Disclosure of Invention
The invention aims to provide an all-position welding robot suitable for different pipe diameters, which can carry out adaptability adjustment on a support rod assembly according to the pipe diameters of pipes, ensures that the welding robot can be assembled on the pipes with different pipe diameters, and has better pipe adaptability.
The invention further aims to provide the all-position welding robot which is suitable for pipelines with different pipe diameters, can be suitable for the pipelines with different pipe diameters, can move upwards along the circumferential direction and the axial direction of the pipelines, can adjust the posture of a welding gun according to the welding angle requirement while moving, realizes all-position and all-angle welding, and effectively improves the flexibility and the welding capacity of the welding robot.
The object of the invention can be achieved by the following scheme:
The invention provides an all-position welding robot adapting to different pipe diameters, which is used for welding pipe fittings, and comprises:
the annular guide rail is used for being annularly arranged on the periphery of the pipe fitting along the circumferential direction of the pipe fitting;
the support rod assemblies are arranged on the guide rail and are distributed at intervals along the circumferential direction of the guide rail;
The support rod assembly comprises clamping pieces which can move along the radial direction of the guide rail, and the positions of the clamping pieces in the radial direction of the guide rail in the support rod assemblies are respectively adjusted so that the clamping pieces are propped against the outer wall of the pipe fitting;
the circumferential moving assembly is arranged on the guide rail in a manner of being capable of moving along the circumferential direction of the guide rail so as to adjust the position of the circumferential moving assembly relative to the circumferential direction of the pipe fitting;
The axial moving assembly is arranged on the circumferential moving assembly, a multi-degree-of-freedom mechanical arm is arranged on the axial moving assembly, and the axial moving assembly is used for driving the multi-degree-of-freedom mechanical arm to move along the axial direction of the guide rail so as to adjust the axial position of the multi-degree-of-freedom mechanical arm relative to the pipe fitting;
And the welding gun is arranged on the multi-degree-of-freedom mechanical arm.
In a preferred embodiment of the present invention, the guide rail has a plurality of arc segments, and a plurality of arc segments are sequentially connected end to form the annular guide rail.
In a preferred embodiment of the present invention, in two adjacent arc segments, a first insert block is disposed at an end of one arc segment, and a first slot is disposed at an end of the other arc segment;
And in the connection state of the two adjacent arc-shaped sections, the first inserting block is inserted into the first slot, and the first inserting block is fixedly connected with the first slot through a first bolt at the insertion position.
In a preferred embodiment of the present invention, the support rod assembly includes:
the guide polish rod is provided with a first mounting seat in a sliding manner along the extending direction of the guide polish rod;
The threaded rod is arranged in parallel with the guide polished rod, the threaded rod is provided with a second mounting seat, the second mounting seat is in threaded connection with the threaded rod, and the threaded rod is connected with the power device so as to drive the threaded rod to rotate;
The clamping piece is arranged on the first connecting block, two ends of the guiding polished rod are respectively and fixedly connected with the first connecting block and the second connecting block, and two ends of the threaded rod are respectively and rotatably connected with the first connecting block and the second connecting block;
The first mounting seat and the second mounting seat are fixedly connected to the guide rail, and the guide polish rod and the threaded rod extend along the radial direction of the guide rail.
In a preferred embodiment of the present invention, the clamping member includes a clamping plate and a cushion block, wherein one side surface of the clamping plate is connected with the first connecting block, the cushion block is disposed on the other opposite side surface of the clamping plate, and the cushion block is closely attached to the outer wall of the pipe fitting so as to increase the friction force therebetween.
In a preferred embodiment of the present invention, the clamping member includes a plurality of clamping plates, wherein edges of one side of two adjacent clamping plates are connected, a predetermined bending angle is formed between the two clamping plates, and an extending direction of a connecting line of the two adjacent clamping plates is parallel to an axial direction of the pipe.
In a preferred embodiment of the present invention, the guide rail includes a ring-shaped guide rail body and a ring gear, the ring gear is circumferentially arranged on the outer periphery of the guide rail body along the circumferential direction of the guide rail body, and the ring gear is connected with the guide rail body;
The circumferential movement assembly comprises a first side wall plate and a second side wall plate, the first side wall plate is provided with a first plate surface and a second plate surface which are opposite, a rotatable driving gear and a first driving motor are arranged on the first plate surface, the first driving motor is connected with the driving gear through a transmission structure, teeth of the driving gear are meshed with teeth of the gear ring, and driving force is provided for rotation of the driving gear through the first driving motor so as to drive the first side wall plate to move along the circumferential direction of the guide rail;
The second side wall plate is connected with the first plate surface through a limit connecting plate, and the axial moving assembly is arranged on the second side wall plate.
In a preferred embodiment of the present invention, the first plate surface is disposed on a rotating shaft parallel to an axial direction of the guide rail, and the driving gear is disposed on the rotating shaft;
The transmission structure comprises a first transmission gear and a second transmission gear, the first transmission gear is arranged on an output shaft of the first driving motor, the second transmission gear is arranged on the rotating shaft, and teeth on the first transmission gear are meshed with teeth on the second transmission gear.
In a preferred embodiment of the present invention, a first sliding rail and a driving structure are further disposed on the first board, the first driving motor is slidably disposed on the first sliding rail, a driving end of the driving structure is connected to the first driving motor, and the driving structure is used for driving the first driving motor to slide along the first sliding rail, so as to control teeth on the first transmission gear to mesh with or separate from teeth on the second transmission gear.
