CN114406555A - Welding robot and automatic welding system - Google Patents
Welding robot and automatic welding system Download PDFInfo
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- CN114406555A CN114406555A CN202111675960.4A CN202111675960A CN114406555A CN 114406555 A CN114406555 A CN 114406555A CN 202111675960 A CN202111675960 A CN 202111675960A CN 114406555 A CN114406555 A CN 114406555A
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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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
- B23K37/0217—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being fixed to the workpiece
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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
- B23K37/0252—Steering means
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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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a welding robot and an automatic welding system, which solve the technical problem that automatic welding equipment in the prior art cannot meet the requirements of various welding processes. The welding robot comprises a base, a welding gun, a walking assembly and a moving assembly; the base is provided with a welding track cavity for accommodating a welding track and a guide groove matched with the side profile of the welding track, and the guide groove is communicated with the welding track cavity; the walking assembly is connected to the base and used for driving the base to move along the welding track; the welding gun is arranged on the base; the moving assembly is arranged on the base and used for driving the welding gun to move relative to the base, and can meet the welding process requirements of all-position fillet welds and vertical and horizontal welds in the construction of the B-shaped sleeve of the pipeline. The method is particularly suitable for maintenance and rush repair of oil and gas long-distance pipelines.
Description
Technical Field
The invention relates to the technical field of oil and gas pipeline construction equipment, in particular to a welding robot and an automatic welding system.
Background
The B-shaped sleeve of the pipeline is widely applied to permanent repair of a metal oil and gas long-distance pipeline, and the method has the advantages of no need of stopping conveying the emptying pipeline, capability of welding under pressure, small influence on pipeline conveying production operation and the like. The installation welding of the pipeline B-shaped sleeve and the narrow-gap butt welding seam welding process in the laying construction of the long oil and gas pipeline have great difference, the welding seam of the pipeline B-shaped sleeve has two structural forms of an all-position fillet welding seam and a vertical and horizontal welding seam, and is multi-layer and multi-pass stitch welding, so that the equipment for automatically welding the pipeline B-shaped sleeve is required to have the capability of adapting to two welding working conditions.
However, in the prior art, the automatic welding equipment for the B-shaped sleeve of the pipeline is partially modified in adaptability on the basis of the existing automatic welding equipment for the butt weld of the pipeline, so that the requirements of various welding processes cannot be completely met.
Disclosure of Invention
In order to solve the technical problems and overcome the defects of the prior art, the invention provides a welding robot and an automatic welding system, which can meet the requirements of various welding working conditions and meet the requirements of various welding processes.
The technical purpose of the present invention is achieved by a welding robot, comprising:
the base is provided with a welding track cavity for accommodating a welding track and a guide groove matched with the side profile of the welding track, and the guide groove is communicated with the welding track cavity;
the walking assembly is connected to the base and used for driving the base to move along the welding track;
the welding gun is arranged on the base;
and the moving assembly is arranged on the base and used for driving the welding gun to move relative to the base.
Further, the base comprises a base main body and an adjusting block, and the adjusting block and the base main body surround the welding track cavity; the base body comprises a top plate, a first side plate and a second side plate, wherein the first side plate and the second side plate are connected to two opposite ends of the top plate, and the first side plate is shorter than the second side plate; the adjusting block is movably arranged on the first side plate; the guide groove is correspondingly arranged on the second side plate and the adjusting block.
Further, the adjusting block is in sliding fit with the first side plate; the base further comprises an adjusting assembly, and the adjusting block is movably mounted on the base main body through the adjusting assembly; the adjusting assembly comprises a connecting rod, a first cam handle and at least one first elastic piece; one end of the connecting rod is fixed on the first side plate, the other end of the connecting rod penetrates through the adjusting block and is hinged to the first cam handle, a groove used for containing the first elastic piece is formed in the first side plate, the cam surface of the first cam handle drives the adjusting block to be in contact with the first side plate, and two ends of the first elastic piece act on the adjusting block and the first side plate respectively.
Furthermore, the walking assembly comprises a limiting table, a pull rod, a second cam handle, a swing arm, a second elastic piece, a third elastic piece, a first power element and a walking gear which is used for being meshed with the welding track rack;
the limiting table is arranged in the welding track cavity, and the middle part of the swing arm is hinged to the base to form a lever structure; the second cam handle is arranged on the outer side of the top plate, the first end of the pull rod is hinged to the second cam handle, the second end of the pull rod sequentially penetrates through the power ends of the top plate, the limiting table and the swing arm, the second elastic piece and the third elastic piece are sleeved on the pull rod, the second cam handle is matched with the top plate to drive the pull rod to axially move, two ends of the second elastic piece respectively act on the limiting table and the swing arm, and two ends of the second elastic piece respectively act on the second ends of the swing arm and the pull rod;
the walking gear is arranged at the resistance end of the swing arm and is driven by the first power element.
