CN116967669B - Intelligent robot pipeline welding equipment and welding method - Google Patents
Intelligent robot pipeline welding equipment and welding method Download PDFInfo
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- CN116967669B CN116967669B CN202311088353.7A CN202311088353A CN116967669B CN 116967669 B CN116967669 B CN 116967669B CN 202311088353 A CN202311088353 A CN 202311088353A CN 116967669 B CN116967669 B CN 116967669B
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- 238000003466 welding Methods 0.000 title claims abstract description 203
- 238000000034 method Methods 0.000 title claims abstract description 12
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- 238000007789 sealing Methods 0.000 claims description 102
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- 230000004224 protection Effects 0.000 claims description 22
- 238000004140 cleaning Methods 0.000 claims description 18
- 238000005260 corrosion Methods 0.000 claims description 16
- 239000004519 grease Substances 0.000 claims description 16
- 230000000087 stabilizing effect Effects 0.000 claims description 8
- 239000012535 impurity Substances 0.000 claims description 5
- 238000001816 cooling Methods 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 238000005461 lubrication Methods 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 15
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- 238000001514 detection method Methods 0.000 description 5
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- 238000005336 cracking Methods 0.000 description 1
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- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
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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
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Abstract
The invention provides intelligent robot pipeline welding equipment and a welding method, which belong to the technical field of welding devices, and comprise a driving mechanism, a driven mechanism, a welding robot arranged at the center of a frame of the driving mechanism, and further comprise: the connecting mechanism is arranged between the driving mechanism and the driven mechanism. According to the invention, when the first sliding shaft of the outer bending part is pulled out towards the direction of the driving mechanism and the first sliding shaft of the inner bending part is pushed into the first fixing sleeve towards the direction of the driven mechanism when the first sliding shaft passes through the bending part of the pipeline, the automatic deformation turning advancing is realized at the bending position of the pipeline through a plurality of groups of driving mechanisms and driven frames which are independently arranged and connecting mechanisms which are connected, and meanwhile, the displacement of the second sliding shaft in the second fixing sleeve is changed to adapt to the difference between the inner angle and the outer angle during turning, and the fixing frame can provide a fixing effect for the welding robot stably during turning through the self-adaptive change of the fixing frame.
Description
Technical Field
The invention relates to the technical field of welding devices, in particular to intelligent robot pipeline welding equipment and a welding method.
Background
In the pipeline use, when damaged and defect appears in the pipeline inside, continue the operation and lead to the pipeline lateral wall to appear cracking and enlarge easily under the pressure effect, influence the normal transport function and the life of pipeline, the pipeline outside is damaged and can directly follow outside welding, and when the pipeline is inside damaged, need weld the pipeline inside, in order to prevent that welded part is damaged and crack continues to enlarge, current pipeline welding adopts the manual work to weld more, not only work load is big, the workman need get into the pipeline inside, receive the restriction of pipeline inner space, the great workman of pipeline diameter can also get into, the workman that the pipeline diameter is not enough just gets into the welding unchanged, make the operation have a lot of inconvenience, be difficult to guarantee welding quality and welding efficiency.
The invention discloses a pipeline inner wall welding robot, which comprises a chassis, wherein a plurality of support rods are connected onto the chassis in a sliding manner, telescopic mechanisms for driving the support rods to stretch out and draw back relative to the chassis are arranged on the chassis, walking frames are fixed onto the support rods, walking wheels are rotationally connected onto the walking frames, one walking frame is fixedly provided with a walking mechanism for driving the walking wheels to rotate, a turntable is rotationally connected onto the chassis through a connecting rod, a rotating mechanism for driving the turntable to rotate is fixed onto the chassis, a first pneumatic telescopic rod is fixed onto the turntable, a welding plate is connected onto the first pneumatic telescopic rod, welding rods are connected onto the welding plate in a sliding manner, a pushing mechanism for pushing the welding rods to move is fixed onto the welding plate, a plug-in port for plugging a welding rod box is formed onto the welding plate, a shot hole is formed onto the welding plate, a lower sensor is arranged in the shot hole, and an upper sensor is arranged in the welding plate.
However, the prior art still has a certain limitation, the existing pipeline construction such as an oil gas pipeline, in order to adapt to the site situation, a bent pipeline with a certain radian sometimes appears, the prior art is mainly suitable for welding processing of a straight pipeline, when aiming at the bent pipeline, the cylindrical device is easy to block at a turning position when advancing inside, so that the cylindrical device cannot advance smoothly, and further the stable operation of welding work inside the pipeline is affected, after the internal welding of the pipeline is carried out, the prior art lacks the subsequent protection of a welding part, the surface of a welding block of the welding part is easy to corrode, and particularly in the pipeline which is continuously used, the corrosion, oxidation and rust of the welding area can be accelerated, the performance of the welding repair area is reduced, the acceleration loss of the welding machine area is caused, the welding effect is reduced, and the whole service life of the pipeline is affected.
How to invent an intelligent robot pipeline welding device and a welding method to improve the problems becomes a problem to be solved urgently by the person skilled in the art.
Disclosure of Invention
In order to make up for the defects, the invention provides intelligent robot pipeline welding equipment and a welding method, and aims to solve the problem that the prior art scheme is difficult to be suitable for internal welding of a bent pipeline.
