CN2726836Y - Conduit ring-shaped welding robot - Google Patents
Conduit ring-shaped welding robot Download PDFInfo
- Publication number
- CN2726836Y CN2726836Y CN 200420029866 CN200420029866U CN2726836Y CN 2726836 Y CN2726836 Y CN 2726836Y CN 200420029866 CN200420029866 CN 200420029866 CN 200420029866 U CN200420029866 U CN 200420029866U CN 2726836 Y CN2726836 Y CN 2726836Y
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Abstract
The utility model relates to a pipeline ring-shaped welding robot which is characterized in that the utility model comprises a walking cart, a horizontal housing and a vertical housing respectively arranged in the rear and front of the walking cart, a horizontal and a vertical tracking actuating device, a front vision sensor, a rear vision sensor, a welding gun mechanism, a computer control system and a welding power supply system. In the pipeline ring-shaped welding robot of the utility model, the designed walking cart controlled by the computer control system can steadily run attaching on the welded pipeline surface through permanent magnet cart wheels; the motion of the walking cart is determined by the analytical judge of the computer based on the welded pipeline weld seam information collected by the front and rear vision sensors and a CCD video camera. Meanwhile, as required by computer instructions, the horizontal and vertical actuating device track the pipeline weld seam, automatically recognize the pipeline weld seam and instruct the welding gun to exactly work, to complete the automatic weld.
Description
Technical field
The utility model relates to Technology of Welding Robot, is specially a kind of pipeline annular welding robot, particularly a kind ofly can discern weld seam automatically, and can realize following the tracks of the pipeline annular welding robot that weld seam welds automatically, and international Patent classificating number intends being Int.Cl
7B25J 11/00.
Background technology
Characteristics such as welding robot is a kind of machinery equipment that can weld automatically, has high efficiency, and welding quality is good, saves manpower, and is safe and reliable are a kind of Modern Manufacturing Technology.Pipeline annular welding robot is a kind of of welding robot, is mainly used in the annular solder of various large-scale pipelines.For example, various large-scale the transporting being connected of pipeline that heavy constructions such as China's emphasis infrastructure development project transfering natural gas from the west to the east, the south water to north, oil transportation, the three gorges hydropower plant and tunnel constructions is required just is badly in need of the pipeline girth-welding robot of a large amount of high-efficiency high-qualities.But need to lay on large-scale pipeline earlier the mechanical template or the device of welding guiding before the work of existing pipeline annular welding equipment, perhaps the mark line that draws on large-scale pipeline and parallel with weld seam carries out boxing with the guiding welding equipment.This back work in early stage is loaded down with trivial details, labour intensity is big, and personnel operation requires high, and efficient is low, the mechanical template of welding guiding particularly is installed, or draw described mark line, all need operating personnel to finish, thereby the quality of the height of its quality and working attitude, its operating accuracy and quality quality in other words, all will directly influence the stable and good and bad of welding effect, the also operating efficiency of influence welding and the performance of automation function, even can cause quality or potential safety hazard.
The utility model content
At the deficiencies in the prior art, the technical problem that the utility model mainly solves just provides a kind of pipeline annular welding robot, it can discern weld seam automatically, and can realize following the tracks of automatically weld seam and weld, have high efficiency, welding quality is good, and is simple to operate, save manpower, reduce advantages such as material consumption.
