CN107097024A - One kind voluntarily walks oil-gas pipeline welder - Google Patents
One kind voluntarily walks oil-gas pipeline welder Download PDFInfo
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- CN107097024A CN107097024A CN201710254043.6A CN201710254043A CN107097024A CN 107097024 A CN107097024 A CN 107097024A CN 201710254043 A CN201710254043 A CN 201710254043A CN 107097024 A CN107097024 A CN 107097024A
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- wheel
- hydraulic cylinder
- telescopic hydraulic
- welding gun
- wheel group
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0276—Carriages for supporting the welding or cutting element for working on or in tubes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0294—Transport carriages or vehicles
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Arc Welding In General (AREA)
Abstract
Oil-gas pipeline welder, including end movement component are voluntarily walked the invention discloses one kind（1）, wheel combination device（2）, wheel group is flexible waves component（3）, wheel group telescopic hydraulic cylinder pose adjustment component（4）And folding welding gun component（5）；Described folding welding gun component（5）Including linear electric motors（5.1）, folding stand mobile bar（5.2）, folding stand pedestal（5.3）, folding rod（5.4）, folding stand end quarter butt（5.5）, welding gun carrier bar（5.6）, welding gun fixture（5.7）And welding gun（5.8）；The present invention is that one kind voluntarily walks oil-gas pipeline welder, and the apparatus structure is simple, operation is flexible, comprehensive in pipe-line system can freely move, quickly reaches specified location, performs weld task；The device can realize the compound movements such as turn, lane-change, while can effectively prevent from falling, moreover it is possible to adapt to different sizes, the pipeline welding demand of varying cross-section shape.
Description
Technical field
The present invention relates to a kind of welder, specifically a kind of welder suitable for pipe-line system.
Background technology
Pipeline is one of conventional means of transportation of oil gas, with floor space is small, low cost and other advantages.The weldering of pipe-line system
Formula combination is connect with REPAIR WELDING generally using artificial by the way of, with cost it is high, it is dangerous greatly, the deficiency such as work difficulty is big, and
Existing welding robot can not meet the multifarious demand of pipe-line system again.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention, which provides one kind, voluntarily walks oil-gas pipeline welder, the dress
Put simple in construction, operation flexible, comprehensive in pipe-line system can freely move, quickly reach specified location, perform welding
Task；The device can realize the compound movements such as turn, lane-change, while can effectively prevent from falling, moreover it is possible to adapt to different sizes,
The pipeline welding demand of varying cross-section shape.
To achieve these goals, the technical solution adopted by the present invention is：One kind voluntarily walks oil-gas pipeline welder, wraps
Include end movement component, wheel combination device, wheel group it is flexible wave component, wheel group telescopic hydraulic cylinder pose adjustment component with
And folding welding gun component；Wheel combination device combines four group end moving parts, and being combined into support
Inner-walls of duct face and the wheel group moved along conduit axis；Wheel group telescopic hydraulic cylinder pose adjustment component and six groups of wheel groups are stretched
Contracting waves component and is combined into the subjective posture mapping device for voluntarily walking oil-gas pipeline welder, and wheel group is flexible to wave component end
End connection wheel group, so as to be configured to the comprehensive telecontrol equipment moved freely in pipe-line system, quick reach specifies work
Make position；The telecontrol equipment is simple in construction, operation is flexible, the compound movements such as turn, lane-change can be realized, while can effectively prevent
Falling stop falls, moreover it is possible to adapt to different sizes, the pipeline requirement of varying cross-section shape；During work, the working end wheel group of robot
Withdraw, remaining five groups of wheel group expansion supports machine human organism with stable；Wheel group is flexible to wave component, wheel group telescopic hydraulic
Cylinder pose adjustment component and folding welding gun component are combined into the welder that position and posture can be adjusted flexibly, efficiently
Ground performs the work such as welded type assembling and REPAIR WELDING；
Described end movement component include wheel, axletree, wheel rotary drive sprocket wheel, axle sleeve one, axletree swivel bearing,
Axletree swivel bearing keeper, axle sleeve two, fork-shaped vehicle wheel frame, wheel rotary-chain, wheel electric rotating machine fixture, wheel rotation
Turn dual-axle motor and wheel rotation drive sprocket；Wheel is connected with axletree by spline, and through the shaft shoulder and axle sleeve two axially
Positioning；Wheel rotary drive sprocket wheel has two, is connected with wheel axle key, one of them through the shaft shoulder and the axially position of axle sleeve one,
Another warp beam sleeve two and the axially position of axle sleeve one；Axletree swivel bearing keeper has two, respectively with fork-shaped vehicle wheel frame
Bolts at two ends is connected；Axletree swivel bearing has two, its inner ring and axletree end shaft part tight fit, outer ring and fork-shaped wheel
The counterbore tight fit that frame and axletree swivel bearing keeper are combined into, and revolved by axle sleeve one and fork-shaped vehicle wheel frame with axletree
The counterbore wall axially position that keeper is combined into is held in rotating shaft；Wheel rotates dual-axle motor and rotated by fork-shaped vehicle wheel frame and wheel
Motor fixture fixed position, two motor output shafts are fixed with wheel rotation drive sprocket bolt；Wheel rotary drive chain
