CN115899395A - A flexible automatic clamping track device and welding robot - Google Patents

Abstract

The invention relates to a flexible automatic clamping track device and a welding robot, belonging to the technical field of pipeline welding robots. The flexible automatic clamping track device includes: a translational sliding module, the middle position of the top of the translational sliding module is provided with a rotating joint, and the bottom of the translational sliding module is provided with a detachable guide rail, and the detachable The inner side of the divided guide rail is provided with a centering mechanism and a pressing mechanism. The detachable guide rail includes two arc-shaped guide rails that can be combined to form a ring. The two arc-shaped guide rails are relatively arranged on the translation sliding module bottom, and can slide relatively under the translation sliding module. Beneficial effects: the quick installation and disassembly of the pipe welding robot can be realized by moving the detachable guide rail on the translational sliding module, and the accuracy of the welding position can be ensured by the self-aligning mechanism and the pressing mechanism.

Description

A flexible automatic clamping track device and welding robot

technical field

The invention belongs to the technical field of pipeline welding robots, and in particular relates to a flexible automatic clamping track device and a welding robot.

Background technique

At present, the long-distance oil and gas pipeline is the most important way of oil and gas transportation, which has the advantages of small footprint and low cost. A large amount of welding work is required during the construction of the long-distance pipeline. The welding construction of existing long-distance pipelines is mainly completed in two ways, one is manual welding, and the other is completed by semi-automatic welding. Both kinds of welding need to use a pipe hanger to cooperate with the inner counterpart, and the inner counterpart is aligned with the pipe mouth. Automatic tension correction, nozzle grouping and weld gap adjustment are done manually, but the semi-automatic welding method uses a pipe welding robot for welding.

Now the pipeline welding robot is widely used in the field of pipeline welding technology, mainly used for welding the gap between pipelines, which can greatly improve the welding efficiency, especially the circular seam welding. Pipeline girth welding is an important process in the pipeline laying process. It is an important link that affects the quality of the project and the progress of the project. During the pipeline laying process, most of the girth welding requires fixed installation of the pipeline. position welding. Therefore, the disassembly and installation of the track of the pipeline welding robot is the bottleneck restricting the quality and efficiency of on-site construction at this stage. It is difficult to reduce the manual intervention in the disassembly process and ensure the accuracy of the track installation.

Contents of the invention

In order to solve the above-mentioned technical problems, the present invention provides a flexible automatic clamping track device. The rapid installation and disassembly of the pipeline welding robot can be realized by moving the detachable guide rail on the translational sliding module, and the centering mechanism and the pressing mechanism can ensure Accurate welding position.

The technical solution of the present invention to solve the above technical problems is as follows: the flexible automatic clamping track device includes: a translation sliding module, the middle position of the top of the translation sliding module is provided with a rotary joint, and the bottom of the translation sliding module is provided There are detachable guide rails, and the inner side of the detachable guide rails is provided with a centering mechanism and a pressing mechanism. The detachable guide rails include two sections of arc-shaped guide rails that can be combined to form a ring. The arc-shaped sections of the two sections The guide rails are relatively arranged at the bottom of the translation sliding module, and can slide relatively under the translation sliding module.

Beneficial effect:

(1) The present invention realizes the rapid installation and disassembly of the pipeline welding robot by moving the detachable guide rail on the translation sliding module;

(2) The present invention carries out axial adjustment through the centering mechanism to ensure that the detachable guide rail is coaxial with the pipeline to be welded;

(3) The present invention performs radial adjustment through the pressing mechanism to ensure that the detachable guide rail is concentric with the pipeline to be welded;

(4) The present invention can improve the precision of rail installation, and can reduce the precision requirements for welding robots.

Preferably, the translation sliding module includes 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 slide rail along the length direction, and the output end of the driving motor is connected to a double-threaded screw rod , two sliders are arranged at intervals on the double-threaded screw rod, the tops of the two sliders are slidably connected to the slide rail, and the bottoms of the two sliders are correspondingly fixedly connected to the arc-shaped guide rail.

