CN209773800U - Pipeline outer wall welding robot - Google Patents
Pipeline outer wall welding robot Download PDFInfo
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- CN209773800U CN209773800U CN201920293974.1U CN201920293974U CN209773800U CN 209773800 U CN209773800 U CN 209773800U CN 201920293974 U CN201920293974 U CN 201920293974U CN 209773800 U CN209773800 U CN 209773800U
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Abstract
The utility model relates to a pipeline outer wall welding robot. The utility model discloses a be equipped with clamping plate on pipeline outer wall welding robot's the adjustment frame, the welder assembly is on clamping plate, welder passes through the location axle and is connected with the adjustable rotation of clamping plate, and be equipped with the locking structure between welder and the clamping plate, in the use, welder rotates the adjustment on the clamping plate through the location axle, the adjustment locks through locking mechanism after targetting in place, like this when welder's position is improper, just can conveniently adjust, the inconvenient problem of the mounted position adjustment of the welder of current welding robot has been solved.
Description
Technical Field
The utility model relates to a pipeline outer wall welding robot.
Background
In the prior art, Chinese patent document with the publication number of CN104139265B discloses an automatic welding mechanism, which comprises an elastic track for being assembled on a corresponding pipeline and a travelling mechanism arranged on the elastic track, two cam seats are connected through a pin shaft, the angle of the automatic welding mechanism is adjustable, the automatic welding mechanism is suitable for different pipe diameters and is fixed on the track through a cam locking mechanism, an angle adjusting plate, a wheel seat and the cam seats form a basic frame of a welding trolley together, the welding trolley adopts gear drive and can do uniform circumferential motion around the elastic track, a welding gun radial moving mechanism is arranged on the angle adjusting plate and adopts manual adjustment, and the welding gun axial moving mechanism is connected with the radial moving mechanism through a radial moving cover plate, the axial movement driving motor drives the rack to move, so that the axial movement of the welding gun is realized, the welding gun swinging mechanism is arranged at the front end of the rack supporting seat, and the welding gun is directly driven by the stepping motor to circularly and reciprocally swing around the center of a welding seam.
In the prior art, chinese patent No. CN 105945475B discloses a side-hung type all-position welding robot for pipelines, which comprises a base, a first linear motion unit, a second linear motion unit, an angular pendulum unit and a welding gun; the first linear motion unit is fixed on the base; the second linear motion unit is fixed on the sliding block of the first linear motion unit, and the sliding direction of the sliding block of the second linear motion unit is vertical to that of the sliding block of the first linear motion unit; the angle swing unit is fixed on the sliding block of the second linear motion unit; the welding gun is fixed on the angle swing unit; the welding gun can generate swing with stable swing amplitude along with the angular swing unit on two sides of a balanced position.
the welding guns of the two welding robots are directly fixed on the corresponding mounting plates, and the positions of the welding guns are relatively fixed after the welding guns are installed in place, so that the welding guns cannot be adjusted, and the problem that the installation positions of the welding guns are inconvenient to adjust is caused.
SUMMERY OF THE UTILITY MODEL
The utility model provides a pipeline outer wall welding robot to solve the current inconvenient problem of welder's of welding robot mounted position adjustment.
The utility model discloses a pipeline outer wall welding robot adopts following technical scheme:
Pipeline outer wall welding robot is in including being used for installing the circular orbit on corresponding pipeline and setting walking frame on the circular orbit, follow on the walking frame sliding assembly is equipped with the adjustment frame on the axis direction of circular orbit, be equipped with clamping plate on the adjustment frame just be equipped with welder on the clamping plate, welder with connect through location axle adjustable rotation between the clamping plate, just welder with be equipped with between the clamping plate and be used for welder winds the location axle adjustable rotation is in place the locking structure of its locking.
The clamping plate is provided with an adjusting plate, the adjusting plate is provided with a positioning hole for the positioning shaft to penetrate, the locking structure comprises an adjusting hole and a corresponding locking bolt, the adjusting hole is an arc-shaped long hole structure, and the positioning hole is used as the circle center.
The clamping plate is of an L-shaped plate-shaped structure, the L-shaped plate-shaped structure comprises a clamping portion connected with a welding gun and a fixing portion connected with the adjusting frame, and the position of the clamping portion corresponding to the adjusting hole is provided with a avoiding hole used for avoiding the locking bolt.
Relative and edge about on the walking frame the orbital axis direction removal of annular is equipped with two guide posts, the adjustment frame with the guide post deviates from the one end of walking frame is connected, and two guide posts deviate from be equipped with the connecting piece between the one end of adjustment frame, still be equipped with axial driving motor on the walking frame, thereby axial driving motor pass through nut lead screw mechanism with thereby the adjustment frame axial displacement on the drive guide post is connected to the connecting piece.