Wheel, wheel rotary-chain, wheel rotation dual-axle motor and wheel rotation drive sprocket are combined into silent chain synchronous transmission device,
Wheel rotates the rotation of dual-axle motor output shaft, rotary motion of the axletree around its axis is converted into through Chain conveyer, so as to drive
Wheel is rotatable around its axis；
Described wheel combination device includes wheel flexible holding rod, wheel telescopic hydraulic cylinder piston rod, wheel telescopic hydraulic cylinder
Cylinder barrel and wheel assemblies；Wheel stretches holding rod, wheel telescopic hydraulic cylinder piston rod and wheel telescopic hydraulic cylinder cylinder barrel
There are four groups, respectively positioned at four, the upper and lower, left and right of wheel assemblies side；Wheel telescopic hydraulic cylinder cylinder barrel and wheel combination
Part welds together, and wheel telescopic hydraulic cylinder piston rod welds together with the fork-shaped vehicle wheel frame in end movement component；Wheel
Flexible holding rod one group two, one end is welded on fork-shaped vehicle wheel frame both sides, and the other end is passed through on wheel telescopic hydraulic cylinder cylinder barrel
Correspondence through hole, to prevent wheel telescopic hydraulic cylinder piston rod relative to the rotation of wheel telescopic hydraulic cylinder cylinder barrel；So as to constitute,
Under, left and right four orientation have the wheel group of collapsible tip telecontrol equipment, to realize support pipeline internal face and along its axis
Linear motion, while the stretching motion of four group end moving parts is separate, the pipeline of varying cross-section shape can be met
Demand；
The flexible component that waves of described wheel group includes hydraulic pressure ball pivot one, wheel group flexible holding rod, wheel group telescopic hydraulic cylinder
Piston rod and wheel group telescopic hydraulic cylinder cylinder barrel；The movable end of wheel group telescopic hydraulic cylinder cylinder barrel and hydraulic pressure ball pivot two is welded on
Together, the movable end of wheel group telescopic hydraulic cylinder piston rod and hydraulic pressure ball pivot one welds together, the bearing of hydraulic pressure ball pivot one with
Wheel assemblies bolt is fixed；Wheel group is stretched holding rod one group two, and one end is welded on wheel group telescopic hydraulic cylinder piston rod
On, the other end is through the corresponding through hole on wheel group telescopic hydraulic cylinder cylinder barrel, to prevent wheel group telescopic hydraulic cylinder piston rod phase
For the rotation of wheel group telescopic hydraulic cylinder cylinder barrel；Stretched and around the bulb of hydraulic pressure ball pivot one so as to be configured to band motor car wheel group
Wheel group that any axle where central point is waved is flexible to wave component, to assist to realize robot in turn, lane-change and worked
Posture changing in journey, while can effectively prevent that robot from falling phenomenon in motion process；
Described wheel group telescopic hydraulic cylinder pose adjustment component includes robot body's pedestal and hydraulic pressure ball pivot two；Hydraulic pressure ball pivot
Two have six, and its bearing is bolted on the orientation of front, back, left, right, up, down six of robot body's pedestal respectively；Liquid
The movable end of pressure ball hinge two is welded with one end of wheel group telescopic hydraulic cylinder cylinder barrel, is shaken so as to be configured to band motor car wheel group and stretch
The wheel group telescopic hydraulic cylinder posture that pendulum component and wheel group any axis where the bulb central point of hydraulic pressure ball pivot two are waved is adjusted
Whole group part, to adapt to a variety of angles and the turn in the case of orientation and lane-change demand, and assists to realize that welding robot is worked
The pose conversion of welding gun in journey；
Described folding welding gun component includes linear electric motors, folding stand mobile bar, folding stand pedestal, folding rod, folding stand
End quarter butt, welding gun carrier bar, welding gun fixture and welding gun；Linear electric motors have two, are bolted on wheel group
On component, folding stand pedestal is also by being bolted on wheel assemblies；A number of folding rod is through bearing pin and split pin
Connection, is combined into the variable folding stand of overall length；Two connection ends of folding stand section start, one with folding stand pedestal
Correspondence hole position sells axle and split pin connection, and another is connected with the folding stand mobile bar in folding stand pedestal slotted hole,
Folding stand mobile bar two ends are connected with the output shaft axis hole of linear electric motors and positioned through nut again respectively；Two at folding stand end
Individual connection end respectively with folding stand end quarter butt and welding gun carrier bar through bearing pin and split pin connection, folding stand end quarter butt it is another
The centre bore of one end again with welding gun carrier bar is through bearing pin and split pin connection；Welding gun passes through the corresponding hole position of welding gun fixture and passed through
Bolt group is fixed, and welding gun fixture is fixed with welding gun carrier bar bolt again；The linear motion of linear electric motors output shaft, Foldable
Frame mobile bar is moved in the range of the restriction of folding stand pedestal slotted hole, and the totality for being converted to folding stand through slider-crank mechanism is long
Degree conversion, and then position and the posture changing of welding gun are realized, fold and withdrawn in order to avoid damaging in motion, extended during work,
And combine that wheel group is flexible to wave component and position and the appearance of welding gun is adjusted flexibly in wheel group telescopic hydraulic cylinder pose adjustment component
State, realizes efficient pipeline welding.