The invention is realized in the following way:
the invention provides intelligent robot pipeline welding equipment, which comprises a driving mechanism, a driven mechanism, a welding robot arranged at the center of a frame of the driving mechanism, and further comprises:
the connecting mechanism is arranged between the driving mechanism and the driven mechanism, and when the whole device moves in the bent pipeline, the connecting mechanism and the driven mechanism can be bent by a certain angle through the rotation of the first fixed shaft and the first universal ball bearing which are arranged between the driving mechanism and the driven mechanism and the limit sliding between the first fixed sleeve arranged on the side surface of the driven mechanism and the first sliding shaft arranged in the first fixed sleeve;
the cleaning mechanism is arranged on the side wall of the driven mechanism, close to one side of the driving mechanism, and when the device integrally advances to pass through the area with the welding machine, the cleaning mechanism is started through a second trigger switch arranged in the first fixed sleeve, and drives a round sealing sliding block and a bristle group arranged on the side wall of the driven mechanism to automatically adjust the rotation angle so as to pre-clean the integral welding area in the pipeline to be welded;
the annular gas circuit pipe is arranged on the outer side wall of the driven mechanism, when the device is completely welded and exits from the welding area, the first sealing sliding block arranged on the side wall of the driven mechanism through elasticity can automatically detect the welded welding area bulge and spray anti-corrosion grease on the welding area, and meanwhile, when the device passes through the bending part of the pipeline, the device can also automatically spray anti-corrosion grease on the outer bending part of the pipeline for protection, so that the impact of a medium on the bending part of the pipeline is reduced.
Preferably, the side wall of the driving mechanism is provided with a plurality of groups of driving wheel modules, a motor for driving the driving wheel modules to rotate is arranged in the driving wheel modules, the driving wheel modules are in elastic connection with the inside of the driving mechanism so that the driving wheel modules can be propped against the inner wall of a welding pipeline, a connecting mechanism is arranged between the driving mechanism and the driven mechanism, the side wall of the driven mechanism is fixedly provided with the connecting mechanism, the side wall of one side of the driven mechanism far away from the driving mechanism is also provided with a plurality of groups of driven frames connected through the connecting mechanism for improving the length and the stability of the whole device, the central frame areas of the driving mechanism and the driven frames are provided with a group of fixed frames, a stabilizing mechanism is arranged between the driving mechanism and the outer side walls of the driven frames, the inner sides of the fixed frames are in rotary connection with the welding robot through bearings, the inside wall of fixed frame is provided with the angle adjusting wheel that laminates and keep good friction mutually through motor drive's lateral wall and welding robot lateral wall, welding robot's lateral wall is located between two sets of driven frames and is connected with scalable welding machine that sets up through flexible cylinder, the both sides of welding machine are provided with the camera that is used for real-time observation, welding robot's inside is provided with control center, welding machine and camera are connected with welding robot inside control center, driven frame's inside wall fixed mounting has the actuating cylinder, driven mechanism's inside wall fixed mounting has a set of annular gas circuit pipe that is linked together with the actuating cylinder output, driven mechanism's lateral wall is provided with evenly annular distribution's protection machanism, driven mechanism is close to the lateral wall of actuating mechanism one side and then is provided with multiunit annular distribution's clearance mechanism.
Preferably, the connecting mechanism comprises a first fixed shaft fixedly mounted on the side wall of the driving mechanism and a first fixed sleeve fixedly mounted on the side wall of the driven mechanism, a group of first sliding shafts are elastically connected to the inner side of the first fixed sleeve in a limiting mode, a group of first universal ball bearings connected with the first fixed shaft are connected to the first sliding shafts in a limiting rotating mode on one side, located on the first fixed shaft, of the first sliding shafts, between the driving mechanism and the driven mechanism, of the first fixed sleeve, a ring of protective corrugated pipe used for protection is arranged on the outer side, located on the outer side, of the first fixed sleeve, a group of limiting sleeves are arranged on the inner side wall of the first fixed sleeve, and a group of connecting rods extending to the inner portion of the limiting sleeves are fixedly mounted on the side wall of the first sliding shafts.
Preferably, one end of the connecting rod extending to the inside of the limit sleeve is provided with a circle of annular concave along the axial lead of the connecting rod, and the inner side wall of the limit sleeve is positioned in the annular concave area of the connecting rod, and a first trigger switch and a second trigger switch which are connected with the internal control center of the welding robot are sequentially designed along the direction of the driving mechanism towards the driven mechanism.
Preferably, the protection mechanism comprises a sealing groove arranged in the driven mechanism, the whole sealing groove is of an inverted T-shaped design, the lower half area of the sealing groove is limited and elastically connected with a group of first sealing sliding blocks, the upper half area of the sealing groove is limited and elastically connected with a group of second sealing sliding blocks, a group of liquid supply grooves extending to the inner cavities of the upper half area of the sealing groove are formed in the driven frame, a booster pump used for providing pressure liquid supply is arranged in the liquid supply grooves, an opening communicated with the inner parts of the second sealing sliding blocks is formed in the side, close to the liquid supply grooves, of the second sealing sliding blocks, a group of communicating pipes extending to the inner parts of the first sealing sliding blocks are fixedly arranged in the inner cavities of the second sealing sliding blocks, the communicating pipes are in limited and elastically connected with the inner parts of the first sealing sliding blocks, the bottom of the first sealing sliding blocks is of an arc-shaped design, a liquid outlet groove communicated with the communicating pipes is formed in the bottom of the first sealing sliding blocks, a group of first electromagnetic valves communicated with the annular gas channel pipe and the top of the sealing groove are arranged in the driven mechanism, and the first electromagnetic valves are electrically connected with the inner control center of the welding robot.
Preferably, the interior of the liquid supply tank is filled with anti-corrosion grease for providing lubrication and protection after welding, and the interior of the sealing groove is filled with hydraulic oil for transmitting pressure between the first sealing slide block and the second sealing slide block.
Preferably, the cleaning mechanism comprises an arc-shaped groove formed in the driven mechanism, a group of circular sealing sliding blocks are rotationally connected in the arc-shaped groove, the side walls of the circular sealing sliding blocks extending to the outer parts of the driven mechanism are fixedly provided with bristle groups formed by converging multiple groups of hard bristles, sealing convex blocks attached to the side walls of the arc-shaped groove are fixedly arranged in the arc-shaped groove, the arc-shaped groove is divided into an upper group of cavities and a lower group of cavities which are mutually independent and kept sealed by the sealing convex blocks, a group of springs used for resetting are arranged between the sealing convex blocks and the bottom cavities of the arc-shaped groove, a group of second electromagnetic valves used for communicating the upper half area of the arc-shaped groove with the inner parts of the annular gas circuit pipe are arranged in the driven mechanism, and the second electromagnetic valves are electrically connected with a control center in the welding robot.
