CN117697278A - Robot for welding in pipe - Google Patents
Robot for welding in pipe Download PDFInfo
- Publication number
- CN117697278A CN117697278A CN202410163125.XA CN202410163125A CN117697278A CN 117697278 A CN117697278 A CN 117697278A CN 202410163125 A CN202410163125 A CN 202410163125A CN 117697278 A CN117697278 A CN 117697278A
- Authority
- CN
- China
- Prior art keywords
- rod
- welding
- seat
- robot
- sliding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003466 welding Methods 0.000 title claims abstract description 108
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 239000000523 sample Substances 0.000 claims description 4
- 238000010030 laminating Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 9
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Abstract
The invention relates to the technical field of welding machines, in particular to a robot for welding in a pipe, which comprises two fixing seats, a supporting seat arranged between the two fixing seats and two walking units, wherein the two walking units are respectively arranged on the fixing seats and used for driving adjacent fixing seats to move in pipelines with different diameters; the welding head is movably arranged on the supporting seat; the steering adjusting component is arranged between the two fixing seats and used for detecting relative rotation between the two fixing seats; the robot for welding in the pipe enables the adjacent fixing seats to move in pipes with different diameters by utilizing the walking unit when the inner walls of the pipes are welded, improves the universal performance of the welding machine, and can control the intelligent welding unit to work after the steering adjusting part detects by utilizing the matching of the steering adjusting part and the intelligent welding unit so as to adjust the swing amplitude of the welding head.
Description
Technical Field
The invention relates to the technical field of welding machines, in particular to a robot for welding in a pipe.
Background
In the pipeline construction process, the pipeline is usually cut into a specific size for convenient transportation, but the pipeline is also required to be welded when the pipeline is paved, the existing welding method mostly adopts the welding from an external interface, so that gaps exist at the inner wall of the pipeline joint, and the situation that the welding is not firm exists, so that the welding of the inner joint of the pipeline is required;
the existing pipeline welding is performed manually, so that the workload is large, workers need to enter the pipeline, the space in the pipeline is limited, the workers with larger pipeline diameter can enter the pipeline, the workers with insufficient pipeline diameter can enter the pipeline without changing the pipeline, various inconveniences exist in operation, welding quality and welding efficiency are difficult to guarantee, and further, some technicians design some automatic welding equipment in the pipeline, and according to preset welding parameters and programs, the automatic positioning, alignment, welding, control and other operations of the pipeline are realized, so that the welding quality and the production efficiency are improved, the pressure resistance performance and the service life of the pipeline are improved, the internal resistance of the pipeline is reduced, and the transmission efficiency is improved.
However, when in practical use, we find that the welding device generally makes the welding gun nozzle close to the pipeline gap, and swings greatly by using mechanical drive, so that the nozzle and two sides of the gap move slowly and forwards in a friction manner, and further the blunt edge of a melting groove and the pipeline welding work are realized.
Disclosure of Invention
One technical problem to be solved by the present application is: how to design a welding robot capable of timely adjusting the swing range of a welding head according to the slope of a small angle and the direction of the small angle.
In order to solve the technical problems, the embodiment of the application provides a robot for welding in a pipe, which comprises two fixing seats, a supporting seat arranged between the two fixing seats, and a walking unit, wherein the two walking units are arranged and are respectively arranged on the fixing seats and used for driving adjacent fixing seats to move in pipelines with different diameters;
the welding head is movably arranged on the supporting seat;
the steering adjusting component is arranged between the two fixing seats and used for detecting relative rotation between the two fixing seats;
the intelligent welding unit is arranged on the supporting seat and is connected with the welding head and the steering adjusting part, and after the steering adjusting part detects, the intelligent welding unit is controlled to work, so that the swing amplitude of the welding head can be adjusted.
In some embodiments, the walking unit includes a plurality of sliding seats that set up respectively in the fixing base, all rotate in the sliding seat and be provided with the screw rod, the equal threaded connection in screw rod both ends has the sliding block that cooperatees with the sliding seat and use, all rotate on the fixing base and be provided with multiunit dwang, every group dwang all is provided with two, and two of every group dwang sets up respectively in adjacent sliding seat both sides, all rotate between dwang and the adjacent sliding block and be provided with the deflection pole, dwang tip all is provided with the gyro wheel, all is provided with the micromotor that is connected with adjacent gyro wheel on any dwang in every group dwang, be provided with in the fixing base and be used for driving a plurality of synchronous rotating's of screw rod synchronization part.
