CN219924999U - Intelligent pipeline welding robot - Google Patents
Intelligent pipeline welding robot Download PDFInfo
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- CN219924999U CN219924999U CN202321292202.9U CN202321292202U CN219924999U CN 219924999 U CN219924999 U CN 219924999U CN 202321292202 U CN202321292202 U CN 202321292202U CN 219924999 U CN219924999 U CN 219924999U
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- 238000003466 welding Methods 0.000 title claims abstract description 59
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000006872 improvement Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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Abstract
The utility model relates to an intelligent pipeline welding robot which comprises a driving mechanism, a tightening mechanism and a connecting assembly, wherein the driving mechanism, the tightening mechanism and the connecting assembly are arranged outside a pipeline, the driving mechanism is connected with the tightening mechanism through the connecting assembly, and the front sides of the driving mechanism and the tightening mechanism are respectively provided with a sensor and a welding gun. The sensor adopts the laser welding tracking sensor, when observing the welding seam, main control unit drive welder welds, starts driving motor simultaneously and drives the drive wheel and rotate, and the robot welds along the constant speed of pipeline outer wall, need not to rotate the pipeline when rotating, can avoid the pipeline to break and weld the department to break away from because of the welding seam that rotates, can guarantee welding efficiency and the welding is more stable, after the welding is accomplished, tightens up motor reverse rotation, loosens the connecting band, and the user can remove the robot to next welding seam, improves welding efficiency.
Description
Technical Field
The utility model relates to the technical field of pipeline welding, in particular to an intelligent pipeline welding robot.
Background
The pipe is used in a large number in our production life, can be used for pipeline, thermal equipment, mechanical industry, petroleum geological drilling, container, chemical industry and special purpose, in the field construction process, often needs pipe to be welded on site, and the present manual work carries out welding efficiency slower, can't guarantee welded stability, and the welding technical requirement to the workman is high, needs to turn to the another side after pipe one side welding, leads to pipe welded part to break away from easily in the rotation in-process, and the welding effect is poor.
Disclosure of Invention
The utility model aims to provide an intelligent pipeline welding robot which solves the problems in the prior art.
The technical scheme for solving the technical problems is as follows:
the intelligent pipeline welding robot comprises a driving mechanism, a tightening mechanism and a connecting assembly, wherein the driving mechanism, the tightening mechanism and the connecting assembly are arranged outside a pipeline, the driving mechanism is connected with the tightening mechanism through the connecting assembly, and the front sides of the driving mechanism and the tightening mechanism are provided with a sensor and a welding gun;
the driving mechanism comprises a driving shell, two driving wheels which are tightly attached to the outer wall of the pipeline and a driving motor for driving the driving wheels are arranged in the driving shell, and a main controller is also arranged in the driving shell;
the tightening mechanism comprises a tightening shell, a moving wheel and a tightening motor, wherein the moving wheel and the tightening motor are mounted in the tightening shell, the two linkage gears are also mounted in the tightening shell, and the output shaft of the tightening motor is provided with a fixed gear meshed with the two linkage gears;
the connecting assembly comprises four connecting belts, one ends of two connecting belts are fixed on two sides of the driving housing, one ends of the other two connecting belts penetrate through the tightening housing respectively and are fixed on two rotating shafts of the linkage gears, the connecting belts are wound into the rotating shafts of the linkage gears in opposite directions, the other ends of the four connecting belts are fixed with limiting pipes, two adjacent limiting pipes are provided with clamping plates at two ends, the clamping plates are in threaded connection with bolts penetrating through along the axes of the limiting pipes, and auxiliary wheels clung to the pipelines are arranged in the clamping plates.
The beneficial effects of the utility model are as follows: the robot is moved to a pipeline welding position, the main controller controls the tightening motor to start, the linkage gear is driven to rotate, the two connecting belts are synchronously wound, the distance between the driving mechanism and the tightening mechanism is shortened, the driving wheel, the auxiliary wheel and the moving wheel are all clung to the outer wall of the pipeline, the sensor adopts the laser welding tracking sensor, when a welding line is observed, the main controller drives the welding gun to weld, the driving motor is started to drive the driving wheel to rotate, the robot rotates along the outer wall of the pipeline at a constant speed, the welding is performed during the rotation, the pipeline is not required to rotate, the breakage of the welding line caused by the rotation and the detachment of the welding position can be avoided, the welding efficiency can be ensured, the welding is more stable, the motor is tightened to reversely rotate after the welding is completed, the connecting belts are loosened, and a user can move the robot to the next welding line, and the welding efficiency is improved.
On the basis of the technical scheme, the utility model can be improved as follows.
Further, the drive shell with tighten up the shell and keep away from the horizontal electric putter of all installing of one side of pipeline, horizontal electric putter's end fixed mounting has vertical electric putter, vertical electric putter's end is fixed with the mounting panel, sensor and welder are installed the mounting panel is close to one side of pipeline.
Further, the driving wheel and the moving wheel are rubber wheels.
