CN213105233U

CN213105233U - Automatic welding robot for large pipeline

Info

Publication number: CN213105233U
Application number: CN202021536000.0U
Authority: CN
Inventors: 王立宗
Original assignee: HEBEI MECHATRONICS INTERMEDIATE PILOT PRODUCTION BASE; Shijiazhuang Welding Technology Co ltd
Current assignee: HEBEI MECHATRONICS INTERMEDIATE PILOT PRODUCTION BASE; Shijiazhuang Welding Technology Co ltd
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2021-05-04
Anticipated expiration: 2030-07-29

Abstract

The utility model provides a large-scale pipeline automatic weld robot for the welding pipeline, include along guide rail, the edge that pipeline circumference set up the automobile body and the control of guide rail walking the controller of automobile body walking is stretched out from automobile body left side or right side and is welded the arm, weld the welder that the arm end was provided with direction about and direction removal, welder's removal is still controlled to the controller, from overlooking the direction observation, on the automobile body with welder about the position department of direction alignment be provided with angle sensor, angle sensor and controller communication connection. The device can sense various welding conditions so as to carry out corresponding welding processes, and has the advantages of stable and reliable operation, small volume and longer service life.

Description

Automatic welding robot for large pipeline

Technical Field

The utility model relates to an automatic weld technical field especially relates to a large-scale pipeline automatic weld robot.

Background

With the acceleration of the production rhythm of industrial enterprises, new requirements are provided for a conveying pipeline, the caliber of the pipeline is larger and larger, and the pressure of a conveying medium is higher and higher, so that higher requirements are provided for the welding quality and the welding technology of the pipeline. Therefore, an automatic welding technique using a welding robot has been developed.

Today, for automatic welding of pipes, the specific form generally adopted is: after beveling two sections of pipelines to be welded, aligning and placing the two sections of pipelines to be welded in a certain interval gap, fixing a welding robot capable of moving along the circumferential direction of the pipelines, and enabling the welding robot to perform filling seam welding on the interval gap between the two pipelines. However, the welding of the horizontally fixed pipeline involves various welding conditions such as horizontal welding, overhead welding, vertical welding, climbing welding and the like, and the existing automatic pipeline welding robot is relatively rigid and single and is difficult to deal with various working conditions; especially for large pipelines with the pipe diameter of more than 600mm, the length of a welding seam under various welding conditions such as overhead welding, vertical welding and the like becomes relatively longer, the influence of the welding seam on the welding quality is more obvious, and the existing automatic welding robot is difficult to deal with various welding conditions so as to provide good enough welding quality.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a but perception multiple welding condition is so that carry out corresponding welding process's large-scale pipeline automatic weld robot is provided.

In order to solve the technical problem, the technical scheme of the utility model is that:

the utility model provides a large-scale pipeline automatic welding robot for the welding pipeline, includes along guide rail, the edge that pipeline circumference set up the automobile body and the control of guide rail walking the controller of automobile body walking has stretched out from automobile body left side or right side and has welded the arm, weld the welder that the arm end was provided with direction about and direction removal, welder's removal is still controlled to the controller, from overlooking the direction observation, on the automobile body with welder about the position department of direction alignment be provided with angle sensor, angle sensor and controller communication connection.

Further: the guide rail is the banding, the automobile body is provided with latch mechanism, the side of latch mechanism joint at the banding guide rail, has the stand along the length direction equipartition on the bottom surface of guide rail.

Further: the upright is a stud, a through hole matched with the upright is formed in the bottom surface of the guide rail, and the upright penetrates through the through hole and is fixedly connected with the guide rail through a nut.

Further: the bottom surface of the vehicle body is provided with a gear controlled by the controller to rotate, and the strip surface of the guide rail is provided with a tooth groove matched with the gear.

Further: the gear is a circular arc gear.

Further: the tooth grooves are formed in the middle of the guide rail in the width direction, and the upright columns are arranged on two sides of each tooth groove respectively.

Further: the clamping mechanism comprises a guide wheel connected with a vehicle body, the guide wheel is provided with a clamping groove on the wheel surface, and the clamping groove is clamped on the smooth belt surface.

Further: the clamping groove is a V-shaped groove.

Further: the clamping mechanism further comprises sliding blocks arranged on two sides of the vehicle body respectively, and the sliding blocks are connected with the vehicle body in a left-right sliding mode and are connected with the guide wheels in a rotating mode.

Further: the clamping mechanism further comprises an air cylinder fixed on the vehicle body in the front-back direction and a push block arranged at the tail end of an air cylinder rod of the air cylinder, and the two connecting rods are hinged to the push block.

Through adopting the technical scheme, the technical effect of the utility model is that a large-scale pipeline automatic weld robot is provided, its multiple welding condition of perception is so that carry out corresponding welding process, and the operation is reliable and stable, small in size, life are higher.