In some embodiments, the synchronization component includes a plurality of connecting shafts respectively arranged at the end parts of the screw rods, belt pulleys are arranged on the connecting shafts, a synchronous belt is arranged between the belt pulleys, and a driving motor connected with any connecting shaft is arranged in the fixing seat.
In some embodiments, the steering adjustment component comprises a transverse plate arranged in any one of the fixing seats, a welding body connected with a welding head is arranged on the transverse plate, a storage battery and a controller are arranged on the transverse plate, fixing columns are arranged on opposite sides of the two fixing seats, a cross universal joint is arranged between the two fixing columns, a connecting cavity is arranged on the outer side of the fixing seat and close to the transverse plate, four connecting air bags attached to the cross universal joint are arranged on the connecting cavity, and a probe is arranged on the fixing seat and close to the transverse plate.
In some embodiments, the intelligent welding unit comprises an annular guide rail arranged on the supporting seat, a movable seat is movably arranged on the annular guide rail, a rotating part for driving the movable seat to rotate and adjust is arranged on the annular guide rail, a positioning seat is arranged on the movable seat, a locking part for controlling the position of the positioning seat is arranged between the movable seat and the positioning seat, a swinging rod is arranged on the positioning seat in a rotating mode, the welding head is arranged on the swinging rod, and a swinging part for driving the welding head to swing and adjust is arranged on the positioning seat.
In some embodiments, the rotating member includes a gear ring disposed on a supporting seat, a first motor is disposed on the movable seat, and a driving gear matched with the gear ring is disposed at an output end of the first motor.
In some embodiments, the locking piece comprises a sliding frame arranged on the movable seat, a sliding strip which is in sliding connection with the sliding frame is arranged on the positioning seat, a round groove is formed in the sliding strip, a first spring is arranged in the round groove, a positioning ball is arranged at one end of the first spring, and a plurality of clamping grooves which are respectively matched with the positioning ball for use are formed in the sliding frame.
In some embodiments, the swinging component comprises a second motor arranged on the positioning seat, a hollow rod is arranged at the output end of the second motor, a shifting rod is arranged in the hollow rod in a sliding mode, a round rod is arranged at the end part of the shifting rod, a straight slot matched with the round rod in use is formed in the swinging rod, and an adjusting piece connected with the connecting cavity is arranged in the hollow rod and used for adjusting the swinging amplitude of the welding head.
In some embodiments, the adjusting member comprises a mounting cavity arranged in the hollow rod, a first piston rod connected with the displacement rod is slidably arranged in the mounting cavity, a second spring is arranged in the mounting cavity, two ends of the second spring are respectively contacted with the mounting cavity and the first piston rod, and the connecting cavity is communicated with the mounting cavity.
In some embodiments, the fixed slot has been seted up on the swinging arms, the fixed slot both sides all are provided with the location chamber, the equal slip of location intracavity is provided with piston rod two, all be provided with the spring three in the location chamber, spring three both ends are connected with location chamber and piston rod two respectively, be provided with two fixed air bags on the positioning seat, two fixed air bags are linked together with adjacent location chamber through the hose respectively, the slip is provided with the connecting rod on the swinging arms, the soldered connection sets up on the connecting rod, two piston rod two homoenergetic contacts with the connecting rod, be provided with the spring four between swinging arms and the connecting rod, just pass through roughness between swinging arms and the connecting rod.
The invention has at least the following beneficial effects:
1. when the inner wall of the pipeline is welded, the adjacent fixing seats are driven to move in pipelines with different diameters by the aid of the walking units, so that the universal performance of the welding machine is improved, and as two groups of micro motors are arranged in the welding machine, driving in different directions can be achieved, and the movement effect in the pipelines is improved;
2. the intelligent welding unit is controlled to work after the steering adjusting component is used for detecting, so that the swing amplitude of the welding head can be adjusted, the condition that the swing amplitude of the welding head is forgotten to be adjusted when the gradient of a small angle and the direction of the small angle are adjusted is avoided, the quick welding of a pipeline is facilitated, the welding effect is improved to a certain extent, and the sealing performance of the pipeline is further improved;
3. through the arrangement of the positioning cavity, the piston rod, the fixed air bag and the connecting rod, when the swing rod swings at a large angle, the welding head can be driven to move forwards, the welding head is prevented from being far away from the welding gap, and distance compensation in the welding process is formed;
4. the positioning seat and the connecting rod are subjected to rough treatment, so that the connecting rod is prevented from being pulled back too fast by the spring when being reset, the connecting rod and the welding head are slowly and stably reset, and the welding quality of the pipeline is guaranteed.
