can be improved, the attractiveness is improved, and meanwhile, the welding strength is improved.

Optionally, the welding equipment includes a welding robot, the welding robot includes first slide rail, first manipulator and welder, the pipeline has been placed to one side of first slide rail, first manipulator slides and sets up on the first slide rail, welder sets up on the first manipulator and weld the pipeline.

By adopting the technical scheme, when a long welding seam is welded, the welding gun on the first manipulator performs spot welding on the welding seam, the welding gun slides along with the manipulator and performs spot welding on the long pipeline, then the first manipulator drives the welding gun to perform pre-welding bottoming on the welding seam, and after the pre-welding bottoming is finished, the first manipulator drives the welding gun to repeatedly perform multilayer welding on the pipeline; through the first welding robot that sets up, realized the rapid welding of welding seam, reduced in the work progress because reasons such as manual operation and non-human error, the steel pipe takes place to warp easily at welding process.

Optionally, the first welding robot further includes a weld recognition module, and the weld recognition module is disposed on the first manipulator and is configured to recognize a position of the weld.

By adopting the technical scheme, when the first welding robot welds the welding seam, the welding seam identification module detects the size change of the welding seam or the position change of the welding seam, controls the swing amplitude of the welding gun to change and adjusts along with the position of the welding seam; the welding seam is subjected to all-around online real-time monitoring through the arranged welding seam identification module, so that the welding quality of the welding seam is kept, the occurrence of welding missing or multiple welding conditions is reduced, the probability of secondary correction is reduced, and the working efficiency is improved.

Optionally, the welding equipment further comprises an auxiliary mechanism, a first auxiliary robot and a second auxiliary robot, wherein the auxiliary mechanism is used for supporting the pipeline, the first auxiliary robot is arranged on one side of the auxiliary mechanism and used for fixing the pipeline, and the second auxiliary robot is used for polishing the pipeline welding seam; the first auxiliary robot comprises a second manipulator and a clamping assembly, the second manipulator is arranged on one side of the auxiliary mechanism in a sliding mode, the clamping assembly comprises a first clamping plate, a second clamping plate, a first transmission rod, a second transmission rod and an air cylinder, the air cylinder is arranged on the second manipulator, the first clamping plate and the second clamping plate are both rotatably arranged on the second manipulator, the first transmission rod is connected with the rotating end of the first clamping plate, and the second transmission rod is connected with the rotating end of the second clamping plate; the first transmission rod is provided with a first sliding groove, the second transmission rod is provided with a second sliding groove, the first sliding groove and the second sliding groove are arranged in a crossed mode, a sliding block is connected to the first sliding groove and the second sliding groove in a sliding mode, the sliding block is connected with a piston rod of the air cylinder, and the sliding block slides to drive the first transmission rod and the second transmission rod to rotate.

By adopting the technical scheme, before welding, firstly, the long pipeline is placed on the placing mechanism, then the air cylinder is started, the air cylinder drives the first transmission rod and the second transmission rod to rotate, the first transmission rod and the second transmission rod respectively drive the first clamping plate and the second clamping plate to approach each other until the first clamping plate and the second clamping plate are abutted against the pipeline, then polishing and welding are carried out, and when the position where the first manipulator cannot be welded is met, the second manipulator drives the pipeline between the first clamping plate and the second clamping plate to rotate, and then welding is carried out; the equipment is suitable for different types of welding lines through the arranged first auxiliary robot, so that the applicability is improved; the pipeline is fixed to the first auxiliary robot that sets up simultaneously, reduces among the welding process that the pipeline rotates welder that leads to and contradicts with other positions of pipeline, causes the damage to the pipeline.

Optionally, the second auxiliary robot includes a third manipulator, a polishing assembly and a dust blocking assembly, the third manipulator slides to one side of the auxiliary mechanism, the polishing assembly is arranged on the third manipulator, the dust blocking assembly includes a dust blocking plate, a steel wire brush and a dust suction pipe, the dust blocking plate is arranged on the third manipulator and is located on one side of the polishing assembly close to the welding gun, the steel wire brush is arranged on the dust blocking plate and is abutted to the welding seam of the pipeline, and the dust suction pipe is arranged on the third manipulator and is connected with a dust suction device and used for sucking dust.