Preferably, the stabilizing mechanism comprises a second fixed shaft fixedly mounted on the side wall of the fixed frame and a second fixed sleeve fixedly mounted on the inner side wall of the driving mechanism, a group of second sliding shafts are elastically and slidably connected in a limiting mode in the second fixed sleeve, and a group of second universal ball bearings connected with the second fixed shaft are rotatably connected to one side, close to the second fixed shaft, of the second sliding shafts.
Preferably, the welding machine is arranged at the gap of the two groups of driven frames, the number of the welding machines arranged along the axial lead direction of the welding robot is not less than two groups, and the connecting mechanisms connected between the two adjacent groups of driven frames are in dislocation design.
An intelligent robot pipeline welding method comprises the following steps:
positioning the damaged part of the pipeline through a metal flaw detector;
the whole device is driven to move towards the welding area by a driving mechanism;
cleaning and impurity removing are carried out on the inner wall of the pipeline through a protection mechanism;
after reaching the welding area, the damaged part is welded by adjusting the angle of the welding machine;
and after the welding is finished, waiting for the cooling back of the welding part.
The beneficial effects of the invention are as follows:
when the pipe bending part passes through, the first sliding shaft of the outer bending part is pulled out towards the direction of the driving mechanism, the first sliding shaft of the inner bending part is pushed into the first fixing sleeve towards the direction of the driven mechanism, automatic deformation turning forward is realized at the pipe bending part through a plurality of groups of driving mechanisms and driven frames which are independently arranged and a connecting mechanism which is connected, meanwhile, the displacement of the second sliding shaft in the second fixing sleeve is changed to adapt to the difference between the inner angle and the outer angle during turning, and the fixing frame can provide a fixing effect for the welding robot stably during turning through the self-adaptive change of the fixing frame, so that the carried welding robot is driven to pass through stably when the device passes through the bending part, the whole applicability of the device is improved, meanwhile, the anti-corrosion lubricating grease can be sprayed automatically at the pipe bending part during the return, the impact force of a medium in the subsequent pipe at the pipe is effectively reduced, the abrasion of the pipe at the pipe bending part is reduced, and the whole service life of the pipe is prolonged;
when the device advances towards a region to be welded, the annular gas channel pipe is driven to suck air into the arc-shaped groove to generate negative pressure so as to drive the bristle group to rotate towards the driven mechanism, so that the bristle group rotates to be in contact with the inner wall of the pipeline to be welded, and when the device advances, the bristle group can clear the passing region to remove grease, dirt and other impurities on the inner side wall of the pipeline to be welded, so that the self-cleaning effect of the pipeline to be welded before welding is realized, the cleanliness of the region to be welded is ensured, the defect that the welding seam is unstable due to heat conduction and molten pool formation during welding is avoided, the integral welding quality is effectively ensured, and the welding repair effect of the pipeline is ensured;
when welding finishes the return journey, the contact through first sealed slider and welding piece has realized carrying out automated inspection to the welding piece after the pipeline welding, can enlarge simultaneously and detect the formation, realize the meticulous detection to less welding piece, simultaneously according to detecting automatic welding piece regional spraying lubricating grease, realize automatic spraying protection to the welding region, effectively avoid oxygen, moisture contact welding position, reduce the corrosion effect, can reduce the friction of medium and welding region in the follow-up pipeline simultaneously, promote lubricated effect, effectively guaranteed welding region's intensity and stability, reduce pipeline later stage welding part's corruption and crack, the operating life of pipeline has been showing to be promoted, welding repair effect has been guaranteed.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the whole structure of an intelligent robot pipeline welding device according to an embodiment of the invention;
fig. 2 is a schematic diagram of the overall internal structure of an intelligent robot pipe welding device according to an embodiment of the present invention;
FIG. 3 is an enlarged schematic view of the invention at B of FIG. 2;
fig. 4 is a schematic diagram of an external structure of a connection mechanism of an intelligent robot pipeline welding device according to an embodiment of the present invention;
FIG. 5 is an enlarged schematic view of the invention at A of FIG. 4;
fig. 6 is a schematic diagram of the shape of a linkage rod of an intelligent robot pipeline welding device and the distribution structure of a first trigger switch and a second trigger switch according to an embodiment of the present invention;
fig. 7 is a schematic diagram of an external structure of a protection mechanism of an intelligent robot pipeline welding device according to an embodiment of the present invention;
FIG. 8 is an enlarged schematic view of the invention at C of FIG. 7;
fig. 9 is a schematic diagram of a state of a first sealing slider of an intelligent robot pipeline welding device for detecting a welding block and spraying anti-corrosion grease according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of an external structure of a cleaning mechanism of an intelligent robotic pipe welding device according to an embodiment of the present invention;
FIG. 11 is an enlarged schematic view of the invention at D of FIG. 10;
fig. 12 is a schematic view of a structure for changing a rotation angle of a bristle group of an intelligent robot pipeline welding device according to an embodiment of the present invention;
fig. 13 is a schematic diagram of the overall structure of a connection mechanism of the intelligent robot pipeline welding device according to the embodiment of the invention when the intelligent robot pipeline welding device passes through the bent pipe;
fig. 14 is a schematic diagram of the overall structure of a stabilizing mechanism of the intelligent robot pipeline welding device provided by the embodiment of the invention when passing through a bent pipe;
fig. 15 is a schematic structural diagram of an intelligent robot pipeline welding method according to an embodiment of the present invention.
