CN115673631A - Multi-joint type pipeline welding robot and welding method - Google Patents
Multi-joint type pipeline welding robot and welding method Download PDFInfo
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- CN115673631A CN115673631A CN202211535638.6A CN202211535638A CN115673631A CN 115673631 A CN115673631 A CN 115673631A CN 202211535638 A CN202211535638 A CN 202211535638A CN 115673631 A CN115673631 A CN 115673631A
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Abstract
The invention relates to a multi-joint pipeline welding robot and a welding method, and belongs to the technical field of pipeline welding robots. An articulated pipe welding robot comprising: first welding arm, second welding arm and pipeline fixture, pipeline fixture includes the frame, the frame foundation, first fixture and second fixture, the frame foundation is vertical setting, its lower extreme with treat the outer wall contact of welding the pipeline, the middle part fixed connection of upper end and frame, the frame is the level setting, first fixture and second fixture symmetry set up both ends about the frame, and first fixture and second fixture can open and press from both sides tightly with treating the one end of welding the pipeline outer wall contact relatively, first welding arm and second welding arm bilateral symmetry set up on the bottom of frame, first welding arm and second welding arm can cover 180 welding seam scopes separately. Has the advantages that: the pipeline welding robot has the axial adjustment and radial adjustment functions and can perform 360-degree all-dimensional welding around a pipeline.
Description
Technical Field
The invention belongs to the technical field of pipeline welding robots, and particularly relates to a multi-joint pipeline welding robot and a welding method.
Background
Pipeline transportation is a main mode of oil and gas transportation in China, and has low transportation cost; the occupied land is small, the investment is small, and the construction is quick; the operation is convenient, the oil transportation amount is large, and the management automation is easy to realize; small harm to environment, safety and reliability.
The laying of pipelines for conveying such as petroleum and natural gas has large span and poor construction environment, and meanwhile, in the laying process of the pipelines, pipe fittings are fixedly installed when butt girth welding of most pipelines is carried out, so that the welding equipment is required to realize 360-degree all-dimensional welding of the covered pipelines. Under the condition, manual welding is adopted, the labor intensity of welding constructors is high, the production efficiency is low, the construction process is influenced by natural factors such as working environment and the like, the requirements on the welding quality and efficiency in the pipeline laying process are difficult to meet, and the shortage of welding workers in China exists. Therefore, research on an automatic pipeline welding device capable of replacing manual welding is urgently needed to improve the pipeline laying efficiency and the welding qualification rate, more importantly, the welding cost is saved, and the labor intensity of workers is also reduced.
In addition, the existing pipeline welding robot has the problems of high requirements on the positioning precision and the clamping precision of a welding seam, time-consuming displacement, manual positioning and the like in the process of welding a pipeline circumferential weld, so that the welding efficiency of the pipeline robot is not high, and the automation and the unmanned performance of the welding process cannot be realized.
Disclosure of Invention
The present invention provides an articulated pipe welding robot having axial and radial adjustment functions, which can perform all-directional welding 360 ° around a pipe.
The technical scheme for solving the technical problems is as follows: first welding arm, second welding arm and pipeline fixture with welder, pipeline fixture includes frame, frame seat, first fixture and second fixture, the frame seat is vertical setting, its lower extreme with treat the outer wall contact of welded tube way, upper end with the middle part fixed connection of frame, the frame is the level setting, first fixture and second fixture symmetry set up both ends about the frame, just first fixture with the second fixture can be relatively treated the welded tube way and open and press from both sides tightly with treating the one end of welded tube way outer wall contact, first welding arm with second welding arm bilateral symmetry sets up on the bottom of frame, first welding arm with second welding arm can cover 180 welding seam scopes separately.
Preferably, first fixture with second fixture all is including being the preceding splint subassembly and the back splint subassembly that the front and back symmetry set up, the preceding splint subassembly with the back splint subassembly all includes pneumatic cylinder, fixed connecting rod and clamping plate, the clamping plate lower extreme is provided with and treats the first arcwall face of welded pipe outer wall contact, the vertical setting of fixed connecting rod and its upper end with frame fixed connection, the lower extreme with clamping plate upper portion one end is articulated, the pneumatic cylinder upper end with the frame is articulated, the lower extreme with clamping plate upper portion other end is articulated.