Drawings
FIG. 1 is a schematic view of the structure of the present invention as a whole in a pipe;
FIG. 2 is a schematic diagram of the overall structure of the present invention;
FIG. 3 is a schematic view of the partial cross-section of FIG. 2 in accordance with the present invention;
FIG. 4 is a schematic view of the partial cross-section of FIG. 3 in accordance with the present invention;
FIG. 5 is a schematic view of another partial cross-section of FIG. 2 in accordance with the present invention;
FIG. 6 is an enlarged schematic view of the structure of the area A in FIG. 5 according to the present invention;
FIG. 7 is a schematic view of the steering adjustment member and intelligent welding unit configuration of the present invention;
FIG. 8 is a schematic view of the present invention in partial cross section;
FIG. 9 is an enlarged schematic view of the structure of the area B in FIG. 8 according to the present invention;
FIG. 10 is a schematic view of the intelligent welding unit of the present invention after explosion with partial structure in section;
FIG. 11 is an enlarged view of the area C of FIG. 10 according to the present invention;
FIG. 12 is a schematic view of the structure added in embodiment 2 of the present invention;
FIG. 13 is a schematic view of the alternate orientation of FIG. 12 in accordance with the present invention;
FIG. 14 is a schematic view of the partial cross-section of FIG. 12 in accordance with the present invention;
FIG. 15 is an enlarged schematic view of the structure of the area D in FIG. 14 according to the present invention;
fig. 16 is a schematic view of the partial cross-section of fig. 13 in accordance with the present invention.
In the figure: 1. a fixing seat; 2. a walking unit; 21. a sliding seat; 22. a screw; 23. a sliding block; 24. a rotating lever; 25. a deflection lever; 26. a roller; 27. a micro motor; 3. a synchronizing section; 31. a connecting shaft; 32. a belt pulley; 33. a synchronous belt; 34. a driving motor; 4. a steering adjustment member; 41. a cross plate; 42. welding the body; 43. a storage battery; 44. a controller; 45. fixing the column; 46. a cross universal joint; 47. a connecting cavity; 48. connecting an air bag; 49. a probe; 5. an intelligent welding unit; 51. an annular guide rail; 52. a movable seat; 53. a positioning seat; 54. a swinging rod; 6. a rotating member; 61. a gear ring; 62. a first motor; 63. a drive gear; 7. a locking member; 71. a carriage; 72. a slide bar; 73. a circular groove; 74. a first spring; 75. a positioning ball; 76. a clamping groove; 8. a swinging member; 81. a second motor; 82. a hollow rod; 83. a shift lever; 84. a round bar; 85. a straight slot; 9. an adjusting member; 91. a mounting cavity; 92. a first piston rod; 93. a second spring; 10. a support base; 11. a welding head; 12. a fixing groove; 13. a positioning cavity; 14. a piston rod II; 15. a third spring; 16. fixing the air bag; 17. a connecting rod; 18. and a spring IV.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1-11, the present invention provides a technical solution:
the robot for welding in the pipe comprises two fixing seats 1, a supporting seat 10 arranged between the two fixing seats 1, and walking units 2, wherein two walking units 2 are arranged, and the two walking units 2 are respectively arranged on the fixing seats 1 and used for driving adjacent fixing seats 1 to move in pipelines with different diameters;
the walking unit 2 comprises a plurality of sliding seats 21 which are respectively arranged in the fixed seat 1, screw rods 22 are respectively arranged in the sliding seats 21 in a rotating way, sliding blocks 23 which are matched with the sliding seats 21 in a matched way are respectively connected at two ends of the screw rods 22 in a threaded way, a plurality of groups of rotating rods 24 are respectively arranged on the fixed seat 1 in a rotating way, two rotating rods 24 of each group are respectively arranged at two sides of the adjacent sliding seats 21, a deflection rod 25 is respectively arranged between each rotating rod 24 and each adjacent sliding block 23 in a rotating way, rolling wheels 26 are respectively arranged at the end parts of each rotating rod 24, micro motors 27 which are connected with the adjacent rolling wheels 26 are respectively arranged on any rotating rod 24 of each group, and a synchronous component 3 which is used for driving the screw rods 22 to synchronously rotate is arranged in the fixed seat 1;
the synchronous component 3 comprises a plurality of connecting shafts 31 which are respectively arranged at the end parts of the screw rods 22, belt pulleys 32 are arranged on the connecting shafts 31, synchronous belts 33 are arranged among the plurality of belt pulleys 32, a driving motor 34 which is connected with any connecting shaft 31 is arranged in the fixed seat 1, and the driving motor 34 drives the connecting shafts 31 to rotate so as to drive the plurality of synchronous belts 33 to rotate;