The technical scheme that the utility model solve the technical problem is, a kind of pipeline annular welding robot of design, it is characterized in that it comprises walking car, back, the preceding horizontal box of walking on the car and the vertical casing of being installed in respectively, level with vertically follow the tracks of executing agency, anterior optic sensor and after-vision sensor, welding gun mechanism, computer control system and welding power source system; Described walking car comprises four permanent magnetism wheels and driving mechanism and the drive motors that is installed on the car body, and the walking car can be attached to the surperficial even running of welded pipe line by the permanent magnetism wheel; Described level is connected with connecting plate with the vertical executing agency that follows the tracks of, and is packed on the upper surface of walking car; Described level is followed the tracks of executing agency and is installed in the horizontal box, comprise vertical bent plate, horizontal drive motor that installs on it and horizontal guide rail, horizontal drive motor and horizontal screw lead-nut body mechanical connection, the other end of the horizontal saddle of leading screw-nut body is connected with described connecting plate; Described vertical tracking executing agency is installed in the vertical casing, comprise riser, the vertical drive motors and the upright guide rail that install on it, vertically drive motors and vertical leading screw-nut body mechanical connection, the other end of the vertical saddle of leading screw-nut body is connected with welding gun bent plate in the described welding gun mechanism; Described anterior optic sensor is installed in the front side of described vertical casing, comprises the ccd video camera, semiconductor laser and the cylindrical lens that are installed on the sensor outer housing inwall, and the optical axis of ccd video camera and semiconductor laser is in the same plane; Described after-vision sensor is identical with the anterior optic sensor construction, is installed in the rear side of described horizontal box; Described forward and backward vision sensor installation site all should make the weld seam of its perpendicular alignmnet welded pipe line; Described welding gun mechanism comprises that an end is installed in the welding gun bent plate in the vertical tracking executing agency, and the other end of welding gun bent plate is equipped with the fixedly adjustable welding gun chuck of welding gun, and adjustable welding gun chuck can make the welding gun edge by the normal direction adjustment in welded tube road; Described computer control system comprises computer, cable and corresponding software; Computer connects the geometry that can obtain weld seam and the described forward and backward vision sensor of positional information respectively by cable, walking car, level and vertically tracking executing agency and welding power source system; Computer control system is controlled walking car and described other whole mechanisms co-ordinations by software.
Pipeline of the present utility model annular welding robot has designed the walking car that the permanent magnetism wheel can be attached to welded pipe line surface even running that passes through that computer control system controls, and the analysis and judgement of computer sources in the welded pipe line weld seam information of described forward and backward vision sensor and ccd video camera collection depended in the motion of walking car, follow the tracks of pipe welding seam by described level of computer instruction and vertical executing agency simultaneously, automatically discern pipe welding seam, and instruct welding gun accurately to work, finish automatic welding.
Compared with prior art, the utility model pipeline annular welding robot does not need in advance to lay guider or to draw at the outer surface of pipeline to parallel mark line as the welding gun moving reference with weld seam, can save these miscellaneous aided processes in early stage, directly realize the weld joint tracking motion automatically and be based on the vision weld joint recognition technology by computer control walking car, a large amount of unproductive times have been reduced, improve production efficiency, also reduced operator's labour intensity.In addition, the pipeline annular welding robot of the utility model design is the geometry of identification weld seam automatically, and by computer the pursuit movement of pipeline welding bead number, the number of plies and walking car is planned automatically, can guarantee the stable and optimization of welding quality.
Description of drawings
Fig. 1 looks schematic diagram for the integrally-built master of the utility model pipeline annular welding robot;
Fig. 2 is the integrally-built schematic side view of the utility model pipeline annular welding robot;
Fig. 3 is the utility model pipeline annular welding robot control system principle schematic.