Preferably, the first clamping mechanism and the second clamping mechanism further comprise a connecting seat, the connecting seat is fixedly arranged on the upper end face of the rack and is perpendicular to the rack, the upper end of the fixed connecting rod is fixedly connected with the connecting seat, and the upper end of the hydraulic cylinder is hinged to the connecting seat.
Preferably, the connecting seat comprises a first connecting beam and a second connecting beam, the first connecting beam and the second connecting beam respectively comprise a clamping seat, a fixing bolt and a mounting end, the clamping seat is used for being matched with the upper end face of the rack, the fixing bolt is used for fixing the clamping seat with the rack, and the mounting end is used for mounting the fixing connecting rod or the hydraulic cylinder.
Preferably, the rack seat comprises a first vertical plate and a second vertical plate, the first vertical plate and the second vertical plate are arranged in parallel at intervals in the front and back direction, the upper ends of the first vertical plate and the second vertical plate are fixedly connected with the front side face and the back side face of the rack respectively, and the lower ends of the first vertical plate and the second vertical plate are respectively arranged to be second arc-shaped faces.
Preferably, the first welding arm and the second welding arm are each a 6-degree-of-freedom articulated robot arm.
Preferably, the first welding arm and the second welding arm are both provided with binocular vision sensors.
Another object of the present invention is to provide a welding method for the articulated pipe welding robot, comprising the steps of:
s1: hoisting the frame to the vertical upper part of the pipe to be welded, and enabling the bottom surface of the frame seat to be in contact with the pipe to be welded;
s2: then the hydraulic cylinder is driven to extend to drive the clamping plate to rotate inwards around the fixed connecting rod until the pipeline to be welded is clamped;
s3: and positioning by using the distance of the binocular vision sensor, and starting the first welding arm and the second welding arm to weld a circumferential weld.
Has the beneficial effects that:
(1) The articulated pipeline welding robot can realize rapid clamping and dismounting of a circular pipeline, and reduces the time for positioning and shifting;
(2) The two 6-freedom-degree welding mechanical arms are symmetrically arranged on the pipeline clamping mechanism from left to right, the mechanical arms move flexibly, and have better adaptability and lower requirement on clamping precision, so that the automation and the unmanned performance of the welding process can be better realized;
(3) The pipeline clamping mechanism adopts three-point clamping, and is positioned and clamped by a frame seat and two clamping plates, the frame seat and the clamping plates are internally provided with a section of circular arc, the diameter of the circular arc and the inner diameter of the pipeline have a certain self-centering effect after being clamped;
(4) And the welding gun and the binocular vision sensor are arranged at the tail end of the joint type mechanical arm, and the binocular vision sensor is used for acquiring pipeline appearance image information and helping the robot to recognize and track the welding seam by utilizing image vision. The end of the welding gun can rotate around the end joint of the mechanical arm to simulate the swing action in the welding process.
Drawings
FIG. 1 shows a schematic of the structure of the present invention;
FIG. 2 shows a schematic structural view of the articulated pipe welding robot gantry of the present invention;
FIG. 3 is a schematic view of the construction of the frame and duct clamp and manner of the present invention;
fig. 4 shows a schematic view of the tip structure of the welding arm of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. a frame; 2. a connecting seat; 21. a first connecting beam; 22. a second connecting beam; 221. a card holder; 222. fixing the bolt; 223. an installation end; 3. a first welding arm; 4. a hydraulic cylinder; 5. fixing the connecting rod; 51. a front cleat assembly; 52. a rear cleat assembly; 6. a binocular vision sensor; 7. a welding gun; 8. a second welding arm; 9. a frame mount; 10. a pipe to be welded; 11. and (6) installing a clamping plate.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1 to 4, the present embodiment provides an articulated pipe welding robot comprising: first welding arm 3, second welding arm 8 and the pipeline fixture with welder 7, wherein, welder 7 can dismantle the connection on first welding arm 3 and second welding arm 8, pipeline fixture includes frame 1, frame seat 9, first fixture and second fixture, frame seat 9 is vertical setting, its lower extreme with treat the outer wall contact of welded pipe 10, the upper end with the middle part fixed connection of frame 1 (for example through bolted connection), frame 1 is the level setting, first fixture and second fixture symmetry set up both ends about frame 1, just first fixture with second fixture can treat relatively that welded pipe 10 is opened and presss from both sides tightly with the one end of treating welded pipe 10 outer wall contact, first welding arm 3 with second welding arm 8 bilateral symmetry sets up on the bottom of frame 1, first welding arm 3 with second welding arm 8 can cover 180 scope separately, realizes 360 girth welds the seam welding.