the welding head 11 is movably arranged on the supporting seat 10, the welding head 11 is connected with the welding body 42, and mounting grooves are formed in the fixing seat 1 and the supporting seat 10 and used for moving when the pipeline rotates, and the welding is complete and one circle, so that after the welding, the first motor 62 is used for reversely rotating to reset the welding head 11, and the winding condition of the pipeline is avoided;
a steering adjusting part 4, the steering adjusting part 4 is arranged between the two fixing bases 1 and is used for detecting the relative rotation between the two fixing bases 1;
the steering adjusting part 4 comprises a transverse plate 41 arranged in any fixed seat 1, a welding body 42 connected with a welding head 11 is arranged on the transverse plate 41, a storage battery 43 and a controller 44 are arranged on the transverse plate 41, fixed columns 45 are arranged on opposite sides of the two fixed seats 1, a cross universal joint 46 is arranged between the two fixed columns 45, a connecting cavity 47 is arranged outside the fixed seat 1 close to the transverse plate 41, four connecting air bags 48 attached to the cross universal joint 46 are arranged on the connecting cavity 47, a probe 49 is arranged on the fixed seat 1 close to the transverse plate 41, and structures such as a driving motor 34, a first motor 62 and a second motor 81 are all connected with the controller 44, so that orderly proceeding of all steps is ensured;
the intelligent welding unit 5 is arranged on the supporting seat 10, is connected with the welding head 11 and the steering adjusting component 4, and controls the intelligent welding unit 5 to work after the steering adjusting component 4 detects, so that the swing amplitude of the welding head 11 can be adjusted;
the intelligent welding unit 5 comprises an annular guide rail 51 arranged on the supporting seat 10, a movable seat 52 is movably arranged on the annular guide rail 51, a rotating piece 6 for driving the movable seat 52 to rotate and adjust is arranged on the annular guide rail 51, a positioning seat 53 is arranged on the movable seat 52, a locking piece 7 for controlling the position of the positioning seat 53 is arranged between the movable seat 52 and the positioning seat 53, a swinging rod 54 is rotatably arranged on the positioning seat 53, the welding head 11 is arranged on the swinging rod 54, and a swinging component 8 for driving the welding head 11 to swing and adjust is arranged on the positioning seat 53;
the rotating member 6 comprises a gear ring 61 arranged on the supporting seat 10, a first motor 62 is arranged on the movable seat 52, and a driving gear 63 matched with the gear ring 61 for use is arranged at the output end of the first motor 62;
the locking piece 7 comprises a sliding frame 71 arranged on the movable seat 52, a sliding strip 72 which is in sliding connection with the sliding frame 71 is arranged on the positioning seat 53, a circular groove 73 is arranged in the sliding strip 72, a first spring 74 is arranged in the circular groove 73, a positioning ball 75 is arranged at the end part of the first spring 74, and a plurality of clamping grooves 76 which are respectively matched with the positioning ball 75 are formed in the sliding frame 71, so that most paved pipelines are of uniform diameter, and the positions of the sliding strip 72 are adjusted only before entering the pipeline;
the swinging component 8 comprises a second motor 81 arranged on the positioning seat 53, a hollow rod 82 is arranged at the output end of the second motor 81, a shifting rod 83 is arranged in the hollow rod 82 in a sliding way, a round rod 84 is arranged at the end part of the shifting rod 83, a straight slot 85 matched with the round rod 84 is formed in the swinging rod 54, an adjusting piece 9 connected with the connecting cavity 47 is arranged in the hollow rod 82 and used for adjusting the swinging amplitude of the welding head 11, when the two fixing seats 1 rotate, the cross universal joint 46 rotates, the connecting air bag 48 is further extruded, gas in the connecting air bag enters the connecting cavity 47 and drives a piston rod I92 to shift, the shifting rod 83 extends out, and the swinging rod 54 swings under the cooperation of the straight slot 85 and the round rod 84, so that the swinging amplitude is increased;
the adjusting piece 9 comprises a mounting cavity 91 arranged in the hollow rod 82, a first piston rod 92 connected with the shifting rod 83 is slidably arranged in the mounting cavity 91, a second spring 93 is arranged in the mounting cavity 91, two ends of the second spring 93 are respectively contacted with the mounting cavity 91 and the first piston rod 92, and the connecting cavity 47 is communicated with the mounting cavity 91.