The specific embodiment
Below in conjunction with embodiment and accompanying drawing thereof the utility model is done further narration:
A kind of pipeline annular welding robot (referring to Fig. 1,2) of the utility model design, it is characterized in that it comprises walking car 1, back, the preceding horizontal box 20 of walking on the car 1 and the vertical casing 30 of being installed in respectively, level with vertically follow the tracks of executing agency 2 and 3, anterior optic sensor and after- vision sensor 4 and 5, welding gun mechanism 6 and computer control system 7; Described walking car 1 comprises four permanent magnetism wheels 12 and driving mechanism 13 and the drive motors 14 that is installed on the car body 11, and walking car 1 can be attached to the surperficial even running of welded pipe line 9 by permanent magnetism wheel 12; Described level is connected with 3 usefulness connecting plates 8 with the vertical executing agency 2 that follows the tracks of, and is packed on the upper surface of walking car 1; Described level is followed the tracks of executing agency 2 and is installed in the horizontal box 20, comprise vertical bent plate 21, horizontal drive motor 22 that installs on it and horizontal guide rail 24, horizontal drive motor 22 and horizontal screw lead-nut body 23 mechanical connections, the other end of the horizontal saddle 25 of leading screw-nut body 23 is connected with described connecting plate 8; Described vertical tracking executing agency 3 is installed in the vertical casing 30, comprise riser 31, vertical drive motors 33 that installs on it and upright guide rail 32, vertically drive motors 33 and vertical leading screw-nut body 34 mechanical connections, the other end of the vertical saddle 35 of leading screw-nut body 34 is connected with welding gun bent plate 61 in the described welding gun mechanism 6; Described anterior optic sensor 4 is installed in the front side of described vertical casing 30, comprise the ccd video camera 41, semiconductor laser 42 and the cylindrical lens 43 that are installed on sensor outer housing 40 inwalls, the optical axis of ccd video camera 41 and semiconductor laser 42 is in the same plane; Described after-vision sensor 5 is identical with the anterior optic sensor construction, is installed in the rear side of described horizontal box 20; Described forward and backward vision sensor 4,5 installation sites all should make the weld seam 91 of its perpendicular alignmnet welded pipe line 9; Described welding gun mechanism 6 comprises that an end is installed in the welding gun bent plate 61 in the vertical tracking executing agency 3, the other end of welding gun bent plate 61 is equipped with the fixedly adjustable welding gun chuck 62 of welding gun 63, and adjustable welding gun chuck 62 can make welding gun 63 edges by the normal direction adjustment in welded tube road 9; Described computer control system 7 comprises computer 71, cable 72 and corresponding software; Computer 71 connects the geometry that can obtain weld seam 91 and the described forward and backward vision sensor 4,5 of positional information respectively by cable 72, and described walking car 1, level and the vertical executing agency 2 and 3 that follows the tracks of, and by cable 73 connection welding power source systems 10; Described welding power source system 10 is original unified welding power source system; Computer control system 7 is controlled walking car 1 and described other whole mechanisms co-ordinations by software.
The operation principle of pipeline annular welding robot described in the utility model is as follows:
Pipeline annular welding robot described in the utility model is placed on soldered pipeline 9 outer surfaces, described pipeline annular welding robot is adsorbed on the pipeline 9 by 4 permanent magnetism wheels 12.The lower port of anterior optic sensor 4 and after-vision sensor 5 is all aimed at weld seam to be welded 91 centers.The semiconductor laser 42 of anterior optic sensor 4 sends laser and is transformed into striped and impinges upon on the weld seam through cylindrical lens 43, forms structured light.Ccd video camera 41 is handled the IMAQ of structured light in computer 71, obtain the geometry and the positional information of weld seam.The walking car 1 of described robot moves in a circle along weld seam 91 on the pipeline 9.If the welding gun 63 that is installing on welding gun bent plate 61 departs from weld seam 91 centers, computer 71 control levels are followed the tracks of executing agency 2 and are realized horizontal pursuit movement, make welding gun 63 aim at the center of weld seam 91 again.The operation principle of after-vision sensor 5 is same as anterior optic sensor 4, and the relative position information that it will be walked between car 1 and the weld seam 91 is given computer 71, so control walking vehicle body 1 realize butt welded seam 91 from motion tracking.
The utility model computer control system 7 is controlled walking car 1 and other mechanisms by software.Its operation principle is (referring to Fig. 3): forward and backward vision sensor 4,5 is passed to computer 71 with the picture signal that collects by image pick-up card, image processing module and track generation module through systems soft ware are handled, and obtain the track and the cross section information of weld seam 91; Motion-control module drives welding gun 61 tracking weld seams 91 according to the trace information instruction motion Executive Module (comprising walking car 1, level and vertical executing agency 2 and 3) of weld seam 91, and welding gun 63 position feedback are returned systems soft ware; The welding parameter control module obtains welding parameter according to weld seam 91 cross section information, and drives welding power source system 10, welds, and welding parameter is fed back to systems soft ware, finishes automatic welding.Therefore, the utility model annular solder robot need not to lay guide rail or marks the index wire parallel with weld seam, and realizes pursuit movement and welding automatically by weld seam 91 paths of visual identity.
The work of the ring-like welding robot of the utility model pipeline is based on the automatic recognition and tracking of vision weld joint, can be applied to diameter is the 600-4000 millimeter, and wall thickness is the automatic welding of the pipeline circular weld of 10-80 millimeter, and operation is simplified, steady quality, efficient improves.