In this embodiment, first fixture with preceding splint subassembly 51, back splint subassembly 52 and connecting seat 2 that the symmetry set up around the second fixture all including being, preceding splint subassembly 51 with back splint subassembly 52 all includes pneumatic cylinder 4, fixed connecting rod 5 and clamping board 11, 11 lower extremes of clamping board are provided with and treat the first arcwall face of welded pipe 10 outer wall contact, 5 vertical settings of fixed connecting rod and its upper end with 1 fixed connection in frame, the lower extreme with 11 upper portion one end of clamping board are articulated, pneumatic cylinder 4 upper end with 1 articulated in frame, the lower extreme with 11 upper portion other ends of clamping board are articulated, connecting seat 2 is fixed to be set up on 1 up end in frame and with 1 is perpendicular in frame, fixed connecting rod 5's upper end with 2 fixed connection in connecting seat, the upper end of pneumatic cylinder 4 with connecting seat 2 is articulated.
The hydraulic cylinder 4 is used as a driving member in the present application, but the present invention is not limited to this, and may be other driving means such as a cylinder and a linear motor.
In this embodiment, the connecting seat 2 includes a first connecting beam 21 and a second connecting beam 22, the first connecting beam 21 and the second connecting beam 22 both include a clamping seat 221, a fixing bolt 222, and a mounting end 223, the clamping seat 221 is used for being matched with an upper end surface of the rack 1, the fixing bolt 222 is used for fixing the clamping seat 221 and the rack 1, and the mounting end 223 is used for mounting the fixing link 5 or the hydraulic cylinder 4.
Preferably, the frame base 9 includes a first vertical plate and a second vertical plate, the first vertical plate and the second vertical plate are arranged in a front-back interval and in parallel, the first vertical plate and the upper end of the second vertical plate are respectively fixedly connected with the front side and the back side of the frame 1, the lower ends of the first vertical plate and the second vertical plate are respectively arranged to be a second arc-shaped surface, the first arc-shaped surface and the second arc-shaped surface are both used for better fixing the pipeline 10 to be welded, and the pipeline 10 to be welded cannot be damaged.
Example 2
As shown in 1-4, the multi-joint pipeline welding robot mainly comprises two joint type mechanical arm racks and a pipeline clamping mechanism. The welding robot requires stable action and accurate positioning to reduce the displacement time, and simultaneously, the appearance characteristics of the oil-gas pipeline are considered, and the mechanical arm is required to be ensured to reach all positions in the space. The invention uses two six-freedom industrial robots which are respectively arranged at two sides of a frame 1. In order to fix the robot above the pipeline for convenient operation, a pipeline clamping mechanism is designed above the rack, and the clamping mechanism consists of four clamping plates 11 which are driven by a hydraulic cylinder 4 to clamp or release. Compare with traditional pipeline welding robot, articulated robot can have bigger working range, and 6 emergence signals of accessible binocular vision sensor give the controller, and the controller is controlled the mechanical arm and is tracked the welding seam. Because the joint type mechanical arm is flexible in action, the joint type mechanical arm has better adaptability and lower requirement on clamping precision, the automation and the unmanned performance of the welding process can be better realized.