The nut and screw rod driving mechanism comprises a driving screw rod in transmission connection with a power output shaft of the axial driving motor and a driving nut which is fixedly arranged on the connecting piece and is in threaded fit with the driving screw rod.
The guide post is of a cylindrical structure and is connected with the walking frame through a linear bearing.
The adjusting rack comprises an adjusting rack body and a radial rack assembled on the adjusting rack body in a radial sliding mode of the annular track, and the adjusting rack body is provided with a radial driving motor used for driving the radial rack to move on the adjusting rack body.
The adjusting frame is characterized in that a sliding groove extending along the vertical direction is formed in the adjusting frame body, a sliding seat is assembled in the sliding groove in a sliding mode along the vertical direction, and the radial frame is connected with the sliding seat.
The connecting piece is of a plate-shaped structure extending along the left and right directions, mounting holes for mounting the guide columns are formed in two ends of the connecting piece, slots penetrating through the hole walls of the mounting holes are formed in the hole walls of the mounting holes, and clamping bolts used for providing clamping force for the clamping bolts to clamp the guide columns in the mounting holes are arranged on the slot walls of the slots.
The utility model has the advantages that: the utility model discloses a be equipped with clamping plate on pipeline outer wall welding robot's the adjustment frame, the welder assembly is on clamping plate, welder passes through the location axle and is connected with the adjustable rotation of clamping plate, and be equipped with the locking structure between welder and the clamping plate, in the use, welder rotates the adjustment on the clamping plate through the location axle, the adjustment locks through locking mechanism after targetting in place, like this when welder's position is improper, just can conveniently adjust, the inconvenient problem of the mounted position adjustment of the welder of current welding robot has been solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an embodiment of the pipeline outer wall welding robot of the present invention;
FIG. 2 is a partial schematic view of the alignment bracket of FIG. 1 mated with the walking frame (with the housing removed);
FIG. 3 is a schematic view of the transmission fit of the guide post and the traveling frame;
FIG. 4 is a schematic view of another perspective of the pipe outer wall welding robot;
FIG. 5 is a schematic structural view of an adjustment hole, an avoidance hole and a locking bolt on an adjustment bracket;
FIG. 6 is a schematic view of the clamping plate;
FIG. 7 is a schematic structural diagram of an adjustment plate;
FIG. 8 is a partial schematic view of the mounting plate;
In the figure: 1. a walking frame; 2. a guide post; 3. an adjusting frame; 4. a radial drive motor; 5. a column; 6. an axial drive motor; 7. a radial frame; 8. a welding gun; 10. a pipeline; 20. welding seams; 11. a protrusion; 12. an annular track; 21. a connecting member; 22. mounting a plate; 23. detecting a sheet; 24. a sensor; 25. grooving; 51. a chute; 61. driving a lead screw; 62. a drive nut; 71. installing a clamping plate; 72. an adjustment plate; 73. mounting a plate; 711. a clamping part; 712. a fixed part; 713. avoiding holes; 714. a kidney-shaped hole; 721. adjusting plate connecting holes; 722. positioning holes; 723. an adjustment hole; 724. locking the bolt; 731. a welding gun connection hole; 732. positioning the matching hole; 733. and adjusting the matching holes.
Detailed Description
the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
the utility model discloses an embodiment of pipeline outer wall welding robot, as shown in fig. 1 to 3, pipeline outer wall welding robot, including being used for installing looped rail 12 on corresponding pipeline 10 and setting up walking frame 1 on looped rail 12, it is equipped with adjustment frame 3 to slide on the axis direction of looped rail 12 on walking frame 1, be equipped with the clamping structure that is used for the corresponding welder 8 of clamping on adjustment frame 3, it is equipped with two guide posts 2 relatively just to follow the axis direction guide movement of looped rail 12 about walking frame 1, adjustment frame 3 is connected with the one end that guide post 2 deviates from walking frame 1, two guide posts 2 are equipped with connecting piece 21 between the one end that deviates from adjustment frame 3, still be equipped with axial driving motor 6 on walking frame 1, thereby axial driving motor 6 is connected with connecting piece 21 through nut screw mechanism and drives adjustment frame 3 axial displacement on the guide post 2. The specific structure of the running mechanism and the elastic rail on the running frame 1 is the prior art, and reference may be made to the technical content disclosed in the chinese patent document with the publication number CN104139265B in the background art.