In the figure: 1. a driving mechanism; 2. a driven mechanism; 3. a connecting mechanism; 4. a welding robot; 11. a driven frame; 12. a drive wheel module; 13. a driving cylinder; 21. a protective mechanism; 22. a cleaning mechanism; 23. an annular gas path pipe; 31. a first fixed shaft; 32. a first fixed sleeve; 33. a first sliding shaft; 34. a first universal ball bearing; 35. a linkage rod; 36. a limit sleeve; 37. protecting the corrugated pipe; 41. welding machine; 42. a fixed frame; 43. a stabilizing mechanism; 211. sealing grooves; 212. a first sealing slider; 213. a second sealing slider; 214. a first electromagnetic valve; 215. a liquid supply tank; 216. a communicating pipe; 221. an arc-shaped groove; 222. a circular sealing slide block; 223. a sealing bump; 224. a bristle group; 225. a second electromagnetic valve; 361. a first trigger switch; 362. a second trigger switch; 421. an angle adjusting wheel; 431. a second fixed shaft; 432. a second universal ball bearing; 433. a second fixed sleeve; 434. and a second sliding shaft.
Description of the embodiments
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
Examples
Referring to fig. 1 to 14, an intelligent robot pipe welding apparatus includes a driving mechanism 1, a driven mechanism 2, and a welding robot 4 disposed at the center of a frame of the driving mechanism 1, further comprising:
the connecting mechanism 3 is arranged between the driving mechanism 1 and the driven mechanism 2, and when the whole device runs in a bent pipeline, the connecting mechanism 3 and the driven mechanism 2 can be bent by a certain angle through the rotation of a first fixed shaft 31 and a first universal ball bearing 34 arranged between the driving mechanism 1 and the driven mechanism 2 and the limit sliding between a first fixed sleeve 32 arranged on the side surface of the driven mechanism 2 and a first sliding shaft 33 arranged in the first fixed sleeve 32;
the cleaning mechanism 22 is arranged on the side wall of the driven mechanism 2 close to the side of the driving mechanism 1, and is started by a second trigger switch 362 arranged in the first fixed sleeve 32 when the whole device advances to pass through the area with the welding machine, so that the round sealing slide block 222 and the bristle group 224 arranged on the side wall of the driven mechanism 2 are driven to automatically adjust the rotation angle, and the whole welding area in the pipeline to be welded is pre-cleaned;
the annular gas circuit pipe 23 is arranged on the outer side wall of the driven mechanism 2, when the device is completely welded and exits from the welding area, the first sealing slide block 212 arranged on the side wall of the driven mechanism 2 can automatically detect the welded welding area bulge through elasticity, and can spray anti-corrosion grease on the welding area, and meanwhile, when the device passes through the bending part of the pipeline, the device can also automatically spray anti-corrosion grease on the pipe bending part to protect the pipe bending part, so that the impact of a medium on the bending part of the pipeline is reduced.
Referring to fig. 1-2, a plurality of groups of driving wheel modules 12 are installed on the side wall of the driving mechanism 1, a motor for driving the driving wheel modules 12 to rotate is arranged in the driving wheel modules 12, the driving wheel modules 12 are elastically connected with the inside of the driving mechanism 1 so that the driving wheel modules 12 can be abutted against the inner wall of a welding pipeline, a connecting mechanism 3 is arranged between the driving mechanism 1 and the driven mechanism 2, the connecting mechanism 3 is fixedly installed on the side wall of the driven mechanism 2, a plurality of groups of driven frames 11 connected through the connecting mechanism 3 are further arranged on the side wall of the driven mechanism 2 far away from the driving mechanism 1 and used for improving the length and the stability of the whole device, a group of fixed frames 42 are arranged in the central frame areas of the driving mechanism 1 and the driven frames 11, a stabilizing mechanism 43 is arranged between the driving mechanism 1 and the outer side walls of the driven frames 11 and the fixed frames 42, the inner side of the fixed frame 42 is rotationally connected with the welding robot 4 through a bearing, the inner side wall of the fixed frame 42 is provided with an angle adjusting wheel 421 which is attached to the outer side wall of the welding robot 4 through a motor driven outer side wall and keeps good friction, a welding machine 41 which is arranged in a telescopic way is connected between two groups of driven frames 11 through telescopic cylinders, two sides of the welding machine 41 are provided with cameras for real-time observation, a control center is arranged in the welding robot 4, the welding machine 41 and the cameras are connected with the control center in the welding robot 4, the inner side wall of the driven frame 11 is fixedly provided with a driving cylinder 13, the inner side wall of the driven mechanism 2 is fixedly provided with a group of annular air channel pipes 23 which are communicated with the output end of the driving cylinder 13, the outer side wall of the driven mechanism 2 is provided with a protection mechanism 21 which is uniformly distributed in an annular way, the side wall of the driven mechanism 2 close to one side of the driving mechanism 1 is provided with a plurality of groups of cleaning mechanisms 22 which are distributed annularly.
Referring to fig. 4 to 6, the connection mechanism 3 includes a first fixed shaft 31 fixedly mounted on a side wall of the driving mechanism 1 and a first fixed sleeve 32 fixedly mounted on a side wall of the driven mechanism 2, a set of first sliding shafts 33 are elastically connected to an inner side limit of the first fixed sleeve 32, a set of first universal ball bearings 34 connected with the first fixed shaft 31 are rotatably connected to one side limit of the first sliding shafts 33 close to the first fixed shaft 31, a set of protective bellows 37 for protection is arranged between the driving mechanism 1 and the driven mechanism 2 and positioned outside the first fixed shaft 31 and the first fixed sleeve 32, a set of limiting sleeves 36 are arranged on an inner side wall of the first fixed sleeve 32, and a set of linkage rods 35 extending to the inside of the limiting sleeves 36 are fixedly mounted on a side wall of the first sliding shafts 33.
Further, one end of the linkage rod 35 extending to the inside of the limit sleeve 36 is provided with a circle of annular concave along the axial lead of the linkage rod 35, and a first trigger switch 361 and a second trigger switch 362 connected with the internal control center of the welding robot 4 are sequentially designed along the direction of the driving mechanism 1 towards the driven mechanism 2 in the annular concave area of the linkage rod 35 on the inner side wall of the limit sleeve 36.