Because of the requirement of the welding process, one 6-degree-of-freedom articulated mechanical arm can only complete the welding within the range of 180 degrees, and therefore two 6-degree-of-freedom articulated mechanical arms are symmetrically arranged. The arms are mounted at two ends below the frame, and each arm is responsible for welding the pipelines of 180 degrees at the left and right sides.
The pipeline clamping mechanism adopts a three-point clamping mode, a rack seat 9 and two clamping plates 11 are used for positioning and clamping, the interior of the rack seat 9 and the interior of the clamping plates 11 are circular arcs, and the diameters of the circular arcs and the inner diameter of a pipeline have a certain self-centering effect after clamping. Meanwhile, in order to realize quick clamping and disassembly of the mechanism, the armor plate is driven to clamp or loosen by the extension and contraction of the piston type hydraulic cylinder 4. When in clamping, the frame 1 is firstly hoisted to the position above the pipeline 10 to be welded, the bottom surface of the frame seat 9 is in contact with the pipeline 10 to be welded, then the hydraulic cylinder 4 is driven to extend, and the clamping plate 11 is driven to rotate inwards around the fixed connecting rod 5 until the pipeline is clamped to complete the clamping and positioning of the mechanism. Compared with a lead screw and a gear, the hydraulic cylinder 4 enables the mechanism to run more stably, the hydraulic cylinder 4 with the same volume has larger output force, and the clamping is more stable.
In addition, the mechanical arm is further provided with a binocular vision sensor 6, the welding gun and the binocular vision sensor 6 are installed at the tail end of the joint type mechanical arm, and the binocular vision sensor 6 is used for collecting pipeline appearance image information and helping the robot to recognize and track the welding seam by utilizing image vision. The tip of the welding torch 7 may be rotated about the end joint of the arm to simulate the swing motion during welding.
Example 3
A welding method of an articulated pipeline welding robot comprises the following steps:
s1: hoisting the frame 1 to the vertical upper part of the pipeline 10 to be welded, and enabling the bottom surface of the frame seat 10 to be in contact with the pipeline 10 to be welded;
s2: then, the hydraulic cylinder 4 is driven to extend to drive the clamping plate 11 to rotate inwards around the fixed connecting rod 5 until the pipeline 10 to be welded is clamped;
s3: and (4) positioning by using the distance of the binocular vision sensor 6.
In the description of the present invention, it is to be understood that the terms "center", "length", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "inner", "outer", "peripheral side", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. An articulated pipe welding robot, comprising:
first welding arm (3), second welding arm (8) and pipeline fixture with welder (7), pipeline fixture includes frame (1), frame seat (9), first fixture and second fixture, frame seat (9) is vertical setting, its lower extreme with treat the outer wall contact of welded pipe way (10), the upper end with the middle part fixed connection of frame (1), frame (1) is the level setting, first fixture and second fixture symmetry set up both ends about frame (1), just first fixture with second fixture can treat relatively that welded pipe way (10) outer wall contact's one end is opened and the clamp is tight with treating welded pipe way (10), first welding arm (3) with second welding arm (8) bilateral symmetry sets up on the bottom of frame (1), first welding arm (3) with second welding arm (8) can cover 180 welding seam scopes separately.
2. The articulated pipe welding robot of claim 1, wherein the first clamping mechanism and the second clamping mechanism each comprise a front clamping plate assembly (51) and a rear clamping plate assembly (52) which are symmetrically arranged front and back, the front clamping plate assembly (51) and the rear clamping plate assembly (52) each comprise a hydraulic cylinder (4), a fixed connecting rod (5) and a clamping plate (11), the lower end of the clamping plate (11) is provided with a first arc-shaped surface which is in contact with the outer wall of the pipe (10) to be welded, the fixed connecting rod (5) is vertically arranged, the upper end of the fixed connecting rod is fixedly connected with the machine frame (1), the lower end of the fixed connecting rod is hinged with one end of the upper part of the clamping plate (11), the upper end of the hydraulic cylinder (4) is hinged with the machine frame (1), and the lower end of the fixed connecting rod is hinged with the other end of the upper part of the clamping plate (11).