Further, the moving assembly includes a moving member,
the Y-direction driving mechanism comprises a second power element and a second execution mechanism driven by the second power element;
the second actuating mechanism comprises a Y-direction screw rod pair, a Y-direction guide rod pair and a moving block, two ends of a screw rod of the Y-direction screw rod pair and two ends of a guide rod of the Y-direction guide rod pair respectively penetrate through the first side plate and the second side plate, a nut of the Y-direction screw rod pair is mounted on the moving block, and a linear bearing of the Y-direction guide rod pair is mounted on the moving block;
and the output end of the second power element is connected with the screw rod of the Y-direction screw rod pair.
Further, the moving assembly further comprises,
a Z-direction driving mechanism which comprises a third power element and a third execution mechanism driven by the third power element,
the third actuating mechanism comprises an adapter, a Z-direction movable guide rod pair, a connecting guide rod pair, a Z-direction fixed guide rod pair, a Z-direction screw rod pair and a Z-direction guide block, the Z-direction movable guide rod pair is arranged on the moving block, the adapter is arranged on a guide rod of the Z-direction movable guide rod pair, and a linear bearing of the Z-direction movable guide rod pair is arranged on the adapter; the connecting guide rod pair is parallel to the guide rod pair of the second executing mechanism, one end of the connecting guide rod pair is connected to the adapter, and the other end of the connecting guide rod pair penetrates through the Z-direction guide block and extends out of the base and is connected with the welding gun; the screw rod of the Z-direction screw rod pair and the guide rod of the Z-direction fixed guide rod pair are arranged on the inner vertical surface of the base; the nut of the Z-direction screw rod pair and the linear bearing of the Z-direction fixed guide rod pair are arranged on the Z-direction guide block;
and the output end of the third power element is connected with the screw rod of the Z-direction screw rod pair.
Furthermore, the moving block is a U-shaped piece, and the Z-direction movable guide rod is vertically connected to two side walls of the U-shaped piece; the number of the connecting guide rod pairs is two; the number of the Y-direction guide rod pairs is two, and the Y-direction screw rod pairs are located between the two Y-direction guide rod pairs.
Further, the moving assembly further comprises,
the R-direction driving mechanism comprises a fourth power element and a fourth execution mechanism driven by the fourth power element and is used for driving the welding gun to rotate relative to the base;
the fourth actuating mechanism comprises a support, a linear sliding table and a welding gun clamp, the support is connected to the connecting guide rod pair, the linear sliding table is connected to the output end of the fourth power element, and the welding gun clamp is arranged on a sliding block of the linear sliding table to adjust the axial position of the welding gun clamp.
Furthermore, the base is provided with at least two guide wheel assemblies, each guide wheel assembly comprises two guide wheels arranged at intervals and a wheel seat used for installing the guide wheels, the guide grooves are formed by the two guide wheels of each guide wheel assembly at intervals, and two ends of the welding track are respectively clamped between the two guide wheels of one guide wheel assembly.
Based on the same inventive concept, the invention also provides an automatic welding system, which comprises a welding track and the welding robot, wherein the welding robot is detachably connected with the base through the guide groove on the base.
According to the technical scheme, the welding robot and the automatic welding system provided by the invention have the advantages that the guide grooves matched with the profiles of the side parts of the welding track are formed in the two opposite sides of the base, so that the base can drive the welding gun to stably and freely move on the welding track without being separated from the track in the process, the welding track is clamped in the welding track cavity and is in contact with the two sides of the welding track, the assembly stability is ensured, the requirements of linear track operation and annular track operation can be met simultaneously, and the welding robot and the automatic welding system are particularly suitable for the requirements of the welding operation range of all-position fillet welds and vertical and transverse welds of the B-shaped sleeve. And the base drives the welding gun to move along the welding track under the action of the walking component, and meanwhile, the moving component drives the welding gun to move in the Y direction, the Z direction and the R direction relative to the base, so that spatial movement and angle adjustment are carried out, and the requirements of various welding processes are met.
According to the welding robot and the automatic welding system, the welding gun is driven to move in three directions and adjust angles in space through the walking assembly and the moving assembly, a good hardware carrier is provided for automatic welding, the equipment integration degree is high, and meanwhile, the welding robot and the automatic welding system well meet the welding process requirements of all-position fillet welds and vertical and horizontal welds in the construction of a B-shaped sleeve of a pipeline. The method is particularly suitable for maintenance and rush repair of oil and gas long-distance pipelines.