In a preferred embodiment of the present invention, the first driving motor and the second driving gear are respectively located at two sides of the limit connecting plate, and the first driving gear passes over the limit connecting plate and is located at the same side of the limit connecting plate as the second driving gear;
When the first driving motor slides along the first sliding rail towards the direction close to the second transmission gear, the first driving motor slides to the position propped against the limit connecting plate, and the first transmission gear moves to the position where the teeth on the first driving motor are meshed with the teeth on the second transmission gear.
In a preferred embodiment of the present invention, a guiding and limiting ring is disposed on the outer wall of the guide rail main body along the circumferential direction thereof, the guiding and limiting ring has a first side wall surface and a second side wall surface opposite to each other in the radial direction of the guide rail, and the guiding and limiting ring further has a first end surface and a second end surface opposite to each other in the axial direction of the guide rail;
the circumferential moving assembly further comprises two first mounting plates which are arranged at intervals along the axial direction of the guide rail, the first mounting plates are connected with the second plate surface of the first side wall plate, and the two first mounting plates are respectively positioned on the upper side and the lower side of the guide limiting ring;
The first mounting plate is provided with a plurality of limit guide wheels, the limit guide wheels are at least arranged in two rows, gaps are reserved between the two rows of limit guide wheels, the upper part of the guide limit ring is positioned between the two rows of limit guide wheels of the first mounting plate above, the outer walls of the two rows of limit guide wheels are respectively in rolling contact with the upper part of the first side wall surface and the upper part of the second side wall surface, the lower part of the guide limit ring is positioned between the two rows of limit guide wheels of the first mounting plate below, and the outer walls of the two rows of limit guide wheels are respectively in rolling contact with the lower part of the first side wall surface and the lower part of the second side wall surface.
In a preferred embodiment of the present invention, the first mounting plate has a plurality of moving guide wheels thereon, and the moving guide wheels on the two first mounting plates are respectively in rolling contact with the first end face and the second end face.
In a preferred embodiment of the present invention, the limit guiding wheel is rotatably disposed on a plate surface of a second mounting plate, and the second mounting plate is connected to the first mounting plate.
In a preferred embodiment of the present invention, the plate surface of the first mounting plate is perpendicular to the plate surface of the first sidewall plate;
The edge position of the first mounting plate is provided with a second inserting block, the first side wall plate is provided with a second inserting groove, the second inserting block is inserted into the second inserting groove, a connecting piece is arranged between the first mounting plate and the first side wall plate, and the first mounting plate and the first side wall plate are fixedly connected with the connecting piece through second bolts respectively.
In a preferred embodiment of the present invention, the axial moving assembly comprises:
The second sliding rail extends along the axial direction of the guide rail, the second sliding rail is arranged on the circumferential moving assembly, a screw rod is arranged on one side of the second sliding rail, a sliding block is arranged on the second sliding rail, and the sliding block is in threaded connection with the screw rod;
The second driving motor is arranged at one end of the second sliding rail, and an output shaft of the second driving motor is connected with one end of the screw rod so as to provide driving force for the sliding block to slide along the second sliding rail.
In a preferred embodiment of the present invention, the multi-degree-of-freedom mechanical arm is a three-degree-of-freedom mechanical arm;
and/or the fixed part of the multi-degree-of-freedom mechanical arm is connected with the sliding block, and the moving part of the multi-degree-of-freedom mechanical arm is connected with the welding gun.
By the above, the all-position welding robot adapting to different pipe diameters has the characteristics and advantages that:
The guide rail is annularly arranged at the periphery of the pipe fitting to be welded along the circumferential direction of the pipe fitting, a plurality of support rod assemblies are arranged on the guide rail at intervals, each support rod assembly is respectively provided with a clamping piece capable of moving along the radial direction of the guide rail, and before welding operation, the positions of the clamping pieces in the radial direction of the guide rail in the plurality of support rod assemblies can be respectively adjusted, so that the plurality of clamping pieces are propped against the outer wall of the pipe fitting, and the stable relative position between the guide rail and the pipe fitting can be ensured. The welding robot provided by the application can be suitable for clamping and welding the pipe fittings with different pipe diameters through the arrangement of the plurality of support rod assemblies, and when the pipe fittings with different pipe diameters are welded, complicated adjustment is not needed, parts are not needed to be replaced, so that the operation difficulty is reduced, the time cost is reduced, and the welding efficiency is improved.
In addition, the welding gun is arranged on the multi-degree-of-freedom mechanical arm, the multi-degree-of-freedom mechanical arm can carry the welding gun to adjust the postures according to the welding positions and angles, the welding gun is used for welding complex welding seams such as intersecting lines on a pipe fitting, the multi-degree-of-freedom mechanical arm is arranged on the axial moving assembly, the axial moving assembly is arranged on the circumferential moving assembly, the circumferential moving assembly can move circumferentially along the guide rail through the circumferential moving assembly, therefore, the position of the circumferential moving assembly relative to the pipe fitting (namely, the position of the welding gun in the circumferential direction of the pipe fitting is adjusted), the axial moving assembly drives the multi-degree-of-freedom mechanical arm to change the axial position relative to the guide rail (namely, the position of the welding gun in the axial direction of the pipe fitting is adjusted), and the welding gun can be adjusted at any different positions on the pipe fitting.