Claims (1)
1. pipeline annular welding robot, it is characterized in that it comprises walking car 1, back, the preceding horizontal box 20 of walking on the car 1 and the vertical casing 30 of being installed in respectively, level with vertically follow the tracks of executing agency 2 and 3, anterior optic sensor and after-vision sensor 4 and 5, welding gun mechanism 6 and computer control system 7 and welding power source system 10; Described walking car 1 comprises four permanent magnetism wheels 12 and driving mechanism 13 and the drive motors 14 that is installed on the car body 11, and walking car 1 can be attached to the surperficial even running of welded pipe line 9 by permanent magnetism wheel 12; Described level is connected with 3 usefulness connecting plates 8 with the vertical executing agency 2 that follows the tracks of, and is packed on the upper surface of walking car 1; Described level is followed the tracks of executing agency 2 and is installed in the horizontal box 20, comprise vertical bent plate 21, horizontal drive motor 22 that installs on it and horizontal guide rail 24, horizontal drive motor 22 and horizontal screw lead-nut body 23 mechanical connections, the other end of the horizontal saddle 25 of leading screw-nut body 23 is connected with described connecting plate 8; Described vertical tracking executing agency 3 is installed in the vertical casing 30, comprise riser 31, vertical drive motors 33 that installs on it and upright guide rail 32, vertically drive motors 33 and vertical leading screw-nut body 34 mechanical connections, the other end of the vertical saddle 35 of leading screw-nut body 34 is connected with welding gun bent plate 61 in the described welding gun mechanism 6; Described anterior optic sensor 4 is installed in the front side of described vertical casing 30, comprise the ccd video camera 41, semiconductor laser 42 and the cylindrical lens 43 that are installed on sensor outer housing 40 inwalls, the optical axis of ccd video camera 41 and semiconductor laser 42 is in the same plane; Described after-vision sensor 5 is identical with anterior optic sensor 4 structures, is installed in the rear side of described horizontal box 20; Described forward and backward vision sensor 4,5 installation sites all should make the weld seam 91 of its perpendicular alignmnet welded pipe line 9; Described welding gun mechanism 6 comprises that an end is installed in the welding gun bent plate 61 in the vertical tracking executing agency 3, and the other end of welding gun bent plate 61 is equipped with fixedly welding gun 63, and can makes welding gun 63 along the adjustable welding gun chuck of being adjusted by welded tube road 9 normal direction 62; Described computer control system 7 comprises computer 71, cable 72 and corresponding software; Computer 71 connects the geometry that can obtain weld seam 10 and the described forward and backward vision sensor 4 and 5 of positional information, described walking car 1, level respectively by cable 72 and vertically follows the tracks of executing agency 2 and 3 and welding power source system 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420029866 CN2726836Y (en) | 2004-09-30 | 2004-09-30 | Conduit ring-shaped welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420029866 CN2726836Y (en) | 2004-09-30 | 2004-09-30 | Conduit ring-shaped welding robot |
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| CN2726836Y true CN2726836Y (en) | 2005-09-21 |
