CN213560869U - Pipeline welding robot with avoiding function - Google Patents
Pipeline welding robot with avoiding function Download PDFInfo
- Publication number
- CN213560869U CN213560869U CN202022594854.0U CN202022594854U CN213560869U CN 213560869 U CN213560869 U CN 213560869U CN 202022594854 U CN202022594854 U CN 202022594854U CN 213560869 U CN213560869 U CN 213560869U
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- Prior art keywords
- welding robot
- plate
- pipeline
- transverse supporting
- pipeline welding
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- 238000003466 welding Methods 0.000 title claims abstract description 46
- 206010017577 Gait disturbance Diseases 0.000 abstract description 4
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 239000003208 petroleum Substances 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Abstract
The utility model relates to a pipeline welding robot with dodge function, this robot has raising and lowering functions's balance wheel subassembly to solve the lower extreme of balanced omniwheel and the bellied welding seam production problem of stumbling through setting up, the lifter plate and the cross bracing board of balance wheel subassembly pass through direction slide bar and slide bearing sliding connection, flexible through electric putter on the cross bracing board bottom surface can drive the balance wheel subassembly and rise or descend, when welding robot walks to welding seam department, electric putter drive balance wheel subassembly rises and shelters from the stumbling of welding seam to the omniwheel lower extreme, the spoilage of balance wheel subassembly has been reduced, service life is prolonged, welding robot smooth operation on the pipeline has been guaranteed.
Description
Technical Field
The utility model relates to a welding robot technical field especially relates to a pipeline welding robot with dodge function.
Background
Petroleum is an important industrial energy source and is mainly conveyed through a petroleum pipeline, the weight of a section of pipeline usually reaches 400kg when the oil and gas pipeline passes through a waste field with rare smoke, the pipeline is lifted to a proper position through a crane, the joints of the pipeline are mutually aligned, a skid is arranged below the pipeline to support the pipeline, and finally the joints are manually welded by a welding gun; because the field environment is relatively harsh and lacks power supply equipment, the welder is extremely easy to be tired after working for a long time, the welding quality is difficult to ensure, and because the weldment is a circular pipeline, the bottom of the pipeline is inconvenient to weld, the welder is usually required to lie on the ground at the lower end of the pipeline to perform 'lying welding', the welding labor intensity of the mode is very high, the skin and eyes of the welder are more damaged, the health of the welder is seriously damaged, and therefore, the welding robot capable of crawling on the pipeline is necessary to be designed to solve the problems.
The utility model with the application number of (CN 202020084049.0) provides a device for advancing and balancing a pipeline welding robot, wherein a balancing adjusting component in the device uses an omnidirectional wheel, the forward and backward rotation of the omnidirectional wheel can provide circumferential force along the circumferential direction of the pipeline for the welding robot to adjust the self balance, in addition, the omnidirectional wheel can ensure that a roller is always in rolling contact with the pipeline, the problem of friction between the balanced omnidirectional wheel and the pipeline when the robot crawls along the pipeline is solved, the mode of balancing has stronger maneuverability, and the reliability of the welding robot crawls on the pipeline is improved; however, when the pipelines are welded, the welding seams protruding out of the surfaces of the pipelines are left, and when the welding robot walks on the pipelines, the welding seams can continuously stumble the rollers of the omnidirectional wheels, so that the smooth operation of the welding robot is influenced, and the service life of the omnidirectional wheels is seriously shortened.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a pipeline welding robot with dodge function.
The technical scheme of the utility model is that: the utility model provides a pipeline welding robot with dodge function, includes that walking bracket, symmetry install the supporting roll of installing at the drive wheel subassembly of walking bracket both sides, walking bracket both ends, its characterized in that:
the middle of a platform plate of the walking support is provided with a square hole, two vertical plates are symmetrically arranged on two sides of the square hole, a transverse supporting plate is fixedly connected between the upper ends of the two vertical plates, four corners of the transverse supporting plate are provided with four sliding holes, a balancing wheel assembly which is connected with the transverse supporting plate in a sliding manner is arranged in each sliding hole, each assembly comprises a roller wheel support, a balancing omnidirectional wheel and a driving device, a lifting plate which is arranged in parallel with the transverse supporting plate is arranged above the roller wheel support, four guide sliding rods which are matched with each other are vertically arranged on the four corners of the lifting plate and are inserted into the four sliding holes of the upper transverse supporting plate to form sliding pairs, a vertical electric push rod is fixed in the middle of the bottom surface of the transverse supporting plate, a telescopic rod of the electric push rod is fixedly connected with the lifting plate below, two lug plates are arranged on one side of the bottom surface of the lifting plate, the omnidirectional balancing, the driving device is fixed on the ear plate on one side and is connected with the wheel shaft.