Drawings
The following drawings are only for purposes of illustration and explanation of the present invention and are not intended to limit the scope of the invention. Wherein:
FIG. 1 is a perspective view of the invention in a state of adapting to pipe fitting welding by an all-position welding robot with different pipe diameters;
FIG. 2 is a partial schematic view of the present invention in a split state of two adjacent arcuate segments in an all-position welding robot adapted to different pipe diameters;
FIG. 3 is a schematic structural view of a support rod assembly of the all-position welding robot of the present invention adapted to different pipe diameters;
FIG. 4 is a front cross-sectional view of a support rod assembly of the all-position welding robot of the present invention adapted to different pipe diameters;
FIG. 5 is a schematic structural view of a circumferentially moving assembly in an all-position welding robot adapted to different pipe diameters according to the present invention;
FIG. 6 is a partial schematic view of the present invention in a split state of a first sidewall plate and a first mounting plate in an all-position welding robot adapted to different pipe diameters;
FIG. 7 is a schematic view of the mounting position of a limit guide wheel in the all-position welding robot adapted to different pipe diameters;
fig. 8 is a schematic structural view of the present invention on a first wall surface of a first sidewall plate in an all-position welding robot adapted to different pipe diameters.
The reference numerals in the invention are:
1. 101, arc section;
1011. 1012, the first slot;
1013. 1014, a first nut;
1015. 102, a guide rail main body;
103. 1031, the first end face;
1032. 104, a gear ring;
2. a support rod assembly 201, a clamping member;
2011. 2012, connecting wires;
2013. 202, guiding a polished rod;
203. 204, a first mounting seat;
205. 206, a first connecting block;
2061. 2062, a first via;
207. 2071, the second blind hole;
2072. 208, a first locking screw;
209. A second locking screw 210, a first thrust bearing;
211. 212, a second nut;
213. 3, a circumferential movement assembly;
301. 3011, the second slot;
302. 303, a first drive motor;
304. 3041, first connecting posts;
305. 306, a first transmission gear;
307. 308, a rotating shaft;
309. 310, a mounting block;
311. 312, connecting rod;
313. 314, a first mounting plate;
3141. 315, connecting piece;
316. 317, moving the guide wheel;
318. 319, the second mounting plate;
320. 321, third connecting columns;
4. 401, the second slide rail;
402. A screw rod, 403, a sliding block;
404. a mechanical arm with multiple degrees of freedom;
6. and 7, welding gun and pipe fitting.
Detailed Description
The technical solution of the present application will be described in detail below with reference to the attached drawings and specific embodiments, it should be understood that these embodiments are only for illustrating the present application and not for limiting the scope of the present application, and various modifications of equivalent forms of the present application will fall within the scope of the appended claims after reading the present application.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Description of the embodiments
As shown in figures 1 to 8, the invention provides an all-position welding robot adapting to different pipe diameters, which is used for welding pipe fittings 7, and comprises a circular guide rail 1, a plurality of support rod assemblies 2, a plurality of multi-degree-of-freedom mechanical arms 5, a welding gun 6 and a welding gun 6, wherein the guide rail 1 is used for being arranged on the periphery of the pipe fittings 7 along the circumferential direction of the pipe fittings 7 in a circular manner, the support rod assemblies 2 are arranged on the guide rail 1 and are uniformly distributed along the circumferential direction of the guide rail 1, the support rod assemblies 2 comprise clamping pieces 201 which can move along the guide rail 1 in the radial direction, the clamping pieces 201 are respectively adjusted to enable the clamping pieces 201 to be abutted against the outer wall of the pipe fittings 7, so that the position stability between the welding robot and the pipe fittings 7 is ensured, the circumferential movement assemblies 3 are arranged on the guide rail 1 along the circumferential direction of the guide rail 1 in a movable manner, the circumferential movement assemblies 3 are used for adjusting the circumferential position of the circumferential movement assemblies 3 relative to the pipe fittings 7, the axial movement assemblies 4 are arranged on the circumferential movement assemblies 3, the multi-degree-of-freedom mechanical arms 5 are arranged on the axial movement assemblies 4, the multi-degree-of freedom mechanical arms 5 are used for driving the welding gun 6 to move along the axial arms 6 relative to the axial movement arms 6, and the welding gun 6 are arranged on the guide arms 6 are used for carrying out the welding operation, and the welding arms are arranged on the positions 6.
According to the invention, the guide rail 1 is annularly arranged on the periphery of the pipe fitting 7 to be welded along the circumferential direction of the pipe fitting 7 (the guide rail 1 is not attached to the outer wall of the pipe fitting 7, but a certain interval space is reserved), the guide rail 1 is provided with the plurality of support rod assemblies 2 at intervals, each support rod assembly 2 is respectively provided with the clamping piece 201 capable of moving along the radial direction of the guide rail 1, before the pipe fitting 7 is welded by the welding gun 6, the clamping pieces 201 in the plurality of support rod assemblies 2 can be respectively adjusted to enable the clamping pieces 201 to abut against the outer wall of the pipe fitting 7, so that a stable relative position between the guide rail 1 and the pipe fitting 7 can be ensured, the guide rail 1 is used as a basis for connecting the welding robot and the pipe fitting 7, the positioning installation of the welding robot can be completed only by assembling the guide rail 1 on the pipe fitting 7, the pipe fitting 7 is not required to be moved any pipe fitting 7, the welding robot can be suitable for any pipe fitting 7 welding scene, the application range is wider, and the front-stage preparation work of welding is not required to consume a large amount of manpower and material resources.
The welding robot provided by the application can be suitable for clamping and welding the pipe fittings 7 with different pipe diameters through the arrangement of the plurality of support rod assemblies 2, and when the pipe fittings 7 with different pipe diameters are welded, complicated adjustment is not needed, parts are not needed to be replaced, the operation difficulty is reduced, the time cost is reduced, and the welding efficiency is improved.
In addition, the welding gun 6 is arranged on the multi-degree-of-freedom mechanical arm 5, the multi-degree-of-freedom mechanical arm 5 can carry the welding gun 6 to adjust the postures according to the welding position and the angle on the pipe fitting 7, and the multi-degree-of-freedom mechanical arm 5 is particularly suitable for welding complex welding seams such as intersecting lines on the pipe fitting 7, the multi-degree-of-freedom mechanical arm 5 is arranged on the axial moving assembly 4, the axial moving assembly 4 is arranged on the circumferential moving assembly 3, and the circumferential moving assembly 3 can carry out circumferential movement along the guide rail 1, so that the position of the circumferential moving assembly 3 relative to the pipe fitting 7 (namely, the position of the welding gun 6 in the circumferential direction of the pipe fitting 7) is adjusted, the axial moving assembly 4 drives the multi-degree-of-freedom mechanical arm 5 to change the axial position relative to the guide rail 1 (namely, the position of the welding gun 6 in the axial direction of the pipe fitting 7) to realize random adjustment of the welding gun 6 in different positions on the pipe fitting 7, and the welding robot can realize full-position and full-angle welding through the matching of the circumferential moving assembly 3, the axial moving assembly 4 and the multi-degree-of the mechanical arm 5.
The pipe 7 in the present application may be, but not limited to, a pipe or a round pipe, but may be any other round pipe-shaped structural member with welding requirements. Of course, the specific form of the pipe 7 is not limited to the above examples, and other modifications are possible by those skilled in the art in light of the technical spirit of the present application, but all structural members having the same or similar structure as the pipe in the present application and requiring welding requirements are included in the scope of the present application.
During the actual welding process, the clamping members 201 of the plurality of support rod assemblies 2 may be controlled to be at the same position in the radial direction of the guide rail 1 (i.e., the plurality of clamping members 201 are equally spaced from the axis of the guide rail 1), so that the pipe member 7 is in a coaxial line state with the guide rail 1 in the welding state. Of course, the clamping pieces 201 in the plurality of support rod assemblies 2 can also be controlled to be located at different positions in the radial direction of the guide rail 1 according to actual needs (namely, the distances between the plurality of clamping pieces 201 and the axis of the guide rail 1 are unequal), at the moment, the pipe fitting 7 and the guide rail 1 are located in an eccentric state, at the moment, the distance between one side of the guide rail 1 and the pipe fitting 7 is larger than the distance between the other opposite side of the guide rail 1 and the pipe fitting 7, at the moment, the position of the welding gun 6 in the circumferential direction of the guide rail 1 can be adjusted according to actual needs, and the adjustability and the actual adaptation capability of the welding gun 6 are improved through unequal length adjustment of the plurality of support rod assemblies 2, so that the welding gun 6 can be accurately aligned with the welding position to weld. If the multi-degree-of-freedom mechanical arm 5 is in a fully extended or contracted state, the welding gun 6 still cannot reach the preset welding position, and the welding gun 6 can reach the preset welding position by supplementing the multi-degree-of-freedom mechanical arm 5 through non-equal-length adjustment of the plurality of support rod assemblies 2.
In an alternative embodiment of the present invention, as shown in fig. 1 and 2, the guide rail 1 has a plurality of arc segments 101, and the plurality of arc segments 101 are sequentially connected end to form an annular guide rail 1.
Specifically, the number of the arc segments 101 is four, the lengths of the four arc segments 101 are the same, before welding operation, in order to facilitate transportation and installation of the circumferential moving assembly 3 on the guide rail 1, the four arc segments 101 can be connected in pairs, or the three arc segments 101 are connected, and after the circumferential moving assembly 3 is installed, all the arc segments 101 are connected end to form the annular guide rail 1.
Further, as shown in fig. 2, in two adjacent arc segments 101, at least one first inserting block 1011 is disposed at an end of one arc segment 101, a first slot 1012 adapted to the first inserting block 1011 is disposed at an end of the other arc segment 101, in a connection state of two adjacent arc segments 101, the first inserting block 1011 on one arc segment 101 is inserted into the first slot 1012 on the other arc segment 101, through holes 1015 which are mutually communicated are respectively disposed on the first inserting block 1011 and the first slot 1012, a first bolt 1013 is inserted into the through holes 1015 at an insertion position of the first inserting block 1011 and the first slot 1012, and a first nut 1014 is screwed at a head of the first bolt 1013, so that the two adjacent arc segments 101 are fixedly connected through the first bolt 1013.
