CN115899395A - Flexible automatic clamping rail set and welding robot - Google Patents
Flexible automatic clamping rail set and welding robot Download PDFInfo
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- CN115899395A CN115899395A CN202211529247.3A CN202211529247A CN115899395A CN 115899395 A CN115899395 A CN 115899395A CN 202211529247 A CN202211529247 A CN 202211529247A CN 115899395 A CN115899395 A CN 115899395A
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Abstract
The invention relates to a flexible automatic clamping track device and a welding robot, and belongs to the technical field of pipeline welding robots. Flexible automatically clamped rail set includes: the translation sliding module, the intermediate position at translation sliding module's top is equipped with rotary joint head, the bottom of translation sliding module is equipped with removable split guide rail, the inboard of removable split guide rail is equipped with aligning mechanism and hold-down mechanism, but the split guide rail is including can closing two sections arc guide rails that constitute the ring, and two sections arc guide rail sets up relatively translation sliding module bottom, and can relative slip under the translation sliding module. Has the beneficial effects that: but remove on the translation slip module through split guide rail and realize pipeline welding robot's quick installation and dismantlement, can guarantee welding position's accuracy through aligning mechanism and hold-down mechanism.
Description
Technical Field
The invention belongs to the technical field of pipeline welding robots, and particularly relates to a flexible automatic clamping track device and a welding robot.
Background
At present, an oil gas long-distance pipeline is the most important mode for oil gas transportation, has the advantages of small occupied space, low cost and the like, and needs a large amount of welding work when the long-distance pipeline is constructed. The existing long-distance pipeline welding construction is mainly completed in two modes, one mode is manual welding, the other mode is completed in a semi-automatic welding mode, the two types of welding are matched by adopting a pipe crane and an inner aligning device, the inner aligning device automatically expands and corrects a pipe orifice, the pipe orifice is assembled and adjusted by a welding line gap manually, and only the semi-automatic welding mode adopts a pipeline welding robot to weld during welding.
The existing pipeline welding robot is widely applied in the technical field of pipeline welding, is mainly used for welding gaps among pipelines, and can greatly improve the welding efficiency, particularly girth welding. The pipeline circumferential weld welds in the pipeline laying process and is an important process, it is the important link that influences engineering quality and engineering progress, and in the laying process of pipeline, most circumferential weld welds and requires pipeline fixed mounting, and welding equipment realizes 360 all-position welding. Therefore, the rail of the pipeline welding robot is disassembled and assembled to be the bottleneck which restricts the on-site construction quality and efficiency at the present stage, so that the manual intervention in the disassembling and assembling process is reduced, the precision of the rail installation is ensured, and the realization difficulty is high.
Disclosure of Invention
The invention provides a flexible automatic clamping track device for solving the technical problems, the pipeline welding robot is quickly mounted and dismounted by moving a detachable guide rail on a translational sliding module, and the precision of a welding position can be ensured by an aligning mechanism and a pressing mechanism.
The technical scheme for solving the technical problems is as follows: flexible automatically clamped rail set includes: the translational sliding module, the intermediate position at translational sliding module's top is equipped with the swivelling joint head, translational sliding module's bottom is equipped with but split guide rail, but split guide rail's inboard is equipped with aligning mechanism and hold-down mechanism, but split guide rail includes can be to two sections arc guide rails to constituteing the ring, two sections arc guide rail sets up relatively translational sliding module bottom, and can be in relative slip under the translational sliding module.
Has the beneficial effects that:
(1) The pipeline welding robot is quickly installed and disassembled by moving the detachable guide rail on the translational sliding module;
(2) The invention carries out axial adjustment through the aligning mechanism, and ensures that the detachable guide rail is coaxial with the pipeline to be welded;
(3) The invention carries out radial adjustment through the pressing mechanism, and ensures that the detachable guide rail is concentric with the pipeline to be welded;
(4) The invention can improve the precision of track installation and reduce the precision requirement on the welding robot.
Preferably, the translational sliding module comprises a sliding platform, one end of the sliding platform is provided with a driving motor, the bottom of the sliding platform is provided with a sliding rail along the length direction, the output end of the driving motor is connected with a double-thread screw rod, two sliding blocks are arranged on the double-thread screw rod at intervals and are connected with the sliding rail in a sliding manner, and the bottoms of the sliding blocks correspond to the arc-shaped guide rail in a fixed connection manner.
Preferably, aligning mechanism is including distributing but the inboard at least three aligning portion of split guide rail, hold-down mechanism is including distributing but the inboard at least three portion, three of compressing tightly of split guide rail compress tightly the portion and be the cylinder.
Preferably, still include locking Assembly, locking Assembly includes locking driving motor, goes up fastener and last latch fitting, it fixes one to go up the fastener on the upper portion lateral wall of arc guide rail, it fixes another to go up the latch fitting on the upper portion lateral wall of arc guide rail, locking driving motor installs on going up the fastener, its output drive go up the fastener with go up the latch fitting.