By adopting the technical scheme, after the pipeline is fixed, firstly, the grinding assembly is used for grinding the welding line, the dust blocking plate blocks the powder, the steel wire brush is used for scraping the welding line for the second time, and the powder suction pipe sucks away the powder; by the aid of the second auxiliary robot, on one hand, the influence of paint and rust on welding quality can be reduced, and on the other hand, the influence of ground powder scraps on a weld joint and the influence on the welding quality can be reduced; on the other hand, the problem that a part of dust flies to a welding gun for spot welding operation and interferes with the welding quality of spot welding positions can be reduced.

Optionally, the dust blocking assembly further comprises a supporting plate and a supporting spring, the dust blocking plate is connected with the supporting plate in a sliding mode, the supporting plate is multiple, the end portion of the supporting plate is provided with the steel wire brush, the supporting spring is arranged on the dust blocking plate and connected with the supporting plate, and the supporting spring drives the supporting plate to be close to the welding line.

By adopting the technical scheme, when the welding seam is polished, the third manipulator drives the abutting plate on the dust baffle to approach towards the welding seam, because the welding seam is mostly V-shaped, the steel wire brush on the abutting plate abuts against the welding seam and generates relative displacement with the dust baffle, and meanwhile, the abutting spring is compressed under the stress and applies reverse driving force to the abutting plate, so that the steel wire brush on the abutting plate always abuts against the welding seam; through the tight board of supporting and the tight spring that supports that sets up for keep off the dirt subassembly and be applicable to the welding seam of different slopes, can reduce the gap between welding seam and the steel brush simultaneously, and then make the dirt effect keep.

Optionally, the polishing assembly comprises a fixed block, a driving motor, a rotating shaft and a polishing head, the fixed block is arranged on the third manipulator, and an installation cavity for installing the driving motor is formed in the fixed block; the output shaft of the driving motor penetrates through the inner wall of the mounting cavity and extends out of the fixing block, the polishing head is detachably connected to the rotating shaft and is conical, and the rotating shaft is connected with the output shaft of the driving motor.

By adopting the technical scheme, after the long pipeline is placed on the placing mechanism, the third mechanical arm slides along the length direction of the pipeline, the driving motor drives and drives the rotating shaft to rotate, and the rotating shaft drives the polishing head to polish the weld joint; the grinding assembly is arranged to enable the weld groove of the pipeline to become smooth, and the interference of rust and paint on the welding quality is reduced.

Optionally, a sliding hole is formed in the side wall of the rotating shaft, which is far away from the driving motor, and a limiting groove is formed in the inner wall of the sliding hole; be provided with adjusting part on the first axis of rotation, adjusting part includes slide bar, stopper and extension spring, the slide bar slides and connects in the sliding hole, the stopper sets up on the slide bar and follow the spacing groove slides, the extension spring sets up in the sliding hole and with the slide bar is connected, the extension spring promotes the slide bar is kept away from driving motor.

By adopting the technical scheme, when the pipeline welding seam is polished, the third mechanical hand drives the polishing head on the fixed block to approach to the groove at the pipeline welding seam until the outer side of the polishing head is abutted to the groove, then the third mechanical hand continues to drive the polishing head to approach to the welding seam, the polishing head drives the rotating shaft to slide along the sliding hole, the rotating shaft drives the telescopic spring to be stressed and compressed, and the telescopic spring releases elastic force and drives the polishing head to abut against the groove of the welding seam; make the polishing head support tight groove all the time through the adjusting part who sets up, and then make the effect of polishing of groove obtain improving, the welding seam according to different slope ratios of being convenient for can be dismantled to the polishing head simultaneously, has improved the suitability.

