CN110802341B - Inside welding robot of major diameter pipe - Google Patents
Inside welding robot of major diameter pipe Download PDFInfo
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- CN110802341B CN110802341B CN201911223570.6A CN201911223570A CN110802341B CN 110802341 B CN110802341 B CN 110802341B CN 201911223570 A CN201911223570 A CN 201911223570A CN 110802341 B CN110802341 B CN 110802341B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of circular tube welding, in particular to a large-diameter circular tube coaxiality internal welding robot, which aims at the problems that when the existing large-diameter circular tube is welded, most of the large-diameter circular tubes need to be manually drilled into a pipeline for welding, the pipeline is narrow in interior, the welding is inconvenient, time and labor are wasted, the robot comprises a moving seat, one side of the moving seat is provided with a mounting groove, a first motor is fixedly arranged on the inner wall of one side of the mounting groove, one side of the mounting seat is fixedly arranged on an output shaft of the first motor, a welding gun is fixedly arranged on the other side of the mounting seat, a wireless camera and an illuminating lamp are fixedly arranged on the outer side of the welding gun, two grooves are respectively formed in the top and the bottom of the moving seat, vertical plates are respectively slidably arranged in the four grooves, and traveling wheels are respectively rotatably arranged at, time and labor are saved, the labor intensity of workers is reduced, the structure is simple, and the use is convenient.
Description
Technical Field
The invention relates to the technical field of circular tube welding, in particular to a robot for welding the inside of a large-diameter circular tube.
Background
A pipeline is a device for transporting a gas, liquid or fluid with solid particles, connected by pipes, pipe couplings, valves, etc. Generally, a fluid is pressurized by a blower, a compressor, a pump, a boiler, etc., and then flows from a high pressure portion to a low pressure portion of a pipe, or is transported by the pressure or gravity of the fluid itself. The pipeline has a wide application range, and is mainly used for water supply, drainage, heat supply, gas supply, long-distance petroleum and natural gas transportation, agricultural irrigation, hydraulic engineering and various industrial devices, and when the pipeline is laid, the interior of the pipeline needs to be welded.
Among the prior art, when welding big footpath pipe, mostly need artifical the drilling pipeline in to weld, the pipeline is inside narrow, and the welding is inconvenient, wastes time and energy, therefore we have proposed a big footpath pipe inside welding robot, is used for solving above-mentioned problem.
Disclosure of Invention
The invention aims to solve the defects that manual drilling is mostly needed to weld in a pipeline when a large-diameter circular pipe is welded, the pipeline is narrow, the welding is inconvenient, and time and labor are wasted.
In order to achieve the purpose, the invention adopts the following technical scheme: a robot for welding the inside of a large-diameter circular pipe comprises a moving seat, wherein one side of the moving seat is provided with a mounting groove, a first motor is fixedly arranged on the inner wall of one side of the mounting groove, one side of a mounting seat is fixedly arranged on an output shaft of the first motor, a welding gun is fixedly arranged on the other side of the mounting seat, a wireless camera and a lighting lamp are fixedly arranged on the outer side of the welding gun, two grooves are respectively formed in the top and the bottom of the moving seat, vertical plates are respectively arranged in the four grooves in a sliding manner, a traveling wheel is rotatably arranged at one end of each vertical plate, an arc-shaped block is fixedly arranged at the other end of each vertical plate, a vertical hole is formed in the moving seat, transverse grooves are respectively formed in the inner walls of the two sides of the vertical hole, the four grooves are respectively communicated with the two transverse grooves, transverse plates are respectively and slidably arranged in the two transverse grooves, and arc-shaped grooves are respectively formed in the top and the bottom of the two transverse plates, four arcs match with four arcs respectively, the equal slidable mounting in top and the bottom of removing the seat has the slurcam, and the equal fixed mounting in one side that two slurcams kept away from each other has the arc, and the equal fixed mounting in the outside of two arcs has the slipmat, erect downthehole rotation and install the montant, montant and two slurcam threaded connection, two horizontal inslot equal slidable mounting have the horizontal pole, two horizontal poles respectively with two horizontal board threaded connection, two horizontal poles one end that are close to each other extend to the vertical pore in and fixed mounting have first conical gear, the fixed cover in the outside of montant is equipped with second conical gear, two first conical gear all mesh with second conical gear mutually.
Preferably, first thread groove has all been seted up to one side that two catch bars are close to each other, and the screw thread of two first thread grooves is revolved to opposite, montant and two first thread groove threaded connection, and second thread groove has all been seted up to one side that two horizontal boards are close to each other, and two horizontal poles respectively with two second thread groove threaded connection.