Drawings

Fig. 1 is a schematic view of the usage state of the present invention;

FIG. 2 is a schematic front view of the connection structure of the car body and the guide rail of the present invention;

FIG. 3 is a right side view of the connection structure of the car body and the guide rail of the present invention;

FIG. 4 is a schematic plan view of the structure of the present invention;

the welding machine comprises a guide rail 1, a welding arm 2, a vehicle body 3, a pipeline 4, a vertical column 5, a gear 6, a sliding block 7, a guide wheel 8, a V-shaped groove 9, a tooth groove 10, a nut 11, a guide post 12, a connecting rod 13, an air cylinder 14, a push block 15, an angle sensor 16 and a welding gun 17.

Detailed Description

It should be noted that the front-rear direction appearing in the following discussion refers to the direction in which the vehicle body 3 moves, that is, the direction substantially corresponding to the viewing direction of fig. 2, unless otherwise specified; the left-right direction means a direction perpendicular to the above-mentioned front-back direction and parallel to the axis of the duct 4, that is, a direction substantially corresponding to the viewing direction of fig. 1 and 3, unless otherwise specified; the vertical direction means that the direction of the vehicle body 3 away from the axis of the duct 4 is upward and the direction of the vehicle body 3 close to the axis of the duct 4 is downward, unless otherwise specified. The above directions are particularly applicable to the description of the vehicle body 3 and the welding gun 17.

As shown in fig. 1, the present invention is used for welding large pipes, which generally refer to pipes 4 with a diameter of more than 600 mm. The utility model discloses mainly including guide rail 1 and automobile body 3, stretch out in one side of automobile body 3 and have welded arm 2, the end of welding arm 2 is welder 17. When using, fix guide rail 1 on pipeline 4 through stand 5 with 4 circumference of pipeline, for example with stand 5 spot welding on pipeline 4, later automobile body 3 walks along guide rail 1 to drive welder 17 and weld the gap between two sections pipelines 4, welder 17 will do the swing of left right direction usually when the welding in order to better accomplish the welding, also need control welder 17 to fall and the up-and-down motion that lifts when welding begins and finishes in addition, above-mentioned motion all can adopt to be accomplished by controller (the utility model discloses a model is STM32F103RDT 6's singlechip) control servo's prior art.

As shown in FIGS. 2-4, the utility model discloses a concrete structure has following characteristics:

as can be seen in connection with fig. 1 and 3: an angle sensor 16 is provided at a position on the vehicle body 3 aligned with the welding gun 17 in the left-right direction as viewed in plan. Since the large pipe 4 is horizontally placed during welding, the welding involves various welding conditions such as horizontal welding, overhead welding, vertical welding, etc., and the welding conditions are reflected on fig. 1, namely, an included angle between the moving direction of the welding gun and the gravity line, for example, horizontal welding at 0 °, vertical welding at 90 ° or 270 °, and overhead welding at 180 °. And angle sensor 16 (the utility model discloses an angle sensor that the model is HAC3735 UF) can 360 its angle with gravity of perception, it aligns with welder 17 left and right sides direction, look up with pipeline 4 axis direction in figure 1 promptly, angle sensor 16 is to the line of pipeline 4 axle center point and welder 17 is to the line of pipeline 4 axle center point coincidence, consequently also reacted welder 17 position for pipeline 4 and located, and after this information was learnt to the controller, alright to various welding operating mode adjustment welder 17's movement track such as flat welding, overhead welding, vertical welding, for example adopt upward welding process when welding the bottoming layer, adopt sawtooth method welding in pipeline 4 the latter half, adopt arc method welding in pipeline 4 the first half, in order to obtain better welding seam quality.

Note that the angle sensor 16 and the welding torch 17 are aligned in the left-right direction, which is not strictly necessary, but only substantially aligned. Because the welding process is ambiguous with respect to the definition of the flat welding, overhead welding, and vertical welding, it is only necessary to know the orientation of the welding torch 17 and the pipe 4, and generally speaking, the shorter the vehicle body 3 is, the less the position of the angle sensor 16 on the vehicle body 3 is required to be aligned with the welding torch 17, and the positional relationship is reflected as long as the vehicle body 3 is equipped with the angle sensor 16, and special attention should be paid to the mounting position of the angle sensor 16 on the vehicle body 3 unless the vehicle body 3 is relatively long.

The reason why the angle sensor 16 is mounted on the vehicle body 3 instead of directly near the welding gun 17, for example, on the welding arm 2 near the welding gun 17, is that on the one hand, the wiring of the angle sensor 16 is more convenient to arrange (the controller is usually mounted in the vehicle body 3), and on the other hand, the high temperature generated by the welding gun 17 during welding can be prevented from damaging or affecting the angle sensor 16, thereby improving the service life of the equipment and the measurement accuracy.

