CN114406555B - Welding robot and automatic welding system - Google Patents
Welding robot and automatic welding system Download PDFInfo
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- CN114406555B CN114406555B CN202111675960.4A CN202111675960A CN114406555B CN 114406555 B CN114406555 B CN 114406555B CN 202111675960 A CN202111675960 A CN 202111675960A CN 114406555 B CN114406555 B CN 114406555B
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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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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 the welding track and a guide groove matched with the side contour 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, so that the welding process requirements of full-position fillet welds and vertical and horizontal welds in the construction of the pipeline B-type sleeve can be met. The method is particularly suitable for construction operation of maintenance and rush repair of the oil and gas long-distance pipeline.
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 pipeline B-type sleeve is widely applied to permanent repair of the oil gas long-distance pipeline made of metal materials, and the method has the advantages of no need of stopping conveying and emptying the pipeline, capability of welding under pressure, small influence on pipeline conveying and production operation and the like. The installation welding of the pipeline B type sleeve is greatly different from the welding process of the narrow-gap butt welding seam in the laying construction of the long oil and gas pipeline, the welding seam of the pipeline B type sleeve has two structural forms of full-position fillet welding and vertical transverse welding seam, and the two structural forms are multi-layer multi-pass stitch welding, so that the equipment for automatically welding the pipeline B type 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 adaptive modified based on 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 in the prior art, the invention provides the welding robot and the automatic welding system, which can adapt to the requirements of various welding working conditions and meet the requirements of various welding processes.
The technical purpose of the invention is achieved by a welding robot, comprising:
the welding device comprises a base, a welding track and a welding device, wherein the base is provided with a welding track cavity for accommodating a welding track and a guide groove matched with the side contour of the welding track, and the guide groove is communicated with the welding track cavity;
the walking assembly is connected with 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 welding track cavity is formed by the surrounding of the adjusting block and the base main body; 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 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 also comprises an adjusting component, and the adjusting block is movably arranged on the base main body through the adjusting component; 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 for accommodating 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.
Further, 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 top plate, the limiting table and the power end of 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 third elastic piece respectively act on the swing arm and the second end of 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 comprises a moving device,
the Y-direction driving mechanism comprises a second power element and a second executing mechanism driven by the second power element;
the second executing mechanism comprises a Y-direction screw rod pair, a Y-direction guide rod pair and a moving block, wherein the 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 arranged on the moving block, and a linear bearing of the Y-direction guide rod pair is arranged 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,
the Z-direction driving mechanism comprises a third power element and a third executing mechanism driven by the third power element,
the third actuating mechanism comprises an adapter seat, 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, wherein the Z-direction movable guide rod pair is arranged on the movable block, the adapter seat 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 seat; the connecting guide rod pair is parallel to the guide rod pair of the second actuating mechanism, one end of the connecting guide rod pair is connected to the adapter seat, and the other end of the connecting guide rod pair penetrates through the Z-direction guide block to extend 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 side 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.
Further, 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 positioned 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 executing 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 with the connecting guide rod pair, the linear sliding table is connected with the output end of the fourth power element, and the welding gun clamp is arranged on a sliding block of the linear sliding table so as to adjust the axial position of the welding gun clamp.
Further, at least two guide wheel assemblies are arranged on the base, each guide wheel assembly comprises two guide wheels arranged at intervals and a wheel seat for mounting the guide wheel, the interval between the two guide wheels of each guide wheel assembly forms the guide groove, 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 a guide groove on the base.
According to the technical scheme, the welding robot and the automatic welding system provided by the invention, the guide grooves matched with the side profiles of the welding tracks are formed on the two opposite sides of the base, so that the base can drive the welding gun to stably and freely move on the welding tracks, the welding gun cannot be separated from the tracks in the process, the welding tracks are clamped in the welding track cavity and are contacted with the two sides of the welding tracks, the assembly stability is ensured, the requirements of running on the linear track and the circular track can be met, and the welding robot is particularly suitable for the welding running range requirements of all-position fillet welds and vertical and horizontal welds of the B-shaped sleeve. And the base drives the welding gun to move along the welding track under the action of the travelling assembly, and meanwhile, the moving assembly drives the welding relative to the base to move in the Y direction, the Z direction and the R direction, so that the spatial movement and the angle adjustment are performed, and the requirements of various welding processes are met.