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| CN 200420029866 Expired - Fee Related CN2726836Y (en) | 2004-09-30 | 2004-09-30 | Conduit ring-shaped welding robot |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101372069B (en) * | 2008-08-15 | 2010-11-10 | 东莞华中科技大学制造工程研究院 | Integrated type laser welding and measurement integrated device |
| CN101391354B (en) * | 2008-11-06 | 2010-12-01 | 哈尔滨工程大学 | Suspended type pipe-jointing welding robot |
| CN102000928A (en) * | 2009-09-01 | 2011-04-06 | 上海宣邦金属新材料科技有限公司 | Portable pipeline automatic circumferential walking device and pipeline processing method |
| CN101372070B (en) * | 2008-08-15 | 2011-06-22 | 东莞华中科技大学制造工程研究院 | Linkage rod type laser welding and measurement integrated device |
| CN102371418A (en) * | 2010-08-20 | 2012-03-14 | 中国海洋石油总公司 | Double-torch pipeline full-position automatic welding machine |
| CN102421571A (en) * | 2009-02-27 | 2012-04-18 | R·布鲁克斯联合公司 | Inspection system and inspection process utilizing magnetic inspection vehicle |
| CN101797665B (en) * | 2010-01-20 | 2012-05-16 | 浙江理工大学 | Visual detection sensing unit |
| CN102689083A (en) * | 2012-06-07 | 2012-09-26 | 中国东方电气集团有限公司 | Autonomous mobile robot system for metal-inert-gas (MIG)/metal-active-gas (MAG) multilayer multipass welding of large thick plate |
| CN102699920A (en) * | 2012-06-07 | 2012-10-03 | 中国东方电气集团有限公司 | Control system of fully driven compound adsorption type crawling robot |
| CN102756198A (en) * | 2012-07-19 | 2012-10-31 | 湖州久立管件有限公司 | Automatic welding device for longitudinal joint of heavy-caliber elbow |
| CN104014917A (en) * | 2014-06-12 | 2014-09-03 | 山东电力建设第一工程公司 | Dual-camera device for monitoring welding quality of super-thick-wall high alloy steel pipelines |
| CN104379292A (en) * | 2011-11-24 | 2015-02-25 | 焊接机器人公司 | System and method for modular portable welding and seam tracking |
| CN104690456A (en) * | 2015-02-05 | 2015-06-10 | 西安理工大学 | Pipeline welding robot and welding method |
| CN104889529A (en) * | 2015-06-12 | 2015-09-09 | 广东省自动化研究所 | Intelligent welding equipment and method for large-size three-dimensional curved welding seam |
| CN104950800A (en) * | 2015-06-12 | 2015-09-30 | 广东省自动化研究所 | Tracking and positioning processing system and positioning method |
| CN105127625A (en) * | 2015-09-02 | 2015-12-09 | 武汉神骏专用汽车制造股份有限公司 | Automatic welding trolley for gooseneck-shaped beam |
| CN106077900A (en) * | 2016-06-14 | 2016-11-09 | 苏汉明 | A kind of movable-type intelligent welding robot |
| CN107052518A (en) * | 2017-02-28 | 2017-08-18 | 成都南方电子仪表有限公司 | A kind of trackless welding robot |
| CN108673005A (en) * | 2018-07-20 | 2018-10-19 | 常州机电职业技术学院 | A kind of correction formula seam tracking system and its working method |
| CN111922579A (en) * | 2020-05-29 | 2020-11-13 | 西安航天精密机电研究所 | System and method for accurately welding sealing body pole needle and bridge band based on six-axis robot |
| CN113275786A (en) * | 2021-05-21 | 2021-08-20 | 铜陵有色建安钢构有限责任公司 | Pipeline V-shaped welding seam method and welding device |
| CN114654146A (en) * | 2022-03-31 | 2022-06-24 | 成都熊谷加世电器有限公司 | Welding workstation |
-
2004
- 2004-09-30 CN CN 200420029866 patent/CN2726836Y/en not_active Expired - Fee Related
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101372070B (en) * | 2008-08-15 | 2011-06-22 | 东莞华中科技大学制造工程研究院 | Linkage rod type laser welding and measurement integrated device |
| CN101372069B (en) * | 2008-08-15 | 2010-11-10 | 东莞华中科技大学制造工程研究院 | Integrated type laser welding and measurement integrated device |
| CN101391354B (en) * | 2008-11-06 | 2010-12-01 | 哈尔滨工程大学 | Suspended type pipe-jointing welding robot |
| CN102421571A (en) * | 2009-02-27 | 2012-04-18 | R·布鲁克斯联合公司 | Inspection system and inspection process utilizing magnetic inspection vehicle |