Preferably, the four slide holes are sleeved with slide bearings, and the guide slide bars are inserted into the slide bearings in a matching manner to form slide pairs.
Preferably, a receiving hole for receiving the lower driving device is formed at a position corresponding to the driving device on one side of the lifting plate.
Preferably, the telescopic rod of the electric push rod is hinged with the lifting plate.
Preferably, the driving device is a motor, and a driving shaft of the motor penetrates through the lug plate and is coaxially and fixedly connected with the wheel shaft.
Preferably, the front end of the bottom surface of the platform plate is provided with a sensor for detecting the raised welding seam.
The utility model has the beneficial technical effects that:
this pipeline welding robot with dodge function, the lower extreme that solves balanced omniwheel and bellied welding seam through the balance wheel subassembly that sets up to have raising and lowering functions produce the problem of stumbling, the lifter plate and the cross support board of balance wheel subassembly pass through guide slide bar and slide bearing sliding connection, flexible through electric putter on the cross support board bottom surface can drive balance wheel subassembly and rise or descend, when welding robot walks to welding seam department, electric putter drive balance wheel subassembly rises and shelters from the welding seam and stumbles to the omniwheel lower extreme, the spoilage of balance wheel subassembly has been reduced, service life is prolonged, welding robot smooth operation on the pipeline has been guaranteed.
Drawings
Fig. 1 is a schematic perspective view of the pipeline welding robot with an avoidance function traveling on a pipeline;
fig. 2 is a schematic view of the three-dimensional structure of the utility model with the riser on one side removed;
fig. 3 is a schematic front view of the present invention;
fig. 4 is a schematic perspective view of the balance wheel assembly and the horizontal support plate of the present invention;
fig. 5 is a front view structural schematic diagram of the balance wheel assembly and the transverse support plate of the present invention;
fig. 6 is a sectional view taken along line a-a of fig. 5.
In the figure, 01, a walking bracket, 11, a supporting roller, 12, a platform plate, 121, a square hole, 122, a sensor, 02, a driving wheel assembly, 03, a balance wheel assembly, 31, a vertical plate, 32, a transverse supporting plate, 321, a sliding bearing, 33, a roller bracket, 331, a lifting plate, 332, a guide sliding rod, 333, a receiving hole, 334, an ear plate, 34, a balance omnidirectional wheel, 35, a driving device, 36, an electric push rod, 361, a telescopic rod and 41, a pipeline.
Detailed Description
First embodiment, referring to fig. 1-6 of the specification, a pipeline welding robot with an avoiding function comprises a walking bracket, driving wheel assemblies symmetrically installed on two sides of the walking bracket, and supporting rollers installed at two ends of the walking bracket, wherein the utility model with application number (CN 202020084049.0) describes the working principle of the driving wheel assemblies in detail;
the middle of a platform plate of the walking support is provided with a square hole, two vertical plates are symmetrically arranged on two sides of the square hole, a transverse supporting plate is fixedly connected between the upper ends of the two vertical plates, four corners of the transverse supporting plate are provided with four sliding holes, a balancing wheel assembly which is connected with the transverse supporting plate in a sliding manner is arranged in each sliding hole, each assembly comprises a roller wheel support, a balancing omnidirectional wheel and a driving device, a lifting plate which is arranged in parallel with the transverse supporting plate is arranged above the roller wheel support, four guide sliding rods which are matched with the four sliding holes of the upper transverse supporting plate are vertically arranged on the four corners of the lifting plate to form sliding pairs, a vertical electric push rod is fixed in the middle of the bottom surface of the transverse supporting plate, a telescopic rod of the electric push rod is fixedly connected with the lifting plate below, the lifting plate can be pulled to ascend or descend by the expansion of the electric push rod, two lug plates are arranged, the lower end of the balance omnidirectional wheel extends downwards out of the square hole in the middle of the platform plate, and the driving device is fixed on the lug plate on one side and connected with the wheel shaft.
The four slide holes are internally provided with sliding bearings, the guide slide bars are inserted into the sliding bearings in a matching manner to form sliding pairs, and the sliding bearings are arranged to reduce resistance to the guide slide bars when the guide slide bars slide up and down.