According to the welding robot and the automatic welding system, the walking assembly and the moving assembly drive the welding gun to move in three directions and adjust angles in space, 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-type sleeve are well met. The method is particularly suitable for construction operation of maintenance and rush repair of the oil and gas long-distance pipeline.
Drawings
Fig. 1 is a schematic structural diagram of an automatic welding robot according to 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 B-B in FIG. 3;
FIG. 6 is a cross-sectional view of C-C in FIG. 2;
fig. 7 is an assembly schematic diagram of an automatic welding robot and a linear rail in the automatic welding system according to embodiment 2 of the present invention.
Reference numerals illustrate: the device comprises a base, a top plate, a first side plate, a second side plate, a regulating block, a connecting rod, a first cam handle, a first elastic piece, a guide wheel and a wheel seat, wherein the base is 1-provided with the top plate, the first side plate, the second side plate, the regulating block and the first cam handle;
the device comprises a 2-walking assembly, a 21-pull rod, a 22-second cam handle, a 23-limiting table, a 24-second elastic piece, a 25-swing arm, a 26-third elastic piece, a 27-first power element and a 28-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 pair, a 34-moving block and a 35-Y guide rod pair;
the device comprises a 4-Z-direction driving mechanism, a 41-Z-direction guide block, a 42-third power element, a 43-second belt transmission pair, a 44-adapter, a 45-Z-direction movable guide rod pair, a 46-connection guide rod pair, a 47-Z-direction fixed guide rod pair and a 48-Z-direction screw rod pair;
the welding gun comprises a 5-R direction driving mechanism, a 51-bracket, a 52-fourth power element, a 53-linear sliding table and a 54-welding gun clamp;
6-welding gun;
7-welding tracks, 71-racks;
8-motor drive module.
Detailed Description
In order to make the technical solution more clearly understood by those skilled in the art, the following detailed description is made with reference to the accompanying drawings.
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 transverse welding and meet the requirement of multilayer multi-pass stitch welding. The following describes the invention in detail by way of two specific examples, taking the automatic welding applied to a pipe B-type sleeve 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, wherein the welding robot is shown in figures 1-6, and comprises: the base 1 is provided with a welding track cavity for accommodating the welding track 7 and a guide groove matched with the side contour of the welding track 7, and the guide groove is communicated with the welding track cavity; the walking component 2 is connected to the base 1 and is used for driving the base 1 to move along the welding track 7, the guide grooves matched with the side profiles of the welding track 7 are formed in the two opposite sides of the base 1, so that the base 1 can drive the welding gun 6 to move stably and freely on the welding track 7, the welding gun cannot break away from the track in the process, the welding track 7 is clamped in a welding track cavity and is contacted with the two sides of the welding track 7, the stability of assembly is ensured, the requirements of linear track operation and annular track operation can be met at the same time, and the welding operation range requirements of full-position fillet welds and vertical transverse welds of the B-type sleeve are particularly suitable. The welding gun 6 is arranged on the base 1, 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 the direction of the welding track 7 along with the base 1 and can also move in the Y direction, the Z direction and the R direction relatively to the base 1, so that the spatial movement and the angle adjustment can be carried out, and the requirements of various welding processes can be met.
According to the welding robot provided by the embodiment, the welding gun 6 is driven to move in three directions and the angle is adjusted in space through the walking assembly 2 and the moving assembly, a good hardware carrier is provided for automatic welding, and the equipment integration degree is high. 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 circular ring welding track can move along the circumferential direction of the pipeline to carry out all-position fillet welding, and the circular ring welding track also well meets the welding process requirements of all-position fillet welding and vertical and horizontal welding seams in the construction of the B-type sleeve of the pipeline. The method is particularly suitable for construction operation of maintenance and rush repair of the oil and gas long-distance pipeline.