When the device is used, a worker sequentially puts the fixing seat 1 into a pipeline, adjusts the position of the sliding bar 72 before entering the pipeline, controls the driving motor 34 to work through the controller 44, drives the connecting shaft 31 to rotate by the driving motor 34, drives the synchronous belts 33 to rotate, and synchronously rotates the screw rods 22 to enable the sliding blocks to slide to two sides, so that the rotating rod 24 is jacked up, the roller 26 is attached to the inner wall of the pipeline, and then the miniature motor 27 can start to move;
when welding is needed at the gap of the pipeline, the two fixing seats 1 can be automatically positioned, if the two fixing seats rotate, the cross universal joint 46 correspondingly rotates, the connecting air bag 48 is extruded, gas in the connecting air bag enters the connecting cavity 47 and drives the piston rod I92 to shift, the shifting rod 83 extends out, the swinging rod 54 swings under the cooperation of the straight slot 85 and the round rod 84, the swinging amplitude is increased, and the controller 44 controls the welding body 42, the first motor 62 and the second motor 81 to work;
the first motor 62 drives the driving gear 63 to rotate, and the movable seat 52 rotates around the annular guide rail 51 due to the arrangement of the gear ring 61, so that the welding head 11 on the movable seat is driven to rotate, and the second motor 81 rotates to drive the hollow rod 82 and the displacement rod 83 to rotate and drive the swinging rod 54 and the welding head 11 to swing left and right while rotating, so that the welding of the pipeline position is realized.
Example two
Referring to fig. 12-16, the present invention provides a technical solution:
unlike embodiment 1, the swing rod 54 is provided with a fixed slot 12, two sides of the fixed slot 12 are respectively provided with a positioning cavity 13, a piston rod II 14 is arranged in the positioning cavity 13 in a sliding way, a spring III 15 is arranged in the positioning cavity 13, two ends of the spring III 15 are respectively connected with the positioning cavity 13 and the piston rod II 14, the positioning seat 53 is provided with two fixed air bags 16, the two fixed air bags 16 are respectively communicated with the adjacent positioning cavity 13 through hoses, the swing rod 54 is provided with a connecting rod 17 in a sliding way, the welding head 11 is arranged on the connecting rod 17, the two piston rods II 14 can be contacted with the connecting rod 17, a spring IV 18 is arranged between the swing rod 54 and the connecting rod 17, rough treatment is carried out between the swing rod 54 and the connecting rod 17, and a protective cover is arranged on the welding head 11 so as to prevent welding impurities from being sputtered on structures such as the fixed air bags 16 and ensure that the structures are normally used;
the positioning seat 53 and the connecting rod 17 are subjected to rough treatment, so that the connecting rod 17 is prevented from being pulled back too fast by the spring IV 18 when the connecting rod 17 is reset, the connecting rod 17 and the welding head 11 are slowly and stably reset, and the welding quality of the pipeline is guaranteed.
In the welding process, the swinging rod 54 swings left and right, the fixed air bags 16 at the adjacent sides are extruded during swinging, internal air is pushed into the positioning cavity 13, the piston rod II 14 is pushed out, the piston rod II 14 is utilized to jack up the connecting rod 17, forward displacement of the welding head 11 is further achieved, the welding head 11 is prevented from being far away from a welding gap, distance compensation in the welding process is formed, the swinging rod 54 rotates to the other side, the piston rod II 14 is reset under the action of the spring III 15, and the connecting rod 17 is slowly reset under the action of the spring IV 18.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a robot that intraductal welding was used, includes two fixing base (1) and sets up supporting seat (10) between two fixing base (1), its characterized in that: the device also comprises two walking units (2), wherein the two walking units (2) are respectively arranged on the fixed seats (1) and used for driving the adjacent fixed seats (1) to move in pipelines with different diameters;
the welding head (11) is movably arranged on the supporting seat (10);
the steering adjusting component (4) is arranged between the two fixed seats (1) and used for detecting relative rotation between the two fixed seats (1);
the intelligent welding unit (5), intelligent welding unit (5) set up on supporting seat (10) to be connected with soldered connection (11) and steering adjustment part (4), after steering adjustment part (4) detects, control intelligent welding unit (5) work makes the swing range that can adjust soldered connection (11).