3. The articulated pipe welding robot of claim 2, wherein the first clamping mechanism and the second clamping mechanism further comprise a connecting base (2), the connecting base (2) is fixedly arranged on the upper end surface of the frame (1) and is perpendicular to the frame (1), the upper end of the fixed connecting rod (5) is fixedly connected with the connecting base (2), and the upper end of the hydraulic cylinder (4) is hinged with the connecting base (2).
4. The articulated pipe welding robot of claim 3, wherein the connecting socket (2) comprises a first connecting beam (21) and a second connecting beam (22), the first connecting beam (21) and the second connecting beam (22) each comprise a clamping socket (221), a fixing bolt (222), and a mounting end (223), the clamping socket (221) is used for matching with the upper end face of the machine frame (1), the fixing bolt (222) is used for fixing the clamping socket (221) with the machine frame (1), and the mounting end (223) is used for mounting the fixing connecting rod (5) or the hydraulic cylinder (4).
5. The articulated pipe welding robot according to claim 2, wherein the frame base (9) comprises a first vertical plate and a second vertical plate, the first vertical plate and the second vertical plate are spaced from and arranged in parallel in a front-to-back direction, the upper ends of the first vertical plate and the second vertical plate are fixedly connected with the front-to-back side surface of the frame (1), respectively, and the lower ends thereof are arranged as a second arc-shaped surface, respectively.
6. The articulated pipe welding robot according to any one of claims 1-5, wherein the first welding arm (3) and the second welding arm (8) are each 6-degree-of-freedom articulated robotic arms.
7. The articulated pipe welding robot according to any one of claims 1-5, wherein the first welding arm (3) and the second welding arm (8) are each provided with a binocular vision sensor (6).
8. A welding method of the articulated pipe welding robot of any one of claims 1-7, comprising the steps of:
s1: hoisting the frame (1) to the position vertically above the pipeline (10) to be welded, and enabling the bottom surface of the frame seat (10) to be in contact with the pipeline (10) to be welded;
s2: then, the hydraulic cylinder (4) is driven to extend, and the clamping plate (11) is driven to rotate inwards around the fixed connecting rod (5) until the pipeline (10) to be welded is clamped;
s3: and (3) starting the first welding arm (3) and the second welding arm (8) to weld the circumferential weld by utilizing the distance positioning of the binocular vision sensor (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211535638.6A CN115673631A (en) | 2022-11-30 | 2022-11-30 | Multi-joint type pipeline welding robot and welding method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211535638.6A CN115673631A (en) | 2022-11-30 | 2022-11-30 | Multi-joint type pipeline welding robot and welding method |
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| CN115673631A true CN115673631A (en) | 2023-02-03 |
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| CN202211535638.6A Pending CN115673631A (en) | 2022-11-30 | 2022-11-30 | Multi-joint type pipeline welding robot and welding method |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106166651A (en) * | 2016-06-20 | 2016-11-30 | 湖北三江航天红阳机电有限公司 | The outer root bead device of a kind of pipeline |
| CN107855688A (en) * | 2016-06-08 | 2018-03-30 | 长沙双合盛企业管理有限公司 | A kind of welding system based on robot technology |
| CN115070294A (en) * | 2022-06-09 | 2022-09-20 | 郑州大学 | Gantry double-arm welding robot trajectory planning research method |
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2022
- 2022-11-30 CN CN202211535638.6A patent/CN115673631A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107855688A (en) * | 2016-06-08 | 2018-03-30 | 长沙双合盛企业管理有限公司 | A kind of welding system based on robot technology |
| CN106166651A (en) * | 2016-06-20 | 2016-11-30 | 湖北三江航天红阳机电有限公司 | The outer root bead device of a kind of pipeline |
| CN115070294A (en) * | 2022-06-09 | 2022-09-20 | 郑州大学 | Gantry double-arm welding robot trajectory planning research method |
Non-Patent Citations (1)
| Title |
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| 曹俊芳;蒋力培;孙亚玲;: "管道全位置焊接机器人机械***研制", 电焊机, no. 12, 28 December 2006 (2006-12-28), pages 19 - 21 * |
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