Described hydraulic pressure ball pivot one and hydraulic pressure ball pivot two are using the hydraulic pressure spherical hinge structure of standard on the market, and its movable end is in branch
It can be waved under the driving of the internal multiple hydraulic couplings of seat around any axle where bulb central point.
Described fork-shaped vehicle wheel frame, wheel assemblies and robot body's pedestal is made using casting technique.
Described wheel telescopic hydraulic cylinder piston rod, wheel telescopic hydraulic cylinder cylinder barrel, wheel group telescopic hydraulic cylinder piston rod
And wheel group telescopic hydraulic cylinder cylinder barrel is using hydraulic cylinder structure common on the market, and end is carried out respective handling to meet
It is required that.
Described folding stand pedestal and the casting of welding gun fixture are formed, and are done on the basis of bearing capacity is ensured at lightweight
Reason.
The present invention is that one kind voluntarily walks oil-gas pipeline welder, and the apparatus structure is simple, operation is flexible, can be in pipeline
It is comprehensive in system to move freely, specified location is quickly reached, weld task is performed；The device can realize turn, lane-change etc.
Compound movement, while can effectively prevent from falling, moreover it is possible to adapt to different sizes, the pipeline welding demand of varying cross-section shape.
Brief description of the drawings
Fig. 1 voluntarily walks oil-gas pipeline welder principle schematic to be provided in an embodiment of the present invention；
In figure：1st, end movement component, 2, wheel combination device, 3, wheel group is flexible waves component, 4, wheel group telescopic hydraulic
Cylinder pose adjustment component, 5, folding welding gun component.
Fig. 2 is end movement assembly principle schematic diagram provided in an embodiment of the present invention；
In figure：1.1st, wheel, 1.2, axletree, 1.3, wheel rotary drive sprocket wheel, 1.4, axle sleeve one, 1.5, axletree rotary shaft
Hold, 1.6, axletree swivel bearing keeper, 1.7, axle sleeve two, 1.8, fork-shaped vehicle wheel frame, 1.9, wheel rotary-chain, 1.10,
Wheel electric rotating machine fixture, 1.11, wheel rotation dual-axle motor, 1.12, wheel rotation drive sprocket.
Fig. 3 is wheel combination principle of device schematic diagram provided in an embodiment of the present invention；
In figure：2.1st, wheel stretches holding rod, and 2.2, wheel telescopic hydraulic cylinder piston rod, 2.3, wheel telescopic hydraulic cylinder cylinder barrel,
2.4th, wheel assemblies.
Fig. 4, which is that wheel group provided in an embodiment of the present invention is flexible, waves assembly principle schematic diagram；
In figure：3.1st, hydraulic pressure ball pivot one, 3.2, wheel group stretch holding rod, 3.3, wheel group telescopic hydraulic cylinder piston rod, 3.4,
Wheel group telescopic hydraulic cylinder cylinder barrel.
Fig. 5 is wheel group telescopic hydraulic cylinder pose adjustment assembly principle schematic diagram provided in an embodiment of the present invention；
In figure：4.1st, robot body's pedestal, 4.2, hydraulic pressure ball pivot two.
Fig. 6 is folding welding gun assembly principle schematic diagram provided in an embodiment of the present invention；
In figure：5.1st, linear electric motors, 5.2, folding stand mobile bar, 5.3, folding stand pedestal, 5.4, folding rod, 5.5, folding stand end
Hold quarter butt, 5.6, welding gun carrier bar, 5.7, welding gun fixture, 5.8, welding gun.
Fig. 7 voluntarily walks oil-gas pipeline welder turn principle schematic to be provided in an embodiment of the present invention.
Fig. 8 voluntarily walks oil-gas pipeline welder lane-change principle schematic to be provided in an embodiment of the present invention.
Fig. 9 voluntarily walks the anti-fall principle schematic of oil-gas pipeline welder to be provided in an embodiment of the present invention.
Figure 10 voluntarily walks oil-gas pipeline welder working state schematic representation to be provided in an embodiment of the present invention.
Figure 11 is the wheel group and welding gun motion state provided in an embodiment of the present invention for voluntarily walking oil-gas pipeline welder
Schematic diagram.