Drawings
Fig. 1 is a schematic structural diagram of an automatic welding robot provided in embodiment 1 of the present invention;
FIG. 2 is a front elevational view of FIG. 1;
FIG. 3 is a left side view of FIG. 2;
FIG. 4 is a cross-sectional view A-A of FIG. 2;
FIG. 5 is a cross-sectional view taken along line B-B of FIG. 3;
FIG. 6 is a cross-sectional view taken at C-C of FIG. 2;
fig. 7 is an assembly diagram of an automatic welding robot and a linear rail in the automatic welding system provided in embodiment 2 of the present invention.
Description of reference numerals: 1-a base, 11-a top plate, 12-a first side plate, 13-a second side plate, 14-an adjusting block, 15-a connecting rod, 16-a first cam handle, 17-a first elastic piece, 18-a guide wheel and 19-a wheel seat;
2-a walking component, 21-a pull rod, 22-a second cam handle, 23-a limiting table, 24-a second elastic piece, 25-a swing arm, 26-a third elastic piece, 27-a first power element and 28-a walking gear;
the device comprises a 3-Y direction driving mechanism, a 31-second power element, a 32-first belt transmission pair, a 33-Y direction screw rod pair, a 34-moving block and a 35-Y direction screw rod pair;
4-Z direction driving mechanism, 41-Z direction guide block, 42-third power element, 43-second belt transmission pair, 44-adapter, 45-Z direction movable guide rod pair, 46-connecting guide rod pair, 47-Z direction fixed guide rod pair and 48-Z direction screw rod pair;
5-R direction driving mechanism, 51-bracket, 52-fourth power element, 53-linear sliding table, 54-welding gun clamp;
6-a welding gun;
7-welding the rail, 71-rack;
and 8, a motor driving module.
Detailed Description
In order to make the present application more clearly understood by those skilled in the art to which the present application pertains, the following detailed description of the present application is made with reference to the accompanying drawings by way of specific embodiments.
In order to realize automatic welding, the embodiment of the invention provides a welding robot and an automatic welding system, which can adapt to the switching of two welding working conditions of all-position fillet welding and vertical and horizontal welding and meet the requirements of multilayer and multi-pass stitch welding. The following describes the present invention in detail by using two specific embodiments, taking the automatic welding applied to the B-shaped sleeve of the pipe as an example:
example 1
The welding robot provided by the embodiment of the invention comprises a base 1, a welding gun 6, a walking assembly 2 and a moving assembly, as shown in figures 1-6, wherein: the base 1 is provided with a welding track cavity for accommodating the welding track 7 and a guide groove matched with the side profile of the welding track 7, and the guide groove is communicated with the welding track cavity; walking subassembly 2 connects in base 1, be used for driving base 1 to remove along welding track 7, the guide slot of this embodiment through the lateral part profile adaptation of seting up and welding track 7 at base 1's double-phase contralateral side, make base 1 can drive welder 6 steady free motion on welding track 7, can not break away from the track in the process, and with welding track 7 centre gripping in the welding track chamber, contact with welding track 7's both sides, guarantee the stability of equipment, can satisfy the demand at linear orbit operation and circular orbit operation simultaneously, be particularly useful for the telescopic all position fillet weld of B type and the welding operation stroke range requirement of upright horizontal welding seam. The welding gun 6 is arranged on the base 1, and the moving assembly is arranged on the base 1 and used for driving the welding gun 6 and the base 1 to move relatively, namely the welding gun 6 can move along with the base 1 along the direction of the welding track 7 and can also move in the Y direction, the Z direction and the R direction relative to the base 1 to move spatially and adjust the angle, so that the requirements of various welding processes are met.
The welding robot that this embodiment provided, through walking subassembly 2 and moving assembly drive welder 6 in space and carry out the adjustment of the removal of three direction and angle, for automatic weld provides good hardware carrier, equipment integrates the degree height. Meanwhile, when the base 1 is matched with the linear welding track 7, the vertical and horizontal welding can be carried out along the axial movement of the pipeline; when the base 1 is matched with the circular ring welding track 7, the all-position fillet welding can be carried out along the circumferential movement of the pipeline, and the requirements of the all-position fillet welding line and the vertical and horizontal welding line in the B-shaped sleeve construction of the pipeline are well met. The method is particularly suitable for maintenance and rush repair of oil and gas long-distance pipelines.
The welding robot provided by the invention can drive the welding gun 6 to move in three directions and adjust the angle in space, provides a good hardware carrier for automatic welding of the B-shaped sleeve of the pipeline, has high equipment integration degree, and simultaneously well meets the welding process requirements of all-position fillet welds and vertical and horizontal welds in the construction of the B-shaped sleeve of the pipeline. The method is particularly suitable for maintenance and rush repair of oil and gas long-distance pipelines.