Preferably, the aligning mechanism includes at least three aligning parts distributed inside the detachable guide rail, and the pressing mechanism includes at least three pressing parts distributed inside the detachable guide rail. Each of the pressing parts is a cylinder.

Preferably, it also includes an upper locking assembly, the upper locking assembly includes a locking drive motor, an upper fastener and an upper locking element, and the upper fastener is fixed on an upper side wall of the arc-shaped guide rail, so The upper lock piece is fixed on the upper side wall of the other arc-shaped guide rail, the locking drive motor is installed on the upper fastener piece, and its output end drives the lock lock between the upper fastener piece and the lock piece. Tight fit.

Preferably, it also includes a lower locking assembly, the lower locking assembly includes a lower fastener, a lower locking piece and a locking piece, the body of the lower fastener is fixed on a lower side wall of the arc-shaped guide rail, The body of the lower lock is fixed on the lower side wall of the other arc-shaped guide rail, and is used to lock and cooperate with the lower fastener, and the lower fastener is provided with a of the locking member.

Preferably, the arc of the arc-shaped guide rail is 180°.

The second object of the present invention is to provide a welding robot, including the flexible automatic clamping track device.

Description of drawings

Fig. 1 shows the structural representation of the present invention;

Fig. 2 shows the structural schematic view that the automatic clamping track of the present invention clamps the pipeline to be welded;

Fig. 3 shows a schematic diagram of the installation positions of the upper locking assembly and the lower locking assembly of the present invention;

Fig. 4 shows the schematic diagram of the open state of the arc guide rail of the present invention;

Figure 5 shows a schematic structural view of the upper locking assembly of the present invention;

Fig. 6 shows a schematic structural view of the lower locking assembly of the present invention.

In the accompanying drawings, the list of parts represented by each label is as follows:

1. Translation sliding module; 11. Driving motor; 2. Detachable guide rail; 21. Arc guide rail; 3. Aligning mechanism; 4. Compression mechanism; 5. Pipeline to be welded; , upper locking assembly; 71, locking drive motor; 72, upper fastener; 73, upper locking element; 8, lower locking assembly; 81, lower fastener; 82, lower locking element; 83, locking element.

Detailed ways

The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

Example

As shown in Figures 1-3, this embodiment provides a flexible automatic clamping track device, including: a translational sliding module 1, the middle position of the top of the translational sliding module 1 is provided with a rotary joint 6, the The bottom of the translation sliding module 1 is provided with a detachable guide rail 2 , and the inner side of the detachable guide rail 2 is provided with a centering mechanism 3 and a pressing mechanism 4 .

The detachable guide rail 2 includes two arc-shaped guide rails 21 that can be combined to form a ring, and the two arc-shaped guide rails 21 are relatively arranged at the bottom of the translation sliding module 1, and can be positioned on the translation sliding module. Relative sliding under group 1.

In this embodiment, the arc-shaped guide rail 21 is a semi-circular structure, that is, a 180° sector ring structure.

In this embodiment, the rotary joint head 6 is a hydraulic motor integrated on the external gripper, which can drive the entire pipeline welding robot to rotate, and the parallel and rotational connection between the detachable guide rail 2 and the section of the pipeline to be welded 5 can be realized through the intermediate rotary head The upper end of the joint 6 is flexibly connected with the installation platform. The installation platform can be a crawler excavator, which can be suitable for handling in mountainous environments and facilitates equipment installation.

Preferably, the translation sliding module 1 includes 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 slide rail along the length direction, and the output end of the driving motor 11 is connected to a double A threaded screw rod, two sliders are arranged at intervals on the double-threaded screw rod, the tops of the two sliders are slidably connected to the slide rail, and the bottoms of the two sliders are correspondingly fixedly connected to the arc guide rail 21. Use the drive motor to drive the double-threaded screw to rotate. There are two sliders threaded on the double-threaded rod, which can realize the reciprocating linear sliding of the two sliders on the slide rail, so that the two arc-shaped guide rails 21 can realize the pipe to be welded. Clamping or dismounting; when the two sliders slide close together, the two arc-shaped tracks form a ring, which can hold the pipe 5 to be welded, and when the two sliders slide to both sides to separate, the two sections A section of opening is formed below the arc guide rail 21, and when the opening distance is greater than the outer diameter of the pipeline 5 to be welded, the flexible automatic clamping track can be directly hoisted above the pipeline to complete disassembly.