In an alternative embodiment of the present invention, as shown in fig. 1, 3 and 4, the support rod assembly 2 includes a guiding polish rod 202, a threaded rod 203, a first connection block 206 and a second connection block 207, a first mounting seat 204 is slidably disposed on the guiding polish rod 202 along an extending direction of the guiding polish rod, the threaded rod 203 is parallel to the guiding polish rod 202, the threaded rod 203 has a second mounting seat 205, a threaded hole is disposed on the second mounting seat 205, the second mounting seat 205 is screwed on the threaded rod 203 through the threaded hole, one end of the threaded rod 203 is connected with a power device to drive the threaded rod 203 to rotate, a clamping member 201 is disposed on the first connection block 206, two ends of the guiding polish rod 202 are fixedly connected with the first connection block 206 and the second connection block 207, two ends of the threaded rod 203 are fixedly connected with the first connection block 206 and the second connection block 207, the first mounting seat 204 and the second mounting seat 205 are fixedly connected to the guide polish rod 1 through bolts, and the guiding polish rod 202 and the threaded rod 203 extend along a radial direction of the guide rail 1. The threaded rod 203 is driven to rotate by the power device, and the second mounting seat 205 on the threaded rod 203 is fixedly mounted on the guide rail 1, so that the threaded rod 203 moves along the axial direction (i.e. moves along the radial direction of the guide rail 1) while rotating, thereby achieving the purpose of adjusting the clamping piece 201 along the radial direction of the guide rail 1. The guiding polish rod 202 plays a role in guiding and guaranteeing the stable movement of the clamping piece 201.
In the present application, the power device may be, but is not limited to, a motor, an output shaft of which is connected to one end of the threaded rod 203. Although other power devices are possible, the specific form of the power device is not limited to the above examples, and other modifications are possible by those skilled in the art in light of the technical spirit of the present application, and the power device is also included in the scope of the present application as long as the power device has the same function as the motor in the present application, and the power device provides a driving force for the rotation of the threaded rod 203.
Specifically, as shown in fig. 3 and 4, the first connecting block 206 has a first blind hole 2061, the second connecting block 207 has a second blind hole 2071, two ends of the guiding polish rod 202 are respectively inserted into the first blind hole 2061 and the second blind hole 2071, the guiding polish rod 202 is fixedly connected with the first connecting block 206 through a first locking screw 208, and the guiding polish rod 202 is fixedly connected with the second connecting block 207 through a second locking screw 209. The screwing direction of the first locking screw 208 and the second locking screw 209 is perpendicular to the extending direction of the guiding polish rod 202, so as to realize circumferential locking of the guiding polish rod 202, and ensure that the guiding polish rod 202 cannot rotate circumferentially.
In addition, the first connection block 206 further has a first through hole 2062, the second connection block 207 further has a second through hole 2072, two ends of the threaded rod 203 are respectively rotatably inserted into the first through hole 2062 and the second through hole 2072, and two ends of the threaded rod 203 are respectively screwed with a second nut 212 and a third nut 213, so as to realize axial locking of the threaded rod 203, and ensure that the threaded rod 203 can be circumferentially rotated.
Further, as shown in fig. 4, at least one first thrust bearing 210 is disposed in the first through hole 2062, at least one second thrust bearing 211 is disposed in the second through hole 2072, and two ends of the threaded rod 203 are respectively connected with the first thrust bearing 210 and the second thrust bearing 211, so as to ensure that the threaded rod 203 can rotate stably and smoothly, and prolong the service life of the threaded rod 203.
Further, as shown in fig. 3 and 4, the clamping member 201 includes a clamping plate 2011 and a sheet-shaped cushion block 2013, one side plate surface of the clamping plate 2011 is connected with the first connecting block 206, the cushion block 2013 is disposed on the other opposite side plate surface of the clamping plate 2011, and when the clamping member 201 abuts against the outer wall of the pipe fitting 7, the cushion block 2013 is tightly attached to the outer wall of the pipe fitting 7, so as to increase friction between the clamping member 201 and the outer wall of the pipe fitting 7, and ensure stable clamping of the pipe fitting 7. Wherein the pad 2013 may be, but is not limited to, a rubber pad.
Further, as shown in fig. 3, the clamping piece 201 includes a plurality of clamping plates 2011, one side edge of each two adjacent clamping plates 2011 is connected and a preset bending angle is formed between each two adjacent clamping plates 2011, and an extending direction of a connecting line 2012 of each two adjacent clamping plates 2011 is parallel to an axial direction of the pipe fitting 7, so that a side plate surface of the clamping piece 201 propped against the pipe fitting 7 is more adaptive to an radian of an outer wall of the pipe fitting 7, stable clamping capacity of the clamping piece 201 is improved, and stability of the welding robot is further improved.
In an alternative implementation of the present invention, as shown in fig. 1, 2 and 5 to 8, the guide rail 1 includes a circular guide rail body 102 and a gear ring 104, the gear ring 104 is circumferentially arranged on the outer periphery of the guide rail body 102 along the circumferential direction of the guide rail body 102, and the inner side wall of the gear ring 104 is connected with the outer side wall of the guide rail body 102, wherein the circumferential movement assembly 3 includes a first side wall plate 301 and a second side wall plate 304, the first side wall plate 301 has a first opposite plate surface and a second plate surface, a rotatable driving gear 302 and a first driving motor 303 are disposed on the first plate surface, the extending direction of an output shaft of the first driving motor 303 is perpendicular to the extending direction of the rotating shaft 308, the first driving motor 303 is connected with the driving gear 302 through a transmission structure, teeth of the driving gear 302 are meshed with those of the gear ring 104, and driving force is provided for rotation of the driving gear 302 by the first driving motor 303, so as to drive the first side wall plate 301 to move along the gear ring 104, that the circumferential movement assembly 3 can move along the circumferential direction of the guide rail 1, so as to achieve the purpose of adjusting the circumferential position of the welding gun 6 on the pipe 7.
Further, as shown in fig. 1 and 8, the second side wall plate 304 is connected to the first plate surface of the first side wall plate 301 by a stopper connecting plate 305, and the axial moving assembly 4 is provided on the second side wall plate 304.