Further, a secondary controller for receiving signals of the main controller is arranged in the tightening shell, and the main controller and the secondary controller are respectively and electrically connected with the driving motor, the tightening motor, the adjacent transverse electric push rod, the adjacent vertical electric push rod, the adjacent sensor and the welding gun.
Further, driven gears are fixed on the rotating shafts of the two driving wheels, synchronizing gears meshed with the two driven gears are installed in the driving shell, and driving gears meshed with the synchronizing gears are fixed on the output shafts of the driving motors.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a front elevational view of the structure of the present utility model;
fig. 3 is a side view of the auxiliary wheel of the present utility model.
In the figure: 1. a pipe; 2. a drive housing; 3. a driving wheel; 4. a driving motor; 5. a synchronizing gear; 6. a main controller; 7. a transverse electric push rod; 8. a vertical electric push rod; 9. a mounting plate; 10. a sensor; 11. a welding gun; 12. tightening the housing; 13. a moving wheel; 14. tightening the motor; 15. a linkage gear; 16. a connecting belt; 17. a clamping plate; 18. a restrictor tube; 19. a plug pin; 20. an auxiliary wheel.
Detailed Description
The principles and features of the present utility model are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the utility model and are not to be construed as limiting the scope of the utility model.
1, as shown in fig. 1-3, an intelligent pipeline welding robot comprises a driving mechanism, a tightening mechanism and a connecting assembly, wherein the driving mechanism, the tightening mechanism and the connecting assembly are arranged outside a pipeline 1, the driving mechanism and the tightening mechanism are connected through the connecting assembly, and a sensor 10 and a welding gun 11 are arranged on the front sides of the driving mechanism and the tightening mechanism;
the driving mechanism comprises a driving shell 2, two driving wheels 3 which are closely attached to the outer wall of the pipeline 1 and a driving motor 4 for driving the driving wheels 3 are arranged in the driving shell 2, and a main controller 6 is also arranged in the driving shell 2;
the tightening mechanism comprises a tightening shell 12, a moving wheel 13 and a tightening motor 14, which are tightly attached to the pipeline 1, are arranged in the tightening shell 12, two linkage gears 15 are also arranged in the tightening shell 12, and a fixed gear meshed with the two linkage gears 15 is arranged on an output shaft of the tightening motor 14;
the connecting assembly comprises four connecting belts 16, wherein one ends of the two connecting belts 16 are fixed on two sides of the driving housing 2, one ends of the other two connecting belts 16 respectively penetrate through the tightening housing 12 and are fixed on rotating shafts of the two linkage gears 15, the connecting belts 16 are wound into the rotating shafts of the linkage gears 15 in opposite directions, limiting pipes 18 are respectively fixed on the other ends of the four connecting belts 16, clamping plates 17 are arranged at two ends of the two adjacent limiting pipes 18, the clamping plates 17 are in threaded connection with bolts 19 penetrating along the axes of the limiting pipes 18, and auxiliary wheels 20 closely attached to the pipeline 1 are arranged in the clamping plates 17.
Before welding the pipe, the external power supply of robot is followed and is placed actuating mechanism and tightening mechanism in the both sides of pipeline 1 respectively, limit the connecting band 16 of coupling assembling at splint 17 both ends and encircle pipeline 1 with the bolt 19, remove the robot to pipeline 1 welded part, master controller 6 control tightens up motor 14 start, drive linkage gear 15 and rotate, with synchronous rolling of two connecting bands 16, shorten the distance between actuating mechanism and the tightening mechanism, make the drive wheel 3, auxiliary wheel 20 and remove wheel 13 all hug closely pipeline 1 outer wall, sensor 10 adopts laser welding tracking sensor, when observing the welding seam, master controller 6 drives welder 11 and welds, start actuating motor 4 simultaneously and drive the drive wheel 3 and rotate, the robot rotates along pipeline 1 outer wall constant speed, weld when rotating, need not to rotate pipeline 1, can avoid pipeline 1 to break and the welded part break away from because of rotating the welding seam that leads to, can guarantee welding efficiency and welding more stable, after the welding is accomplished, tighten up motor 14 reverse rotation, loosen connecting band 16, the user can remove the robot to the next welding seam.
Example 2, as shown in fig. 1-2, this example is a further improvement over example 1, which is specifically as follows:
the drive shell 2 and tighten up the shell 12 and keep away from the side of pipeline 1 and all install horizontal electric putter 7, as shown in fig. 1 and 2, horizontal electric putter 7 sets up in paper direction perpendicularly, and the end fixed mounting of horizontal electric putter 7 has vertical electric putter 8, and the end of vertical electric putter 8 is fixed with mounting panel 9, and sensor 10 and welder 11 are installed in the one side that mounting panel 9 is close to pipeline 1.
The positions of the sensor 10 and the welding gun 11 can be adjusted by the transverse electric push rod 7 and the vertical electric push rod 8, the welding gun 11 is kept to be positioned right above a welding seam all the time, and welding quality is guaranteed.
Example 3, as shown in fig. 1-2, this example is a further improvement over any of examples 1-2, and is specifically as follows:
the driving wheel 3 and the moving wheel 13 are rubber wheels.