To sum up, the application comprises the following beneficial technical effects:

1. by adding the pre-welding preparation step before welding, on one hand, paint or rust mixed between welding seams can be reduced, so that bubbles are generated during welding, air holes are mixed in the welding seams, and the welding quality is maintained; on the other hand, the welding seam is polished during welding, so that the groove becomes smooth, slag inclusion caused by pothole at the groove is reduced, and the welding quality is further maintained; the spot welding and backing prewelding of the pipeline welding seam can reduce the welding seam shrinkage caused by the release of hard force during welding, so that the pipeline is deformed;

2. after the welding seam is polished, spot welding and fixing are carried out, then preheating treatment is carried out, welding equipment carries out fine adjustment along with the position of the welding seam through automatic identification of the welding seam, and after welding is finished, slow cooling is carried out; through the steps, the local high temperature gradient formed during welding is reduced or a large temperature gradient is caused locally due to rapid cooling, so that local embrittlement is easily caused due to non-uniform metal crystallization state, and the welding quality is maintained; meanwhile, the welding seam is automatically identified, so that the welding offset of welding equipment and the condition of missing welding or multiple welding can be reduced, the secondary treatment of the welding seam is caused, the welding quality is improved, and the working efficiency is improved;

3. through the arranged abutting plate and the abutting spring, the dust blocking assembly is suitable for welding seams with different gradients, and meanwhile, gaps between the welding seams and the steel wire brush can be reduced, so that the dust blocking effect can be kept;

4. make the polishing head support tight groove all the time through the adjusting part who sets up, and then make the effect of polishing of groove obtain improving, the welding seam according to different slope ratios of being convenient for can be dismantled to the polishing head simultaneously, has improved the suitability.

Drawings

FIG. 1 is a flowchart of a welding construction process of a long pipeline robot in embodiment 1 of the present application;

FIG. 2 is a schematic view showing the installation position of a first welding robot in embodiment 1 of the present application;

FIG. 3 is a partial schematic structural view of a first welding robot in embodiment 1 of the present application;

fig. 4 is a schematic view of an installation position of a first auxiliary robot in embodiment 2 of the present application;

FIG. 5 is a schematic structural view of an assist mechanism in embodiment 2 of the present application;

fig. 6 is a schematic view of an installation position of a second auxiliary robot in embodiment 2 of the present application;

fig. 7 is an overall structural schematic diagram of a first auxiliary robot in embodiment 2 of the present application;

FIG. 8 is a schematic view of a structure of a clamping assembly in accordance with embodiment 2 of the present application;

fig. 9 is an overall structural schematic diagram of a second auxiliary robot in embodiment 2 of the present application;

FIG. 10 is a schematic view of the structure of a sanding assembly in accordance with example 2 of the present application;

fig. 11 is a schematic structural view of a dust barrier assembly in embodiment 2 of the present application.

Reference numerals: 100. a first welding robot; 110. a first slide rail; 120. a first manipulator; 121. a base; 122. a first connecting arm; 123. a second connecting arm; 124. a third connecting arm; 125. a rotating arm; 126. a first motor; 127. a second motor; 128. a third motor; 129. a fixed seat; 130. a welding gun; 140. a weld recognition module; 150. a first sliding seat; 160. a first servo motor; 170. a first ball screw; 200. an auxiliary mechanism; 210. a fixing plate; 220. a support assembly; 221. a support block; 222. an arc-shaped frame; 223. a rotating wheel; 230. a rotating assembly; 231. a rotating wheel; 232. connecting blocks; 233. a rotating electric machine; 240. a lifting hydraulic cylinder; 300. a first auxiliary robot; 310. a clamping assembly; 311. a first clamping plate; 312. a second clamping plate; 313. a first drive lever; 314. a second transmission rod; 315. a cylinder; 316. a slider; 317. mounting blocks; 318. mounting a plate; 320. a second manipulator; 400. a second auxiliary robot; 410. a third manipulator; 420. polishing the assembly; 421. a fixed block; 422. a drive motor; 423. a rotating shaft; 424. polishing head; 430. a dust blocking assembly; 431. a dust guard; 432. a wire brush; 433. a powder suction pipe; 434. a resisting plate; 435. the spring is tightly propped; 440. an adjustment assembly; 441. a slide bar; 442. a limiting block; 443. a tension spring; 510. a second slide rail; 520. a second sliding seat; 530. a second servo motor; 540. a first gear; 550. a rack; 560. a third servo motor; 570. a second gear; 580. and a third sliding seat.