Figure 12 is the wheel group and welding gun working condition provided in an embodiment of the present invention for voluntarily walking oil-gas pipeline welder
Schematic diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Referring to Fig. 1, be that one kind provided in an embodiment of the present invention voluntarily walks oil-gas pipeline welder principle schematic, it
Stretched including end movement component 1, wheel combination device 2, wheel group and wave component 3, wheel group telescopic hydraulic cylinder pose adjustment
Component 4 and folding welding gun component 5；Wheel combination device 2 combines four group end moving parts 1, combination
Into the wheel group that can be supported pipeline internal face and be moved along conduit axis；The He of wheel group telescopic hydraulic cylinder pose adjustment component 4
Six groups of wheel groups are flexible to wave component 3 and is combined into the subjective posture mapping device for voluntarily walking oil-gas pipeline welder, wheel group
It is flexible to wave the end of component 3 connection wheel group, so that the comprehensive telecontrol equipment moved freely in pipe-line system is configured to,
It is quick to reach assigned work position；The telecontrol equipment is simple in construction, operation is flexible, can realize the compound movements such as turn, lane-change,
It can effectively prevent from falling simultaneously, moreover it is possible to adapt to different sizes, the pipeline requirement of varying cross-section shape；During work, robot
Working end wheel group withdraw, remaining five groups of wheel groups expansion supports machine human organism with stable；Wheel group is flexible to wave component
3rd, wheel group telescopic hydraulic cylinder pose adjustment component 4 and folding welding gun component 5 be combined into position and posture can be flexible
The welder of adjustment, is effectively carried out the work such as welded type assembling and REPAIR WELDING；
Referring to Fig. 2, being that a kind of end movement component for voluntarily walking oil-gas pipeline welder provided in an embodiment of the present invention is former
Schematic diagram is managed, it includes wheel 1.1, axletree 1.2, wheel rotary drive sprocket wheel 1.3, axle sleeve 1, axletree swivel bearing
1.5th, axletree swivel bearing keeper 1.6, axle sleeve 2 1.7, fork-shaped vehicle wheel frame 1.8, wheel rotary-chain 1.9, wheel rotation
Motor fixture 1.10, wheel rotation dual-axle motor 1.11 and wheel rotation drive sprocket 1.12；Wheel 1.1 and axletree
1.2 are connected by spline, and through the shaft shoulder and the axially position of axle sleeve 2 1.7；Wheel rotary drive sprocket wheel 1.3 has two, and car
The key of wheel shaft 1.2 is connected, and one of them is through the shaft shoulder and the axially position of axle sleeve 1, another warp beam sleeve 2 1.7 and axle sleeve 1
Axially position；Axletree swivel bearing keeper 1.6 has two, and the bolts at two ends with fork-shaped vehicle wheel frame 1.8 is connected respectively；Wheel
Axle swivel bearing 1.5 has two, its inner ring and the end shaft part tight fit of axletree 1.2, outer ring and fork-shaped vehicle wheel frame 1.8 and wheel
The counterbore tight fit that axle swivel bearing keeper 1.6 is combined into, and pass through axle sleeve 1 and fork-shaped vehicle wheel frame 1.8 and axletree
The counterbore wall axially position that swivel bearing keeper 1.6 is combined into；Wheel rotation dual-axle motor 1.11 passes through fork-shaped vehicle wheel frame
1.8 and the fixed position of wheel electric rotating machine fixture 1.10, two motor output shafts rotate the spiral shell of drive sprocket 1.12 with wheel
Bolt is fixed；Wheel rotary drive sprocket wheel 1.3, wheel rotary-chain 1.9, wheel rotation dual-axle motor 1.11 and wheel rotation master
Movable sprocket 1.12 is combined into silent chain synchronous transmission device, and wheel rotates the rotation of the output shaft of dual-axle motor 1.11, through Chain conveyer
Rotary motion of the axletree 1.2 around its axis is converted into, so that rotatable around its axis with motor car wheel 1.1；
Described fork-shaped vehicle wheel frame 1.8 is made using casting technique.
Referring to Fig. 3, being a kind of wheel combination dress for voluntarily walking oil-gas pipeline welder provided in an embodiment of the present invention
Principle schematic is put, it includes wheel flexible holding rod 2.1, wheel telescopic hydraulic cylinder piston rod 2.2, wheel telescopic hydraulic cylinder cylinder
Cylinder 2.3 and wheel assemblies 2.4；Stretch holding rod 2.1, wheel telescopic hydraulic cylinder piston rod 2.2 and wheel of wheel is flexible
Barrel of Hydraulic Cylinders 2.3 has four groups, respectively positioned at four, the upper and lower, left and right of wheel assemblies 2.4 side；Wheel telescopic hydraulic
Cylinder cylinder barrel 2.3 welds together with wheel assemblies 2.4, in wheel telescopic hydraulic cylinder piston rod 2.2 and end movement component 1
Fork-shaped vehicle wheel frame 1.8 welds together；Wheel stretches holding rod 2.1 1 group two, and one end is welded on 1.8 liang of fork-shaped vehicle wheel frame
Side, the other end is through the corresponding through hole on wheel telescopic hydraulic cylinder cylinder barrel 2.3, to prevent wheel telescopic hydraulic cylinder piston rod 2.2
Relative to the rotation of wheel telescopic hydraulic cylinder cylinder barrel 2.3；There is collapsible tip fortune so as to constitute four, upper and lower, left and right orientation
The wheel group of dynamic device, supports pipeline internal face and along the linear motion of its axis, while four group end moving parts 1 to realize
Stretching motion it is separate, the pipeline requirement of varying cross-section shape can be met；
Described wheel assemblies 2.4 are made using casting technique；
Described wheel telescopic hydraulic cylinder piston rod 2.2 and wheel telescopic hydraulic cylinder cylinder barrel 2.3 are using hydraulic pressure common on the market
Cylinder structure, and end is carried out respective handling to meet requirement.
Referring to Fig. 4, being that a kind of wheel group for voluntarily walking oil-gas pipeline welder provided in an embodiment of the present invention is stretched
Assembly principle schematic diagram is waved, it includes the flexible holding rod 3.2 of hydraulic pressure ball pivot 1, wheel group, wheel group telescopic hydraulic cylinder and lived
Stopper rod 3.3 and wheel group telescopic hydraulic cylinder cylinder barrel 3.4；The work of wheel group telescopic hydraulic cylinder cylinder barrel 3.4 and hydraulic pressure ball pivot 2 4.2
Moved end welds together, and the movable end of wheel group telescopic hydraulic cylinder piston rod 3.3 and hydraulic pressure ball pivot 1 welds together, liquid
The bearing of pressure ball hinge 1 is fixed with the bolt of wheel assemblies 2.4；Wheel group is stretched holding rod 3.2 1 group two, one end welding
On wheel group telescopic hydraulic cylinder piston rod 3.3, the other end passes through the corresponding through hole on wheel group telescopic hydraulic cylinder cylinder barrel 3.4,
To prevent wheel group telescopic hydraulic cylinder piston rod 3.3 relative to the rotation of wheel group telescopic hydraulic cylinder cylinder barrel 3.4；So as to constitute energy
Enough stretched with the wheel group that motor car wheel group is stretched and arbitrarily axle is waved where the bulb central point of hydraulic pressure ball pivot 1 waves group
Part 3, to assist to realize posture changing of the robot in turn, lane-change and the course of work, while robot can be prevented effectively
Fallen in motion process phenomenon；
Described hydraulic pressure ball pivot 1 is using the hydraulic pressure spherical hinge structure of standard on the market, its movable end multiple liquid inside bearing
It can be waved under the driving of pressure around any axle where bulb central point.
Described wheel group telescopic hydraulic cylinder piston rod 3.3 and wheel group telescopic hydraulic cylinder cylinder barrel 3.4 are using normal on the market
The hydraulic cylinder structure seen, and end is carried out respective handling to meet requirement.
Referring to Fig. 5, being that a kind of wheel group for voluntarily walking oil-gas pipeline welder provided in an embodiment of the present invention is stretched
Hydraulic cylinder pose adjustment assembly principle schematic diagram, it includes robot body's pedestal 4.1 and hydraulic pressure ball pivot 2 4.2；Hydraulic pressure ball pivot
2 4.2 have six, and its bearing is bolted on the front, back, left, right, up, down six of robot body's pedestal 4.1 respectively
Orientation；The movable end of hydraulic pressure ball pivot 2 4.2 is welded with one end of wheel group telescopic hydraulic cylinder cylinder barrel 3.4, so as to be configured to band
Motor car wheel group is flexible to wave the wheel that component 3 and wheel group any axis where the bulb central point of hydraulic pressure ball pivot 2 4.2 are waved
Group telescopic hydraulic cylinder pose adjustment component 4, to adapt to a variety of angles and the turn in the case of orientation and lane-change demand, and assists reality
The pose conversion of welding gun 5.1 in the existing welding robot course of work；
Described robot body's pedestal 4.1 is made using casting technique；
Described hydraulic pressure ball pivot 2 4.2 is using the hydraulic pressure spherical hinge structure of standard on the market, its movable end multiple liquid inside bearing
It can be waved under the driving of pressure around any axle where bulb central point.
Referring to Fig. 6, being a kind of folding weldering for voluntarily walking oil-gas pipeline welder provided in an embodiment of the present invention
Rifle assembly principle schematic diagram, it includes linear electric motors 5.1, folding stand mobile bar 5.2, folding stand pedestal 5.3, folding rod 5.4, folding
Superimposed end quarter butt 5.5, welding gun carrier bar 5.6, welding gun fixture 5.7 and welding gun 5.8；Linear electric motors 5.1 have two, lead to
Cross and be bolted on wheel assemblies 2.4, folding stand pedestal 5.3 is also by being bolted on wheel assemblies 2.4；Necessarily
The folding rod 5.4 of quantity is combined into the variable folding stand of overall length through bearing pin and split pin connection；The two of folding stand section start
Individual connection end, one is sold axle and split pin connection with the corresponding hole position on folding stand pedestal 5.3, another with positioned at folding stand
Folding stand mobile bar 5.2 in the slotted hole of pedestal 5.3 is connected, the two ends of folding stand mobile bar 5.2 again respectively with linear electric motors 5.1
Output shaft axis hole is connected and positioned through nut；Two connection ends at folding stand end respectively with folding stand end quarter butt 5.5 and
Welding gun carrier bar 5.6 through bearing pin and split pin connection, the other end of folding stand end quarter butt 5.5 again with welding gun carrier bar 5.6
Centre bore is through bearing pin and split pin connection；Welding gun 5.8 passes through the corresponding hole position of welding gun fixture 5.7 and fixed through bolt group, welds
Rifle fixture 5.7 is fixed with the bolt of welding gun carrier bar 5.6 again；The linear motion of the output shaft of linear electric motors 5.1, Foldable frame is moved
Lever 5.2 is moved in the range of the restriction of the slotted hole of folding stand pedestal 5.3, and the totality of folding stand is converted to through slider-crank mechanism
Length is converted, and then realizes position and the posture changing of welding gun 5.8, is folded and is withdrawn in order to avoid damaging in motion, is stretched during work
Come, and combine that wheel group is flexible to wave component 3 and welding gun 5.8 is adjusted flexibly in wheel group telescopic hydraulic cylinder pose adjustment component 4
Position and posture, realize efficient pipeline welding；
Described folding stand pedestal 5.3 and the casting of welding gun fixture 5.7 are formed, and lightweight is done on the basis of bearing capacity is ensured
Processing.
Referring to Fig. 7, being that a kind of turn principle for voluntarily walking oil-gas pipeline welder provided in an embodiment of the present invention is shown
It is intended to.
Referring to Fig. 8, being that a kind of lane-change principle for voluntarily walking oil-gas pipeline welder provided in an embodiment of the present invention is shown
It is intended to.
Referring to Fig. 9, being that a kind of anti-fall principle for voluntarily walking oil-gas pipeline welder provided in an embodiment of the present invention is shown
It is intended to.
Referring to Fig. 10, being that a kind of working condition for voluntarily walking oil-gas pipeline welder provided in an embodiment of the present invention is shown
It is intended to.
Figure 11 is referred to, is a kind of wheel group for voluntarily walking oil-gas pipeline welder provided in an embodiment of the present invention and weldering
Rifle motion state schematic diagram.
Figure 12 is referred to, is a kind of wheel group for voluntarily walking oil-gas pipeline welder provided in an embodiment of the present invention and weldering
Rifle working state schematic representation.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the claim involved by limitation.
Claims (8)
1. one kind voluntarily walks oil-gas pipeline welder, including end movement component（1）, wheel combination device（2）, wheel group stretches
Component is waved in contracting（3）, wheel group telescopic hydraulic cylinder pose adjustment component（4）And folding welding gun component（5）；Wheel combination
Device（2）By four group end moving parts（1）Combine, pipeline internal face can be supported and along conduit axis by being combined into
The wheel group of motion；Wheel group telescopic hydraulic cylinder pose adjustment component（4）Stretched with six groups of wheel groups and wave component（3）It is combined into
The subjective posture mapping device of oil-gas pipeline welding robot is voluntarily walked, wheel group is flexible to wave component（3）End connects wheel
Group, so that the comprehensive telecontrol equipment moved freely in pipe-line system is configured to, it is quick to reach assigned work position；It is described
Wheel combination device（2）Including the flexible holding rod of wheel（2.1）, wheel telescopic hydraulic cylinder piston rod（2.2）, wheel stretch liquid
Cylinder pressure cylinder barrel（2.3）And wheel assemblies（2.4）；Wheel stretches holding rod（2.1）, wheel telescopic hydraulic cylinder piston rod
（2.2）And wheel telescopic hydraulic cylinder cylinder barrel（2.3）There are four groups, respectively positioned at wheel assemblies（2.4）Upper and lower, left and right