The welding robot provided by the invention can drive the welding gun 6 to move in three directions and adjust angles in space, provides a good hardware carrier for automatic welding of the pipeline B-type sleeve, 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 pipeline B-type sleeve. The method is particularly suitable for construction operation of maintenance and rush repair of the oil and gas long-distance pipeline.
The invention does not limit the structure of the guide groove specifically, but can be a sinking groove formed on the cavity wall, in order to facilitate the installation and ensure the installation reliability, in this embodiment, preferably, at least two guide wheel assemblies are arranged on the base 1, each guide wheel assembly comprises two guide wheels 18 arranged at intervals and a wheel seat 19 for installing the guide wheel 18, the guide wheels 18 and the wheel seat 19 are partially protruded out of the cavity wall surface, the two guide wheels 18 of the guide wheel assembly form the guide groove at intervals, and two ends of the welding track 7 are respectively clamped between the two guide wheels 18 of one guide wheel assembly.
In order to stably connect the base 1 with the welding track 7, in this embodiment, the number of the guide wheel assemblies is four, and two guide wheels 18 are symmetrically disposed on two opposite side walls, and 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, simplify the disassembly and assembly while guaranteeing the integral strength of the base 1, the base 1 is provided with a hollow structure with an adjustable opening by the welding robot; when the welding track is required to be disassembled, 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 facilitate the arrangement of 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 main body and an adjusting block 14, and the adjusting block 14 and the base main body are surrounded to form a welding track cavity; the base body 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 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 arranged on the first side plate 12; the guide grooves are correspondingly arranged on the second side plate 13 and the adjusting block 14.
I.e. in this embodiment two of the idler assemblies are mounted inside the adjustment block 14 by bearings and two other sets are mounted inside the second side plate 13 by 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 stator assembly and the strength of this base 1.
In order to realize the sliding fit guiding, in this 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 is not particularly limited to the way in which the opening of the base 1 is adjustable and the way in which the opening is adjusted, and the base can be directly connected by disassembling through bolts. For simplifying the assembly and disassembly operations, the quick assembly and disassembly is realized 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 base main body 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; one end of a connecting rod 15 is fixed on the first side plate 12, the other end of the connecting rod penetrates through the adjusting block 14 and is hinged to the first cam handle 16, a groove for accommodating the first elastic piece 17 is formed in the first side plate 12, the cam surface of the first cam handle 16 drives the adjusting block 14 to be in contact with the first side plate 12, two ends of the first elastic piece 17 respectively act on the adjusting block 14 and the first side plate 12, the adjusting block 14 moves towards the second side plate 13 or away from the second side plate 13 through an adjusting component, and the eccentric cam surface is always in contact with the first side plate 12 under the action of the first elastic piece 17 so as to clamp or loosen the welding track 7.
In order to ensure that the base 1 runs stably on the track and the welding quality is ensured, in this embodiment, the walking assembly 2 comprises a limit table 23, a pull rod 21, a second cam handle 22, a swing arm 25, a second elastic member 24, a third elastic member 26, a first power element 27 and a walking gear 28 for meshing with the rack 71 of the welding track 7. The limiting 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 at 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 sequentially penetrates through the top plate 11, the limiting table 23 and the power end of 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 third elastic piece 26 respectively act on the swing arm 25 and the second end of the pull rod 21; the running gear 28 is provided at the resistance end of the swing arm 25 and is driven by the first power element 27.
The working principle of the walking assembly 2 is as follows: by rotating the second cam handle 22, the second cam handle 22 pulls the pull rod 21 to vertically move upward under the action of the eccentric cam surface thereof, the other end of the pull rod 21 rotates the swing arm 25 around the hinge shaft under the action of the second elastic member 24 and the third elastic member 26, and at this time, the traveling gear 28 installed at the resistance end of the swing arm 25 swings downward and is engaged with and locked with the rack 71 of the welding track 7. The clamping of the invention and the special welding track 7 is completed through the operation, 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 straight line operation along the welding track 7 so as to meet the welding operation travel range requirements of the pipeline B type sleeve all-position fillet weld and the vertical and horizontal weld; during the running process in the X direction, due to the action of the second elastic piece 24 and the third elastic piece 26, the running gear 28 is always tightly meshed with the rack 71 of the welding track 7, so that the effects of eliminating errors and increasing motion stability can be achieved.