In this embodiment, the nut screw driving mechanism includes a driving screw 61 in transmission connection with the power output shaft of the axial driving motor 6 and a driving nut 62 fixedly arranged on the connecting member 21 and in threaded fit with the driving screw 61, the driving screw 61 is arranged on the driving motor, and the driving nut are simultaneously installed on the connecting member 21, and the driving screw 61 and the driving nut 62 are both standard components, so that the installation is convenient, and the manufacturing cost is low.
In order to facilitate the installation of the guide post 2 and the cooperation thereof with the walking frame, in the present embodiment, the guide post 2 is configured as a cylindrical structure, and the guide post 2 is connected with the walking frame through a linear bearing, wherein the linear bearing is a standard component, and the cost is low by adopting the structure.
in this embodiment, the adjusting bracket 3 includes the radial frame 7 of adjusting bracket support body and the radial sliding assembly of circular orbit on the adjusting bracket support body, be equipped with the radial driving motor 4 that is used for driving radial frame 7 and moves on the adjusting bracket support body, welder 8's radial adjustment can be realized to above-mentioned structure, radial driving motor 4 is step motor in the in-service use process, accurate adjustment can be realized, thereby make the position between welder 8 and welding seam 20 can obtain the adjustment, welder 8's adaptability and welding quality are improved.
The adjusting frame body is provided with a sliding groove 51 extending along the up-down direction, a sliding seat is assembled in the sliding groove 51 in a sliding manner along the up-down direction, and the radial frame 7 is connected with the sliding seat. Specifically, a U-shaped groove extending in the up-down direction is formed in the sliding seat, the sliding seat is in sliding fit with the side wall of the sliding groove 51 through the U-shaped groove, and the clamping plate of the clamping structure is mounted on the groove wall of the end face of the U-shaped groove, so that the sliding seat is prevented from being separated from the groove wall of the sliding groove 51. Specifically, the adjusting bracket body comprises a mounting plate 22 and a stand column 5, the mounting plate is connected to the end parts of the two guide columns, and the sliding groove 51 is arranged on the stand column 5.
In this embodiment, the connecting member is a plate-shaped structure extending in the left-right direction, the two ends of the connecting member are provided with mounting holes for mounting the guide posts, the hole wall of each mounting hole is provided with an open slot 25 penetrating through the hole wall of the mounting hole, and the wall of each open slot 25 is provided with a clamping bolt for providing clamping force to the connecting member to clamp the guide posts in the mounting holes. Through the structure, the guide post can be tightly clamped on the connecting piece, so that the structure is simple and stable.
In order to detect the concrete position of alignment jig, in this embodiment, the back of guide post is equipped with more than two sensor 24 along the interval of circular orbit axial, be connected with its rear overhang on the guide post and be used for supplying the detection piece 23 that sensor 24 detected, the concrete quantity of sensor 24 sets up to three, sensor 24 specifically can adopt hall sensor 24, when the alignment jig drives the guide post and removes, detection piece 23 on the connecting piece can cooperate with the sensor of different positions department, thereby detect the position signal of alignment jig. In the above embodiment, the clamping structure for mounting the welding gun adopts a threaded mounting structure, and other clamping structures in the prior art may also be referred to, which is not described in detail again.
In this embodiment, the clamping structure is as shown in fig. 4 to 8, the welding gun 8 is rotatably connected with the clamping plate 71 by a positioning shaft, and a locking structure for locking the welding gun after the welding gun is rotatably adjusted around the positioning shaft is arranged between the welding gun and the clamping plate. In this embodiment, the positioning shaft may be provided with a positioning bolt that is inserted into the mounting plate and the adjusting plate, and the mounting plate may be rotated relative to the adjusting plate only by loosening the positioning bolt during the adjustment process.
Specifically, the clamping plate 71 is provided with an adjusting plate 72, the adjusting plate 72 is provided with a positioning hole 722 through which a positioning shaft, i.e., a positioning bolt, is inserted, the locking structure includes an adjusting hole 723 and a corresponding locking bolt, which are arranged on the adjusting plate, and the adjusting hole 723 is an arc-shaped long hole structure with the positioning hole as a circle center. The adjusting plate 72 is further provided with four adjusting plate connecting holes 721 for connecting with the clamping plate.