In the present invention, the structure of the guide groove is not specifically limited, and may be a sunken groove formed in the cavity wall, so as to facilitate installation and ensure reliable installation, in this embodiment, preferably, at least two guide wheel assemblies are provided on the base 1, each guide wheel assembly includes two guide wheels 18 arranged at intervals and a wheel seat 19 for installing the guide wheels 18, the guide wheels 18 and the wheel seats 19 partially protrude from the surface of the cavity wall, the guide grooves are formed by the intervals of the two guide wheels 18 of the guide wheel assembly, and two ends of the welding rail 7 are respectively clamped between the two guide wheels 18 of one guide wheel assembly.
In order to stably connect the base 1 and the welding track 7, in this embodiment, the number of the guide wheel assemblies is four, and the guide wheel assemblies are symmetrically arranged on two opposite side walls in a group, and the guide wheels 18 are mounted on the wheel seat 19 through bearings.
In order to realize the detachable assembly of the base 1 and the welding track 7, and simplify the disassembly and assembly while ensuring the integral strength of the base 1, the base 1 is arranged into a hollow structure with an adjustable opening by the welding robot; when the dismounting is needed, the distance between the guide grooves arranged on the two opposite side walls of the welding track cavity is adjusted to be increased to be close to or larger than the width of the welding track 7.
Meanwhile, in order to conveniently arrange the walking assembly 2 and the moving assembly and control the whole volume of the welding robot, in the embodiment, the base 1 comprises a base 1 main body and an adjusting block 14, and the adjusting block 14 and the base 1 main body enclose a welding track cavity; the main body of the base 1 comprises a top plate 11, a first side plate 12 and a second side plate 13, wherein the first side plate 12 and the second side plate 13 are connected to two opposite ends of the top plate 11, and the first side plate 12 is shorter than the second side plate 13; the adjusting block 14 is movably mounted on the first side plate 12; the guide grooves are correspondingly arranged on the second side plate 13 and the adjusting block 14.
Namely, in the present embodiment, two of the guide wheel assemblies are mounted on the inner side of the adjusting block 14 through bearings, and the other two guide wheel assemblies are mounted on the inner side of the second side plate 13 through bearings. Preferably, the first side plate 12 and the second side plate 13 are both perpendicular to the top plate 11; to ensure the clamping force of the idler assembly and the strength of this base 1.
In order to realize the guiding of the sliding fit, in the present embodiment, the adjusting block 14 is in sliding fit with the first side plate 12, one of the adjusting block 14 and the first side plate 12 is provided with a boss, and the other is correspondingly provided with a guiding hole for guiding the boss in a sliding manner, so as to form a sliding fit pair.
The invention does not specifically limit the way of adjusting the opening of the base 1 and the implementation way of adjusting the opening, and can be directly connected by dismounting bolts. In order to simplify the assembling and disassembling operation and realize quick assembling and disassembling, so as to improve the efficiency, in the embodiment, the base 1 further comprises an adjusting component, and the adjusting block 14 is movably arranged on the main body of the base 1 through the adjusting component; the adjustment assembly comprises a connecting rod 15, a first cam handle 16 and at least one first elastic member 17; connecting rod 15 one end is fixed in first curb plate 12, the other end runs through regulating block 14 and articulates in first cam handle 16, offer the groove that is used for holding first elastic component 17 on the first curb plate 12, the cam surface drive regulating block 14 and the contact of first curb plate 12 of first cam handle 16, the both ends of first elastic component 17 act on regulating block 14 and first curb plate 12 respectively, regulating block 14 passes through adjusting part and moves to second curb plate 13 or keep away from second curb plate 13, eccentric cam surface contacts the butt with first curb plate 12 all the time under the effect of first elastic component 17, with pressing from both sides tightly or unclamping welding track 7.
In order to ensure that the base 1 runs smoothly on the rail and welding quality is ensured, in the embodiment, the walking assembly 2 comprises a limiting table 23, a pull rod 21, a second cam handle 22, a swing arm 25, a second elastic piece 24, a third elastic piece 26, a first power element 27 and a walking gear 28 for meshing with a rack 71 of the welding rail 7. Wherein, the limit table 23 is arranged in the welding track cavity, and the middle part of the swing arm 25 is hinged with the base 1 to form a lever structure; the second cam handle 22 is arranged on the outer side of the top plate 11, the first end of the pull rod 21 is hinged to the second cam handle 22, the second end of the pull rod 21 sequentially penetrates through the power ends of the top plate 11, the limiting table 23 and the swing arm 25, the second elastic piece 24 and the third elastic piece 26 are sleeved on the pull rod 21, the second cam handle 22 is matched with the top plate 11 to drive the pull rod 21 to axially move, two ends of the second elastic piece 24 respectively act on the limiting table 23 and the swing arm 25, and two ends of the second elastic piece 24 respectively act on the swing arm 25 and the second end of the pull rod 21; the traveling gear 28 is disposed at the resistance end of the swing arm 25 and is driven by the first power element 27.