In this embodiment, the first power element 27 is a gear motor.
In the welding robot provided by the invention, the moving assembly comprises a Y-direction driving mechanism 3, and 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, wherein two ends of a guide rod of the Y-direction screw rod pair 33 respectively penetrate through the first side plate 12 and the second side plate 13, nuts of the Y-direction screw rod pair 33 are arranged on the moving block 34, and linear bearings of the Y-direction screw rod pair 35 are arranged on the moving block 34; the output end of the second power element 31 is connected with a screw rod of the Y-direction screw rod pair 33.
In this embodiment, the welding gun 6 is disposed outside the base 1 and connected to the moving block 34 via a connecting member penetrating the second side plate 13. The second power element 31 includes a Y-direction motor and a first timing belt drive pair that transmits 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,Z including a third power element 42 and a third actuator driven by the third power element 42, where the second actuator and the third actuator are in linkage, and output ends of the second actuator and the third actuator are connected with a mounting seat for mounting the welding gun 6.
In the welding robot provided by the invention, the 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 the movable 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 pair of the two actuating mechanisms, one end of the connecting guide rod pair is connected to the adapter seat 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 the mounting seat of the fourth actuating mechanism for mounting the welding gun 6, a slot for 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 side 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 of the third power element 42 is connected to the lead screw of the Z-lead screw pair 48.
In this embodiment, the third power element 42 includes a Z motor and a second timing belt drive pair that transfers rotation of the Z motor to the lead screw of the Z lead screw pair 48.
In order to realize linkage and limit the limit positions of the two ends of the height of the adapter 44 and ensure strength, in the embodiment, the moving block 34 is a U-shaped piece, the Z-direction movable guide rod is vertically connected to two side walls of the U-shaped piece, and the adapter 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 connection guide pairs 46 is preferably two in the present embodiment. The number of Y-direction guide rod pairs 35 is two, and the Y-direction screw pair 33 is located between the two Y-direction guide rod pairs 35.
To further meet the welding requirements, and to ensure the quality of the weld, in this embodiment, the moving assembly further includes,
the R-direction driving mechanism 5 comprises a fourth power element 52 and a fourth actuating mechanism 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 actuating mechanism comprises a bracket 51, a linear sliding table 53 and a welding gun clamp 54, the bracket 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, the welding gun clamp 54 is arranged on a sliding block of the linear sliding table 53, and the axial position of the welding gun clamp 54 can be adjusted while the angle of the welding gun 6 is adjusted. The bracket 51 is the mount 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 fixture 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 integrally arranged 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 one side far away from the welding gun.
The application method and the working principle of the welding robot provided by the invention are as follows:
before use, it is ensured that both the first cam handle 16 of the adjusting assembly and the second cam handle 22 in the walking assembly 2 are in an open state, i.e. 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 a side close to a second side plate 13 under the action of a boss and a guide hole, and contacting and locking guide wheels 18 on a plurality of guide assemblies with guide surfaces of the welding track 7; then, the second cam handle in the walking assembly 2 is turned, the second cam handle 22 pulls the pull rod 21 to vertically move upwards under the action of the eccentric cam surface of the second cam handle, the other end of the pull rod 21 rotates the swing arm 25 around the hinge shaft under the action of the second elastic member 24 and the third elastic member 26, and at this time, the walking gear 28 installed at the resistance end of the swing arm 25 swings downwards and is engaged with and locked with the rack 71 of the welding track 7. The clamping of the invention and the special welding track 7 is completed through the operation, and the disassembly can be realized through the reverse operation.