Preferably, a push rod motor is fixedly mounted at the top of the moving seat, a connecting plate is fixedly mounted on an output shaft of the push rod motor, and one side of the connecting plate is fixedly connected with one side of one of the two push plates.
Preferably, the equal fixed mounting in inboard of two arcs has two round bars, and two circular slots have all been seted up with the bottom at the top of removal seat, the outside of round bar and the lateral wall sliding connection of the circular slot that corresponds.
Preferably, two first bearings are fixedly mounted in the vertical hole, the outer side of the vertical rod is fixedly connected with the inner rings of the two first bearings, second bearings are fixedly mounted in the two transverse grooves, and the outer sides of the two transverse rods are fixedly connected with the inner rings of the two second bearings respectively.
Reset grooves are formed in the inner walls of the two sides of the four grooves, reset blocks are arranged in the reset grooves in a sliding mode, and one side of each reset block is fixedly connected with one side of the corresponding vertical plate.
One side fixed mounting of reset block has reset spring's one end, reset spring's the other end and the one side inner wall fixed connection in reset groove.
The equal fixed mounting in one side of two risers in four risers has the second motor, and the output shaft of two second motors respectively with two walking wheel fixed connection that correspond.
The guide grooves are formed in the side walls of the two transverse grooves, guide blocks are fixedly mounted on the outer sides of the two transverse plates, and the guide blocks are connected with the corresponding side walls of the guide grooves in a sliding mode.
And a laser is fixedly arranged on the outer side of the welding gun and is arranged in parallel with the welding gun.
Compared with the prior art, the invention has the advantages that: (1) when the scheme is used, the two second motors drive the two travelling wheels to rotate, so that the moving seat moves in the pipeline, the wireless camera is matched with the illuminating lamp to observe the interior of the pipeline, when the wireless camera observes that a laser on the welding gun is aligned with a pipeline interface, the push rod motor drives the connecting plate to move, so that the two pushing plates drive the two arc-shaped plates to be away from each other, the two arc-shaped plates drive the two anti-skid pads to be away from each other, the two anti-skid pads are extruded with the inner wall of the pipeline, and the position of the moving seat is fixed; (2) the two transverse plates in threaded connection with the transverse rods are far away from each other through rotation of the two transverse rods, when the arc-shaped grooves in the two transverse plates are aligned with the arc-shaped blocks, the reset springs reset to enable the four vertical plates to begin to contract, the arc-shaped blocks are clamped in the corresponding arc-shaped grooves, and the four travelling wheels are not in contact with the inner wall of the pipeline any more; (3) the pipeline is welded through a welding gun, meanwhile, the first motor drives the mounting seat to rotate, the mounting seat drives the welding gun to rotate, and the welding gun rotates to weld the pipeline; (4) the invention is convenient for welding the pipeline from the inside, saves time and labor, reduces the labor intensity of workers, and has simple structure and convenient use.
Drawings
Fig. 1 is a schematic structural diagram of a welding robot inside a large-diameter circular tube according to the present invention.
Fig. 2 is a schematic structural diagram of part a of a welding robot inside a large-diameter circular tube according to the present invention.
Fig. 3 is a schematic structural diagram of a part B of a welding robot inside a large-diameter circular tube according to the present invention.
Fig. 4 is a schematic perspective view of a transverse plate of a robot for welding the inside of a large-diameter circular tube according to the present invention.
Fig. 5 is a schematic perspective view of an arc-shaped plate of a welding robot inside a large-diameter circular tube according to the present invention.
In the figure: 1 removes seat, 2 mounting grooves, 3 first motor, 4 mount pads, 5 welder, 6 wireless camera, 7 light, 8 recesses, 9 riser, 10 walking wheels, 11 second motor, 12 reset grooves, 13 reset block, 14 reset spring, 15 transverse grooves, 16 transverse plates, 17 arc-shaped groove, 18 arc-shaped block, 19 kickboards, 20 arc-shaped plate, 21 vertical hole, 22 montant, 23 second cone gear, 24 horizontal pole, 25 first cone gear, 26 push rod motor, 27 connecting plates, 28 first thread groove, 29 second thread groove, 30 slipmat.
Detailed Description
The technical solutions in the embodiments will be described clearly and completely with reference to the drawings in the embodiments, and it is obvious that the described embodiments are only a part of the embodiments, but not all embodiments.