| CN102421571B (en) * | 2009-02-27 | 2015-03-04 | R·布鲁克斯联合公司 | Inspection system and inspection process utilizing magnetic inspection vehicle |
| CN102000928B (en) * | 2009-09-01 | 2014-05-07 | 上海宣邦金属新材料科技有限公司 | Portable pipeline automatic circumferential walking device and pipeline processing method |
| CN102000928A (en) * | 2009-09-01 | 2011-04-06 | 上海宣邦金属新材料科技有限公司 | Portable pipeline automatic circumferential walking device and pipeline processing method |
| CN101797665B (en) * | 2010-01-20 | 2012-05-16 | 浙江理工大学 | Visual detection sensing unit |
| CN102371418A (en) * | 2010-08-20 | 2012-03-14 | 中国海洋石油总公司 | Double-torch pipeline full-position automatic welding machine |
| CN104379292A (en) * | 2011-11-24 | 2015-02-25 | 焊接机器人公司 | System and method for modular portable welding and seam tracking |
| CN102689083A (en) * | 2012-06-07 | 2012-09-26 | 中国东方电气集团有限公司 | Autonomous mobile robot system for metal-inert-gas (MIG)/metal-active-gas (MAG) multilayer multipass welding of large thick plate |
| CN102699920A (en) * | 2012-06-07 | 2012-10-03 | 中国东方电气集团有限公司 | Control system of fully driven compound adsorption type crawling robot |
| CN102699920B (en) * | 2012-06-07 | 2015-03-25 | 中国东方电气集团有限公司 | Control system of fully driven compound adsorption type crawling robot |
| CN102689083B (en) * | 2012-06-07 | 2015-05-13 | 中国东方电气集团有限公司 | Autonomous mobile robot system for metal-inert-gas (MIG)/metal-active-gas (MAG) multilayer multipass welding of large thick plate |
| CN102756198B (en) * | 2012-07-19 | 2014-12-03 | 湖州久立管件有限公司 | Automatic welding device for longitudinal joint of heavy-caliber elbow |
| CN102756198A (en) * | 2012-07-19 | 2012-10-31 | 湖州久立管件有限公司 | Automatic welding device for longitudinal joint of heavy-caliber elbow |
| CN104014917A (en) * | 2014-06-12 | 2014-09-03 | 山东电力建设第一工程公司 | Dual-camera device for monitoring welding quality of super-thick-wall high alloy steel pipelines |
| CN104014917B (en) * | 2014-06-12 | 2016-04-06 | 山东电力建设第一工程公司 | Dual camera monitoring hyper-thick pipe high-alloy steel pipeline welding quality device |
| CN104690456A (en) * | 2015-02-05 | 2015-06-10 | 西安理工大学 | Pipeline welding robot and welding method |
| CN104950800A (en) * | 2015-06-12 | 2015-09-30 | 广东省自动化研究所 | Tracking and positioning processing system and positioning method |
| CN104889529A (en) * | 2015-06-12 | 2015-09-09 | 广东省自动化研究所 | Intelligent welding equipment and method for large-size three-dimensional curved welding seam |
| CN105127625A (en) * | 2015-09-02 | 2015-12-09 | 武汉神骏专用汽车制造股份有限公司 | Automatic welding trolley for gooseneck-shaped beam |
| CN106077900A (en) * | 2016-06-14 | 2016-11-09 | 苏汉明 | A kind of movable-type intelligent welding robot |
| CN106077900B (en) * | 2016-06-14 | 2018-10-16 | 苏汉明 | A kind of movable-type intelligent welding robot |
| CN107052518A (en) * | 2017-02-28 | 2017-08-18 | 成都南方电子仪表有限公司 | A kind of trackless welding robot |
| CN108673005A (en) * | 2018-07-20 | 2018-10-19 | 常州机电职业技术学院 | A kind of correction formula seam tracking system and its working method |
| CN111922579A (en) * | 2020-05-29 | 2020-11-13 | 西安航天精密机电研究所 | System and method for accurately welding sealing body pole needle and bridge band based on six-axis robot |
| CN111922579B (en) * | 2020-05-29 | 2022-04-12 | 西安航天精密机电研究所 | System and method for accurately welding sealing body pole needle and bridge band based on six-axis robot |
| CN113275786A (en) * | 2021-05-21 | 2021-08-20 | 铜陵有色建安钢构有限责任公司 | Pipeline V-shaped welding seam method and welding device |
| CN114654146A (en) * | 2022-03-31 | 2022-06-24 | 成都熊谷加世电器有限公司 | Welding workstation |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |