CN110328478B - Computer pipeline detects automatic welding robot - Google Patents
Computer pipeline detects automatic welding robot Download PDFInfo
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- CN110328478B CN110328478B CN201910711994.0A CN201910711994A CN110328478B CN 110328478 B CN110328478 B CN 110328478B CN 201910711994 A CN201910711994 A CN 201910711994A CN 110328478 B CN110328478 B CN 110328478B
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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
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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
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Abstract
The invention relates to a welding robot, in particular to a computer pipeline detection automatic welding robot, which comprises a motion support I, a motion support II, a universal joint I, a motion mechanism, a rotating support, a welding mechanism, a driving motor I, a driving motor II and a detection mechanism, wherein the three motion mechanisms can be attached to the outer wall of a pipeline under the compression of a compression spring I and a compression spring II, a pushing device of the three motion mechanisms moves on the outer wall of the pipeline, the universal joint I, the compression spring I and the compression spring II can enable the device to move when the pipeline is bent to a certain degree, the driving motor II drives the detection mechanism to detect the outer wall of the pipeline and transmit detection information to an upper computer, and when the outer wall of the pipeline cracks, the upper computer controls the driving device and the driving motor I to perform motion welding mechanism to perform bilateral welding on the outer wall of the pipeline, avoiding thermal deformation.
Description
Technical Field
The invention relates to a welding robot, in particular to an automatic welding robot for computer pipeline detection.
Background
For example, the utility model discloses a No. CN108480898A automatic welding robot with compensation, including the clamp holder, a spring, the refractory plate, the mounting groove, the line concentration board, first buckle, first line concentration hole, fixed plate and second buckle, the clamp holder is installed at the workstation up end, the inside spring that is provided with of clamp holder, the preceding terminal surface of clamp sleeve is provided with the refractory plate, the mounting groove has been seted up on workstation inside right side, the problem that the operation of original automatic welding robot with compensation is not firm enough has been solved in this design, the line concentration board is installed on the arm rear end face upside, first buckle is installed at fixed plate front end face downside, first line concentration hole opens at line concentration board rear end face downside, the fixed plate is installed at line concentration board rear end face, the second buckle is installed at fixed plate front; the disadvantage of this invention is that it does not allow for automatic inspection and welding of the installed pipes.
Disclosure of Invention
The invention aims to provide a computer pipeline detection automatic welding robot which can automatically check and weld an installation pipeline.
The purpose of the invention is realized by the following technical scheme:
a computer pipeline detection automatic welding robot comprises a motion support I, a motion support II, universal joints I, motion mechanisms, a rotating support, a welding mechanism, a driving motor I, a driving motor II and a detection mechanism, wherein a plurality of universal joints I are connected between the motion support I and the motion support II, a plurality of motion mechanisms are uniformly arranged between the motion support I and the motion support II in the circumferential direction, compression springs I are arranged between one ends of the motion mechanisms and the motion support I, compression springs II are arranged between the other ends of the motion mechanisms and the motion support II, the rotating support II is rotatably connected with the rotating support, a driving device is connected onto the rotating support, the driving device drives the rotating support to rotate by taking the axis of the rotating support as a central line, the welding mechanism is fixedly connected to the front end of the rotating support, and the detection mechanism is rotatably connected to the front end of the welding mechanism, fixedly connected with driving motor I and driving motor II on the runing rest, I drive welding mechanism of driving motor moves, and II drive detection mechanism of driving motor move.
As a further optimization of the technical scheme, the computer pipeline detection automatic welding robot is further provided with an upper computer, a detection mechanism is in signal connection with the upper computer, and the upper computer controls a driving device and a driving motor I to move.
As the technical scheme is further optimized, the automatic welding robot for the computer pipeline detection comprises a moving support I, a connecting rod I, a support plate I, a sliding waist hole I and a support plate II, wherein the outer side of the support ring I is circumferentially and uniformly fixedly connected with the three connecting rods I, the inner side of the support ring I is circumferentially and uniformly and fixedly connected with the three support plates I, the sliding waist holes I are formed in the three support plates I, and the outer side of the support ring I is circumferentially and uniformly and fixedly connected with the three support plates II.
As the technical scheme is further optimized, the automatic welding robot for the computer pipeline detection comprises a moving support II, a rotating support plate, a connecting rod II, a support plate III, a support plate IV and a sliding waist hole II, wherein the outer side of the support ring II is uniformly and fixedly connected with the three rotating support plates in the circumferential direction, the three rotating support plates are uniformly and fixedly connected with the connecting rod II, the outer side of the support ring II is uniformly and fixedly connected with the three support plates III in the circumferential direction, the inner side of the support ring II is uniformly and fixedly connected with the three support plates IV in the circumferential direction, the three support plates IV are respectively provided with the sliding waist hole II, and universal joints I are respectively connected between the three connecting rods I and the three connecting.
As a further optimization of the technical scheme, the invention relates to a computer pipeline detection automatic welding robot, wherein a motion mechanism comprises two motion wheel brackets, universal joints II, motion wheels, sliding blocks and limiting columns, the motion wheel brackets are provided with two, the universal joints II are connected between the inner sides of the two motion wheel brackets, the motion wheels are rotatably connected on the two motion wheel brackets, the limiting columns are fixedly connected on the outer sides of the two motion wheel brackets, the sliding blocks are rotatably connected on the outer sides of the two motion wheel brackets, the motion mechanism is provided with three sliding blocks positioned at the rear end and respectively slidably connected in three sliding waist holes I, the three limiting columns positioned at the rear end are respectively slidably connected on three supporting plates II, compression springs I are respectively arranged on the three limiting columns positioned at the rear end and positioned between the corresponding supporting plates II and the limiting columns, three sliding block that is located the front end is sliding connection respectively in three slip waist hole II, and sliding connection is on three backup pad III respectively for three spacing post that is located the front end, all is provided with compression spring II on the three spacing post that is located the front end, and compression spring II is located between backup pad III and the spacing post that corresponds, all is connected with power device on six motion wheels.
As further optimization of the technical scheme, the automatic welding robot for computer pipeline detection comprises a rotating support and three connecting plates, wherein the rotating support comprises a rotating ring I, a connecting plate I and a rotating ring II, the rotating ring I is rotatably connected to the outer sides of three rotating supporting plates, one end of each connecting plate I is circumferentially and uniformly fixedly connected to the rotating ring I, and the other end of each connecting plate I is circumferentially and uniformly fixedly connected to the rotating ring II.
As further optimization of the technical scheme, the automatic welding robot for computer pipeline detection comprises two welding support rings, two sliding support frames, two sliding limiting rods, two welding rods and two welding gears, wherein the two welding support rings are rotatably connected between the two welding support rings, the two sliding support frames are uniformly and fixedly connected to the outer sides of the two welding support rings in the circumferential direction, the sliding limiting rods are respectively and slidably connected to the two sliding support frames, the welding rods are fixedly connected to the inner sides of the two sliding limiting rods, the two welding rods are respectively connected with the welding gears through threads, two sides of the two welding gears are respectively in meshing transmission with the two gear rings, and the inner sides of the rotating rings II are fixedly connected to the welding support rings at the rear ends.
As further optimization of the technical scheme, the automatic welding robot for the computer pipeline detection is characterized in that the driving motor I is fixedly connected to one of the connecting plates I, and the driving motor I is in meshing transmission with one of the gear rings.
As a further optimization of the technical scheme, the invention relates to a computer pipeline detection automatic welding robot, wherein a detection mechanism comprises a detection inner ring, a detection outer ring, two connecting plates II, two sliding supporting plates, connecting blocks, sliding rings, magnetic wheels and detection probes, two connecting plates II are fixedly connected between the detection inner ring and the detection outer ring, the two connecting plates II are fixedly connected with the sliding supporting plates, the two sliding supporting plates are respectively and slidably connected with two sliding rings, the four sliding rings are internally and rotatably connected with the magnetic wheels, the two connecting blocks are provided with two ends respectively and fixedly connected with the four sliding rings, compression springs III are respectively arranged between the two sliding rings and the two corresponding sliding supporting plates, the inner sides of the two connecting blocks are respectively and fixedly connected with the detection probes, and the inner side of each detection probe is respectively arranged between the two corresponding magnetic wheels, driving motor II fixed connection is on one of them connecting plate I, and driving motor II and detection outer loop meshing transmission, test probe and host computer signal connection, two test probes and two welding poles are located same vertical plane.
The computer pipeline detection automatic welding robot has the beneficial effects that:
according to the automatic welding robot for computer pipeline detection, three motion mechanisms can be attached to the outer wall of a pipeline under the compression of a compression spring I and a compression spring II through the three motion mechanisms, three motion mechanism pushing devices move on the outer wall of the pipeline, the devices can also move when the pipeline is bent to a certain extent through a universal joint I, the compression spring I and the compression spring II, a driving motor II drives the detection mechanism to detect the outer wall of the pipeline and transmit detection information to an upper computer, and when cracks appear on the outer wall of the pipeline, the upper computer controls the driving device and the driving motor I to perform motion welding on the outer wall of the pipeline through the motion welding mechanism, so that thermal deformation is avoided.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and "upright", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly or indirectly connected through an intermediate medium, and may be a communication between two members. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present invention, the meaning of "a plurality", and "a plurality" is two or more unless otherwise specified.
FIG. 1 is a schematic diagram I of the overall structure of a computer pipeline inspection automatic welding robot according to the present invention;
FIG. 2 is a schematic diagram of the overall structure of the computer pipeline inspection automatic welding robot of the present invention;
FIG. 3 is a schematic view showing a partial structure of a computer pipeline inspection automatic welding robot according to the present invention;
FIG. 4 is a schematic view of the local structure of the computer pipeline inspection automatic welding robot of the present invention;
FIG. 5 is a schematic view of the structure of a motion support I of the present invention;
FIG. 6 is a schematic structural diagram of a motion bracket II of the invention;
FIG. 7 is a schematic view of the motion mechanism of the present invention;
FIG. 8 is a schematic view of the rotational support structure of the present invention;
FIG. 9 is a schematic view of the welding mechanism of the present invention;
FIG. 10 is a schematic cross-sectional view of the welding mechanism of the present invention;
FIG. 11 is a first structural view of the detecting mechanism of the present invention;
FIG. 12 is a second schematic structural diagram of the detecting mechanism of the present invention.
In the figure: a motion bracket I1; the support ring I1-1; a connecting rod I1-2; 1-3 of a support plate; 1-4 of a sliding waist hole; 1-5 of a support plate; a moving bracket II 2; a support ring II 2-1; rotating the support plate 2-2; a connecting rod II 2-3; 2-4 of a support plate; 2-5 of a support plate IV; 2-6 of a sliding waist hole; a universal joint I3; a movement mechanism 4; a moving wheel bracket 4-1; universal joints II 4-2; 4-3 of a motion wheel; 4-4 of a sliding block; 4-5 of a limiting column; rotating the bracket 5; 5-1 of a rotating ring; a connecting plate I5-2; 5-3 of a rotating ring; a welding mechanism 6; welding the support ring 6-1; a gear ring 6-2; 6-3 of a sliding support frame; 6-4 of a sliding limiting rod; 6-5 parts of a welding rod; welding gears 6-6; a driving motor I7; driving a motor II 8; a detection mechanism 9; detecting the inner ring 9-1; detecting the outer ring 9-2; a connecting plate II 9-3; a sliding support plate 9-4; 9-5 of a connecting block; 9-6 of a sliding ring; magnetic wheels 9-7; and 9-8 of a detection probe.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
the embodiment is described below with reference to fig. 1-12, a computer pipeline detection automatic welding robot comprises a motion support i 1, a motion support ii 2, universal joints i 3, motion mechanisms 4, a rotating support 5, a welding mechanism 6, a driving motor i 7, a driving motor ii 8 and a detection mechanism 9, wherein a plurality of universal joints i 3 are connected between the motion support i 1 and the motion support ii 2, a plurality of motion mechanisms 4 are uniformly arranged between the motion support i 1 and the motion support ii 2 in the circumferential direction, a compression spring i is arranged between one end of each of the plurality of motion mechanisms 4 and the motion support i 1, a compression spring ii is arranged between the other end of each of the plurality of motion mechanisms 4 and the motion support ii 2, the rotating support 5 is rotatably connected to the motion support ii 2, a driving device is connected to the rotating support 5, the driving device drives the rotating support 5 to rotate by taking the axis of the driving device as the central line, the front end of the rotating support 5 is fixedly connected with a welding mechanism 6, the front end of the welding mechanism 6 is rotatably connected with a detection mechanism 9, the rotating support 5 is fixedly connected with a driving motor I7 and a driving motor II 8, the driving motor I7 drives the welding mechanism 6 to move, and the driving motor II 8 drives the detection mechanism 9 to move; can make three moving mechanism 4 all laminate on the outer wall of pipeline through three moving mechanism 4 under compression of compression spring I and compression spring II, 4 thrust unit of three moving mechanism move on the outer wall of pipeline, through universal joint I3, compression spring I and compression spring II can make when the pipeline certain bending the device also can move, driving motor II 8 drive detection mechanism detects the outer wall of pipeline and gives the host computer with detecting information transmission, when the crack appears in the outer wall of pipeline, host computer control drive arrangement and driving motor I7 carry out motion welding mechanism 6 and carry out two side welding to the outer wall of pipeline, avoid heat altered shape.
The second embodiment is as follows:
the embodiment is described below with reference to fig. 1 to 12, and the embodiment further describes the first embodiment, the computer pipeline detection automatic welding robot is further provided with an upper computer, the detection mechanism 9 is connected with the upper computer through a signal, and the upper computer controls the driving device and the driving motor i 7 to move.
The third concrete implementation mode:
the embodiment is described below with reference to fig. 1 to 12, and the second embodiment is further described, wherein the motion bracket i 1 comprises a support ring i 1-1, connecting rods i 1-2, support plates i 1-3, sliding waist holes i 1-4 and support plates ii 1-5, three connecting rods i 1-2 are uniformly and fixedly connected to the outer side of the support ring i 1-1 in the circumferential direction, three support plates i 1-3 are uniformly and fixedly connected to the inner side of the support ring i 1-1 in the circumferential direction, the sliding waist holes i 1-4 are arranged on the three support plates i 1-3, and three support plates ii 1-5 are uniformly and fixedly connected to the outer side of the support ring i 1-1 in the circumferential direction.
The fourth concrete implementation mode:
the third embodiment is further described by referring to fig. 1-12, wherein the motion bracket ii 2 comprises a support ring ii 2-1, a rotating support plate 2-2, a connecting rod ii 2-3, a support plate iii 2-4, a support plate iv 2-5 and a sliding waist hole ii 2-6, the outer side of the support ring ii 2-1 is circumferentially and uniformly fixedly connected with three rotating support plates 2-2, the three rotating support plates 2-2 are respectively and fixedly connected with a connecting rod ii 2-3, the outer side of the support ring ii 2-1 is circumferentially and uniformly and fixedly connected with three support plates iii 2-4, the inner side of the support ring ii 2-1 is circumferentially and uniformly and fixedly connected with three support plates iv 2-5, and the three support plates iv 2-5 are respectively provided with a sliding waist hole ii 2-6, universal joints I3 are connected between the three connecting rods I1-2 and the three connecting rods II 2-3.
The fifth concrete implementation mode:
the fourth embodiment is further described with reference to fig. 1-12, wherein the moving mechanism 4 includes two moving wheel brackets 4-1, universal joints ii 4-2, moving wheels 4-3, sliding blocks 4-4 and limiting columns 4-5, the moving wheel brackets 4-1 are connected with the universal joints ii 4-2 between the inner sides of the two moving wheel brackets 4-1, the moving wheels 4-3 are rotatably connected to the two moving wheel brackets 4-1, the limiting columns 4-5 are fixedly connected to the outer sides of the two moving wheel brackets 4-1, the sliding blocks 4-4 are rotatably connected to the outer sides of the two moving wheel brackets 4-1, the moving mechanism 4 is provided with three sliding blocks 4-4 at the rear end, the three sliding blocks 4-4 are respectively slidably connected in the three sliding waist holes i 1-4, three limiting columns 4-5 positioned at the rear end are respectively connected onto three supporting plates II 1-5 in a sliding mode, compression springs I are arranged on the three limiting columns 4-5 positioned at the rear end, the compression springs I are positioned between the corresponding supporting plates II 1-5 and the limiting columns 4-5, three sliding blocks 4-4 positioned at the front end are respectively connected into three sliding waist holes II 2-6 in a sliding mode, the three limiting columns 4-5 positioned at the front end are respectively connected onto three supporting plates III 2-4 in a sliding mode, compression springs II are arranged on the three limiting columns 4-5 positioned at the front end, the compression springs II are positioned between the corresponding supporting plates III 2-4 and the limiting columns 4-5, and power devices are connected onto six moving wheels 4-3.
The sixth specific implementation mode:
the embodiment is described below with reference to fig. 1 to 12, and the fifth embodiment is further described, where the rotating bracket 5 includes three rotating rings i 5-1, three connecting plates i 5-2 and three rotating rings ii 5-3, the rotating ring i 5-1 is rotatably connected to the outer sides of the three rotating support plates 2-2, the three connecting plates i 5-2 are provided, one end of each of the three connecting plates i 5-2 is circumferentially and uniformly fixedly connected to the rotating ring i 5-1, and the other end of each of the three connecting plates i 5-2 is circumferentially and uniformly fixedly connected to the rotating ring ii 5-3.
The seventh embodiment:
the present embodiment is described below with reference to fig. 1 to 12, and further described in the present embodiment, the welding mechanism 6 includes two welding support rings 6-1, two gear rings 6-2, two sliding support frames 6-3, two sliding limiting rods 6-4, two welding rods 6-5 and two welding gears 6-6, the two welding support rings 6-1 are rotatably connected with the gear rings 6-2, the two sliding support frames 6-3 are circumferentially and uniformly and fixedly connected with the outer sides of the two welding support rings 6-1, the two sliding support frames 6-3 are slidably connected with the sliding limiting rods 6-4, the inner sides of the two sliding limiting rods 6-4 are fixedly connected with the welding rods 6-5, and the two welding rods 6-5 are connected with the welding gears 6-6 through threads, two sides of the two welding gears 6-6 are respectively in meshed transmission with the two gear rings 6-2, and the inner sides of the rotating rings II 5-3 are fixedly connected to the welding support ring 6-1 at the rear end.
The specific implementation mode is eight:
the embodiment is described below with reference to fig. 1 to 12, and the seventh embodiment is further described, wherein the driving motor i 7 is fixedly connected to one of the connecting plates i 5-2, and the driving motor i 7 is in meshing transmission with one of the gear rings 6-2.
The specific implementation method nine:
the embodiment is described below with reference to fig. 1-12, and the eighth embodiment is further described, wherein the detection mechanism 9 comprises a detection inner ring 9-1, a detection outer ring 9-2, a connecting plate ii 9-3, a sliding support plate 9-4, a connecting block 9-5, a sliding ring 9-6, a magnetic wheel 9-7 and a detection probe 9-8, two connecting plates ii 9-3 are fixedly connected between the detection inner ring 9-1 and the detection outer ring 9-2, the sliding support plate 9-4 is fixedly connected with both the two connecting plates ii 9-3, two sliding rings 9-6 are slidably connected on both the two sliding support plates 9-4, the magnetic wheels 9-7 are rotatably connected in both the four sliding rings 9-6, and two connecting blocks 9-5 are provided, two ends of two connecting blocks 9-5 are respectively fixedly connected to four sliding rings 9-6, compression springs III are arranged between the two sliding rings 9-6 and two corresponding sliding support plates 9-4, the inner sides of the two connecting blocks 9-5 are respectively and fixedly connected with detection probes 9-8, the inner side of each detection probe 9-8 is respectively arranged between two corresponding magnetic wheels 9-7, a driving motor II 8 is fixedly connected to one connecting plate I5-2, the driving motor II 8 is in meshing transmission with a detection outer ring 9-2, the detection probes 9-8 are in signal connection with an upper computer, and the two detection probes 9-8 and two welding rods 6-5 are positioned in the same vertical plane.
The invention discloses a computer pipeline detection automatic welding robot, which has the working principle that:
the six motion wheels 4-3 are all connected with power devices which can be motors, the six power devices can respectively drive the six motion wheels 4-3 to rotate, the three motion mechanisms 4 are attached to the outer wall of the pipeline under the compression of a compression spring I and a compression spring II through the three motion mechanisms 4, when the pipeline bending detection device is used, the power devices are started, the six power devices respectively drive the six motion wheels 4-3 to rotate, the six motion wheels 4-3 push devices move on the outer wall of the pipeline, the device can also move when the pipeline bends to a certain degree through a universal joint I3, the compression spring I and the compression spring II, a driving motor II 8 is started, the output shaft of the driving motor II 8 starts to rotate, the output shaft of the driving motor II 8 drives a detection outer ring 9-2 to rotate by taking the axis of the device as a central line, the detection outer ring 9-2 drives the two connecting plates II 9-3 to rotate by taking the axis of the detection outer ring 9-2 as a central line, the two connecting plates II 9-3 drive the detection inner ring 9-1 to rotate by taking the axis of the detection inner ring 9-1 as a central line, the two connecting plates II 9-3 respectively drive the two sliding support plates 9-4 to rotate by taking the axis of the detection inner ring 9-1 as a central line, the two sliding support plates 9-4 respectively drive the two magnetic wheels 9-7 at two sides to rotate by taking the axis of the detection inner ring 9-1 as a central line, the two magnetic wheels 9-7 attract the outer wall of the pipeline through magnetic force, so that the detection probe 9-8 can be attached to the outer wall of the pipeline to detect the pipeline, under the action of the compression spring III, the detection probe 9-8 can still detect the pipeline when the diameter of the outer wall of the pipeline changes; the detection probes 9-8 on two sides can simultaneously detect two sides of a pipeline and transmit detection information to an upper computer, when cracks appear on the outer wall of the pipeline, the upper computer controls a driving device and a driving motor I7 to move, the driving device can be a motor, the driving device can drive a rotating support 5 to rotate by taking the axis of the rotating support as a central line, the rotating support 5 drives a welding mechanism 6, a driving motor I7, a driving motor II 8 and a detection mechanism 9 to rotate by taking the axis of the rotating support 5 as the central line, when a welding rod 6-5 moves to a position where the welding machine needs to be carried out, the driving motor I7 is started, the driving motor I7 drives a gear ring 6-2 to rotate by taking the axis of the gear ring 6-2 as the central line, the gear ring 6-2 drives two welding gears 6-6 to rotate by taking the axis of the welding gear ring 6-6 as the central line, and drives the two welding And when the two welding rods 6-5 are close to each other, the outer wall of the pipeline is welded, and the two welding rods 6-5 are used for respectively welding the two sides of the outer wall of the pipeline, so that the thermal deformation is avoided.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (6)
1. The utility model provides a computer pipeline detects automatic welding robot, includes motion support I (1), motion support II (2), universal joint I (3), motion (4), rotating bracket (5), welding mechanism (6), driving motor I (7), driving motor II (8) and detection mechanism (9), its characterized in that: a plurality of universal joints I (3) are connected between the moving support I (1) and the moving support II (2), a plurality of moving mechanisms (4) are uniformly arranged between the moving support I (1) and the moving support II (2) in the circumferential direction, compression springs I are arranged between one ends of the moving mechanisms (4) and the moving support I (1), compression springs II are arranged between the other ends of the moving mechanisms (4) and the moving support II (2), a rotating support (5) is rotatably connected onto the moving support II (2), a driving device is connected onto the rotating support (5), the driving device drives the rotating support (5) to rotate by taking the axis of the driving device as a central line, a welding mechanism (6) is fixedly connected onto the front end of the rotating support (5), a detection mechanism (9) is rotatably connected onto the front end of the welding mechanism (6), and a driving motor I (7) and a driving motor II (8) are fixedly connected onto the rotating support (5), the welding mechanism (6) is driven to move by the driving motor I (7), and the detection mechanism (9) is driven to move by the driving motor II (8);
the movement support I (1) comprises a support ring I (1-1), connecting rods I (1-2), support plates I (1-3), sliding waist holes I (1-4) and support plates II (1-5), three connecting rods I (1-2) are uniformly and fixedly connected to the outer side of the support ring I (1-1) in the circumferential direction, three support plates I (1-3) are uniformly and fixedly connected to the inner side of the support ring I (1-1) in the circumferential direction, the sliding waist holes I (1-4) are formed in the three support plates I (1-3), and three support plates II (1-5) are uniformly and fixedly connected to the outer side of the support ring I (1-1) in the circumferential direction;
the moving support II (2) comprises a support ring II (2-1), rotating support plates (2-2), connecting rods II (2-3), support plates III (2-4), support plates IV (2-5) and sliding waist holes II (2-6), three rotating support plates (2-2) are uniformly and fixedly connected with the outer side of the support ring II (2-1) in the circumferential direction, the connecting rods II (2-3) are fixedly connected onto the three rotating support plates (2-2), three support plates III (2-4) are uniformly and fixedly connected with the outer side of the support ring II (2-1) in the circumferential direction, three support plates IV (2-5) are uniformly and fixedly connected with the inner side of the support ring II (2-1) in the circumferential direction, the sliding waist holes II (2-6) are arranged on the three support plates IV (2-5), universal joints I (3) are connected between the three connecting rods I (1-2) and the three connecting rods II (2-3);
the moving mechanism (4) comprises moving wheel brackets (4-1), universal joints II (4-2), moving wheels (4-3), sliding blocks (4-4) and limiting columns (4-5), two moving wheel brackets (4-1) are arranged, the universal joints II (4-2) are connected between the inner sides of the two moving wheel brackets (4-1), the moving wheels (4-3) are rotatably connected on the two moving wheel brackets (4-1), the limiting columns (4-5) are fixedly connected on the outer sides of the two moving wheel brackets (4-1), the sliding blocks (4-4) are rotatably connected on the outer sides of the two moving wheel brackets (4-1), the three moving mechanisms (4) are arranged, the three sliding blocks (4-4) positioned at the rear end are respectively and slidably connected in the three sliding waist holes I (1-4), three limiting columns (4-5) positioned at the rear end are respectively connected onto three supporting plates II (1-5) in a sliding mode, compression springs I are arranged on the three limiting columns (4-5) positioned at the rear end, the compression springs I are positioned between the corresponding supporting plates II (1-5) and the limiting columns (4-5), three sliding blocks (4-4) positioned at the front end are respectively connected into three sliding waist holes II (2-6) in a sliding mode, the three limiting columns (4-5) positioned at the front end are respectively connected onto three supporting plates III (2-4) in a sliding mode, compression springs II are arranged on the three limiting columns (4-5) positioned at the front end, the compression springs II are positioned between the corresponding supporting plates III (2-4) and the limiting columns (4-5), and power devices are connected onto six moving wheels (4-3).
2. The computer pipeline inspection automatic welding robot of claim 1, characterized in that: the computer pipeline detection automatic welding robot is further provided with an upper computer, a detection mechanism (9) is in signal connection with the upper computer, and the upper computer controls a driving device and a driving motor I (7) to move.
3. The computer pipeline inspection automatic welding robot of claim 2, characterized in that: the rotating support (5) comprises a rotating ring I (5-1), three connecting plates I (5-2) and three rotating rings II (5-3), wherein the rotating rings I (5-1) are rotatably connected to the outer sides of the three rotating support plates (2-2), one end of each connecting plate I (5-2) is circumferentially and uniformly fixedly connected to the rotating ring I (5-1), and the other end of each connecting plate I (5-2) is circumferentially and uniformly fixedly connected to the rotating ring II (5-3).
4. The computer pipeline inspection automatic welding robot of claim 3, characterized in that: the welding mechanism (6) comprises two welding support rings (6-1), two gear rings (6-2), two sliding support frames (6-3), two sliding limiting rods (6-4), two welding rods (6-5) and two welding gears (6-6), the gear rings (6-2) are rotatably connected between the two welding support rings (6-1), the two sliding support frames (6-3) are uniformly and fixedly connected to the outer sides of the two welding support rings (6-1) in the circumferential direction, the sliding limiting rods (6-4) are slidably connected to the two sliding support frames (6-3), the welding rods (6-5) are fixedly connected to the inner sides of the two sliding limiting rods (6-4), and the welding gears (6-6) are connected to the two welding rods (6-5) through threads, two sides of the two welding gears (6-6) are respectively in meshing transmission with the two gear rings (6-2), and the inner side of the rotating ring II (5-3) is fixedly connected to the welding support ring (6-1) at the rear end.
5. The computer pipeline inspection automatic welding robot of claim 4, characterized in that: the driving motor I (7) is fixedly connected to one of the connecting plates I (5-2), and the driving motor I (7) is in meshing transmission with one of the gear rings (6-2).