Preferably, still include locking Assembly down, locking Assembly includes fastener, lower latch fitting and retaining member down, the body of fastener is fixed one down on the lower part lateral wall of arc guide rail, the body of latch fitting is fixed another down on the lower part lateral wall of arc guide rail, be used for with fastener locking cooperation down, be equipped with on the fastener down and be used for locking the lower fastener the retaining member.
Preferably, the arc of the arc-shaped guide rail is 180 degrees.
The other purpose of the invention is to provide a welding robot, which comprises the flexible automatic clamping rail device.
Drawings
FIG. 1 shows a schematic of the structure of the present invention;
FIG. 2 is a schematic structural diagram of the automatic clamping rail clamping a pipe to be welded according to the present invention;
FIG. 3 is a schematic view showing the installed positions of the upper and lower locking assemblies of the present invention;
FIG. 4 is a schematic view of the arcuate guide track of the present invention shown in an expanded condition;
FIG. 5 shows a schematic structural view of the upper locking assembly of the present invention;
figure 6 shows a schematic view of the construction of the lower locking assembly of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a translational sliding module; 11. a drive motor; 2. the guide rail can be disassembled; 21. an arc-shaped guide rail; 3. an aligning mechanism; 4. a hold-down mechanism; 5. a pipe to be welded; 6. a rotary connector; 7. an upper locking assembly; 71. locking the driving motor; 72. an upper fastener; 73. an upper locking member; 8. a lower locking assembly; 81. a lower fastener; 82. a lower locking piece; 83. and a locking member.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Examples
As shown in fig. 1 to 3, the present embodiment provides a flexible automatic clamping rail device, including: translational sliding module 1, the intermediate position at translational sliding module 1's top is equipped with rotatory connector 6, translational sliding module 1's bottom is equipped with removable branch guide rail 2, but the inboard of split guide rail 2 is equipped with aligning mechanism 3 and hold-down mechanism 4.
The detachable guide rail 2 comprises two sections of arc-shaped guide rails 21 which can be combined to form a circular ring, and the two sections of arc-shaped guide rails 21 are arranged at the bottom of the translational sliding module 1 and can slide relatively under the translational sliding module 1.
In this embodiment, the arc-shaped guide rail 21 has a semicircular annular structure, i.e., a 180-degree sector annular structure.
In this embodiment, swivelling joint head 6 is the hydraulic motor of integrated on external tongs, can drive whole pipeline welding robot rotatory, can realize through middle turn that but split guide rail 2 with treat the parallel in welded pipe 5 cross-sections, swivelling joint connects 6 upper ends and mounting platform flexonics. The mounting platform can be a crawler excavator and can be suitable for carrying in mountain environments and facilitating equipment installation.
Preferably, the translational sliding module 1 comprises a sliding platform, one end of the sliding platform is provided with a driving motor 11, the bottom of the sliding platform is provided with a sliding rail along the length direction, the output end of the driving motor 11 is connected with a double-thread screw rod, two sliding blocks are arranged on the double-thread screw rod at intervals, the tops of the two sliding blocks are slidably connected with the sliding rail, the bottoms of the two sliding blocks are correspondingly and fixedly connected with the arc-shaped guide rail 21, the driving motor is used for driving the double-thread screw rod to rotate, the two sliding blocks are in threaded connection with the double-thread screw rod, the two sliding blocks can perform reciprocating linear sliding on the sliding rail, and the two sections of arc-shaped guide rails 21 can clamp or disassemble the pipeline to be welded; when the two sliding blocks slide to be close to each other, the two sections of arc-shaped rails form a circular ring and can clamp the pipeline 5 to be welded, when the two sliding blocks slide to two sides and are separated, an opening is formed below the two sections of arc-shaped guide rails 21, and when the distance of the opening is larger than the outer diameter of the pipeline 5 to be welded, the flexible automatic clamping rail can be directly hoisted to the position above the pipeline to complete disassembly.
Preferably, the aligning mechanism 3 includes at least three aligning portions distributed inside the detachable guide 2, and the pressing mechanism 4 includes at least three pressing portions distributed inside the detachable guide 2, and the pressing portions are air cylinders. The centering part is used for matching with the rotary connector 6 to carry out axial fine adjustment on the guide rail, so that the detachable guide rail 2 and the pipeline to be welded are coaxial, and a device, such as a rotary motor, capable of driving the guide rail to move axially can be driven.
As shown in fig. 4 to 6, the locking device further includes an upper locking assembly 7, the upper locking assembly 7 includes a locking driving motor 71, an upper fastener 72 and an upper locking member 73, the upper fastener 72 is fixed on an upper side wall of one of the curved guide rails 21, the upper locking member 73 is fixed on an upper side wall of the other curved guide rail 21, the locking driving motor 71 is mounted on the upper fastener 72, and an output end thereof drives the upper fastener 72 to be locked and matched with the upper locking member 73.