The friction force of the rubber wheels is larger, so that the driving wheel 3 and the moving wheel 13 cannot slip on the outer wall of the pipeline 1, and the climbing force is larger.
Example 4, as shown in fig. 1-2, this example is a further improvement over any of examples 1-2, and is specifically as follows:
a secondary controller 21 which receives signals of the main controller 6 is arranged in the tightening shell 12, and the main controller 6 and the secondary controller 21 are respectively electrically connected with the driving motor 4, the tightening motor 14, the adjacent transverse electric push rod 7, the adjacent vertical electric push rod 8, the adjacent sensor 10 and the welding gun 11.
And each device in the driving mechanism is controlled by receiving and transmitting signals by the secondary controller 21, so that signal transmission lines of the robot are reduced, and the influence of the lines on the movement and welding of the robot is avoided.
Example 5, as shown in fig. 1-2, this example is a further improvement over any of examples 1-2, and is specifically as follows:
driven gears are fixed on the rotating shafts of the two driving wheels 3, a synchronous gear 5 meshed with the two driven gears is arranged in the driving shell 2, and a driving gear meshed with the synchronous gear 5 is fixed on the output shaft of the driving motor 4.
The driving motor 4 drives the two driving wheels 3 to synchronously rotate through the synchronous gear 5, and the rotation stability is high.
The foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the utility model are intended to be included within the scope of the utility model.
Claims (5)
1. The intelligent pipeline welding robot is characterized by comprising a driving mechanism, a tightening mechanism and a connecting assembly, wherein the driving mechanism, the tightening mechanism and the connecting assembly are arranged outside a pipeline (1), the driving mechanism is connected with the tightening mechanism through the connecting assembly, and the front sides of the driving mechanism and the tightening mechanism are provided with a sensor (10) and a welding gun (11);
the driving mechanism comprises a driving shell (2), two driving wheels (3) which are tightly attached to the outer wall of the pipeline (1) and a driving motor (4) for driving the driving wheels (3) are arranged in the driving shell (2), and a main controller (6) is also arranged in the driving shell (2);
the tightening mechanism comprises a tightening shell (12), wherein a moving wheel (13) which is tightly attached to the pipeline (1) and a tightening motor (14) are arranged in the tightening shell (12), two linkage gears (15) are also arranged in the tightening shell (12), and a fixed gear meshed with the two linkage gears (15) is arranged on an output shaft of the tightening motor (14);
the connecting assembly comprises four connecting belts (16), wherein one ends of the two connecting belts (16) are fixed on two sides of the driving housing (2), one ends of the other two connecting belts (16) penetrate through the tightening housing (12) respectively and are fixed on two rotating shafts of the linkage gear (15), the connecting belts (16) are wound into the rotating shafts of the linkage gear (15) in opposite directions, the other ends of the four connecting belts (16) are fixed with limiting pipes (18), clamping plates (17) are arranged at two ends of each limiting pipe (18), bolts (19) penetrating through the axes of the limiting pipes (18) are connected with the clamping plates (17) in a threaded mode, and auxiliary wheels (20) which are tightly attached to the pipeline (1) are arranged in the clamping plates (17).
2. The intelligent pipeline welding robot according to claim 1, wherein the driving shell (2) and one side of the tightening shell (12) far away from the pipeline (1) are provided with transverse electric push rods (7), the end heads of the transverse electric push rods (7) are fixedly provided with vertical electric push rods (8), the end heads of the vertical electric push rods (8) are fixedly provided with mounting plates (9), and the sensor (10) and the welding gun (11) are mounted on one side of the mounting plates (9) close to the pipeline (1).
3. An intelligent pipe welding robot according to claim 1, characterized in that the driving wheel (3) and the moving wheel (13) are rubber wheels.
4. An intelligent pipe welding robot according to claim 2, characterized in that a secondary controller (21) for receiving signals of a main controller (6) is installed in the tightening housing (12), and the main controller (6) and the secondary controller (21) are respectively electrically connected with the driving motor (4) and the tightening motor (14) and adjacent transverse electric push rods (7), vertical electric push rods (8), sensors (10) and welding guns (11).
5. The intelligent pipeline welding robot according to claim 1, wherein driven gears are fixed on rotating shafts of the two driving wheels (3), a synchronous gear (5) meshed with the two driven gears is installed in the driving housing (2), and a driving gear meshed with the synchronous gear (5) is fixed on an output shaft of the driving motor (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321292202.9U CN219924999U (en) | 2023-05-25 | 2023-05-25 | Intelligent pipeline welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321292202.9U CN219924999U (en) | 2023-05-25 | 2023-05-25 | Intelligent pipeline welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219924999U true CN219924999U (en) | 2023-10-31 |
Family
ID=88494340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321292202.9U Active CN219924999U (en) | 2023-05-25 | 2023-05-25 | Intelligent pipeline welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219924999U (en) |
-
2023
- 2023-05-25 CN CN202321292202.9U patent/CN219924999U/en active Active
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