Detailed Description

The present application is described in further detail below with reference to figures 1-11.

The embodiment of the application discloses a welding construction process for a long pipeline robot.

Example 1:

referring to fig. 1, the welding construction process of the long pipeline robot comprises the following steps:

s1, preparing before welding, polishing the groove at the welding seam, and removing paint, rust and slag inclusion at the groove by polishing to reduce the influence on welding quality; s2, prewelding, namely, carrying out multi-position broken welding fixation on the welding seam of the pipeline by using welding equipment along the length direction of the welding seam of the long pipeline, reducing the deformation of the pipeline driven by the release of hard force during welding, and then carrying out backing prewelding on the welding seam of the pipeline, so as to facilitate subsequent normal welding; s3, welding, wherein when welding equipment is used for welding a pipeline welding seam, the welding seam is preheated firstly, the influence of the formed temperature gradient on the strength of the welding seam is reduced, and then the position and the size of the welding seam are monitored in real time by the welding equipment, so that the welding end of the welding equipment is changed along the position of the welding seam all the time, the welding seam is fully welded, multilayer reciprocating welding is carried out on the pipeline, after the welding is finished, the welding seam is cooled slowly, the phenomenon that the welding seam is embrittled due to too fast temperature reduction is reduced, and when the welding is finished, a crater formed after the welding is stopped is subjected to pit burying welding, so that the welding quality is improved.

Referring to fig. 2 and 3, the welding apparatus includes a first welding robot 100, the first welding robot 100 includes a first slide rail 110 fixedly connected to the ground, a first sliding seat 150 is slidably connected to the first slide rail 110, a first ball screw 170 is rotatably connected to one side of the first slide rail 110, the first ball screw 170 passes through the first sliding seat 150 and is in threaded connection with the first sliding seat 150, and a first servo motor 160 connected to one end of the first ball screw 170 is fixedly connected to one end of the first slide rail 110; the first sliding seat 150 is provided with a first mechanical arm 120, the first mechanical arm 120 includes a base 121 fixedly connected to the sliding seat through a bolt, the base 121 is rotatably connected to a first connecting arm 122, the base 121 is fixedly connected to a first motor 126, and the first motor 126 is connected to the first connecting arm 122 and drives the first connecting arm 122 to rotate; one end of the first connecting arm 122, which is far away from the base 121, is rotatably connected with a second connecting arm 123, the first connecting arm 122 is fixedly connected with a second motor 127, and the second motor 127 is connected with the second connecting arm 123 and drives the second connecting arm 123 to rotate; a fixed seat 129 is fixedly connected to one end, away from the first connecting arm 122, of the second connecting arm 123, a rotating arm 125 is rotatably connected to the fixed seat 129, a third motor 128 is fixedly connected to the fixed seat 129, and the third motor 128 is connected with the rotating arm 125 through gear transmission and drives the rotating arm 125 to rotate; a third connecting arm 124 is rotatably connected to the rotating arm 125, a fourth motor is fixedly connected to the second connecting arm 123, and the fourth motor is connected to the third connecting arm 124 and drives the third connecting arm 124 to rotate; a welding gun 130 is fixedly connected to the third connecting arm 124.

The third connecting arm 124 is further provided with a weld joint recognition module 140, the weld joint recognition module 140 is composed of a laser, an optical sensor and a central processing unit, the position information of each point in a laser scanning area is obtained by adopting the optical propagation and imaging principle, and the online real-time detection of the common weld joint is completed through a complex program algorithm.