Furthermore, the utility model discloses a guide rail 1 is banding, automobile body 3 passes through the side of latch mechanism joint at banding guide rail 1, along length direction equipartition stand 5 on the bottom surface of guide rail 1.

The strip-shaped guide rail 1 is convenient to manufacture and easy to bend, and is convenient to fix according to the appearance of the pipeline 4, because the length and the bending degree of the guide rail 1 are different for the pipelines 4 with different pipe diameters, the strip-shaped guide rail 1 can be produced in a standardized batch mode, and the requirements of different working conditions can be met. And set up stand 5 on the one hand and be convenient for automobile body 3 to the joint of banding guide rail 1, on the other hand makes automobile body 3 keep away from the welding heat source, prevents the damage of welding heat to electronic parts in the automobile body, and especially stand 5 makes its heat conductivity lower relatively owing to its less cross-section, and the pipeline 4 that effectively reduces when welding to scald transmits the heat for automobile body 3.

In addition, the upright post 5 is a stud, a through hole matched with the upright post 5 is formed in the bottom surface of the guide rail 1, and the upright post 5 penetrates through the through hole and is fixedly connected with the guide rail 1 through a nut 11.

In the preparation work before welding, when the upright post 5 is spot-welded on the pipeline 4, the upright post 5 may be inclined to a certain extent, and the upright post 5 is a stud, so that the distance from the guide rail 1 to the pipeline 4 is conveniently adjusted, the guide rail 1 and the pipeline 4 are kept at a fixed distance, and the reliable completion of the subsequent welding is facilitated.

Furthermore, the utility model discloses the bottom surface of automobile body 3 is provided with gear 6, is provided with on the strip face of guide rail 1 with gear 6 matched with tooth's socket 10. The gear 6 is rotated by the controller controlling the servo system.

The gear transmission has higher transmission precision, and the controller can conveniently and finely control the front and back movement of the vehicle body 3. The toothed groove 10 is arranged on the strip surface of the guide rail 1, compared with the scheme that the toothed teeth are arranged on the side edge of the strip-shaped guide rail 1, the bearing surface is larger, the abrasion of the gear 6 is reduced, and the service life of equipment is prolonged; and the tooth socket 10 is difficult to be collided and damaged because of being located in the strip, and compared with the tooth scheme located on the side edge, the tooth socket has the advantages of longer service life and higher reliability.

The gear 6 is a circular gear. Compared with an involute gear, an arc gear does not have the problem of root cutting, so that the number of teeth of the involute gear is not smaller than 17 teeth, the number of teeth of the gear 6 is smaller, the diameter of the gear 6 is considered to be as small as possible due to the size of equipment, the excessive number of teeth of a pinion means that the teeth of the teeth are thinner (a connecting strip between two tooth grooves 10 on a guide rail 1 is also thinner), the normal operation environment of a welding site is poorer, the situation that other objects accidentally hit the gear 6 or the tooth grooves 10 is easily caused in use, the thinner teeth are easily damaged to influence normal operation, the smaller number of teeth brings thicker and larger teeth, the problem can be prevented, and the arc gear meets the requirement.

Furthermore, the utility model discloses a tooth's socket 10 sets up at 1 width direction's of guide rail middle part, is equipped with respectively in the both sides of tooth's socket 10 stand 5.

Two columns of upright columns 5 are arranged on the left side and the right side of the tooth groove 10, and the stability of the guide rail is stronger than that of a single column of upright columns 5, so that the guide rail 1 is more stably fixed. And the tooth grooves 10 arranged in the middle of the guide rail 1 in the width direction enable the vehicle body 3 clamped on the guide rail 1 to be better stressed and not easy to deflect in operation.

Furthermore, the utility model discloses smooth area face has between stand 5 to the side of guide rail 1, latch mechanism includes the guide pulley 8 of being connected with automobile body 3, guide pulley 8 is provided with the draw-in groove on the wheel face, the draw-in groove joint is in on the smooth area face.

The guide wheel 8 forms rolling friction between the vehicle body 3 and the guide rail 1, and is more beneficial to smooth operation of the vehicle body 3. And the upright post 5 is positioned between the tooth grooves 10 and the smooth belt surface, so that the protruded upright post 5 does not influence the rotation of the gear 6 and the rolling of the guide wheel 8.

In addition, the clamping groove is a V-shaped groove 9. Because the guide rail 1 can be bent to different degrees in actual use so as to fit the appearance of the pipeline 4, the V-shaped groove 9 can adapt to the guide rail 1 with different curvatures so as to firmly clamp the vehicle body 3 in the guide wheel 8.