2. The robot for welding in a pipe according to claim 1, wherein: the walking unit (2) comprises a plurality of sliding seats (21) which are respectively arranged in a fixed seat (1), screw rods (22) are respectively arranged in the sliding seats (21) in a rotating mode, sliding blocks (23) which are matched with the sliding seats (21) in use are respectively connected at two ends of each screw rod (22) in a threaded mode, a plurality of groups of rotating rods (24) are respectively arranged on the fixed seat (1) in a rotating mode, each rotating rod (24) is respectively arranged in two groups of two rotating rods (24) on two sides of the adjacent sliding seats (21), a deflection rod (25) is respectively arranged between each rotating rod (24) and each adjacent sliding block (23) in a rotating mode, idler wheels (26) are respectively arranged at the ends of each rotating rod (24), miniature motors (27) which are connected with the adjacent idler wheels (26) are respectively arranged on any rotating rod (24), and a plurality of synchronous components (3) which are used for driving the screw rods (22) to synchronously rotate are arranged in the fixed seat (1).
3. The robot for welding in a pipe according to claim 2, wherein: the synchronous component (3) comprises a plurality of connecting shafts (31) which are respectively arranged at the end parts of the screw rods (22), belt pulleys (32) are arranged on the connecting shafts (31), a synchronous belt (33) is arranged between the belt pulleys (32), and a driving motor (34) connected with any connecting shaft (31) is arranged in the fixing seat (1).
4. A robot for welding in a pipe according to claim 3, wherein: steering adjustment part (4) are including setting up diaphragm (41) in arbitrary fixing base (1), be provided with on diaphragm (41) with welded joint (11) be connected weld body (42), be provided with battery (43) and controller (44) on diaphragm (41), two fixing base (1) opposite side all is provided with fixed column (45), two be provided with cross universal joint (46) between fixed column (45), be close to diaphragm (41) fixing base (1) outside is provided with connecting chamber (47), be provided with four on connecting chamber (47) with cross universal joint (46) mutually laminating connection gasbag (48), be close to be provided with on fixing base (1) of diaphragm (41) probe (49).
5. The robot for welding inside a tube according to claim 4, wherein: the intelligent welding unit (5) comprises an annular guide rail (51) arranged on a supporting seat (10), a movable seat (52) is movably arranged on the annular guide rail (51), a rotating part (6) for driving the movable seat (52) to rotate and adjust is arranged on the annular guide rail (51), a positioning seat (53) is arranged on the movable seat (52), a locking part (7) for controlling the position of the positioning seat (53) is arranged between the movable seat (52) and the positioning seat (53), a swinging rod (54) is rotatably arranged on the positioning seat (53), and a welding head (11) is arranged on the swinging rod (54), and a swinging part (8) for driving the welding head (11) to swing and adjust is arranged on the positioning seat (53).
6. The robot for welding inside a tube according to claim 5, wherein: the rotating piece (6) comprises a gear ring (61) arranged on the supporting seat (10), a first motor (62) is arranged on the movable seat (52), and a driving gear (63) matched with the gear ring (61) for use is arranged at the output end of the first motor (62).
7. The robot for welding in a pipe according to claim 6, wherein: the locking piece (7) comprises a sliding frame (71) arranged on a movable seat (52), a sliding strip (72) which is connected with the sliding frame (71) in a sliding mode is arranged on the positioning seat (53), a round groove (73) is formed in the sliding strip (72), a first spring (74) is arranged in the round groove (73), a positioning ball (75) is arranged at the end portion of the first spring (74), and a plurality of clamping grooves (76) which are matched with the positioning ball (75) respectively are formed in the sliding frame (71).
8. The robot for welding inside a tube according to claim 7, wherein: the swinging component (8) comprises a second motor (81) arranged on the positioning seat (53), a hollow rod (82) is arranged at the output end of the second motor (81), a shifting rod (83) is arranged in the hollow rod (82) in a sliding mode, a round rod (84) is arranged at the end of the shifting rod (83), a straight slot (85) matched with the round rod (84) in use is formed in the swinging rod (54), and an adjusting piece (9) connected with the connecting cavity (47) is arranged in the hollow rod (82) and used for adjusting the swinging amplitude of the welding head (11).