Description of the X-direction motion process of the invention: the gear motor in the traveling assembly 2 directly drives the traveling gear 28 to perform pipeline all-position operation or straight line operation along the special welding track 7 so as to meet the welding operation travel range requirements of the pipeline B type sleeve all-position fillet weld and the vertical and horizontal weld; in the running process of the X direction, due to the action of the second elastic piece 24 and the third elastic piece 26 in the walking assembly 2, the walking gear 28 is tightly meshed with the rack 71 of the special welding track 7 all the time, so that the effects of eliminating errors and increasing motion stability can be achieved.
Description of Y-direction motion process of the invention: the Y-direction motor drives the Y-direction screw rod pair 33 through the first synchronous belt transmission pair, so that the U-shaped piece is driven to translate under the guiding action of the Y-direction guide rod pair 35, and meanwhile, the upper U-shaped piece adapter 44 also drives the two groups of connecting guide rod pairs 46 to translate in the Y-direction.
Description of the Z-direction motion process of the invention: the Z-direction motor drives the Z-direction screw rod pair 48 through the second synchronous belt transmission pair, so that the Z-direction guide block 41 is driven 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.
Description of the R-direction motion process of the invention: the manual single-shaft linear sliding table 53 and the welding gun clamp 54 can be directly driven by an R-direction speed reducing motor in the R-direction mechanism to rotate in the R direction, and the manual single-shaft linear sliding table 53 can be manually operated to realize the axial translation of the welding gun 6.
The movements of each shaft of the X, Y, Z, R can be controlled in a linkage programming way 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 including a welding rail 7 and the welding robot of embodiment 1, which is detachably connected to 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 this embodiment, the welding track 7 is provided with a rack 71 matched with the walking assembly 2 of the base 1.
The welding seam of the pipeline B-type sleeve is provided with two structural forms of full-position fillet welding and vertical transverse welding, and is multi-layer and multi-channel stitch welding, so that the equipment for automatically welding the pipeline B-type sleeve is required to have the capability of adapting to two welding working conditions. In order to be suitable for automatic welding of a pipe B-shaped sleeve and ensure welding quality, in the embodiment, the welding track 7 comprises a linear track arranged in the axial direction of a facility to be welded and an annular track arranged in the circumferential direction of the facility to be welded, and the welding track is assembled and disassembled with the linear track/the annular track through an adjusting component and a guide wheel component of a base, as shown in fig. 7, and 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 matched. When the track width is different, because the second curb plate is shorter than first curb plate, so the guide pulley subassembly locates the below of second curb plate, can be through designing a plurality of structures and the different regulating block of thickness to at the regulating block equipment, and under the effect of first cam handle, upper portion laminating second curb plate's surface, be located second curb plate below, be used for installing the lower part of guide pulley subassembly and the relative position of the medial surface of second curb plate different, namely be located first curb plate and guide pulley subassembly and be located the interval difference of the guide pulley subassembly on the regulating block, when being suitable for different size tracks, change with the base main part be connected, and with the regulating block of waiting to assemble track size adaptation.
The automatic welding system provided by the embodiment has all the beneficial effects of the welding robot, through the guide grooves matched with the side profiles of the welding track 7 are formed in the two opposite sides of the base 1, the base 1 can drive the welding gun 6 to stably and freely move on the welding track 7, the welding gun can not break away from the track in the process, the welding track 7 is clamped in a welding track cavity and is contacted with the two sides of the welding track 7, the stability of assembly is ensured, the requirements of linear track operation and annular track operation can be met at the same time, and the welding robot is particularly suitable for the welding operation range requirements of all-position fillet welds and vertical and horizontal welds of the B-type sleeve. The welding gun 6 is driven to move in three directions and the angle is adjusted in space through the walking assembly 2 and the moving assembly, 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-type sleeve are well met. The method is particularly suitable for construction operation of maintenance and rush repair of the oil and gas long-distance pipeline. Through the embodiment, the invention has the following beneficial effects or advantages:
1) According to the welding robot and the automatic welding system, when the base is matched with the linear welding track, vertical and horizontal welding can be performed 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 welding operation travel range requirements of the all-position fillet welding and the vertical and horizontal welding of the sleeve of the pipeline B. 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 spatially and adjusts angles 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 a plurality of welding processes of the pipeline B-type sleeve.