One side of lifter plate and the position that drive arrangement corresponds are equipped with the accommodation hole that holds below drive arrangement, and this setting makes the whole compacter of drive arrangement, has reduced the influence to the whole balance of robot.
The telescopic rod of the electric push rod is hinged with the lifting plate, the driving device is a motor, and a driving shaft of the motor penetrates through the lug plate and is coaxially and fixedly connected with the wheel shaft; the front end of the bottom surface of the platform plate is provided with a sensor for detecting a convex welding line.
The utility model discloses a working process is: when the welding robot rides and strides the welding seam department of going between the pipeline on the pipeline, the sensor of landing slab front end is with the electric putter of the signal transmission balance wheel subassembly of barrier, electric putter begins work and upwards contracts, the pulling lifter plate upwards slides along slide bearing, the balanced omniwheel of lifter plate lower extreme upwards raises, the welding seam is kept away to the balanced omniwheel of raising, avoid the welding seam to cause stumbling to the omniwheel lower extreme, the spoilage of balance wheel subassembly has been reduced, service life is prolonged, the smooth operation of welding robot on the pipeline has been guaranteed.
Claims (6)
1. The utility model provides a pipeline welding robot with dodge function, includes that walking bracket, symmetry install the supporting roll of installing at the drive wheel subassembly of walking bracket both sides, walking bracket both ends, its characterized in that:
the middle of a platform plate of the walking support is provided with a square hole, two vertical plates are symmetrically arranged on two sides of the square hole, a transverse supporting plate is fixedly connected between the upper ends of the two vertical plates, four corners of the transverse supporting plate are provided with four sliding holes, a balancing wheel assembly which is connected with the transverse supporting plate in a sliding manner is arranged in each sliding hole, each assembly comprises a roller wheel support, a balancing omnidirectional wheel and a driving device, a lifting plate which is arranged in parallel with the transverse supporting plate is arranged above the roller wheel support, four guide sliding rods which are matched with each other are vertically arranged on the four corners of the lifting plate and are inserted into the four sliding holes of the upper transverse supporting plate to form sliding pairs, a vertical electric push rod is fixed in the middle of the bottom surface of the transverse supporting plate, a telescopic rod of the electric push rod is fixedly connected with the lifting plate below, two lug plates are arranged on one side of the bottom surface of the lifting plate, the omnidirectional balancing, the driving device is fixed on the ear plate on one side and is connected with the wheel shaft.
2. The pipeline welding robot with the avoiding function as claimed in claim 1, wherein: the four slide holes are sleeved with slide bearings, and the guide slide bars are inserted into the slide bearings in a matching manner to form slide pairs.
3. The pipeline welding robot with the avoiding function as claimed in claim 1, wherein: and a containing hole for containing the driving device below is formed in one side of the lifting plate and in a position corresponding to the driving device.
4. The pipeline welding robot with the avoiding function as claimed in claim 1, wherein: the telescopic rod of the electric push rod is hinged with the lifting plate.
5. The pipeline welding robot with the avoiding function as claimed in claim 1, wherein: the driving device is a motor, and a driving shaft of the motor penetrates through the lug plate and is coaxially and fixedly connected with the wheel shaft.
6. The pipeline welding robot with the avoiding function as claimed in claim 1, wherein: the front end of the bottom surface of the platform plate is provided with a sensor for detecting a convex welding line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022594854.0U CN213560869U (en) | 2020-11-11 | 2020-11-11 | Pipeline welding robot with avoiding function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022594854.0U CN213560869U (en) | 2020-11-11 | 2020-11-11 | Pipeline welding robot with avoiding function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213560869U true CN213560869U (en) | 2021-06-29 |
Family
ID=76536490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022594854.0U Expired - Fee Related CN213560869U (en) | 2020-11-11 | 2020-11-11 | Pipeline welding robot with avoiding function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213560869U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114393361A (en) * | 2022-01-26 | 2022-04-26 | 中国水电四局（兰州）机械装备有限公司 | Be applied to group of water conservancy water and electricity penstock field welding process to platform truck |
-
2020
- 2020-11-11 CN CN202022594854.0U patent/CN213560869U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114393361A (en) * | 2022-01-26 | 2022-04-26 | 中国水电四局（兰州）机械装备有限公司 | Be applied to group of water conservancy water and electricity penstock field welding process to platform truck |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210629 |