Referring to fig. 7-9, the protection mechanism 21 includes a sealing groove 211 that is formed in the driven mechanism 2, the sealing groove 211 is integrally in an inverted T-shaped design, a lower half area limit seal of the sealing groove 211 is elastically connected with a group of first sealing sliding blocks 212, an upper half area limit seal of the sealing groove 211 is slidably connected with a group of second sealing sliding blocks 213, a group of liquid supply grooves 215 that extend to an inner cavity of the upper half area of the sealing groove 211 are formed in the driven frame 11, a booster pump that is used for providing pressure liquid supply is formed in the liquid supply grooves 215, an opening that is communicated with the inside of the second sealing sliding blocks 213 is formed in one side of the second sealing sliding blocks 213 that is close to the liquid supply grooves 215, a group of communicating pipes 216 that extend to the inside of the first sealing sliding blocks 212 are fixedly mounted in the inner cavity of the second sealing sliding blocks 213, the bottom of the first sealing sliding blocks 212 is in an arc-shaped design, a group of liquid outlet grooves that are communicated with the communicating pipes 216 are formed in the bottom of the first sealing sliding blocks 212, a group of first electromagnetic valves 214 that are communicated with the top of the annular pipe 23 and 211 are formed in the driven mechanism 2, and the first electromagnetic valves 214 that are electrically connected with the inside of the electromagnetic valve 4 are kept in an electric welding connection with the center.
Further, the inside of the liquid supply tank 215 is filled with anti-corrosion grease for providing lubrication and protection after welding, and the inside of the sealing groove 211 is filled with hydraulic oil for transmitting pressure between the first sealing slider 212 and the second sealing slider 213.
Referring to fig. 10-12, the cleaning mechanism 22 includes an arc groove 221 formed in the driven mechanism 2, a set of circular sealing sliding blocks 222 are rotatably connected in the arc groove 221, a bristle group 224 formed by converging a plurality of groups of hard bristles is fixedly mounted on the side wall of the circular sealing sliding blocks 222 extending to the outside of the driven mechanism 2, a sealing lug 223 attached to the side wall of the arc groove 221 is fixedly mounted on the side wall of the circular sealing sliding blocks 222 and located in the arc groove 221, the arc groove 221 is divided into an upper group and a lower group of cavities which are independent and kept sealed by the sealing lug 223, a set of springs for reset are arranged between the sealing lug 223 and the bottom cavity of the arc groove 221, a set of second electromagnetic valves 225 for communicating the upper half area of the arc groove 221 with the inside of the annular gas pipe 23 are arranged in the driven mechanism 2, and the second electromagnetic valves 225 are kept electrically connected with a control center in the welding robot 4.
Referring to fig. 2-3, the stabilizing mechanism 43 includes a second fixed shaft 431 fixedly installed on a side wall of the fixed frame 42 and a second fixed sleeve 433 fixedly installed on an inner side wall of the driving mechanism 1, a set of second sliding shafts 434 are elastically and slidably connected to an inner limit of the second fixed sleeve 433, and a set of second universal ball bearings 432 connected to the second fixed shaft 431 are rotatably connected to a side of the second sliding shafts 434 adjacent to the second fixed shaft 431.
Further, the welding machines 41 are arranged at the gaps of the two groups of driven frames 11, the number of the welding machines 41 arranged along the axial lead direction of the welding robot 4 is not less than two groups, and the connecting mechanisms 3 connected between the two adjacent groups of driven frames 11 are in dislocation design.
An intelligent robot pipeline welding method comprises the following steps:
s1: positioning the damaged part of the pipeline through a metal flaw detector;
s2: the whole device is driven to move towards the welding area by the driving mechanism 1;
s3: cleaning and impurity removing are carried out on the inner wall of the pipeline through a protection mechanism 21;
s4: after reaching the welding area, the damaged part is welded by adjusting the angle of the welding machine 41;
s5: and after the welding is finished, waiting for the cooling back of the welding part.
The intelligent robot pipeline welding equipment and the welding method have the working principle that:
firstly, a welding repair area where damage occurs is determined from the outer side of a pipeline through a metal flaw detector, when welding is performed inside the pipeline, a motor in the driving wheel module 12 arranged on the side wall of the driving mechanism 1 drives the driving wheel module 12 to move towards the welding area inside the pipeline, meanwhile, the driving cylinder 13 is started to perform negative pressure suction on the inside of the annular gas path pipe 23, when the pipeline moves, the driving wheel module 12 on the side wall of the driving mechanism 1 is used as a driving device, the driving wheel module 12 on the side wall of the driven frame 11 is not electrified to rotate, and is used as an auxiliary driven wheel, when the driving mechanism 1 drives the driven mechanism 2 and the driven frame 11 to move forwards, the driving mechanism 1 drives the first fixing shaft 31 to pull the first universal ball bearing 34 and the first sliding shaft 33 to slide towards the driving mechanism 1 inside the first fixing sleeve 32, the linkage rod 35 moves towards the driving mechanism 1, the second trigger switch 362 is triggered by pushing the inner concave surface of the linkage rod 35, the second electromagnetic valve 225 is controlled to be electrified and communicated through the control center, at the moment, the negative pressure of the driving cylinder 13 sucks air, the air in the upper half area of the arc groove 221 is sucked towards the inside of the annular air channel pipe 23, the upper half area of the arc groove 221 is negative pressure, at the moment, referring to fig. 12, the bristle group 224 rotates towards the direction of the driven mechanism 2, so that the bristle group 224 rotates to be contacted with the inner wall of a pipeline to be welded, when the device advances, the passing area can be cleaned through the bristle group 224, grease, dirt and other impurities on the inner wall of the pipeline to be welded are removed for cleaning, the self-cleaning effect of the pipeline to be welded is realized before welding, the cleanliness of the area to be welded is ensured, the defect that the welding seam is unstable due to the heat conduction and the formation of a molten pool during welding are avoided, the whole welding quality is effectively ensured, and the welding repair effect of the pipeline is ensured;