The working principle of the walking component 2 is as follows: by rotating the second cam handle 22, the second cam handle 22 pulls the pull rod 21 to move vertically upwards under the action of the eccentric cam surface of the second cam handle, the other end of the pull rod 21 enables the swing arm 25 to rotate around the hinge shaft under the action of the second elastic piece 24 and the third elastic piece 26, and at the moment, the walking gear 28 installed at the resistance end of the swing arm 25 swings downwards and is meshed with and locked with the rack 71 of the welding track 7. The clamping between the special welding rail 7 and the invention is completed through the above operations, and the disassembly can be realized through the reverse operation. The first power element 27 directly drives the traveling gear 28 to perform pipeline all-position operation or linear operation along the welding track 7 so as to meet the requirements of the welding operation stroke range of all-position fillet welds and vertical and horizontal welds of the B-shaped sleeve of the pipeline; in the operation process in the X direction, due to the action of the second elastic part 24 and the third elastic part 26, the walking gear 28 is always tightly meshed with the rack 71 of the welding track 7, so that the effects of eliminating errors and increasing the movement stability can be achieved.
In the present embodiment, the first power element 27 is a reduction motor.
In the welding robot provided by the invention, the moving assembly comprises a Y-direction driving mechanism 3, the Y-direction driving mechanism 3 comprises a second power element 31 and a second executing mechanism driven by the second power element 31;
the second actuating mechanism comprises a Y-direction screw rod pair 33, a Y-direction guide rod pair 35 and a moving block 34, two ends of a screw rod of the Y-direction screw rod pair 33 and two ends of a guide rod of the Y-direction guide rod pair 35 respectively penetrate through the first side plate 12 and the second side plate 13, a nut of the Y-direction screw rod pair 33 is installed on the moving block 34, and a linear bearing of the Y-direction guide rod pair 35 is installed on the moving block 34; the output end of the second power element 31 is connected with the screw rod of the Y-direction screw rod pair 33.
In this embodiment, the welding torch 6 is disposed outside the base 1 and connected to the moving block 34 by a connecting member penetrating the second side plate 13. The second power element 31 includes a Y-direction motor and a first synchronous belt transmission pair, which transmits the rotation of the Y-direction motor to the lead screw of the Y-direction lead screw pair 33.
In order to realize independent adjustment of space and angle, in this embodiment, the moving assembly further includes a Z-direction driving mechanism 4, the Z-direction driving mechanism 4 includes a third power element 42 and a third actuator driven by the third power element 42, the second actuator and the third actuator are in a linkage form, and output ends of the second actuator and the third actuator are connected to a mounting seat for mounting the welding gun 6.
In the welding robot provided by the invention, a third actuating mechanism comprises an adapter 44, a Z-direction movable guide rod pair 45, a connecting guide rod pair 46, a Z-direction fixed guide rod pair 47, a Z-direction screw rod pair 48 and a Z-direction guide block 41, wherein the Z-direction movable guide rod pair 45 is arranged on a moving block 34, the adapter 44 is arranged on a guide rod of the Z-direction movable guide rod pair 45, and a linear bearing of the Z-direction movable guide rod pair 45 is arranged on the adapter 44; the connecting guide rod pair 46 is parallel to the guide rod pairs of the two actuating mechanisms, one end of the connecting guide rod pair is connected to the adapter 44, the other end of the connecting guide rod pair penetrates through the Z-direction guide block 41 and the second side plate 13 and is connected with a mounting seat of the fourth actuating mechanism for mounting the welding gun 6, a groove for enabling the connecting guide rod pair 46 to move up and down is formed in the second side plate 13, and the welding gun 6 is arranged at the output end of the fourth actuating mechanism; the screw rod of the Z-direction screw rod pair 48 and the guide rod of the Z-direction fixed guide rod pair 47 are arranged on the inner vertical surface of the base 1; the nut of the Z-direction screw rod pair 48 and the linear bearing of the Z-direction fixed guide rod pair 47 are arranged on the Z-direction guide block 41; the output end of the third power element 42 is connected with a screw rod of the Z-direction screw rod pair 48.
In this embodiment, the third power element 42 includes a Z-direction motor and a second synchronous belt transmission pair, and the second synchronous belt transmission pair transmits the rotation of the Z-direction motor to the lead screw of the Z-direction lead screw pair 48.
In order to realize linkage, limit the limit positions at both ends of the height of the connecting base 44 and ensure strength, in the embodiment, the moving block 34 is a U-shaped member, the Z-direction movable guide rods are vertically connected to two side walls of the U-shaped member, and the connecting base 44 is limited by the two side walls of the moving block 34.