9. The robot for welding in a pipe according to claim 8, wherein: the adjusting piece (9) comprises a mounting cavity (91) arranged in the hollow rod (82), a first piston rod (92) connected with the shifting rod (83) is arranged in the mounting cavity (91) in a sliding mode, a second spring (93) is arranged in the mounting cavity (91), two ends of the second spring (93) are respectively in contact with the mounting cavity (91) and the first piston rod (92), and the connecting cavity (47) is communicated with the mounting cavity (91).
10. The robot for welding in a pipe according to claim 9, wherein: the utility model discloses a swing rod, including swing rod (54) and fixed air bag, fixed slot (12) have been seted up on swing rod (54), fixed slot (12) both sides all are provided with location chamber (13), all slide in location chamber (13) and be provided with piston rod two (14), all be provided with spring three (15) in location chamber (13), spring three (15) both ends are connected with location chamber (13) and piston rod two (14) respectively, be provided with two fixed air bag (16) on positioning seat (53), two fixed air bag (16) are linked together with adjacent location chamber (13) through the hose respectively, slide on swing rod (54) and be provided with connecting rod (17), soldered connection head (11) set up on connecting rod (17), two piston rod two (14) all can be contacted with connecting rod (17), be provided with spring four (18) between swing rod (54) and connecting rod (17), just pass through rough treatment between swing rod (54) and connecting rod (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410163125.XA CN117697278A (en) | 2024-02-05 | 2024-02-05 | Robot for welding in pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410163125.XA CN117697278A (en) | 2024-02-05 | 2024-02-05 | Robot for welding in pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117697278A true CN117697278A (en) | 2024-03-15 |
Family
ID=90153818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410163125.XA Pending CN117697278A (en) | 2024-02-05 | 2024-02-05 | Robot for welding in pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117697278A (en) |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1294532A1 (en) * | 1985-11-19 | 1987-03-07 | Институт Электросварки Им.Е.О.Патона | Machine for resistance butt welding of pipes |
| JPH08267286A (en) * | 1995-03-30 | 1996-10-15 | Japan Steel & Tube Constr Co Ltd | Welding working truck for traveling in pipe |
| CN2818045Y (en) * | 2005-07-20 | 2006-09-20 | 韩孝儒 | Submerged-arc welding machine |
| US20100187287A1 (en) * | 2007-09-18 | 2010-07-29 | 1272507 Alberta Ltd. | Apparatus for applying metallic cladding to interior surfaces of pipe elbows |
| KR20130135542A (en) * | 2012-06-01 | 2013-12-11 | 김효진 | Pipe welding robot |
| KR20150000035U (en) * | 2013-06-25 | 2015-01-05 | 현대중공업 주식회사 | Automatic welding machine for circle welding turntable carriage |
| CN111468812A (en) * | 2020-03-10 | 2020-07-31 | 定州市宏远机械有限公司 | Welding process and welding assembly of automobile steering support assembly |
| CN213497283U (en) * | 2020-09-15 | 2021-06-22 | 苏州伊克莱德堆焊科技有限公司 | Metal pipeline inner wall build-up welding auxiliary device |
| CN216398580U (en) * | 2021-12-10 | 2022-04-29 | 江苏润杨机器人有限公司 | Intelligent control type robot welding set |
| CN217991524U (en) * | 2022-08-12 | 2022-12-09 | 南京星醇新材料科技有限公司 | High-speed welder for thin-wall steel pipes |
| CN115488559A (en) * | 2022-09-16 | 2022-12-20 | 邵东智能制造技术研究院有限公司 | Manipulator for welding metal plates and using method thereof |
| CN115673483A (en) * | 2022-09-28 | 2023-02-03 | 华能临沂发电有限公司 | Arc welding device with adjustable welding gun angle position and welding method |
| WO2023143814A1 (en) * | 2022-01-31 | 2023-08-03 | Akryvia | Plasma cutting torch provided with an improved locking system |
| CN116871740A (en) * | 2023-04-21 | 2023-10-13 | 安徽工程大学 | Automatic surfacing device for cladding metal in bent pipe |
| CN220118916U (en) * | 2023-03-24 | 2023-12-01 | 上海万朗水务科技集团有限公司 | Multisection type extensible pipeline overhauling and maintaining robot |