in the process that the device is close to a region to be welded, an external worker judges the position distance between the welding machine 41 and the region to be welded through influence information fed back by a camera arranged on the side wall of the welding machine 41, when the welding machine 41 reaches the region to be welded, the position distance between the welding machine 41 and the region to be welded is monitored in real time through the camera on the side wall of the welding machine 41, meanwhile, the external worker controls the angle adjusting wheel 421 to rotate in a powered mode through a control center, drives the welding robot 4 to integrally rotate, realizes the purpose of adjusting the welding position of the welding machine 41 to be rotationally adjusted, after the welding machine 41 is aligned to the region to be welded, the welding machine 41 is pushed to move towards the inner wall of a pipeline through a cylinder arranged inside the welding robot 4 until a welding wire is in contact with the region to be welded inside the pipeline, and further controls the welding machine 41 to be powered on to weld and repair the welding region when the connecting mechanism 3 is required to shield the welding region, the welding region can be continuously moved through the device, and the welding region can be welded through a blind area through a connecting mechanism 3 designed in a follow-up position;
after welding is finished and a welding area is cooled, the driving wheel module 12 in the driving mechanism 1 can be electrified to rotate to push the driven mechanism 2 and the driving mechanism 1 to return along an original path, at this time, referring to fig. 4-6, when the driving mechanism 1 pushes the first sliding shaft 33 and the first fixed sleeve 32 through the first fixed shaft 31 and the first universal ball bearing 34 to push the driven mechanism 2 and the driven frame 11, at this time, the first sliding shaft 33 moves in the direction of the driven mechanism 2 in the first fixed sleeve 32, at this time, the linkage rod 35 moves in the direction of the driven mechanism 2 in the limit sleeve 36, at first, the pressure on the second trigger switch 362 is released through the movement of the linkage rod 35, so that the second trigger switch 362 is closed, at this time, referring to fig. 11, the round seal slider 222 drives the bristle group 224 to rotate and reset under the elastic force of the spring in the arc groove 221, so that the bristle group 224 is separated from contact with the inner side of a pipeline, and damage to the corrosion-proof lubricating grease of subsequent spraying is avoided;
when the first sealing slide block 212 passes through the welding part inside the pipeline, the raised welding block formed after the cooling of the welding pool can push the first sealing slide block 212 to move towards the inside of the driven mechanism 2 along the arc edge of the first sealing slide block 212, referring to fig. 8-9, due to the T-shaped design of the sealing groove 211, when the first sealing slide block 212 rises a certain distance in the cavity with larger cross section area at the lower end of the sealing groove 211, the hydraulic oil quantity entering the inside of the sealing groove 211 can push the second sealing slide block 213 in the inside with smaller cross section area at the upper end of the sealing groove 211 to rise by a larger displacement quantity, thereby amplifying the displacement quantity generated by the contact of the first sealing slide block 212 with the convex block, improving the accurate identification effect of the convex block after welding, leading the opening at the side surface of the second sealing slide block 213 to be communicated with the outlet of the liquid supply groove 215, the solution in the liquid supply tank 215 enters the communicating pipe 216 through the opening of the second sealing slide block 213, further enters the first sealing slide block 212 through the communicating pipe 216, the welded bump is precisely sprayed through the bottom of the first sealing slide block 212, automatic detection of welded bumps after the pipeline is realized, meanwhile, the detection can be amplified, fine detection of smaller welded bumps is realized, lubricating grease is sprayed on the welded bump area according to detection, automatic spraying protection is realized on the welded area, oxygen and water are effectively prevented from contacting the welded part, corrosion effect is reduced, friction between medium in a subsequent pipeline and the welded area is reduced, lubrication effect is improved, strength and stability of the welded area are effectively ensured, corrosion and cracks of the welded area in the later stage of the pipeline are reduced, the service life of the pipeline is remarkably prolonged, and welding repair effect is ensured;
when the whole device passes through the bent pipe with a certain radian, referring to fig. 12 and 13, the first fixed shaft 31 can be always connected with the first sliding shaft 33 through the first universal ball bearing 34 by the rotation of the first universal ball bearing 34 in the first sliding shaft 33, meanwhile, the second sliding shaft 434 and the second fixed shaft 431 can be kept in a connection state through the rotation of the first sliding shaft 33 in the first fixed sleeve 32, when the device passes through a pipe bending part, the first sliding shaft 33 of the outer bending part is pulled out towards the direction of the driving mechanism 1, the first sliding shaft 33 of the inner bending part is pushed into the first fixed sleeve 32 towards the direction of the driven mechanism 2, the automatic deformation turning forward is realized at the pipe bending part through a plurality of groups of driving mechanisms 1 and driven frames 11 which are independently arranged and the connecting mechanism 3 which are connected, meanwhile, referring to fig. 12, when the turning forward, the driving mechanism 1 and the fixed frame 42 are kept in a connection state through the rotation of the second universal ball bearing 432, and when the second sliding shaft 434 is changed in the inside and outside the second fixed sleeve to adapt to the direction of the driving mechanism 1, the inner bending part is changed in the direction of the driving mechanism 1, the inner bending part is pushed into the first fixed sleeve 33 in the direction of the driving mechanism 2, the inner bending part is pushed into the inside the driving mechanism 2, the driving mechanism 1 is pushed into the inner bending part of the driving mechanism through the driving mechanism and the inner bending part, and the inner bending part is suitable for stable rotation of the frame 433, and the whole device 4 is carried by a stable person, and can be stably and stable by a robot 4, when the welding device, and can be realized by a stable device, and when the device is in a robot 4 and when the device is in a machine, and when the device is subjected to a machine;