In order to ensure smooth movement and strength, the number of the connecting-rod pairs 46 is preferably two in this embodiment. The number of the Y-guide lever pairs 35 is two, and the Y-guide screw pair 33 is located between the two Y-guide lever pairs 35.
In order to further meet the welding requirement and ensure the quality of the welding seam, in the embodiment, the moving assembly further comprises,
the R-direction driving mechanism 5 comprises a fourth power element 52 and a fourth actuator driven by the fourth power element 52, and is used for driving the welding gun 6 to rotate relative to the base 1. The fourth actuator comprises a support 51, a linear sliding table 53 and a welding gun clamp 54, the support 51 is connected to the connecting guide rod pair 46, the linear sliding table 53 is connected to the output end of the fourth power element 52, and the welding gun clamp 54 is arranged on a sliding block of the linear sliding table 53, so that the axial position of the welding gun clamp 54 can be adjusted while the angle of the welding gun 6 is adjusted. The holder 51 is a mounting seat for mounting the welding gun 6.
In this embodiment, the fourth power element 52 is an R-direction motor fixed to the bracket 51, and an output shaft of the R-direction motor is connected to the welding gun holder 54 to drive the welding gun 6 to rotate in the YZ plane.
The welding robot provided by the invention further comprises a motor driving module 8 which is integrated on the base and used for controlling the actions of all components, and preferably, the motor driving module 6 is arranged on the outer side of the first side plate 12 or the second side plate 13 on the side far away from the welding gun.
The use method and the working principle of the welding robot provided by the invention are as follows:
before use, the first cam handle 16 of the adjusting assembly and the second cam handle 22 of the walking assembly 2 are ensured to be in an opening state, namely the connecting rod 15 and the pull rod 21 are in a natural state. Firstly, clamping a base 1 and a welding track 7, manually placing the base 1 above the special welding track 7, rotating a first cam handle 16, pushing an adjusting block 14 by an eccentric cam surface of the first cam handle 16, translating the adjusting block 14 to one side close to a second side plate 13 under the action of a boss and a guide hole, and then contacting and locking guide wheels 18 on a plurality of guide assemblies with a guide surface of the welding track 7; then, the second cam handle in the walking assembly 2 is rotated, the second cam handle 22 pulls the pull rod 21 to move vertically upwards under the action of the eccentric cam surface, the other end of the pull rod 21 enables the swing arm 25 to rotate around the hinge shaft under the action of the second elastic piece 24 and the third elastic piece 26, and at the moment, the walking gear 28 installed at the resistance end of the swing arm 25 swings downwards and is meshed with and locked with the rack 71 of the welding track 7. The clamping between the special welding rail 7 and the invention is completed through the above operations, and the disassembly can be realized through the reverse operation.
The X-direction movement process of the invention is described as follows: the speed reducing motor in the walking assembly 2 directly drives the walking gear 28 to perform pipeline all-position operation or linear operation along the special welding track 7 so as to meet the requirements of the welding operation range of all-position fillet welds and vertical and horizontal welds of the B-shaped sleeve of the pipeline; in the operation process in the X direction, due to the action of the second elastic part 24 and the third elastic part 26 in the walking assembly 2, the walking gear 28 is always tightly meshed with the rack 71 of the special welding track 7, so that the effects of eliminating errors and increasing the movement stability can be achieved.
The Y-direction motion process of the invention is described as follows: the Y-direction motor drives the Y-direction screw rod pair 33 through a first synchronous belt transmission pair, so that the U-shaped part is driven to translate under the guiding effect of the Y-direction guide rod pair 35, and meanwhile, the U-shaped part upper connecting seat 44 also drives the two groups of connecting guide rod pairs 46 to translate in the Y-direction.
The Z-direction movement process of the invention is described as follows: the Z-direction motor drives the Z-direction screw rod pair 48 through the second synchronous belt transmission pair, so as to drive the Z-direction guide block 41 to translate under the guiding action of the Z-direction fixed guide rod pair 47, and meanwhile, the Z-direction guide block 41 also drives the adapter 44 to translate along the Z-direction movable guide rod pair 45 through the two groups of connecting guide rod pairs 46.
The R-direction movement process of the invention is described as follows: r to the manual unipolar straight line slip table 53 of direct drive and welder anchor clamps 54 of R in the mechanism and carry out R to rotating, and the manual unipolar straight line slip table 53 of manual operation can realize welder 6 along its axial translation.
The actions of the shafts X, Y, Z, R can be controlled by linkage programming according to the requirements of the welding process.
Example 2
Based on the same inventive concept, the present embodiment also provides an automatic welding system, which comprises a welding track 7 and the welding robot of embodiment 1, wherein the welding robot is detachably connected with the base 1 through a guide groove on the base 1.