In this embodiment, as shown in fig. 1 and 2, the guide rail main body 102 and the gear ring 104 are respectively in a multi-segment splicing structure, and the segments are spliced end to form an annular guide rail main body 102 and an annular gear ring 104 respectively. The guide rail main body 102 may be spliced and fixed by the above-mentioned first insertion block 1011 and first insertion slot 1012 being inserted and connected in a fixed manner by the first bolt 1013. And no additional connection structure is needed between two adjacent gear rings 104, the multi-section gear rings 104 can be respectively connected to the outer side walls of the corresponding multi-section guide rail main bodies 102 through bolt and nut matching, and after the multi-section guide rail main bodies 102 are spliced, the multi-section gear rings 104 naturally form an end-to-end connection structure, so that the multi-section gear rings 104 are spliced to form a complete annular gear ring 104. Specifically, the annular guide rail body 102 is formed by splicing four identical arc-shaped structures, and the annular gear ring 104 is formed by splicing four identical arc-shaped structures.
Specifically, as shown in fig. 8, the first plate surface of the first sidewall 301 is disposed on a rotation shaft 308 parallel to the axial direction of the guide rail 1, and the driving gear 302 is disposed on the rotation shaft 308. The transmission structure includes a first transmission gear 306 and a second transmission gear 307, the first transmission gear 306 is disposed on the output shaft of the first driving motor 303, the second transmission gear 307 is disposed on the rotating shaft 308, and teeth on the first transmission gear 306 are meshed with teeth on the second transmission gear 307. The transmission structure is used for transmitting the rotating force provided by the output shaft of the first driving motor 303 to the driving gear 302, and the first transmission gear 306 and the second transmission gear 307 are matched to realize meshing transmission, so that the driving gear 302 is driven to move circumferentially along the gear ring 104, namely, the aim of moving the circumferential moving assembly 3 circumferentially along the guide rail 1 is fulfilled. Wherein, the first transmission gear 306 and the second transmission gear 307 are bevel gears, and the driving gear 302 is a spur gear matched with the gear ring 104.
Further, as shown in fig. 8, a first sliding rail 309 and a driving structure 311 are further disposed on the first plate surface of the first side wall plate 301, the first sliding rail 309 is fixedly mounted on the first plate surface of the first side wall plate 301 through bolts, the first driving motor 303 is slidably disposed on the first sliding rail 309, and the first driving motor 303 moves along the first sliding rail 309, so that the first transmission gear 306 moves in a direction approaching or separating from the second transmission gear 307. The driving end of the driving structure 311 is connected to the first driving motor 303, the driving structure 311 is used to drive the first driving motor 303 to slide along the first sliding rail 309, when the first transmission gear 306 is controlled to move towards the direction close to the second transmission gear 307, teeth on the first transmission gear 306 are controlled to be meshed with teeth on the second transmission gear 307, normal power transmission can be performed at the moment, when the first transmission gear 306 is controlled to move away from the second transmission gear 307, teeth on the first transmission gear 306 are controlled to be separated from teeth on the second transmission gear 307, power transmission can not be performed at the moment, and in this state, the driving gear 302 and the second transmission gear 307 can freely rotate, so that the assembly of the circumferential movement assembly 3 and the guide rail 1 can be applied, and the teeth of the driving gear 302 can be smoothly meshed with teeth of the gear ring 104.
Further, as shown in fig. 8, the first driving motor 303 and the second driving gear 307 are respectively located at two sides of the limit connecting plate 305, and the first driving gear 306 is located at the same side of the limit connecting plate 305 as the second driving gear 307 beyond the limit connecting plate 305, when the first driving motor 303 slides along the first sliding rail 309 towards the direction approaching to the second driving gear 307, the first driving motor 303 slides to a position propping against the limit connecting plate 305, and the first driving gear 306 moves to a position where teeth on the first driving gear 306 mesh with teeth on the second driving gear 307. The arrangement of the limit connection plate 305 not only can be used as a connection structure of the first side wall plate 301 and the second side wall plate 304, but also can play a role in limiting the moving position of the first driving motor 303, so that the teeth on the first transmission gear 306 and the teeth on the second transmission gear 307 can just reach the optimal meshing position, and smooth transmission is ensured.
In the invention, the sliding position of the first driving motor 303 on the first sliding rail 309 can be controlled by directly connecting the first driving motor 303 or the connecting rod 312 through a handle in a push-pull manner.
In an alternative embodiment of the present invention, as shown in fig. 5, the second side wall plate 304 is disposed parallel to the first side wall plate 301, and a plurality of first connecting posts 3041 are further connected between the second side wall plate 304 and the first plate surface of the first side wall plate 301, so as to improve the stability of the connection between the second side wall plate 304 and the first side wall plate 301, and serve to enhance the structural rigidity of the circumferential moving component 3.