meanwhile, when the device passes through the bent part in the pipeline during the return stroke, as a part of axial thrust provided by the driving mechanism 1 is counteracted by the bent pipeline, the driving mechanism 1 needs to provide larger thrust to enable the driven frame 11 and the driven mechanism 2 to pass through the bent part, referring to fig. 4-6, when the driving mechanism 1 pushes the first sliding shaft 33 to continuously move towards the driven mechanism 2 in the first fixed sleeve 32, at the moment, the first sliding shaft 33 drives the linkage rod 35 to move towards the driven mechanism 2 to further compress a spring in the driven mechanism 2, under the movement of the linkage rod 35, the first trigger switch 361 is pushed and triggered by the concave inclined surface of the linkage rod 35 when passing through the first trigger switch 361, at the moment, the first trigger switch 361 is electrified to drive the first electromagnetic valve 214 to start suction force, the upper end of the sealing groove 211 is communicated with the inside of the annular air channel pipe 23, at the moment, under the negative pressure action of the upper end of the sealing groove 211, the second sealing slide 213 moves towards the direction of the first electromagnetic valve 214, at the moment, the side opening of the second sealing slide 213 is also communicated with the opening of the liquid supply groove 215, the opening 215 is further compressed, and the corrosion-proof medium is sprayed into the bent pipeline through the first sealing slide 216, and the inner part of the first sealing slide 212 is automatically sucked into the bent pipeline, and the corrosion-proof medium is sprayed into the bent pipeline, and the end of the corrosion-proof medium is completely, and the corrosion-proof medium is completely-sealed pipeline is sucked, and the corrosion-proof medium is automatically is sucked, and the pipeline is completely, and the corrosion-proof medium is reduced, and the pipeline is sucked, and the pipeline is subjected to the corrosion and is a corrosion-proof pipeline;
the seal groove 211 and the arc groove 221 have holes therein, which are communicated with the outside, and the seal groove can maintain an air pressure balance state with the outside through the holes after losing the negative pressure suction force of the annular air passage pipe 23.
It should be noted that, specific model specifications of the motor need to be determined by selecting a model according to actual specifications of the device, and a specific model selection calculation method adopts the prior art in the field, so detailed description is omitted.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, and various modifications and variations may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides an intelligent robot pipeline welding equipment, includes actuating mechanism (1), follower (2) and sets up welding robot (4) in actuating mechanism (1) frame center department, its characterized in that still includes:
the connecting mechanism (3) is arranged between the driving mechanism (1) and the driven mechanism (2), and when the whole device runs in a bent pipeline, the connecting mechanism (3) and the driven mechanism (2) can be bent by a certain angle through the rotation of a first fixed shaft (31) and a first universal ball bearing (34) arranged between the driving mechanism (1) and the driven mechanism (2), and the limit sliding between a first fixed sleeve (32) arranged on the side surface of the driven mechanism (2) and a first sliding shaft (33) arranged in the first fixed sleeve (32);
the cleaning mechanism (22) is arranged on the side wall of the driven mechanism (2) close to one side of the driving mechanism (1), and when the device integrally advances to pass through the area with the welding machine, the cleaning mechanism is started by a second trigger switch (362) arranged in the first fixed sleeve (32) to drive a round sealing sliding block (222) and a bristle group (224) arranged on the side wall of the driven mechanism (2) to automatically adjust the rotation angle so as to pre-clean the integral welding area in the pipeline to be welded;
the annular gas path pipe (23) is arranged on the outer side wall of the driven mechanism (2), when the device exits from the welding area after welding, the welded welding area bulge can be automatically detected through the first sealing sliding block (212) which is elastically arranged on the side wall of the driven mechanism (2), and the welding area is sprayed with anti-corrosion grease, meanwhile, when the device passes through the bending part of the pipeline, the pipeline can be automatically sprayed with anti-corrosion grease for protection, and the impact of a medium on the bending part of the pipeline is reduced;
the side wall of the driving mechanism (1) is provided with a plurality of groups of driving wheel modules (12), the inside of the driving wheel modules (12) is provided with a motor for driving the driving wheel modules (12) to rotate, the driving wheel modules (12) are elastically connected with the inside of the driving mechanism (1) so that the driving wheel modules (12) can be abutted against the inner wall of a welding pipeline, a connecting mechanism (3) is arranged between the driving mechanism (1) and the driven mechanism (2), the side wall of the driven mechanism (2) is fixedly provided with the connecting mechanism (3), the side wall of the driven mechanism (2) far away from one side of the driving mechanism (1) is also provided with a plurality of groups of driven frames (11) connected through the connecting mechanism (3) for improving the length and stability of the whole device, a group of fixed frames (42) are arranged in the central frame area of the driving mechanism (1) and the driven frames (11), a stabilizing mechanism (43) is arranged between the driving mechanism (1) and the outer side wall of the fixed frames (42), the inner side of the fixed frames (42) is connected with the rotating motor (4) through a bearing, the inner side wall of the fixed frames (42) is well in friction fit with the outer side wall of the robot (421), the welding machine comprises a welding robot (4), wherein the outer side wall of the welding robot (4) is positioned between two groups of driven frames (11) and is connected with a telescopic welding machine (41) through a telescopic cylinder, cameras for real-time observation are arranged on two sides of the welding machine (41), a control center is arranged in the welding robot (4), the welding machine (41) and the cameras are connected with the control center in the welding robot (4), a driving cylinder (13) is fixedly arranged on the inner side wall of the driven frames (11), a group of annular gas circuit pipes (23) communicated with the output end of the driving cylinder (13) are fixedly arranged on the inner side wall of the driven mechanism (2), a uniformly annular distributed protection mechanism (21) is arranged on the outer side wall of the driven mechanism (2), and a plurality of groups of annular distributed cleaning mechanisms (22) are arranged on the side wall, close to the driving mechanism (1), of the driven mechanism (2);