The implementation principle of the embodiment 1 of the application is as follows: when a large-diameter pipeline or a long pipeline is welded, firstly, the first slide rail 110 is laid on one side of the pipeline or the pipeline is placed on one side of the first slide rail 110 which is already laid, a weld groove of the pipeline is polished, then the first servo motor 160 is started to drive the first ball screw 170 to rotate, the first ball screw 170 drives the first mechanical arm 120 on the first sliding seat 150 to slide, the first mechanical arm 120 drives the welding gun 130 to slide, the weld joint recognition module 140 controls the fine adjustment of the welding gun 130 according to the actual position of the weld joint, the spot welding of the weld joint is fixed, the weld joint is preheated, the first servo motor 160 drives the welding gun 130 to do reciprocating motion to complete bottoming welding and multilayer welding, submerged arc pit welding is carried out when the tail is closed, and slow cooling is carried out after the welding is completed.

Example 2:

referring to fig. 4 and 5, the embodiment is different from embodiment 1 in that the welding apparatus further includes an auxiliary mechanism 200, the auxiliary mechanism 200 includes a fixing plate 210 disposed on one side of the first slide rail 110, an axis of the fixing plate 210 is parallel to an axis of the first slide rail 110, a support assembly 220 is disposed on the fixing plate 210, the support assembly 220 includes a plurality of support blocks 221 fixedly connected to the fixing plate 210, one end of the support block 221 away from the fixing plate 210 is fixedly connected with an arc-shaped frame 222, the arc-shaped frame 222 is rotatably connected with three rotating wheels 223, the rotating wheels 223 rotate along a bending direction of the arc-shaped frame 222, and the three rotating wheels 223 are used for supporting the pipeline; two sets of hydraulic cylinder 240 on fixed plate 210, two sets of hydraulic cylinder 240 and supporting shoe 221 cross arrangement, every hydraulic cylinder 240 of group has two hydraulic cylinder 240 to constitute, be provided with rotating assembly 230 on the hydraulic cylinder 240, rotating assembly 230 includes connecting block 232 of fixed connection on two hydraulic cylinder 240 piston rods, it is connected with two swiveling wheels 231 to rotate on the connecting block 232, two rotating electrical machines 233 who is connected with swiveling wheel 231 respectively of fixedly connected with on the connecting block 232, rotating electrical machines 233 drives swiveling wheel 231 and rotates, swiveling wheel 231 drives long pipeline and rotates.

Referring to fig. 6, 7 and 8, a second slide rail 510 is fixedly connected to one side of the fixing plate 210, and the second slide rail 510 is parallel to the first slide rail 110 and is located on one side of the fixing plate 210 away from the first slide rail 110; a second sliding seat 520 is connected to the second sliding rail 510 in a sliding manner, a rack 550 is fixedly connected to the second sliding rail 510, a placing cavity is formed in the second sliding seat 520, a second servo motor 530 is fixedly connected to the placing cavity, a first gear 540 is connected to an output shaft of the second servo motor 530 in a key manner, and the first gear 540 is meshed with the rack 550; the second sliding seat 520 is provided with a first auxiliary robot 300, the first auxiliary robot 300 comprises a second manipulator 320, the second manipulator 320 has the same structure as the first manipulator 120 and is fixedly connected to the second sliding seat 520 through a bolt, the second manipulator 320 is provided with a clamping assembly 310, the clamping assembly 310 comprises a mounting block 317 fixedly connected to the second manipulator 320, a cavity is formed in the mounting block 317, a cylinder 315 is fixedly connected in the cavity, a piston rod of the cylinder 315 penetrates through a side wall of the cavity and extends out of the mounting block 317, the mounting block 317 is fixedly connected with two mounting plates 318, the two mounting plates 318 are respectively rotatably connected with a first clamping plate 311 and a second clamping plate 312, one ends of the first clamping plate 311 and the second clamping plate 312, which are far away from the mounting plates 318, are in a semi-arc shape parallel to each other, a first transmission rod 313 is fixedly connected to a rotating end of the first clamping plate 311, the first driving rod 313 and the first clamping plate 311 are arranged at an obtuse angle; a second transmission rod 314 is fixedly connected to the rotating end of the second clamping plate 312, and the second transmission rod 314 and the second clamping plate 312 are arranged at an obtuse angle; the first transmission rod 313 is positioned above the second transmission rod 314 and is arranged in a crossed manner with the second transmission rod 314, a first sliding groove is formed in the first transmission rod 313, the first sliding groove is formed along the length direction of the first transmission rod 313, a second sliding groove is formed in the second transmission rod 314, and the second sliding groove is formed along the length direction of the second transmission rod 314; the axis of the first sliding groove and the axis of the second sliding groove are arranged in a crossed manner, a sliding block 316 is fixedly connected to a piston rod of the air cylinder 315, and two ends of the sliding block 316 are connected to the first sliding groove and the second sliding groove in a sliding manner respectively.