Preferably, the aligning mechanism 3 includes at least three aligning parts distributed inside the detachable guide rail 2, and the pressing mechanism 4 includes at least three pressing parts distributed inside the detachable guide rail 2. The pressing part is an air cylinder, but the present invention is not limited thereto, and may also be other driving components such as hydraulic cylinders and linear motors. The centering part is used to cooperate with the rotary joint 6 to fine-tune the guide rail axially, so that the detachable guide rail 2 is coaxial with the pipeline to be welded, and can drive the guide rail to move axially, such as a rotating motor.

As shown in Figures 4-6, it also includes an upper locking assembly 7, which includes a locking drive motor 71, an upper fastener 72 and an upper locking element 73, and the upper fastener 72 is fixed on a described On the upper side wall of the arc guide rail 21, the upper lock 73 is fixed on the upper side wall of the other arc guide rail 21, the locking drive motor 71 is installed on the upper fastener 72, and its output end The upper buckle 72 is driven to lock and cooperate with the locking member 73 .

The lower locking assembly 8, the lower locking assembly 8 includes a lower fastener 81, a lower locking element 82 and a locking element 83, the body of the lower fastener 81 is fixed on a lower side wall of the arc guide rail 21 Above, the body of the lower lock 82 is fixed on the lower side wall of the other arc-shaped guide rail 21, and is used to lock and cooperate with the lower fastener 81, and the lower fastener 81 is provided with a lock Tighten the locking member 83 of the lower fastener 81. When the two arc guide rails 21 are closed, the lower locking assembly 8 at the bottom guides the arc guide rails 21 on both sides to dock in a normal posture. The upper locking assembly 7 can automatically complete the locking work.

working principle:

In a specific application, firstly, the automatic clamping track is hoisted to the pipeline 5 to be welded by the hoisting platform, so that the translation sliding module 1 is perpendicular to the axial direction of the pipeline 5 to be welded, and then the motor is driven to rotate to drive the two sliders to move toward each other. When the two sliders are slid close together, the two arc-shaped tracks form a ring, which can hold the pipe 5 to be welded. After the arc-shaped guide rails 21 are combined, the center is axially fine-tuned by the centering mechanism 3 ; Through the pressing mechanism 4, the length can be automatically adjusted according to actual needs, so that there is a stable clamping force between the detachable guide rail 2 and the pipeline 5 to be welded. The part is locked by the upper locking assembly 7 and the lower locking assembly 8. After the welding is completed, the butt joint is opened by relying on the movement of the external mechanism. The two arc guide rails 21 can move to both sides along the linear guide rail. A section of opening is formed below the 21, and when the opening distance is greater than the outer diameter of the pipe to be welded 5, it is directly taken out from the pipe to be welded on the pipe 5 top, and moved to the next station for welding operations.

A welding robot includes the flexible automatic clamping track device. The welding seam of the pipe to be welded 5 is welded. The welding robot is installed on the sliding trolley. The trolley can move circularly along the pipeline to be welded 5 through the engagement of the traveling gear on the walking wheel and the gear groove provided inside the arc guide rail 21. The welding robot It can be a mechanical arm, and the welding robot can have 4 degrees of freedom, and can flexibly adjust its posture to complete complex welding tasks.

In describing the present invention, it is to be understood that the terms "centre", "length", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "inner", "outer", "circumferential", "circumferential" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this The invention and the simplified description do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In the present invention, unless otherwise clearly specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , or integrated; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise specified limit. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

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.

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