In order to realize that the base 1 and the welding gun 6 integrally run along the welding track 7, in the embodiment, the welding track 7 is provided with a rack 71 matched with the walking component 2 of the base 1.
The welding seam of the pipeline B-shaped sleeve has two structural forms of an all-position fillet welding seam and a vertical and horizontal welding seam, and is multi-layer and multi-channel stitch welding, so that the equipment for automatically welding the pipeline B-shaped sleeve is required to have the capability of adapting to two welding working conditions. In order to be suitable for automatic welding of a B-shaped sleeve of a pipeline while ensuring welding quality, in the embodiment, the welding track 7 includes a linear track for being disposed in an axial direction of a facility to be welded and an annular track for being disposed in a circumferential direction of the facility to be welded, and the linear/annular track is detachably mounted by an adjusting assembly and a guide wheel assembly of a base, as shown in fig. 7, which is an assembly schematic diagram of a welding robot and the linear track.
The automatic welding system provided by the invention can set the widths of the linear track and the annular track to be the same, so that the track can be replaced without changing the structure of the base, and the automatic welding system is perfectly adaptive. When the track width is different, because the second curb plate is shorter than first curb plate, so the below of second curb plate is located to the guide pulley subassembly, can be through the regulating block that designs a plurality of structures and thickness difference, with assemble at the regulating block, and under the effect of first cam handle, the surface of upper portion laminating second curb plate, be located second curb plate below, the relative position that is used for installing the lower part of guide pulley subassembly and the medial surface of second curb plate is different, be located first curb plate and guide pulley subassembly and be located the guide pulley subassembly on the regulating block is different, when being suitable for different size tracks, change and be connected with the base main part, and with the regulating block of waiting to assemble the track size adaptation.
The automatic welding system that this embodiment provided has all beneficial effects of above-mentioned welding robot, through the guide slot of seting up the lateral part profile adaptation with welding track 7 at the double-phase offside of base 1, make base 1 can drive welder 6 steady free motion on welding track 7, can not break away from the track in the process, and with welding track 7 centre gripping in the welding track chamber, contact with welding track 7's both sides, guarantee the stability of equipment, can satisfy the demand at linear orbit operation and circular orbit operation simultaneously, be particularly useful for the telescopic all position fillet weld of B type and found the welding operation stroke scope requirement of horizontal welding seam. The welding gun 6 is driven to move in three directions and adjust angles in space through the walking component 2 and the moving component, a good hardware carrier is provided for automatic welding, the equipment integration degree is high, and meanwhile, the welding process requirements of all-position fillet welds and vertical and horizontal welds in the construction of the pipeline B-shaped sleeve are well met. The method is particularly suitable for maintenance and rush repair of oil and gas long-distance pipelines. Through the embodiment, the invention has the following beneficial effects or advantages:
1) according to the welding robot and the automatic welding system provided by the invention, when the base is matched with the linear welding track, vertical and horizontal welding can be carried out along the axial movement of the pipeline; when the base is matched with the circular ring welding track, the base can move along the circumferential direction of the pipeline to carry out all-position fillet welding so as to meet the requirements of the welding operation stroke range of all-position fillet welds and vertical and horizontal welds of the B-shaped sleeve of the pipeline. And the base drives the welding gun to move along the welding track under the action of the walking assembly, and the welding gun moves in space and adjusts the angle under the action of the Y-direction driving mechanism, the Z-direction driving mechanism and the Z-direction driving mechanism so as to meet the requirements of various welding processes of the B-type sleeve of the pipeline.
The welding robot and the automatic welding system provided by the invention can spatially drive the welding gun to move in three directions and adjust the angle, provide a good hardware carrier for the automatic welding of the B-shaped sleeve of the pipeline, have high equipment integration degree, and simultaneously well adapt to the welding process requirements of all-position fillet welds and vertical and horizontal welds in the construction of the B-shaped sleeve of the pipeline. The method is particularly suitable for maintenance and rush repair of oil and gas long-distance pipelines.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A welding robot, comprising:
the base is provided with a welding track cavity for accommodating a welding track and a guide groove matched with the side profile of the welding track, and the guide groove is communicated with the welding track cavity;
the walking assembly is connected to the base and used for driving the base to move along the welding track;
the welding gun is arranged on the base;
and the moving assembly is arranged on the base and used for driving the welding gun to move relative to the base.
2. The welding robot of claim 1, wherein the base comprises a base body and an adjustment block, the adjustment block and the base body enclosing the welding track cavity; the base body comprises a top plate, a first side plate and a second side plate, wherein the first side plate and the second side plate are connected to two opposite ends of the top plate, and the first side plate is shorter than the second side plate; the adjusting block is movably arranged on the first side plate; the guide groove is correspondingly arranged on the second side plate and the adjusting block.