| CN220312188U (en) * | 2023-06-14 | 2024-01-09 | 陕西工业职业技术学院 | 90 return bend build-up welding robot |
-
2024
- 2024-02-05 CN CN202410163125.XA patent/CN117697278A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1294532A1 (en) * | 1985-11-19 | 1987-03-07 | Институт Электросварки Им.Е.О.Патона | Machine for resistance butt welding of pipes |
| JPH08267286A (en) * | 1995-03-30 | 1996-10-15 | Japan Steel & Tube Constr Co Ltd | Welding working truck for traveling in pipe |
| CN2818045Y (en) * | 2005-07-20 | 2006-09-20 | 韩孝儒 | Submerged-arc welding machine |
| US20100187287A1 (en) * | 2007-09-18 | 2010-07-29 | 1272507 Alberta Ltd. | Apparatus for applying metallic cladding to interior surfaces of pipe elbows |
| KR20130135542A (en) * | 2012-06-01 | 2013-12-11 | 김효진 | Pipe welding robot |
| KR20150000035U (en) * | 2013-06-25 | 2015-01-05 | 현대중공업 주식회사 | Automatic welding machine for circle welding turntable carriage |
| CN111468812A (en) * | 2020-03-10 | 2020-07-31 | 定州市宏远机械有限公司 | Welding process and welding assembly of automobile steering support assembly |
| CN213497283U (en) * | 2020-09-15 | 2021-06-22 | 苏州伊克莱德堆焊科技有限公司 | Metal pipeline inner wall build-up welding auxiliary device |
| CN216398580U (en) * | 2021-12-10 | 2022-04-29 | 江苏润杨机器人有限公司 | Intelligent control type robot welding set |
| WO2023143814A1 (en) * | 2022-01-31 | 2023-08-03 | Akryvia | Plasma cutting torch provided with an improved locking system |
| CN217991524U (en) * | 2022-08-12 | 2022-12-09 | 南京星醇新材料科技有限公司 | High-speed welder for thin-wall steel pipes |
| CN115488559A (en) * | 2022-09-16 | 2022-12-20 | 邵东智能制造技术研究院有限公司 | Manipulator for welding metal plates and using method thereof |
| CN115673483A (en) * | 2022-09-28 | 2023-02-03 | 华能临沂发电有限公司 | Arc welding device with adjustable welding gun angle position and welding method |
| CN220118916U (en) * | 2023-03-24 | 2023-12-01 | 上海万朗水务科技集团有限公司 | Multisection type extensible pipeline overhauling and maintaining robot |
| CN116871740A (en) * | 2023-04-21 | 2023-10-13 | 安徽工程大学 | Automatic surfacing device for cladding metal in bent pipe |
| CN220312188U (en) * | 2023-06-14 | 2024-01-09 | 陕西工业职业技术学院 | 90 return bend build-up welding robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111136411B (en) | Full-automatic outer welding machine for steel gas pipeline | |
| JPH06344140A (en) | Automatic piping welding equipment | |
| CN113210921B (en) | Large-sized pipeline girth welding operation device and welding method | |
| CN113967819B (en) | Self-adjusting welding roller frame | |
| CN106002171B (en) | The assembly equipment of double spiral duct | |
| CN114055040A (en) | Special-shaped steel pipe welding device | |
| CN112222740A (en) | Automatic welding device for circular tube | |
| CN117697278A (en) | Robot for welding in pipe | |
| CN112157375A (en) | Pipe automatic weld is with transmission positioner | |
| CN113092680A (en) | Nondestructive testing device for welding seam | |
| CN219425989U (en) | Pipeline welding tool | |
| CN115722858A (en) | Welding jig and welding machine | |
| CN217493247U (en) | Steel pipe welding seam positioning device | |
| CN116532899A (en) | Welding jig convenient to adjust | |
| CN115055881A (en) | Welding device and welding method for steel pipe pile shear ring | |
| CN102500234B (en) | Purifier metal carrier core winding machine | |
| CN220011549U (en) | Cloth cutting and delivering device for curtain cloth | |
| CN213445323U (en) | Plastic wind-up roll capable of automatically bundling and fixing | |
| CN209754342U (en) | Automatic repair welding device for spiral welded pipe | |
| CN220073797U (en) | Fixing device and automatic pipeline welding equipment | |
| CN111055048A (en) | Automatic welding device for inner ring of pipe | |
| CN115626516B (en) | Rewinding machine with automatic tension control mechanism | |
| CN116393879B (en) | Automatic welding equipment and method for high-altitude pipelines | |
| CN116372453B (en) | Automatic welding equipment and method applied to pipelines with multiple parts to be welded | |
| CN220806103U (en) | Multidirectional adjusting support for metal pipeline installation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |