阅读说明：本技术 一种可深入式回转管道焊接机器人 (Deep rotary pipeline welding robot ) 是由 韩雪娜 杨泽雪 孙剑明 张启涛 张佳琳 于 2019-09-29 设计创作，主要内容包括：本发明涉及焊接机器人,更具体的说是一种可深入式回转管道焊接机器人,包括装置支架Ⅰ、装置支架Ⅱ、定心块、送入机构、推动机构、运动支架Ⅰ、运动机构Ⅰ、运动支架Ⅱ和运动机构Ⅱ,推动送入机构在装置支架Ⅱ上进行滑动,送入机构运动一定距离时推动推动机构在装置支架Ⅰ上进行滑动,当送入机构推动推动机构时多个运动机构Ⅰ分别和多个运动机构Ⅱ相互对应,每对运动机构Ⅰ和运动机构Ⅱ均处于同一竖直面,多个运动机构Ⅰ滑下装置支架Ⅰ,多个运动机构Ⅰ均通过拉伸弹簧的压力贴合管道的外表面,向后滑动送入机构,多个运动机构Ⅱ均通过压缩弹簧的压力贴合管道的内表面,多个运动机构Ⅰ分别通过磁力带动多个运动机构Ⅱ在管道内进行运动。(The invention relates to a welding robot, in particular to a deep rotary pipeline welding robot, which comprises a device bracket I, a device bracket II, a centering block, a feeding mechanism, a pushing mechanism, a moving bracket I, a moving mechanism I, a moving bracket II and a moving mechanism II, wherein the pushing mechanism is pushed to slide on the device bracket II, the pushing mechanism is pushed to slide on the device bracket I when the feeding mechanism moves for a certain distance, a plurality of moving mechanisms I correspond to the moving mechanisms II respectively when the feeding mechanism pushes the pushing mechanism, each pair of moving mechanisms I and moving mechanisms II are positioned on the same vertical plane, the moving mechanisms I slide down the device bracket I, the moving mechanisms I are attached to the outer surface of a pipeline through the pressure of an extension spring, the feeding mechanism slides backwards, the moving mechanisms II are attached to the inner surface of the pipeline through the pressure of a compression spring, a plurality of motion I drive a plurality of motion II through magnetic force respectively and move in the pipeline.)

1. The utility model provides a can go deep into formula gyration pipeline welding robot, includes device support I (1), device support II (2), centering piece (3), send into mechanism (4), pushing mechanism (5), motion support I (6), motion I (7), motion support II (8) and motion II (9), its characterized in that: the device comprises a device support I (1), a device support II (2), a plurality of centering blocks (3), a plurality of pushing mechanisms (5), a plurality of stretching springs, a plurality of centering blocks, a plurality of centering mechanisms I (7), a plurality of centering mechanism I (7), a plurality of stretching springs, a plurality of centering block fixing mechanisms I (1), a plurality of centering blocks, a plurality of centering block fixing mechanisms I (3), a plurality of centering block fixing mechanism I (3) and a device support I (1), wherein the centering blocks are fixedly connected to the device support I (1), the centering block fixing mechanisms II (3) are connected to the device support I (1) in a sliding mode, the other sides of the centering blocks (3) are connected to the device support II (2) in a threaded mode, the device support II (2) is connected to a feeding mechanism (4) in a sliding mode, the device support I (1) is connected to a plurality of pushing mechanisms (5) in a sliding mode, the pushing mechanisms (5) are arranged, it has II (8) of motion support to insert on mechanism (4) to send into, sliding connection has II (9) of a plurality of motion on II (8) of motion support, equal fixedly connected with compression spring II between II (9) of a plurality of motion and the motion support II (8), I (7) of a plurality of motion all pass through extension spring's pressure laminating pipeline's surface, II (9) of a plurality of motion all pass through compression spring's pressure laminating pipeline's internal surface, I (7) of a plurality of motion drive II (9) of a plurality of motion through magnetic force respectively and move in the pipeline.

2. The deeply-rotatable pipeline welding robot as claimed in claim 1, wherein: the device support I (1) comprises a support ring I (1-1), support plates I (1-2), sliding waist holes I (1-3), limiting slide rails (1-4), centering sliding plates (1-5) and limiting holes (1-6), four support plates I (1-2) are evenly and fixedly connected to the support ring I (1-1) in the circumferential direction, the sliding waist holes I (1-3) are formed in the four support plates I (1-2), the centering sliding plates (1-5) are fixedly connected to the support ring I (1-1), four limiting holes (1-6) are formed in the centering sliding plates (1-5), and the limiting slide rails (1-4) are fixedly connected to the four support plates I (1-2).

3. The deeply-rotatable pipeline welding robot as claimed in claim 2, wherein: the device bracket II (2) comprises a support ring I (2-1) and a threaded disc (2-2), the support ring I (2-1) is fixedly connected to the support ring I (1-1), the support ring I (2-1) is rotatably connected with the threaded disc (2-2), the rear side of the support ring I (2-1) is fixedly connected with four support plates II (2-3), the four support plates II (2-3) are respectively provided with the sliding waist holes II (2-4), the centering blocks (3) are four, one sides of the four centering blocks (3) are respectively connected in the four limiting holes (1-6) in a sliding mode, and the other sides of the four centering blocks (3) are connected to the threaded disc (2-2) through vortex threads.

4. The deeply-rotatable pipeline welding robot as claimed in claim 3, wherein: send into mechanism (4) including sending into push pedal (4-1), send into support ring (4-2), send into slip post (4-3), limiting plate I (4-4) and limiting plate II (4-5), send into fixedly connected with on push pedal (4-1) and send into support ring (4-2), send into four inboard fixedly connected with of support ring (4-2) and send into slip post (4-3), four equal fixedly connected with limiting plate I (4-4) in inboard of sending into slip post (4-3), equal fixedly connected with limiting plate II (4-5) on four limiting plate I (4-4), four are sent into slip post (4-3) and are sliding connection respectively in four slip waist holes II (2-4).

5. The deeply-rotatable pipeline welding robot as claimed in claim 4, wherein: the pushing mechanism (5) comprises a contact pushing column (5-1) and a sliding block (5-2), vertical promotion post (5-3) and sliding column (5-4), touch fixedly connected with sliding block (5-2) on promoting post (5-1), fixedly connected with vertical promotion post (5-3) on sliding block (5-2), fixedly connected with sliding column (5-4) on vertical promotion post (5-3), pushing mechanism (5) are provided with four, four sliding column (5-4) sliding connection respectively are on four backup pads I (1-2), all be provided with compression spring I between four sliding column (5-4) and four backup pads I (1-2), four sliding block (5-2) sliding connection respectively are in four slip waist hole I (1-3).

6. The deeply-rotatable pipeline welding robot as claimed in claim 5, wherein: motion support I (6) are including motion support ring I (6-1) and motion backup pad I (6-2), and the even fixedly connected with four motion backup pads I (6-2) of circumference on motion support ring I (6-1), the rear side and a plurality of vertical promotion post (5-3) contact of motion support ring I (6-1).

7. The deeply-rotatable pipeline welding robot as claimed in claim 6, wherein: the movement mechanism I (7) comprises a movement limiting plate I (7-1), a movement support I (7-2), a movement motor (7-3), a movement wheel I (7-4), sliding supporting plates I (7-5) and a centrifugal sliding column I (7-6), the lower end of the movement limiting plate I (7-1) is fixedly connected with the movement support I (7-2), the movement motor (7-3) is fixedly connected onto the movement support I (7-2), the movement wheel I (7-4) is fixedly connected onto an output shaft of the movement motor (7-3), a plurality of sliding supporting plates I (7-5) are uniformly and fixedly connected onto the two sides of the movement wheel I (7-4) in the circumferential direction, and the centrifugal sliding column I (7-6) is slidably connected onto the plurality of sliding supporting plates I (7-5), eight movement limiting plates I (7-1) are respectively connected to four movement supporting plates I (6-2) in a sliding mode, eight movement limiting plates I (7-1) are respectively connected to four limiting sliding rails (1-4) in a sliding mode, stretching springs are fixedly connected between the eight movement limiting plates I (7-1) and the corresponding movement supporting plates I (6-2), and movement wheels I (7-4) and centrifugal sliding columns I (7-6) are electromagnets.

8. The deeply-rotatable pipeline welding robot as claimed in claim 7, wherein: the movement support II (8) comprises a movement support ring II (8-1), a movement support plate II (8-2) and a measurement rope (8-3), four movement support plates II (8-2) are uniformly and fixedly connected to the movement support ring II (8-1) in the circumferential direction, the measurement rope (8-3) is fixedly connected to the rear side of the movement support ring II (8-1), the measurement rope (8-3) is connected to the feeding push plate (4-1) in a sliding mode, the measurement rope (8-3) and the feeding support ring (4-2) are coaxially arranged, and the rear side of the movement support ring II (8-1) is in contact with four limiting plates II (4-5).

9. The deeply-rotatable pipeline welding robot as claimed in claim 8, wherein: the moving mechanism II (9) comprises a moving limiting plate II (9-1), a moving support II (9-2), a moving wheel II (9-3), a sliding support plate II (9-4) and a centrifugal sliding column II (9-5), the moving support II (9-2) is fixedly connected to the moving limiting plate II (9-1), the moving support II (9-2) is rotatably connected with the moving wheel II (9-3), a plurality of sliding support plates II (9-4) are circumferentially and uniformly and fixedly connected to two sides of the moving wheel II (9-3), the centrifugal sliding columns II (9-5) are slidably connected to the sliding support plates II (9-4), the moving wheel II (9-3) and the centrifugal sliding columns II (9-5) are electromagnets, and eight moving mechanisms II (9) are arranged, eight motion limiting plates II (9-1) are respectively connected to the four limiting plates I (4-4) in a sliding mode, eight motion supports II (9-2) are respectively connected to the four motion supporting plates II (8-2) in a sliding mode, and compression springs II are fixedly connected between the eight motion supports II (9-2) and the corresponding motion supporting plates II (8-2).

Technical Field

The invention relates to a welding robot, in particular to a deep rotary pipeline welding robot.

Background

For example, the publication No. CN107042377A discloses a pipeline welding robot, which includes a terminal moving assembly, a wheel set telescopic swinging assembly, a wheel set telescopic hydraulic cylinder attitude adjusting assembly, and a telescopic welding gun assembly; the device has simple structure and flexible operation, can move freely in all directions in a pipeline system, quickly reaches a designated position and executes a welding task; the device can realize complex motions such as turning, changing lanes and the like, can effectively prevent falling, and can meet the welding requirements of pipelines with different sizes and different cross section shapes; however, the invention has the defects that the welding can only be carried out in the pipe, and the welding can not be carried out simultaneously inside and outside the pipe, thereby reducing the influence of welding stress on the pipeline.

Disclosure of Invention

The invention aims to provide a pipeline welding robot capable of deeply rotating, which can weld inside and outside a pipe simultaneously and reduce the influence of welding stress on the pipeline.

The purpose of the invention is realized by the following technical scheme:

a deep rotary pipeline welding robot comprises a device support I, a device support II, centering blocks, a feeding mechanism, a pushing mechanism, a moving support I, a moving mechanism I, a moving support II and a moving mechanism II, wherein the device support II is fixedly connected to the device support I, a plurality of centering blocks are arranged between the device support II and the device support I, one sides of the centering blocks are connected to the device support I in a sliding mode, the other sides of the centering blocks are connected to the device support II through threads, the feeding mechanism is connected to the device support II in a sliding mode, the pushing mechanism is connected to the device support I in a sliding mode, a compression spring I is arranged between the pushing mechanism and the device support I, the moving support I is inserted into the device support I, the moving mechanism I is connected to the moving support I in a sliding mode, and an extension spring is fixedly connected between the moving mechanism I and the moving support I, insert motion support II on sending into the mechanism, sliding connection has a plurality of motion II on motion support II, equal fixedly connected with compression spring II between a plurality of motion II and the motion support II, a plurality of motion I all through extension spring's pressure laminating pipeline's surface, a plurality of motion II all through compression spring's pressure laminating pipeline's internal surface, a plurality of motion I drive a plurality of motion II through magnetic force respectively and move in the pipeline.

According to the further optimization of the technical scheme, the device support I comprises a support ring I, support plates I, sliding waist holes I, limiting slide rails, centering slide plates and limiting holes, the four support plates I are uniformly and fixedly connected to the support ring I in the circumferential direction, the sliding waist holes I are formed in the four support plates I, the centering slide plates are fixedly connected to the support ring I in the supporting ring I, the four limiting holes are formed in the centering slide plates, and the limiting slide rails are fixedly connected to the four support plates I.

According to the further optimization of the technical scheme, the deeply-arranged type rotary pipeline welding robot comprises a support ring I, a threaded disc, support plates II and sliding waist holes II, wherein the support ring I is fixedly connected to the support ring I, the threaded disc is rotatably connected to the support ring I, the four support plates II are fixedly connected to the rear side of the support ring I, the sliding waist holes II are formed in the four support plates II, the number of centering blocks is four, one sides of the four centering blocks are respectively slidably connected into the four limiting holes, and the other sides of the four centering blocks are connected to the threaded disc through vortex-shaped threads.

As a further optimization of the technical scheme, the feeding mechanism comprises a feeding push plate, a feeding support ring, feeding sliding columns, limiting plates I and limiting plates II, the feeding push plate is fixedly connected with the feeding support ring, the four feeding sliding columns are fixedly connected to the inner side of the feeding support ring, the limiting plates I are fixedly connected to the inner sides of the four feeding sliding columns, the limiting plates II are fixedly connected to the four limiting plates I, and the four feeding sliding columns are respectively connected to the four sliding waist holes II in a sliding mode.

As further optimization of the technical scheme, the deeply-arranged type rotary pipeline welding robot comprises four pushing mechanisms, wherein each pushing mechanism comprises a contact pushing column, a sliding block, a vertical pushing column and sliding columns, the sliding blocks are fixedly connected to the contact pushing columns, the vertical pushing columns are fixedly connected to the sliding blocks, the sliding columns are fixedly connected to the vertical pushing columns, the four pushing mechanisms are respectively connected to four supporting plates I in a sliding mode, compression springs I are arranged between the four sliding columns and the four supporting plates I, and the four sliding blocks are respectively connected to the four sliding waist holes I in a sliding mode.

As further optimization of the technical scheme, the deeply-arranged type rotary pipeline welding robot comprises a motion support frame I and motion support plates I, wherein the four motion support plates I are uniformly and fixedly connected to the motion support frame I in the circumferential direction, and the rear side of the motion support frame I is in contact with a plurality of vertical pushing columns.

As a further optimization of the technical scheme, the deeply-extending type rotary pipeline welding robot comprises a motion limiting plate I, a motion bracket I, a motion motor, a motion wheel I, sliding supporting plates I and centrifugal sliding columns I, wherein the lower end of the motion limiting plate I is fixedly connected with the motion bracket I, the motion motor is fixedly connected onto the motion bracket I, the motion wheel I is fixedly connected onto an output shaft of the motion motor, a plurality of sliding supporting plates I are uniformly and circumferentially and fixedly connected onto two sides of the motion wheel I, the centrifugal sliding columns I are respectively and slidably connected onto the sliding supporting plates I, the motion mechanism I is provided with eight motion limiting plates I, the eight motion limiting plates I are respectively and slidably connected onto four motion supporting plates I, the eight motion limiting plates I are respectively and slidably connected onto four limiting slide rails, and extension springs are respectively and fixedly connected between the eight motion limiting plates I and the corresponding motion supporting plates I, the moving wheel I and the centrifugal sliding column I are electromagnets.

As further optimization of the technical scheme, the deeply-arranged type rotary pipeline welding robot comprises a motion support ring II, four motion support plates II and a measuring rope, wherein the motion support ring II is uniformly and fixedly connected with the four motion support plates II in the circumferential direction, the rear side of the motion support ring II is fixedly connected with the measuring rope, the measuring rope is connected onto a feeding push plate in a sliding mode, the measuring rope and the feeding support ring are coaxially arranged, and the rear side of the motion support ring II is in contact with four limiting plates II.

As a further optimization of the technical scheme, the invention provides a deep rotary pipeline welding robot, motion II is including motion limiting plate II, motion support II, motion wheel II, slip backup pad II and centrifugal slip post II, fixedly connected with motion support II on the motion limiting plate II, it is connected with motion wheel II to rotate on the motion support II, the equal circumference of the both sides of motion wheel II evenly fixedly connected with a plurality of slip backup pads II, equal sliding connection has centrifugal slip post II on a plurality of slip backup pads II, motion wheel II and centrifugal slip post II are the electro-magnet, motion II is provided with eight, eight motion limiting plate II difference sliding connection are on four limiting plates I, eight motion support II difference sliding connection are on four motion backup pads II, equal fixedly connected with compression spring II between eight motion support II and the motion backup pad II that corresponds.

The deeply-arranged rotary pipeline welding robot has the beneficial effects that:

the pipeline welding robot capable of penetrating deeply can position a device through a plurality of centering blocks, the device is fixedly connected to the outer side of the pipeline, the feeding mechanism is pushed to slide on the device bracket II, the pushing mechanism is pushed to slide on the device bracket I when the feeding mechanism moves for a certain distance, when sending into mechanism promotion pushing mechanism a plurality of motion I respectively with a plurality of motion II mutual correspondences, every is all in same vertical face to motion I and motion II, a plurality of motion I slip down device support I, a plurality of motion I all through extension spring's pressure laminating pipeline's surface, backward slip send into the mechanism, a plurality of motion II all through compression spring's pressure laminating pipeline's internal surface, a plurality of motion I drive a plurality of motion II through magnetic force respectively and move in the pipeline.

Drawings

The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and "upright", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly or indirectly connected through an intermediate medium, and may be a communication between two members. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, in the description of the present invention, the meaning of "a plurality", and "a plurality" is two or more unless otherwise specified.

FIG. 1 is a schematic view of the overall structure of the deeply rotatable pipe welding robot of the present invention;

FIG. 2 is a schematic structural diagram of a front view of the deeply rotatable pipe welding robot of the present invention;

FIG. 3 is a schematic view showing a partial structure of the deeply rotatable pipe welding robot of the present invention;

FIG. 4 is a schematic view of a local structure of the deeply rotatable pipe welding robot of the present invention;

FIG. 5 is a first schematic view of the structure of the device bracket I of the present invention;

FIG. 6 is a schematic structural view II of a device bracket I of the present invention;

FIG. 7 is a schematic view of the structure of the device bracket II of the present invention;

FIG. 8 is a schematic view of the centering block of the present invention;

FIG. 9 is a schematic view of the feed mechanism of the present invention;

FIG. 10 is a schematic view of the pushing mechanism of the present invention;

FIG. 11 is a schematic view of the structure of a motion support I of the present invention;

FIG. 12 is a schematic structural diagram of a motion mechanism I of the present invention;

FIG. 13 is a schematic view of the structure of the exercise stand II of the present invention;

fig. 14 is a schematic structural diagram of the movement mechanism II of the invention.

In the figure: a device bracket I1; the support ring I1-1; a support plate I1-2; 1-3 of a sliding waist hole; 1-4 of a limiting slide rail; 1-5 of a centering sliding plate; 1-6 of a limiting hole; a device bracket II 2; the support ring I2-1; 2-2 of a threaded disc; 2-3 of a support plate; 2-4 of a sliding waist hole; a centering block 3; a feeding mechanism 4; feeding into a push plate 4-1; feeding into the support ring 4-2; feeding into a sliding column 4-3; 4-4 parts of a limiting plate I; a limiting plate II 4-5; a pushing mechanism 5; contacting the pushing column 5-1; 5-2 of a sliding block; 5-3 of a vertical pushing column; 5-4 of a sliding column; a motion bracket I6; the movable support ring I6-1; 6-2 of a moving support plate; a movement mechanism I7; the motion limiting plate I7-1; a motion bracket I7-2; 7-3 of a motion motor; 7-4 of a motion wheel; 7-5 of a sliding support plate I; 7-6 of a centrifugal sliding column; a moving bracket II 8; a moving support ring II 8-1; a moving support plate II 8-2; 8-3 of a measuring rope; a movement mechanism II 9; a motion limiting plate II 9-1; a moving bracket II 9-2; a moving wheel II 9-3; a sliding support plate II 9-4; and (5) centrifugal sliding columns II 9-5.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.