the protection mechanism (21) comprises a sealing groove (211) arranged in the driven mechanism (2), the sealing groove (211) is integrally of an inverted T-shaped design, a group of first sealing sliding blocks (212) are elastically connected in a limiting sealing mode in the lower half area of the sealing groove (211), a group of second sealing sliding blocks (213) are connected in a limiting sealing sliding mode in the upper half area of the sealing groove (211), a group of liquid supply grooves (215) extending to the inner cavity of the upper half area of the sealing groove (211) are formed in the driven frame (11), a pressurizing pump used for providing pressure liquid is arranged in the liquid supply grooves (215), an opening communicated with the inner portion of the second sealing sliding blocks (213) is formed in one side, close to the liquid supply grooves (215), a group of communicating pipes (216) extending to the inner portion of the first sealing sliding blocks (212) are fixedly arranged in the inner cavity of the second sealing sliding blocks (213), the communicating pipes (216) are in a limiting sliding mode connected with the inner portion of the first sealing sliding blocks (212), the bottom of the first sealing sliding blocks (212) is designed to be a pressurizing pump used for providing pressure liquid, the bottom of the first sealing sliding blocks (212) is an arc-shaped electromagnetic valve (23), the bottom of the first sealing blocks (212) is communicated with the top of the first electromagnetic valve (23), the first electromagnetic valve (214) is electrically connected with an internal control center of the welding robot (4);
the inside of the liquid supply tank (215) is filled with anti-corrosion grease for providing lubrication and protection after welding, and the inside of the sealing groove (211) is positioned between the first sealing sliding block (212) and the second sealing sliding block (213) and is filled with hydraulic oil for transmitting pressure;
the cleaning mechanism (22) comprises an arc groove (221) formed in the driven mechanism (2), a group of circular sealing sliding blocks (222) are rotatably connected in the arc groove (221), the circular sealing sliding blocks (222) extend to the side wall outside the driven mechanism (2) and fixedly provided with bristle groups (224) formed by converging multiple groups of hard bristles, the side wall of the circular sealing sliding blocks (222) is fixedly provided with sealing protruding blocks (223) attached to the side wall of the arc groove (221) in the arc groove (221), the sealing protruding blocks (223) divide the arc groove (221) into an upper cavity and a lower cavity which are independent of each other and are kept sealed, a group of springs used for resetting are arranged between the sealing protruding blocks (223) and the bottom cavity of the arc groove (221), a group of second electromagnetic valves (225) used for enabling the upper half of the arc groove (221) to be communicated with the inner portion of the annular pipe (23) are arranged in the driven mechanism (2), and the second electromagnetic valves (225) are electrically connected with a control center inside the welding robot (4).
2. The intelligent robot pipeline welding device according to claim 1, wherein the connecting mechanism (3) comprises a first fixed shaft (31) fixedly mounted on the side wall of the driving mechanism (1) and a first fixed sleeve (32) fixedly mounted on the side wall of the driven mechanism (2), a group of first sliding shafts (33) are elastically connected to the inner side limit of the first fixed sleeve (32), a group of first universal ball bearings (34) connected with the first fixed shaft (31) are connected to the first sliding shafts (33) in a limiting rotation mode close to one side of the first fixed shaft (31), a circle of protective corrugated pipes (37) used for protection are arranged between the driving mechanism (1) and the driven mechanism (2) and located on the outer sides of the first fixed shaft (31), a group of limiting sleeves (36) are arranged on the inner side wall of the first fixed sleeve (32), and a group of connecting rods (35) extending to the inner side of the limiting sleeves (36) are fixedly mounted on the side wall of the first sliding shafts (33).
3. The intelligent robot pipeline welding equipment according to claim 2, wherein one end of the linkage rod (35) extending to the inside of the limit sleeve (36) is provided with a circle of annular concave along the axial lead of the linkage rod (35), and a first trigger switch (361) and a second trigger switch (362) which are connected with the internal control center of the welding robot (4) are sequentially designed along the direction of the driving mechanism (1) towards the driven mechanism (2) in the annular concave area of the linkage rod (35) on the inner side wall of the limit sleeve (36).
4. The intelligent robot pipeline welding device according to claim 2, wherein the stabilizing mechanism (43) comprises a second fixed shaft (431) fixedly installed on the side wall of the fixed frame (42) and a second fixed sleeve (433) fixedly installed on the inner side wall of the driving mechanism (1), a group of second sliding shafts (434) are elastically and slidably connected in a limiting manner in the second fixed sleeve (433), and a group of second universal ball bearings (432) connected with the second fixed shaft (431) are rotatably connected to one side, close to the second fixed shaft (431), of the second sliding shafts (434).
5. The intelligent robot pipeline welding equipment according to claim 1, wherein the welding machines (41) are arranged at gaps of two groups of driven frames (11), the number of the welding machines (41) arranged along the axis direction of the welding robot (4) is not less than two groups, and the connecting mechanisms (3) connected between two adjacent groups of driven frames (11) are in dislocation design.
6. A welding method of an intelligent robotic pipe welding apparatus according to any one of claims 1-5, comprising the steps of:
positioning the damaged part of the pipeline through a metal flaw detector;
the whole device is driven to move towards the welding area by a driving mechanism (1);
cleaning and impurity removing are carried out on the inner wall of the pipeline through a protection mechanism (21);
after reaching the welding area, the damaged part is welded by adjusting the angle of a welding machine (41);
and after the welding is finished, waiting for the cooling back of the welding part.
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| CN117506265B (en) * | 2024-01-08 | 2024-03-29 | 宁波至信汽车零部件制造有限公司 | Automobile metal fitting welding device |
| CN118180728B (en) * | 2024-05-15 | 2024-07-09 | 大连优创液压股份有限公司 | Welding argon filling robot |
| CN118951512A (en) * | 2024-09-26 | 2024-11-15 | 成都嘉润汽车部件有限公司 | A cooling device for automobile parts processing and welding |
| CN119489302A (en) * | 2025-01-20 | 2025-02-21 | 沈阳旺利德金属材料有限公司 | Automatic welding device and system thereof |
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