The working principle is as follows:
when the automatic clamping device is specifically applied, firstly, the automatic clamping track is hoisted to a pipeline 5 to be welded through the hoisting platform, the translational sliding module 1 is perpendicular to the axial direction of the pipeline 5 to be welded, then the driving motor rotates to drive the two sliding blocks to move in opposite directions, when the two sliding blocks slide to be close together, the two sections of arc-shaped tracks form a circular ring, the pipe 5 to be welded can be clamped, and after the arc-shaped guide rails 21 are closed, the center is subjected to axial fine adjustment through the aligning mechanism 3; through hold-down mechanism 4, length can carry out automatic adjustment according to actual demand to but make but split guide rail 2 and wait to have stable clamp force between the welded tube way 5, for guaranteeing safety, after accomplishing to closing, the upper and lower part of closing locks through upper locking Assembly 7 and lower locking Assembly 8, after accomplishing the welding, rely on the motion of external mechanism to open the butt joint, two sections arc guide rails 21 can be followed linear guide to both sides motion, form one section opening below two sections arc guide rails 21, after the opening distance is greater than waiting to weld the outside diameter of pipeline 5, directly take out from the pipe and wait to weld the pipeline 5 upper portion, move to next station and carry out welding operation.
A welding robot comprises the flexible automatic clamping track device. Welding is carried out to the welding seam of waiting to weld pipeline 5, and welding robot installs on the slip dolly, and the dolly can be followed through the gear groove meshing that walking gear on the walking wheel and the inboard gear groove that sets up of arc guide rail 21 and be circular motion, and welding robot can be the arm, and welding robot can have 4 degrees of freedom simultaneously, can adjust the gesture in a flexible way in order to accomplish complicated welding task.
In the description of the present invention, it is to be understood that the terms "center", "length", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "inner", "outer", "peripheral side", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. The utility model provides a flexible automatically clamped rail set which characterized in that includes:
translational sliding module (1), the intermediate position at the top of translational sliding module (1) is equipped with rotary joint (6), the bottom of translational sliding module (1) is equipped with removable guide rail (2), the inboard of removable guide rail (2) is equipped with aligning mechanism (3) and hold-down mechanism (4), but removable guide rail (2) are including two sections arc guide (21) that can be to closing component ring, two sections arc guide (21) set up relatively translational sliding module (1) bottom, and can be in relative slip under translational sliding module (1).
2. The flexible automatic clamping track device according to claim 1, wherein the translational sliding module (1) comprises a sliding platform, a driving motor (11) is arranged at one end of the sliding platform, a sliding rail is arranged at the bottom of the sliding platform along the length direction, an output end of the driving motor (11) is connected with a double-threaded lead screw, two sliding blocks are arranged on the double-threaded lead screw at intervals, the tops of the two sliding blocks are slidably connected with the sliding rail, and the bottoms of the two sliding blocks are correspondingly and fixedly connected with the arc-shaped guide rail (21).
3. The flexible automatic clamping rail device according to claim 1, wherein the aligning mechanism (3) comprises at least three aligning portions distributed on the inner side of the detachable guide rail (2), the pressing mechanism (4) comprises at least three pressing portions distributed on the inner side of the detachable guide rail (2), and the three pressing portions are air cylinders.
4. The flexible automatic clamping rail device according to claim 1, further comprising an upper locking assembly (7), wherein the upper locking assembly (7) comprises a locking driving motor (71), an upper fastener (72) and an upper locking piece (73), the upper fastener (72) is fixed on an upper side wall of one of the arc-shaped guide rails (21), the upper locking piece (73) is fixed on an upper side wall of the other arc-shaped guide rail (21), the locking driving motor (71) is installed on the upper fastener (72), and an output end of the locking driving motor drives the upper fastener (72) to be in locking fit with the upper locking piece (73).
5. The flexible automatic clamping rail device according to claim 1, further comprising a lower locking assembly (8), wherein the lower locking assembly (8) comprises a lower fastener (81), a lower locking member (82) and a locking member (83), a body of the lower fastener (81) is fixed on a lower side wall of one of the arc-shaped guide rails (21), a body of the lower locking member (82) is fixed on a lower side wall of the other arc-shaped guide rail (21) and is used for locking and matching with the lower fastener (81), and the locking member (83) used for locking the lower fastener (81) is arranged on the lower fastener (81).
6. Flexible self-clamping rail set according to any one of claims 1-5, characterised in that the arc of the arc-shaped guide rail (21) is 180 °.
7. A welding robot, characterized in that, comprises the flexible automatic clamping rail device of any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211529247.3A CN115899395A (en) | 2022-11-30 | 2022-11-30 | Flexible automatic clamping rail set and welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211529247.3A CN115899395A (en) | 2022-11-30 | 2022-11-30 | Flexible automatic clamping rail set and welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115899395A true CN115899395A (en) | 2023-04-04 |
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ID=86491060
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211529247.3A Pending CN115899395A (en) | 2022-11-30 | 2022-11-30 | Flexible automatic clamping rail set and welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115899395A (en) |
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2022
- 2022-11-30 CN CN202211529247.3A patent/CN115899395A/en active Pending
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