3. The welding robot of claim 2, wherein the adjustment block is in sliding fit with the first side plate; the base further comprises an adjusting assembly, and the adjusting block is movably mounted on the base main body through the adjusting assembly; the adjusting assembly comprises a connecting rod, a first cam handle and at least one first elastic piece; one end of the connecting rod is fixed on the first side plate, the other end of the connecting rod penetrates through the adjusting block and is hinged to the first cam handle, a groove used for containing the first elastic piece is formed in the first side plate, the cam surface of the first cam handle drives the adjusting block to be in contact with the first side plate, and two ends of the first elastic piece act on the adjusting block and the first side plate respectively.
4. The welding robot of claim 2, wherein the walking assembly comprises a limit table, a pull rod, a second cam handle, a swing arm, a second elastic member, a third elastic member, a first power element, and a walking gear for meshing with a welding track rack;
the limiting table is arranged in the welding track cavity, and the middle part of the swing arm is hinged to the base to form a lever structure; the second cam handle is arranged on the outer side of the top plate, the first end of the pull rod is hinged to the second cam handle, the second end of the pull rod sequentially penetrates through the power ends of the top plate, the limiting table and the swing arm, the second elastic piece and the third elastic piece are sleeved on the pull rod, the second cam handle is matched with the top plate to drive the pull rod to axially move, two ends of the second elastic piece respectively act on the limiting table and the swing arm, and two ends of the second elastic piece respectively act on the second ends of the swing arm and the pull rod;
the walking gear is arranged at the resistance end of the swing arm and is driven by the first power element.
5. The welding robot of claim 2, wherein the moving assembly comprises,
the Y-direction driving mechanism comprises a second power element and a second execution mechanism driven by the second power element;
the second actuating mechanism comprises a Y-direction screw rod pair, a Y-direction guide rod pair and a moving block, two ends of a screw rod of the Y-direction screw rod pair and two ends of a guide rod of the Y-direction guide rod pair respectively penetrate through the first side plate and the second side plate, a nut of the Y-direction screw rod pair is mounted on the moving block, and a linear bearing of the Y-direction guide rod pair is mounted on the moving block;
and the output end of the second power element is connected with the screw rod of the Y-direction screw rod pair.
6. The welding robot of claim 5, wherein the moving assembly further comprises,
a Z-direction driving mechanism which comprises a third power element and a third execution mechanism driven by the third power element,
the third actuating mechanism comprises an adapter, a Z-direction movable guide rod pair, a connecting guide rod pair, a Z-direction fixed guide rod pair, a Z-direction screw rod pair and a Z-direction guide block, the Z-direction movable guide rod pair is arranged on the moving block, the adapter is arranged on a guide rod of the Z-direction movable guide rod pair, and a linear bearing of the Z-direction movable guide rod pair is arranged on the adapter; the connecting guide rod pair is parallel to the guide rod pair of the second executing mechanism, one end of the connecting guide rod pair is connected to the adapter, and the other end of the connecting guide rod pair penetrates through the Z-direction guide block and extends out of the base and is connected with the welding gun; the screw rod of the Z-direction screw rod pair and the guide rod of the Z-direction fixed guide rod pair are arranged on the inner vertical surface of the base; the nut of the Z-direction screw rod pair and the linear bearing of the Z-direction fixed guide rod pair are arranged on the Z-direction guide block;
and the output end of the third power element is connected with the screw rod of the Z-direction screw rod pair.
7. The welding robot as claimed in claim 6, wherein the moving block is a U-shaped member, and the Z-direction moving guide rod is vertically connected to two side walls of the U-shaped member; the number of the connecting guide rod pairs is two; the number of the Y-direction guide rod pairs is two, and the Y-direction screw rod pairs are located between the two Y-direction guide rod pairs.
8. The welding robot of claim 6, wherein the moving assembly further comprises,
the R-direction driving mechanism comprises a fourth power element and a fourth execution mechanism driven by the fourth power element and is used for driving the welding gun to rotate relative to the base;
the fourth actuating mechanism comprises a support, a linear sliding table and a welding gun clamp, the support is connected to the connecting guide rod pair, the linear sliding table is connected to the output end of the fourth power element, and the welding gun clamp is arranged on a sliding block of the linear sliding table to adjust the axial position of the welding gun clamp.
9. The welding robot as claimed in any one of claims 1-8, wherein at least two guide wheel assemblies are disposed on the base, each guide wheel assembly comprises two guide wheels spaced apart from each other and a wheel seat for mounting the guide wheels, the spacing between the two guide wheels of the guide wheel assembly forms the guide slot, and two ends of the welding track are respectively clamped between the two guide wheels of one guide wheel assembly.
10. An automated welding system comprising a welding rail and the welding robot of any one of claims 1-9 removably coupled to the base via a guide slot in the base.
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