6. The computer pipeline inspection automatic welding robot of claim 5, characterized in that: the detection mechanism (9) comprises a detection inner ring (9-1), a detection outer ring (9-2), connecting plates II (9-3), sliding support plates (9-4), connecting blocks (9-5), sliding rings (9-6), magnetic wheels (9-7) and detection probes (9-8), two connecting plates II (9-3) are fixedly connected between the detection inner ring (9-1) and the detection outer ring (9-2), the two connecting plates II (9-3) are both fixedly connected with the sliding support plates (9-4), the two sliding support plates (9-4) are both slidably connected with the two sliding rings (9-6), the magnetic wheels (9-7) are rotatably connected in the four sliding rings (9-6), and the number of the connecting blocks (9-5) is two, two ends of two connecting blocks (9-5) are respectively fixedly connected to four sliding rings (9-6), a compression spring III is arranged between the two sliding rings (9-6) and two corresponding sliding support plates (9-4), the inner sides of the two connecting blocks (9-5) are respectively fixedly connected with detection probes (9-8), the inner side of each detection probe (9-8) is respectively arranged between two corresponding magnetic wheels (9-7), a driving motor II (8) is fixedly connected to one connecting plate I (5-2), the driving motor II (8) is meshed with a detection outer ring (9-2) for transmission, the detection probes (9-8) are in signal connection with an upper computer, and the two detection probes (9-8) and two welding rods (6-5) are located in the same vertical plane.
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| CN111220710B (en) * | 2019-11-07 | 2023-09-08 | 中国石油天然气集团公司管材研究所 | Pipeline stripping monitoring system and monitoring method |
| CN112429110B (en) * | 2020-12-12 | 2021-09-21 | 佳木斯大学 | Robot structure based on computer control |
| CN113369763B (en) * | 2021-08-16 | 2021-10-15 | 烟台蓬莱区鑫鹏机械有限公司 | Boiler barrel welding synchronous flaw detection device |
| CN113696164B (en) * | 2021-08-20 | 2023-03-24 | 中铁第四勘察设计院集团有限公司 | Stay-free charging rotatable pipe gallery inspection robot and inspection system |
| CN114705368B (en) * | 2022-03-31 | 2023-09-01 | 江苏氢枫能源装备有限公司 | Automatic hydrogen pipeline detection device for hydrogen adding station |
| CN115319229A (en) * | 2022-10-12 | 2022-11-11 | 江苏新宏大集团有限公司 | Pipeline welding machine |
| CN116214026B (en) * | 2023-05-05 | 2023-07-25 | 河北化工医药职业技术学院 | Automatic welding robot for computer pipeline detection |
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| CN100498037C (en) * | 2007-12-10 | 2009-06-10 | 哈尔滨工业大学 | Triaxial differential type pipe creeping device |
| CN101435522B (en) * | 2008-12-16 | 2010-12-08 | 安徽工程科技学院 | Pipe walking robot |
| CN102032417B (en) * | 2010-12-24 | 2012-06-06 | 张龙 | Pipeline robot driving mechanism |
| CN202580477U (en) * | 2012-04-13 | 2012-12-05 | 东华大学 | Spiral pipe robot |
| CN103244790B (en) * | 2013-04-28 | 2014-12-10 | 江苏科技大学 | Drive travelling mechanism of peristaltic micro pipeline robot |
| CN103672294B (en) * | 2013-12-17 | 2015-11-18 | 江南大学 | Spiral type pipeline robot |
| CN203665003U (en) * | 2013-12-24 | 2014-06-25 | 胜利油田新大管业科技发展有限责任公司 | Anti-corrosion rotary clamping device for metal pipeline |
| CN104325256B (en) * | 2014-10-23 | 2016-01-13 | 桂林电子科技大学 | Electrodynamic type pipeline internal clamp |
| CN105945475B (en) * | 2016-06-20 | 2018-08-03 | 湖北三江航天红阳机电有限公司 | A kind of side hanging pipeline all position welding robot |
| CN106826080B (en) * | 2017-01-20 | 2018-05-22 | 西南石油大学 | A kind of pipeline welds external clamp |
| CN106838541A (en) * | 2017-04-07 | 2017-06-13 | 中国石油化工股份有限公司 | Caliber self adaptation helical pipe robot |
| CN207447668U (en) * | 2017-11-03 | 2018-06-05 | 广东省焊接技术研究所（广东省中乌研究院） | A kind of pipeline all position welding back-protective and sealing run observing system |
| CN208913430U (en) * | 2018-10-18 | 2019-05-31 | 西安航空学院 | A kind of inner wall of the pipe welder |
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