The clamping plate 71 is an L-shaped plate structure, the L-shaped plate structure includes a clamping portion 711 connected to the welding gun and a fixing portion 712 connected to the adjusting bracket, and an avoiding hole 713 for avoiding the locking bolt is provided at a position on the clamping portion corresponding to the adjusting hole. Two long-strip-shaped waist-shaped holes 714 are further arranged on the clamping portion at intervals, and the positions of the two waist-shaped holes 714 correspond to the positions of the adjusting plate connecting holes 721, so that the corresponding connecting bolts are correspondingly connected. The relief hole 713 is a rectangular hole having a size sufficient to cover the extended area of the adjustment hole, so that the locking bolt can be conveniently moved during adjustment. In this embodiment, the welding gun is provided with an installation plate 73, the installation plate 73 is provided with a welding gun connection hole 731 for connecting the welding gun, and is also provided with a positioning matching hole 732 and an adjusting matching hole 733, the positioning matching hole 732 is used for corresponding to the positioning hole 722 so as to be used for installing the positioning shaft, and the adjusting matching hole 733 is used for corresponding to the adjusting hole 723 so as to be used for installing the locking bolt 724.
the utility model discloses a slip on the walking frame of pipeline outer wall welding robot along circular orbit's axis direction and be equipped with the adjustment frame, the adjustment frame is connected with the walking frame through two guide posts, still be equipped with the connecting piece on two guide posts, axial driving motor 6 passes through nut lead screw actuating mechanism and is connected with the connecting piece, thereby drive adjustment frame axial displacement, two guide posts have guaranteed the stability when adjustment frame removes, and nut lead screw actuating mechanism itself has good auto-lock ability, remove the back that targets in place, need not to set up in addition that locking mechanism just can make the adjustment frame keep setting for the position, avoid setting up in addition like this and cause the problem that the structure is complicated. The utility model discloses a be equipped with clamping plate on pipeline outer wall welding robot's the adjustment frame, the welder assembly is on clamping plate, welder passes through the location axle and is connected with the adjustable rotation of clamping plate, and be equipped with the locking structure between welder and the clamping plate, in the use, welder rotates the adjustment on the clamping plate through the location axle, the adjustment locks through locking mechanism after targetting in place, like this when welder's position is improper, just can conveniently adjust, the inconvenient problem of the mounted position adjustment of the welder of current welding robot has been solved.
In other embodiments of the present invention, the driving nut of the nut-screw structure can also be directly connected to the driving shaft of the driving motor, and at the same time, the driving screw is fixedly connected to the connecting plate; the guide post can also be arranged into a square post structure, and the guide post has the function of positioning rotation stopping; the driving mode of the radial frame can be adjusted to be manual adjustment; the upright post and the sliding seat can be connected in a sliding way through a dovetail groove structure; the locking structure can also comprise a plurality of locking holes which are distributed on the clamping plate at intervals, and after the welding gun moves to a set angle, the welding gun is connected with the locking holes at the corresponding positions in a locking mode through the connecting bolts.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. Pipeline outer wall welding robot is in including being used for installing the endless track and the setting on corresponding pipeline the last walking frame of endless track, follow on the walking frame sliding assembly is equipped with the adjustment frame on the axis direction of endless track, be equipped with clamping plate on the adjustment frame just be equipped with welder, its characterized in that on the clamping plate: the welding gun is connected with the clamping plate in an adjustable and rotatable mode through a positioning shaft, and a locking structure used for locking the welding gun after the welding gun rotates around the positioning shaft in an adjustable and rotatable mode is arranged between the welding gun and the clamping plate.
2. the pipe outer wall welding robot according to claim 1, characterized in that: the clamping plate is provided with an adjusting plate, the adjusting plate is provided with a positioning hole for the positioning shaft to penetrate, the locking structure comprises an adjusting hole and a corresponding locking bolt, the adjusting hole is an arc-shaped long hole structure, and the positioning hole is used as the circle center.
3. the pipe outer wall welding robot according to claim 2, characterized in that: the clamping plate is of an L-shaped plate-shaped structure, the L-shaped plate-shaped structure comprises a clamping portion connected with a welding gun and a fixing portion connected with the adjusting frame, and the position of the clamping portion corresponding to the adjusting hole is provided with a avoiding hole used for avoiding the locking bolt.
4. the pipe outer wall welding robot according to claim 1, characterized in that: relative and edge about on the walking frame the orbital axis direction removal of annular is equipped with two guide posts, the adjustment frame with the guide post deviates from the one end of walking frame is connected, and two guide posts deviate from be equipped with the connecting piece between the one end of adjustment frame, still be equipped with axial driving motor on the walking frame, thereby axial driving motor pass through nut lead screw mechanism with thereby the adjustment frame axial displacement on the drive guide post is connected to the connecting piece.
5. The pipe outer wall welding robot according to claim 4, characterized in that: the nut and screw rod driving mechanism comprises a driving screw rod in transmission connection with a power output shaft of the axial driving motor and a driving nut which is fixedly arranged on the connecting piece and is in threaded fit with the driving screw rod.