In an alternative implementation of the present invention, as shown in fig. 2, 5 and 7, the outer wall of the guide rail main body 102 is provided with a guide limit ring 103 along the circumferential direction, the guide limit ring 103 is connected with the outer wall of the guide rail main body 102, the guide limit ring 103 is provided with a first side wall surface 1032 and a second side wall surface opposite to each other in the radial direction of the guide rail 1 (i.e. the inside-outside direction of the paper in fig. 2), the guide limit ring 103 is also provided with a first end surface 1031 and a second end surface opposite to each other in the axial direction of the guide rail 1 (i.e. the up-down direction in fig. 2), the circumferential movement assembly 3 further comprises two first mounting plates 314 arranged at intervals along the axial direction of the guide rail 1, the first mounting plates 314 are connected with the second plate surface of the first side wall plate 301, the two first mounting plates 314 are respectively located on the upper side and lower sides of the guide limit ring 103, the first mounting plates 314 are provided with a plurality of limit guide wheels 318, the plurality of limit guide wheels 318 are arranged in at least two rows, and a gap is reserved between the two rows of limit guide wheels 318, preferably, the gap is equal to the thickness between the first side wall surface 1032 and the second side wall surface 103 is located between the first side wall surface of the first side wall surface 1032 and the second side surface of the guide wheel 318, the first side surface is contacted with the upper side surface of the limit wheel 318 and the lower side surface of the limit wheel 318. Through the setting of two rows of spacing leading wheels 318, can play the radial spacing purpose along guide rail 1 to circumference direction moving component 3, through the outer wall of two rows of spacing leading wheels 318 respectively with first lateral wall 1032 and second lateral wall rolling contact, play the effect of support and rolling direction for the rolling contact position between circumference direction moving component 3 and guide rail 1 atress is balanced more, avoids local atress too big condition to appear, improves circumference direction moving component 3 and removes stability along guide rail 1.
Further, as shown in fig. 2 and 5, the first mounting plate 314 has a plurality of moving guide wheels 317 thereon, and the moving guide wheels 317 on the two first mounting plates 314 are in rolling contact with the first end surface 1031 and the second end surface, respectively. The movable guide wheels 317 are matched with the limit guide wheels 318, so that the movable assembly 3 is supported, the movable assembly 3 is in rolling contact with at least three surfaces of the guide rail 1, and the stability of the movable assembly 3 along the guide rail 1 and the rolling capacity of the movable assembly 3 are further improved.
Specifically, as shown in fig. 5 and 7, the limit guide wheel 318 is rotatably disposed on the plate surface of the second mounting plate 319, and a plurality of second connection posts 320 are connected between the second mounting plate 319 and the first mounting plate 314. By adjusting the length of the second connecting post 320, the distance between the limit guide wheels 318 on the upper and lower second mounting plates 319 can be adjusted to accommodate stable connection of guide limit rings 103 of different radial lengths.
Further, as shown in fig. 5, a plurality of third connecting posts 321 are connected between the two second mounting plates 319, to which the upper and lower first mounting plates 314 are connected, respectively, to improve the positional stability of the two second mounting plates 319.
Specifically, in the invention, as shown in fig. 5 and 6, the plate surface of the first mounting plate 314 is perpendicular to the plate surface of the first side wall plate 301, a second insertion block 3141 is provided at the edge position of the first mounting plate 314, a second insertion slot 3011 is provided on the first side wall plate 301, the second insertion block 3141 is inserted into the second insertion slot 3011, and a connecting member 315 is provided between the first mounting plate 314 and the first side wall plate 301, and the first mounting plate 314 and the first side wall plate 301 are fixedly connected with the connecting member 315 through second bolts 316, respectively, so as to ensure stable connection of the first mounting plate 314 and the first side wall plate 301. Wherein the connecting member 315 may be, but is not limited to, angle steel.
In an alternative implementation of the present invention, as shown in fig. 1, the axial moving assembly 4 includes a second sliding rail 401, where an extending direction of the second sliding rail 401 is parallel to an axial direction of the guide rail 1, that is, an extending direction of the second sliding rail 401 extends vertically in fig. 1, the second sliding rail 401 is fixedly mounted on a second side wall plate 304 of the circumferential moving assembly 3 by a bolt, a screw rod 402 is disposed on one side of the second sliding rail 401, an extending direction of the screw rod 402 is parallel to an extending direction of the second sliding rail 401, a sliding block 403 is slidably disposed on the second sliding rail 401, and the sliding block 403 has a threaded hole, the sliding block 403 is screwed with the screw rod 402 by the threaded hole, and the sliding block 403 can be driven to move up and down along the second sliding rail 401 by rotating the screw rod 402, so as to adjust a position of the sliding block 403 relative to the pipe 7 in an axial direction, and thus achieve an axial position adjustment of a welding gun 6 connected to the sliding block 403 on the pipe 7, so as to achieve an adjustment of an axial welding position of the pipe 7.
Further, as shown in fig. 1, the axial moving assembly 4 further includes a second driving motor 404, the second driving motor 404 is fixedly disposed at the top end of the second sliding rail 401, and an output shaft of the second driving motor 404 is connected with the top end of the screw rod 402, and the screw rod 402 can be driven to rotate by the second driving motor 404, so as to provide driving force for the sliding block 403 to slide along the second sliding rail 401.
In an alternative embodiment of the present invention, as shown in fig. 1, the fixed portion of the multiple degree of freedom mechanical arm 5 is detachably connected to the slider 403, and the moving portion of the multiple degree of freedom mechanical arm 5 is connected to the welding gun 6. The multi-degree-of-freedom mechanical arm 5 and the welding gun 6 can move along with the sliding of the sliding block 403 on the second sliding rail 401, so that the positions of the multi-degree-of-freedom mechanical arm 5 and the welding gun 6 on the axial direction of the pipe fitting 7 are adjusted to meet the requirements of different welding positions. The multi-degree-of-freedom mechanical arm 5 can be, but is not limited to, a three-degree-of-freedom mechanical arm, and adjustment of different postures of the welding gun 6 can be achieved through the three-degree-of-freedom mechanical arm, so that multi-angle welding requirements can be met, and the multi-degree-of-freedom mechanical arm is particularly suitable for welding complex welding seams such as intersecting lines on a pipe fitting 7. In the invention, the three-degree-of-freedom mechanical arm is matched with the circumferential moving assembly 3 and the axial moving assembly 4, so that the welding robot has at least 5 degrees of freedom, and the full-position welding of the pipe fitting 7 can be realized.
The invention is suitable for the assembly and working process of all-position welding robots with different pipe diameters, and comprises the following steps:
First, four segments of the ring gears 104 are respectively mounted on the corresponding four segments of the rail main bodies 102, and then three segments of the rail main bodies 102 are sequentially connected, that is, the rail 1 of three quarters of turns is spliced. The teeth on the first transmission gear 306 are controlled to be separated from the teeth on the second transmission gear 307, the circumferential moving assembly 3 is arranged on the guide rail 1, the teeth of the driving gear 302 are meshed with the teeth of the gear ring 104, then the first transmission gear 306 is controlled to move to approach the second transmission gear 307 until the teeth on the first transmission gear 306 are meshed with the teeth on the second transmission gear 307, and then the last section of the guide rail main body 102 is arranged to splice a complete guide rail 1.
The guide rail 1 is arranged around the periphery of the pipe fitting 7 to be welded, and the positions of the clamping pieces 201 in the plurality of support rod assemblies 2 in the radial direction of the guide rail 1 are respectively adjusted, so that the plurality of clamping pieces 201 are propped against the outer wall of the pipe fitting 7, and the guide rail 1 can be fixed on the pipe fitting 7 to keep the position unchanged. Before welding operation, the first driving motor 303 drives the circumferential moving assembly 3 to move along the guide rail 1, so that the circumferential moving assembly 3 can move around the circumference of the pipe fitting 7 to be welded, meanwhile, the second driving motor 404 in the axial moving assembly 4 drives the multi-degree-of-freedom mechanical arm 5 to move along the axial direction of the pipe fitting 7 to be welded, and the multi-degree-of-freedom mechanical arm 5 can adjust the posture of the welding gun 6 according to the welding position and the angle, so that all-position and multi-posture welding is realized.
The all-position welding robot adapting to different pipe diameters has the characteristics and advantages that:
1. The all-position welding robot adapting to different pipe diameters can adjust the position of the clamping piece 201 on the support rod assembly 2 according to the pipe diameter of the pipe fitting 7, so that the welding robot can stably clamp the pipe fitting 7, and the welding robot is suitable for welding pipelines with different pipe diameters. The clamping of the pipe fitting 7 can be realized through the matching of the support rod assemblies 2, the adjustable range is large, other parts are not required to be added or replaced in the adjustment process, and the adjustment is more convenient and has high efficiency.
2. The all-position welding robot adapting to different pipe diameters can realize the adjustment of the position and the posture of the welding gun 6 through the matching of the circumferential moving assembly 3, the axial moving assembly 4 and the multi-degree-of-freedom mechanical arm 5, can realize the all-position welding of the pipe fitting 7, and is suitable for the welding of complex welding seams such as intersecting lines on the pipe fitting 7. The circumferential moving assembly 3 can move along the guide rail 1 to achieve 360-degree position adjustment of the welding gun 6 around the pipe fitting 7, the axial moving assembly 4 can drive the multi-degree-of-freedom mechanical arm 5 to move in a large range in the axial direction of the pipe fitting 7, and the multi-degree-of-freedom mechanical arm 5 can achieve the requirements of changing different postures of the welding gun 6 to achieve the requirements of different welding angles. According to the welding robot disclosed by the invention, the circumferential moving assembly 3, the axial moving assembly 4 and the multi-degree-of-freedom mechanical arm 5 are matched, so that the welding robot disclosed by the invention has at least 5 degrees of freedom, and the welding process cannot be influenced due to the rotation of the welding gun 6, so that the welding robot disclosed by the invention can realize all-position welding within a certain space range.
3. The all-position welding robot suitable for different pipe diameters is small, portable and convenient to install. For example, the guide rail 1 can be formed by splicing a plurality of arc segments 101 (such as four arc segments 101), in actual use, the four arc segments 101 can be spliced in pairs in advance to form two semicircular guide rails, the circumferential moving assembly 3 is mounted on one of the semicircular guide rails in advance, when welding operation is needed, the welding operation can be performed only by splicing the two semicircular guide rails and adjusting the position of the clamping piece 201 in the support rod assembly 2 to tightly press the outer wall of the pipe fitting 7, the whole operation flow is simple, efficient and convenient, in addition, the guide rail 1, the circumferential moving assembly 3 and the axial moving assembly 4 are connected through bolts or screws, the disassembly is convenient, the carrying and the transportation are convenient after the disassembly, and the field transferring capability is better.
It should be noted that, in the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and to distinguish between similar objects, and there is no order of preference between them, nor should they be construed as indicating or implying relative importance. Furthermore, in the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
The foregoing embodiments in the present specification are all described in a progressive manner, and the same and similar parts of the embodiments are mutually referred to, and each embodiment is mainly described in a different manner from other embodiments.
The foregoing is merely a few embodiments of the present invention, and the embodiments disclosed in the present invention are merely examples which are used for the convenience of understanding the present invention and are not intended to limit the present invention. Any person skilled in the art can make any modification and variation in form and detail of the embodiments without departing from the spirit and scope of the present disclosure, but the scope of the present disclosure is still subject to the scope of the appended claims.