The welding robot and the automatic welding system provided by the invention can drive the welding gun to move in three directions and adjust angles in space, provide a good hardware carrier for automatic welding of the pipeline B-type sleeve, 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 pipeline B-type sleeve. The method is particularly suitable for construction operation of maintenance and rush repair of the oil and gas long-distance pipeline.
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. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
Claims (8)
1. A welding robot, comprising:
the welding device comprises a base, a welding track and a welding device, wherein the base is provided with a welding track cavity for accommodating a welding track and a guide groove matched with the side contour of the welding track, and the guide groove is communicated with the welding track cavity;
the walking assembly is connected with 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 and the base to move relatively;
wherein: the base comprises a base main body and an adjusting block, and the welding track cavity is formed by the surrounding of the adjusting block and the base main body; 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 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 and is in sliding fit with the first side plate; the guide groove is correspondingly arranged on the second side plate and the adjusting block;
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 with 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 top plate, the limiting table and the power end of 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 third elastic piece respectively act on the swing arm and the second end of the pull rod; the walking gear is arranged at the resistance end of the swing arm and is driven by the first power element.
2. The welding robot as recited in claim 1, wherein said base further comprises an adjustment assembly, said adjustment block movably mounted to said base body by said adjustment 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 for accommodating 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.
3. The welding robot as recited in claim 1, wherein said moving assembly includes,
the Y-direction driving mechanism comprises a second power element and a second executing mechanism driven by the second power element;
the second executing mechanism comprises a Y-direction screw rod pair, a Y-direction guide rod pair and a moving block, wherein the 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 arranged on the moving block, and a linear bearing of the Y-direction guide rod pair is arranged 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.
4. The welding robot as recited in claim 3, wherein said moving assembly further comprises,
the Z-direction driving mechanism comprises a third power element and a third executing mechanism driven by the third power element,
the third actuating mechanism comprises an adapter seat, 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, wherein the Z-direction movable guide rod pair is arranged on the movable block, the adapter seat 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 seat; the connecting guide rod pair is parallel to the guide rod pair of the second actuating mechanism, one end of the connecting guide rod pair is connected to the adapter seat, and the other end of the connecting guide rod pair penetrates through the Z-direction guide block to extend 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 side 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.
5. The welding robot as recited in claim 4, wherein said moving block is a U-shaped member, said Z-movable guide bar being vertically connected to both sidewalls of said 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 positioned between the two Y-direction guide rod pairs.
6. The welding robot as recited in claim 4, wherein said moving assembly further comprises,
the R-direction driving mechanism comprises a fourth power element and a fourth executing 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 with the connecting guide rod pair, the linear sliding table is connected with the output end of the fourth power element, and the welding gun clamp is arranged on a sliding block of the linear sliding table so as to adjust the axial position of the welding gun clamp.
7. The welding robot as recited in any one of claims 1-6, wherein said base is provided with at least two guide wheel assemblies, each of said guide wheel assemblies includes two guide wheels disposed at intervals and a wheel seat for mounting said guide wheels, the interval between said two guide wheels of said guide wheel assemblies constitutes said guide slot, and both ends of said welding track are respectively sandwiched between said two guide wheels of one of said guide wheel assemblies.
8. An automated welding system comprising a welding track and the welding robot of any of claims 1-7, the welding robot being removably coupled to the base via a guide slot on the base.
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| CN117020359A (en) * | 2023-04-06 | 2023-11-10 | 重庆工业设备安装集团有限公司 | Welding method for process pipeline |
| CN116393879B (en) * | 2023-06-02 | 2023-09-08 | 西安热工研究院有限公司 | Automatic welding equipment and method for high-altitude pipelines |
| CN116690049B (en) * | 2023-08-07 | 2023-12-26 | 埃迈特智能装备(天津)有限公司 | Welding system for butt welding seam of circular shell |
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