Furthermore, the utility model discloses a latch mechanism still includes slider 7 that sets up respectively in 3 both sides of automobile body, slider 7 just rotates with guide pulley 8 with 3 horizontal sliding connection of automobile body to be connected. Specifically, in the present embodiment, the guide post 12 fixed to the vehicle body 3 is engaged with the guide hole provided in the slider 7 to slide the slider 7 left and right, and other mechanisms that perform the same sliding motion can be applied thereto.

The arrangement makes the clamping of the vehicle body 3 on the guide rail 1 more stable and firmer, and facilitates the disassembly and assembly of the vehicle body 3 and the guide rail 1. Because the guide rail 1 needs to be fixed on the pipeline 4 before use, and the vehicle body 3 clamped on the guide rail 1 is carried to fix the guide rail 1, the operation is very inconvenient. The guide rail 1 can be independently fixed firstly, then the sliding block 7 is slid to the position with the largest opening, and the vehicle body 3 is clamped on the guide rail, so that the equipment usability is improved.

Furthermore, the utility model discloses both ends are provided with guide pulley 8 respectively, two around slider 7 the middle part of slider 7 articulates respectively has connecting rod 13, latch mechanism still includes fixes cylinder 14 on automobile body 3 and sets up at the terminal ejector pad 15 of the cylinder pole of cylinder 14 with the fore-and-aft direction, two connecting rod 13 all articulates on ejector pad 15.

The four guide wheels 8 positioned at the four corners of the vehicle body 3 make the vehicle body 3 run more stably and smoothly. And above-mentioned latch mechanism releases or retracts the cylinder pole alright completion guide pulley 8 and guide rail 1 through cylinder 14 and between the joint or pull down, and the action is swift smooth, has made things convenient for the operation, has improved whole operating efficiency.

Claims

1. The utility model provides a large-scale pipeline automatic weld robot for welding pipeline (4), its characterized in that: including along guide rail (1) that pipeline (4) circumference set up, follow automobile body (3) and the control of guide rail (1) walking the controller of automobile body (3) walking has stretched out from automobile body (3) left side or right side and has welded arm (2), it is provided with welder (17) that upper and lower direction and left and right sides direction removed to weld arm (2) end, the removal of welder (17) is still controlled to the controller, from looking down the direction observation, is provided with angle sensor (16) with welder (17) left and right sides position department of direction alignment on automobile body (3), angle sensor (16) and controller communication connection.

2. The large pipe automatic welding robot according to claim 1, wherein: guide rail (1) are the banding, automobile body (3) are provided with latch mechanism, the side of latch mechanism joint in the guide rail (1) of banding has stand (5) along the length direction equipartition on the bottom surface of guide rail (1).

3. The large pipe automatic welding robot according to claim 2, wherein: the upright post (5) is a stud, a through hole matched with the upright post (5) is formed in the bottom surface of the guide rail (1), and the upright post (5) penetrates through the through hole and is fixedly connected with the guide rail (1) through a nut (11).

4. The large pipe automatic welding robot according to claim 2, wherein: a gear (6) controlled by the controller to rotate is arranged on the bottom surface of the vehicle body (3), and a tooth groove (10) matched with the gear (6) is arranged on the strip surface of the guide rail (1).

5. The large pipe automatic welding robot according to claim 4, wherein: the gear (6) is a circular arc gear.

6. The large pipe automatic welding robot according to claim 4, wherein: the tooth grooves (10) are formed in the middle of the guide rail (1) in the width direction, and the upright columns (5) are arranged on two sides of each tooth groove (10).

7. The large pipe automatic welding robot according to claim 6, wherein: the clamping mechanism comprises a guide wheel (8) connected with the vehicle body (3), a clamping groove is formed in the wheel surface of the guide wheel (8), and the clamping groove is clamped on the smooth belt surface.

8. The automated large pipe welding robot of claim 7, wherein: the clamping groove is a V-shaped groove (9).

9. The automated large pipe welding robot of claim 7, wherein: the clamping mechanism further comprises sliding blocks (7) arranged on two sides of the vehicle body (3) respectively, and the sliding blocks (7) are connected with the vehicle body (3) in a left-right sliding mode and are rotatably connected with guide wheels (8).

10. The automated large pipe welding robot of claim 9, wherein: the front end and the rear end of each sliding block (7) are respectively provided with a guide wheel (8), the middle parts of the two sliding blocks (7) are respectively hinged with a connecting rod (13), the clamping mechanism further comprises an air cylinder (14) fixed on the vehicle body (3) in the front-rear direction and a push block (15) arranged at the tail end of an air cylinder rod of the air cylinder (14), and the two connecting rods (13) are hinged on the push block (15).