Four sides；Wheel telescopic hydraulic cylinder cylinder barrel（2.3）With wheel assemblies（2.4）Weld together, wheel telescopic hydraulic cylinder is lived
Stopper rod（2.2）With end movement component（1）In fork-shaped vehicle wheel frame（1.8）Weld together；Wheel stretches holding rod（2.1）One
Group two, one end is welded on fork-shaped vehicle wheel frame（1.8）Both sides, the other end passes through wheel telescopic hydraulic cylinder cylinder barrel（2.3）On pair
Through hole is answered, to prevent wheel telescopic hydraulic cylinder piston rod（2.2）Relative to wheel telescopic hydraulic cylinder cylinder barrel（2.3）Rotation；From
And constituting four, upper and lower, left and right orientation has the wheel group of collapsible tip telecontrol equipment, to realize support pipeline internal face
And along the linear motion of its axis, while four group end moving parts（1）Stretching motion it is separate；
Described folding welding gun component（5）Including linear electric motors（5.1）, folding stand mobile bar（5.2）, folding stand pedestal
（5.3）, folding rod（5.4）, folding stand end quarter butt（5.5）, welding gun carrier bar（5.6）, welding gun fixture（5.7）And welding gun
（5.8）；Linear electric motors（5.1）There are two, be bolted on wheel assemblies（2.4）On, folding stand pedestal（5.3）
It is bolted on wheel assemblies（2.4）On；A number of folding rod（5.4）Through bearing pin and split pin connection, combination
Into the variable folding stand of overall length；Two connection ends of folding stand section start, one and folding stand pedestal（5.3）On correspondence
Hole position through bearing pin and split pin connection, another with positioned at folding stand pedestal（5.3）Folding stand mobile bar in slotted hole（5.2）
Connection, folding stand mobile bar（5.2）Two ends again respectively with linear electric motors（5.1）Output shaft axis hole connect and positioned through nut；
Two connection ends at folding stand end respectively with folding stand end quarter butt（5.5）With welding gun carrier bar（5.6）Through bearing pin and opening
Mouth pin connection, folding stand end quarter butt（5.5）The other end again with welding gun carrier bar（5.6）Centre bore through bearing pin and split pin
Connection；Welding gun（5.8）Through welding gun fixture（5.7）Corresponding hole position and fixed through bolt group, welding gun fixture（5.7）And with
Welding gun carrier bar（5.6）Bolt is fixed；Linear electric motors（5.1）The linear motion of output shaft, Foldable frame mobile bar（5.2）
Folding stand pedestal（5.3）Moved in the range of the restriction of slotted hole, the overall length for being converted to folding stand through slider-crank mechanism becomes
Change, and then realize welding gun（5.8）Position and posture changing, motion when fold withdraw so as not to damage, extended during work,
And combination wheel group is stretched and waves component（3）With wheel group telescopic hydraulic cylinder pose adjustment component（4）Welding gun is adjusted flexibly（5.8）
Position and posture.
2. one kind according to claim 1 voluntarily walks oil-gas pipeline welder, it is characterised in that described end movement
Component（1）Including wheel（1.1）, axletree（1.2）, wheel rotary drive sprocket wheel（1.3）, axle sleeve one（1.4）, axletree rotation
Bearing（1.5）, axletree swivel bearing keeper（1.6）, axle sleeve two（1.7）, fork-shaped vehicle wheel frame（1.8）, wheel rotary-chain
（1.9）, wheel electric rotating machine fixture（1.10）, wheel rotation dual-axle motor（1.11）And wheel rotation drive sprocket
（1.12）；Wheel（1.1）With axletree（1.2）Connected by spline, and through the shaft shoulder and axle sleeve two（1.7）Axially position；Wheel
Rotary drive sprocket wheel（1.3）There are two, and axletree（1.2）Key is connected, and one of them is through the shaft shoulder and axle sleeve one（1.4）Axially
Positioning, another warp beam sleeve two（1.7）With axle sleeve one（1.4）Axially position；Axletree swivel bearing keeper（1.6）Have two
It is individual, respectively with fork-shaped vehicle wheel frame（1.8）Bolts at two ends connection；Axletree swivel bearing（1.5）There are two, its inner ring and wheel
Axle（1.2）End shaft part tight fit, outer ring and fork-shaped vehicle wheel frame（1.8）With axletree swivel bearing keeper（1.6）It is combined into
Counterbore tight fit, and pass through axle sleeve one（1.4）With fork-shaped vehicle wheel frame（1.8）With axletree swivel bearing keeper（1.6）Group
The counterbore wall axially position of synthesis；Wheel rotates dual-axle motor（1.11）Pass through fork-shaped vehicle wheel frame（1.8）With wheel electric rotating
Machine fixture（1.10）Fixed position, two motor output shafts rotate drive sprocket with wheel（1.12）Bolt is fixed；Wheel
Rotary drive sprocket wheel（1.3）, wheel rotary-chain（1.9）, wheel rotation dual-axle motor（1.11）And wheel rotation drive chain
Wheel（1.12）It is combined into silent chain synchronous transmission device, wheel rotation dual-axle motor（1.11）The rotation of output shaft, through Chain conveyer
It is converted into axletree（1.2）Around the rotary motion of its axis, so that with motor car wheel（1.1）It is rotatable around its axis.
3. one kind according to claim 1 voluntarily walks oil-gas pipeline welder, it is characterised in that described wheel group is stretched
Component is waved in contracting（3）Including hydraulic pressure ball pivot one（3.1）, wheel group stretch holding rod（3.2）, wheel group telescopic hydraulic cylinder piston rod
（3.3）And wheel group telescopic hydraulic cylinder cylinder barrel（3.4）；Wheel group telescopic hydraulic cylinder cylinder barrel（3.4）With hydraulic pressure ball pivot two（4.2）
Movable end weld together, wheel group telescopic hydraulic cylinder piston rod（3.3）With hydraulic pressure ball pivot one（3.1）Movable end be welded on
Together, hydraulic pressure ball pivot one（3.1）Bearing and wheel assemblies（2.4）Bolt is fixed；Wheel group is stretched holding rod（3.2）One group
Two, one end is welded on wheel group telescopic hydraulic cylinder piston rod（3.3）On, the other end passes through wheel group telescopic hydraulic cylinder cylinder barrel
（3.4）On corresponding through hole, to prevent wheel group telescopic hydraulic cylinder piston rod（3.3）Relative to wheel group telescopic hydraulic cylinder cylinder barrel
（3.4）Rotation；Stretched and around hydraulic pressure ball pivot one so as to be configured to band motor car wheel group（3.1）It is any where bulb central point
The wheel group that axle is waved, which is stretched, waves component（3）.
4. one kind according to claim 1 voluntarily walks oil-gas pipeline welder, it is characterised in that described wheel group is stretched
Contracting hydraulic cylinder pose adjustment component（4）Including robot body's pedestal（4.1）With hydraulic pressure ball pivot two（4.2）；Hydraulic pressure ball pivot two
（4.2）There are six, its bearing is bolted on robot body's pedestal respectively（4.1）Front, back, left, right, up, down six
Individual orientation；Hydraulic pressure ball pivot two（4.2）Movable end and wheel group telescopic hydraulic cylinder cylinder barrel（3.4）One end welding, so as to constitute
It can be stretched with motor car wheel group and wave component（3）And wheel group is around hydraulic pressure ball pivot two（4.2）Any axis where bulb central point
The wheel group telescopic hydraulic cylinder pose adjustment component waved（4）, to adapt to a variety of angles and the turn in the case of orientation and lane-change
Demand, and assist to realize welding gun in the welding robot course of work（5.1）Pose conversion.
5. one kind according to claim 1 voluntarily walks oil-gas pipeline welder, it is characterised in that described hydraulic pressure ball pivot
One（3.1）With hydraulic pressure ball pivot two（4.2）Using the hydraulic pressure spherical hinge structure of standard on the market, its movable end multiple liquid inside bearing
It can be waved under the driving of pressure around any axle where bulb central point.
6. one kind according to claim 1 voluntarily walks oil-gas pipeline welder, it is characterised in that described fork-shaped wheel
Frame（1.8）, wheel assemblies（2.4）And robot body's pedestal（4.1）It is made using casting technique.
7. one kind according to claim 1 voluntarily walks oil-gas pipeline welder, it is characterised in that described wheel stretches
Hydraulic cylinder piston rod（2.2）, wheel telescopic hydraulic cylinder cylinder barrel（2.3）, wheel group telescopic hydraulic cylinder piston rod（3.3）And wheel
Group telescopic hydraulic cylinder cylinder barrel（3.4）Wanted using hydraulic cylinder structure common on the market, and to end progress respective handling with meeting
Ask.
8. one kind according to claim 1 voluntarily walks oil-gas pipeline welder, it is characterised in that described folding stand base
Seat（5.3）With welding gun fixture（5.7）Casting is formed, and light-weight technologg is done on the basis of bearing capacity is ensured.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710254043.6A CN107097024A (en) | 2017-04-18 | 2017-04-18 | One kind voluntarily walks oil-gas pipeline welder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710254043.6A CN107097024A (en) | 2017-04-18 | 2017-04-18 | One kind voluntarily walks oil-gas pipeline welder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107097024A true CN107097024A (en) | 2017-08-29 |
Family
ID=59657059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710254043.6A Withdrawn CN107097024A (en) | 2017-04-18 | 2017-04-18 | One kind voluntarily walks oil-gas pipeline welder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107097024A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673334A (en) * | 2020-05-19 | 2020-09-18 | 杭涛 | Spiral blade precision welding robot and welding method |
| CN114227090A (en) * | 2021-11-29 | 2022-03-25 | 淮阴工学院 | Automatic welding device for pendulum type large pipeline container |
-
2017
- 2017-04-18 CN CN201710254043.6A patent/CN107097024A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673334A (en) * | 2020-05-19 | 2020-09-18 | 杭涛 | Spiral blade precision welding robot and welding method |
| CN114227090A (en) * | 2021-11-29 | 2022-03-25 | 淮阴工学院 | Automatic welding device for pendulum type large pipeline container |
| CN114227090B (en) * | 2021-11-29 | 2023-10-20 | 淮阴工学院 | Pendulum type large-scale pipeline container automatic welder |
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Application publication date: 20170829 |