Referring to fig. 6, 9 and 10, a third sliding seat 580 is slidably connected to the second sliding rail 510, a second placing cavity is formed in the third sliding seat 580, a third servo motor 560 is fixedly connected to the second placing cavity, a second gear 570 is keyed to an output shaft of the third servo motor 560, and the second gear 570 is engaged with the rack 550; the third slides and is provided with second auxiliary robot 400 on the seat 580, and second auxiliary robot 400 includes the third manipulator 410 of fixed connection on the third slides and slides seat 580, is provided with the subassembly 420 of polishing on the third manipulator 410, and the subassembly 420 of polishing includes fixed block 421 of fixed connection on third manipulator 410, has seted up the installation cavity in the fixed block 421, fixedly connected with driving motor 422 on the inner wall of installation cavity, fixedly connected with axis of rotation 423 on driving motor 422's the output shaft.

Referring to fig. 10, the rotating shaft 423 penetrates through the inner wall of the fixing block 421 and extends out of the mounting cavity, an adjusting assembly 440 is disposed on the rotating shaft 423, the adjusting assembly 440 includes a sliding rod 441, a sliding hole is disposed on the rotating shaft 423, two symmetrically disposed limiting grooves are disposed on the inner wall of the sliding hole, the sliding rod 441 is slidably connected in the sliding hole, two limiting blocks 442 are fixedly connected to the sliding rod 441, the two limiting blocks 442 are respectively slidably connected in the limiting grooves, a telescopic spring 443 is fixedly connected to a bottom wall of the sliding hole, which is far away from the sliding rod 441, and the other end of the telescopic spring 443 is fixedly connected to the sliding rod 441; the polishing head 424 is detachably connected to one end of the sliding rod 441, which is far away from the limiting block 442, and the polishing head 424 is conical.

Referring to fig. 9 and 11, a dust blocking assembly 430 is further disposed on the third robot 410, the dust blocking assembly 430 includes a dust blocking plate 431 fixedly connected to the third robot 410, and the dust blocking plate 431 is located on a side of the fixing block 421 close to the first robot 120; the side wall of the dust guard 431 far away from the third manipulator 410 is fixedly connected with a plurality of steel wire brushes 432, the side wall of the dust guard 431 far away from the fixed block 421 is provided with a sliding groove, a resisting plate 434 is connected in the sliding groove in a sliding manner, and two resisting plates 434 which are close to each other are mutually butted; a resisting spring 435 is fixedly connected to the side wall of the sliding groove close to the third manipulator 410, and one end of the resisting spring 435 away from the third manipulator 410 is fixedly connected with a resisting plate 434 and pushes the resisting plate 434 away from the third manipulator 410; one end of the tightening plate 434 away from the third manipulator 410 is fixedly connected with a plurality of wire brushes 432.

The implementation principle of embodiment 2 of the present application is as follows: when a large-diameter pipeline or a long pipeline is welded, firstly, the spliced large-diameter pipeline or long pipeline is placed on a rotating wheel 223 on a fixing plate 210, then a second servo motor 530 is started, the second servo motor 530 drives a first gear 540 to rotate, the first gear 540 and a rack 550 generate relative displacement and drive a second sliding seat 520 to slide, the second sliding seat 520 drives a second manipulator 320 to move to the end of the pipeline, then an air cylinder 315 is started, a piston rod of the air cylinder 315 drives a sliding block 316 to slide and drive a first transmission rod 313 and a second transmission rod 314 to generate relative sliding, and the first transmission rod 313 and the second transmission rod 314 drive a first clamping plate 311 and a second clamping plate 312 to approach each other and clamp the pipeline; then, a third servo motor 560 is started, the third servo motor 560 drives a second gear 570 to rotate, the second gear 570 and the rack 550 slide relatively and drive a third sliding seat 580 to slide, the third sliding seat 580 drives a third manipulator 410 to slide, the third manipulator 410 drives a polishing head 424 to approach towards a groove at a welding seam, the polishing head 424 is abutted against the outer edge of the groove and slides along the groove along with the descending of the third manipulator 410, the polishing head 424 drives a sliding rod 441 to slide and drives a telescopic spring 443 to be stressed and compressed until the polishing head 424 can polish the whole groove; then, the driving motor 422 is started, the driving motor 422 drives the rotating shaft 423 to rotate, and the rotating shaft 423 drives the polishing head 424 to rotate to polish the groove; when the third manipulator 410 drives the polishing head 424 to approach towards the groove and simultaneously drives the dust blocking plate 431 to approach towards the groove of the welding seam, the steel wire brush 432 on the dust blocking plate 431 is abutted with the pipeline and deforms, meanwhile, the steel wire brush 432 on the tightening plate 434 is abutted with the inclined plane of the groove and drives the tightening plate 434 to slide, and the tightening spring 435 is compressed under stress and accumulates elastic potential energy and pushes the steel wire brush 432 on the tightening plate 434 to be abutted with the inclined plane of the groove; the third manipulator 410 slides to drive the polishing head 424 to polish the whole welding seam, and meanwhile, the dust blocking plate 431 blocks and sucks away the dust through the dust suction pipe 433; during polishing, the first servo motor 160 is started and drives the first ball screw 170 to rotate, the first ball screw 170 drives the first manipulator 120 on the first sliding seat 150 to slide, and the first manipulator 120 drives the welding gun 130 to weld along a welding seam; while welding, the weld recognition module 140 controls each motor on the first robot 120 to finely adjust the position angle of the welding torch 130 according to the actual weld position.

When the shape of the welding seam of the pipeline is irregular and the welding gun 130 cannot weld, the lifting hydraulic cylinder 240 drives the rotating wheel 231 on the connecting block 232 to be attached to the pipeline, the rotating motor 233 is started and drives the rotating wheel 231 to rotate, and the second manipulator 320 swings along with the pipeline; the welding gun 130 then welds with the weld based on the signal from the weld identification module 140.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (10)

1. A welding construction process of a long pipeline robot is characterized by comprising the following steps:

s1, preparing before welding, and grinding the groove at the welding seam;

s2, prewelding, namely, carrying out multi-position broken welding and fixing on the welding seam of the pipeline, and backing and prewelding the pipeline;

and S3, welding, namely welding the pipeline welding seam by using welding equipment.

2. The welding construction process of the long pipe robot as claimed in claim 1, wherein when welding is performed in S3, a weld preheating process is performed first, and after the welding is completed, the temperature is slowly decreased, and the welding device automatically identifies the position of the weld and finely adjusts the welding according to the position of the weld.

3. The welding construction process of the long pipeline robot as claimed in claim 1, wherein in the step S3, when welding, multi-layer welding is performed according to the thickness of the steel pipe, and at the end, submerged arc crater welding is performed to reduce the crater formed by welding pause.

4. The long pipe robot welding construction process according to claim 1, wherein the welding equipment comprises a first welding robot (100), the first welding robot (100) comprises a first slide rail (110), a first manipulator (120) and a welding gun (130), a pipe is placed on one side of the first slide rail (110), the first manipulator (120) is slidably arranged on the first slide rail (110), and the welding gun (130) is arranged on the first manipulator (120) and welds the pipe.

5. The long pipe robot welding construction process according to claim 4, wherein the first welding robot (100) further comprises a weld recognition module (140), the weld recognition module (140) being provided on the first manipulator (120) and being used for recognizing the position of the weld.

6. The long pipeline robot welding construction process according to claim 4, wherein the welding equipment further comprises an auxiliary mechanism (200), a first auxiliary robot (300) and a second auxiliary robot (400), the auxiliary mechanism (200) is used for supporting the pipeline, the first auxiliary robot (300) is arranged on one side of the auxiliary mechanism (200) and used for fixing the pipeline, and the second auxiliary robot (400) is used for grinding the pipeline welding seam; the first auxiliary robot (300) comprises a second manipulator (320) and a clamping assembly (310), the second manipulator (320) is arranged on one side of the auxiliary mechanism (200) in a sliding mode, the clamping assembly (310) comprises a first clamping plate (311), a second clamping plate (312), a first transmission rod (313), a second transmission rod (314) and an air cylinder (315), the air cylinder (315) is arranged on the second manipulator (320), the first clamping plate (311) and the second clamping plate (312) are both arranged on the second manipulator (320) in a rotating mode, the first transmission rod (313) is connected with the rotating end of the first clamping plate (311), and the second transmission rod (314) is connected with the rotating end of the second clamping plate (312); the first transmission rod (313) is provided with a first sliding groove, the second transmission rod (314) is provided with a second sliding groove, the first sliding groove and the second sliding groove are arranged in a crossed mode, a sliding block (316) is connected to the first sliding groove and the second sliding groove in a sliding mode, the sliding block (316) is connected with a piston rod of the air cylinder (315), and the sliding block (316) slides to drive the first transmission rod (313) and the second transmission rod (314) to rotate.

7. The long pipeline robotic welding construction process of claim 6, the second auxiliary robot (400) comprises a third manipulator (410), a grinding assembly (420) and a dust blocking assembly (430), the third robot arm (410) is slid to one side of the auxiliary mechanism (200), the grinding assembly (420) is disposed on the third robot arm (410), the dust blocking component (430) comprises a dust blocking plate (431), a steel wire brush (432) and a powder suction pipe (433), the dust guard plate (431) is arranged on the third mechanical arm (410) and is positioned on one side of the grinding assembly (420) close to the welding gun (130), the steel wire brush (432) is arranged on the dust baffle plate (431) and is abutted with the pipeline welding seam, the powder suction pipe (433) is arranged on the third manipulator (410), is connected with a powder suction device and is used for adsorbing powder scraps.

8. The long pipeline robot welding construction process of claim 7, wherein the dust blocking assembly (430) further comprises a resisting plate (434) and a resisting spring (435), the resisting plate (431) is slidably connected with a plurality of the resisting plates (434), the end portions of the resisting plates (434) are respectively provided with the wire brush (432), the resisting spring (435) is arranged on the dust blocking plate (431) and connected with the resisting plate (434), and the resisting spring (435) drives the resisting plate (434) to approach to the welding seam.

9. The welding construction process of the long pipeline robot as claimed in claim 7, wherein the grinding assembly (420) comprises a fixing block (421), a driving motor (422), a rotating shaft (423) and a grinding head (424), the fixing block (421) is arranged on the third manipulator (410), and a mounting cavity for mounting the driving motor (422) is formed in the fixing block (421); the output shaft of driving motor (422) passes the inner wall of installation cavity and stretches out fixed block (421), it connects to dismantle grinding head (424) on axis of rotation (423), just grinding head (424) are conical, axis of rotation (423) with driving motor (422)'s output shaft.

10. The welding construction process of the long pipeline robot as claimed in claim 9, wherein a sliding hole is formed on the side wall of the rotating shaft (423) away from the driving motor (422), and a limiting groove is formed on the inner wall of the sliding hole; the adjusting assembly (440) is arranged on the rotating shaft (423), the adjusting assembly (440) comprises a sliding rod (441), a limiting block (442) and a telescopic spring (443), the sliding rod (441) is connected in the sliding hole in a sliding mode, the limiting block (442) is arranged on the sliding rod (441) and slides along the limiting groove, the telescopic spring (443) is arranged in the sliding hole and connected with the sliding rod (441), and the telescopic spring (443) pushes the sliding rod (441) to be far away from the driving motor (422).

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