6. The pipe outer wall welding robot according to claim 5, characterized in that: the guide post is of a cylindrical structure and is connected with the walking frame through a linear bearing.
7. The pipe outer wall welding robot according to any one of claims 4 to 6, wherein: the adjusting rack comprises an adjusting rack body and a radial rack assembled on the adjusting rack body in a radial sliding mode of the annular track, and the adjusting rack body is provided with a radial driving motor used for driving the radial rack to move on the adjusting rack body.
8. The pipe outer wall welding robot according to claim 7, characterized in that: the adjusting frame is characterized in that a sliding groove extending along the vertical direction is formed in the adjusting frame body, a sliding seat is assembled in the sliding groove in a sliding mode along the vertical direction, and the radial frame is connected with the sliding seat.
9. The pipe outer wall welding robot according to any one of claims 4 to 6, wherein: the connecting piece is of a plate-shaped structure extending along the left and right directions, mounting holes for mounting the guide columns are formed in two ends of the connecting piece, slots penetrating through the hole walls of the mounting holes are formed in the hole walls of the mounting holes, and clamping bolts used for providing clamping force for the clamping bolts to clamp the guide columns in the mounting holes are arranged on the slot walls of the slots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920293974.1U CN209773800U (en) | 2019-03-08 | 2019-03-08 | Pipeline outer wall welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920293974.1U CN209773800U (en) | 2019-03-08 | 2019-03-08 | Pipeline outer wall welding robot |
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| CN209773800U true CN209773800U (en) | 2019-12-13 |
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| CN201920293974.1U Active CN209773800U (en) | 2019-03-08 | 2019-03-08 | Pipeline outer wall welding robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112059361A (en) * | 2020-09-16 | 2020-12-11 | 东阳市菊苏科技有限公司 | Rotary pipe welding machine |
| CN113290301A (en) * | 2021-06-01 | 2021-08-24 | 昆山安意源管道科技有限公司 | All-position automatic welding machine for pipeline |
| CN114012440A (en) * | 2021-11-23 | 2022-02-08 | 中国水电四局(阳江)海工装备有限公司 | Automatic welding locomotive is used in production of marine wind power tower section of thick bamboo |
| CN116117271A (en) * | 2023-03-23 | 2023-05-16 | 泰州全得不锈钢有限公司 | Welding device for stainless steel pipe |
| CN116352226A (en) * | 2023-03-10 | 2023-06-30 | 中国机械总院集团哈尔滨焊接研究所有限公司 | Hand-held type inner wall all-position welding argon arc surfacing machine |
| CN116551274A (en) * | 2023-07-10 | 2023-08-08 | 北京石油化工学院 | Bevel connection pipeline welding robot |
| CN118046092A (en) * | 2024-04-03 | 2024-05-17 | 中国核工业二三建设有限公司 | Full-position laser narrow-gap welding method and device for large-thickness pipeline |
-
2019
- 2019-03-08 CN CN201920293974.1U patent/CN209773800U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112059361A (en) * | 2020-09-16 | 2020-12-11 | 东阳市菊苏科技有限公司 | Rotary pipe welding machine |
| CN113290301A (en) * | 2021-06-01 | 2021-08-24 | 昆山安意源管道科技有限公司 | All-position automatic welding machine for pipeline |
| CN114012440A (en) * | 2021-11-23 | 2022-02-08 | 中国水电四局(阳江)海工装备有限公司 | Automatic welding locomotive is used in production of marine wind power tower section of thick bamboo |
| CN114012440B (en) * | 2021-11-23 | 2022-09-02 | 中国水电四局(阳江)海工装备有限公司 | Automatic welding locomotive is used in production of marine wind power tower section of thick bamboo |
| CN116352226A (en) * | 2023-03-10 | 2023-06-30 | 中国机械总院集团哈尔滨焊接研究所有限公司 | Hand-held type inner wall all-position welding argon arc surfacing machine |
| CN116117271A (en) * | 2023-03-23 | 2023-05-16 | 泰州全得不锈钢有限公司 | Welding device for stainless steel pipe |
| CN116117271B (en) * | 2023-03-23 | 2023-10-24 | 泰州全得不锈钢有限公司 | Welding device for stainless steel pipe |
| CN116551274A (en) * | 2023-07-10 | 2023-08-08 | 北京石油化工学院 | Bevel connection pipeline welding robot |
| CN116551274B (en) * | 2023-07-10 | 2023-09-05 | 北京石油化工学院 | Bevel connection pipeline welding robot |
| CN118046092A (en) * | 2024-04-03 | 2024-05-17 | 中国核工业二三建设有限公司 | Full-position laser narrow-gap welding method and device for large-thickness pipeline |
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