The first embodiment is as follows: referring to fig. 1-5, a large-diameter circular tube internal welding robot comprises a moving seat 1, a mounting groove 2 is formed in one side of the moving seat 1, a first motor 3 is fixedly mounted on the inner wall of one side of the mounting groove 2, one side of a mounting seat 4 is fixedly mounted on an output shaft of the first motor 3, a welding gun 5 is fixedly mounted on the other side of the mounting seat 4, a wireless camera 6 and a lighting lamp 7 are fixedly mounted on the outer side of the welding gun 5, two grooves 8 are formed in the top and the bottom of the moving seat 1, vertical plates 9 are slidably mounted in the four grooves 8, a walking wheel 10 is rotatably mounted at one end of each of the four vertical plates 9, an arc-shaped block 18 is fixedly mounted at the other end of each of the four vertical plates 9, a vertical hole 21 is formed in the moving seat 1, transverse grooves 15 are formed in the inner walls of the two sides of the vertical hole 21, the four grooves 8 are respectively, arc 17 has all been seted up with the bottom at the top of two horizontal plates 16, four arc 17 cooperate with four arc pieces 18 respectively, the equal slidable mounting in top and the bottom of moving seat 1 has slurcam 19, the equal fixed mounting in one side that two slurcams 19 kept away from each other has arc 20, the equal fixed mounting in the outside of two arcs 20 has slipmat 30, erect downthehole 21 internal rotation and install montant 22, montant 22 and two slurcam 19 threaded connection, equal slidable mounting has horizontal pole 24 in two horizontal grooves 15, two horizontal poles 24 respectively with two horizontal plate 16 threaded connection, the one end that two horizontal poles 24 are close to each other extends to in erecting hole 21 and fixed mounting has first conical gear 25, the fixed cover in the outside of montant 22 is equipped with second conical gear 23, two first conical gear 25 all mesh with second conical gear 23 mutually.
In this embodiment, the two pushing plates 19 are provided with first thread grooves 28 on the sides close to each other, the thread directions of the two first thread grooves 28 are opposite, the vertical rod 22 is in threaded connection with the two first thread grooves 28, the two transverse plates 16 are provided with second thread grooves 29 on the sides close to each other, the two transverse rods 24 are in threaded connection with the two second thread grooves 29, and the two pushing plates 19 are separated from each other by the rotation of the vertical rod 22.
In this embodiment, a push rod motor 26 is fixedly installed at the top of the moving seat 1, a connecting plate 27 is fixedly installed on an output shaft of the push rod motor 26, one side of the connecting plate 27 is fixedly connected with one side of one push plate 19 of the two push plates 19, and the push rod motor 26 is used for driving the connecting plate 27 to move.
In this embodiment, two equal fixed mounting in inboard of two arcs 20 has two round bars, and two circular slots have all been seted up to the top and the bottom of removing seat 1, the outside of round bar and the lateral wall sliding connection of the circular slot that corresponds, and the setting up of round bar and circular slot makes arcs 20 can only vertical removal.
In this embodiment, fixed mounting has two first bearings in the vertical hole 21, the outside of montant 22 and the inner circle fixed connection of two first bearings, equal fixed mounting has the second bearing in two transverse grooves 15, the outside of two horizontal poles 24 respectively with the inner circle fixed connection of two second bearings, the setting up of first bearing and second bearing makes montant 22 and the stable rotation of horizontal pole 24.
In this embodiment, reset groove 12 has all been seted up on the both sides inner wall of four recesses 8, and slidable mounting has reset block 13 in reset groove 12, one side of reset block 13 and one side fixed connection of the riser 9 that corresponds, and reset block 13's removal drives riser 9 and removes.
In this embodiment, one side of the reset block 13 is fixedly provided with one end of a reset spring 14, the other end of the reset spring 14 is fixedly connected with the inner wall of one side of the reset groove 12, and the reset spring 14 is used for resetting the reset block 13.
In this embodiment, the equal fixed mounting in one side of two riser 9 in four riser 9 has second motor 11, and the output shaft of two second motors 11 respectively with two walking wheel 10 fixed connection that correspond, second motor 11 are used for the rotation of driven walking wheel 10.
In this embodiment, the guide way has all been seted up to the lateral wall of two transverse grooves 15, and the equal fixed mounting in outside of two transverse plates 16 has the guide block, the lateral wall sliding connection of guide block and the guide way that corresponds, and the setting up of guide way and guide block makes the stable horizontal migration of transverse plate 16.
In this embodiment, a laser is fixedly mounted on the outer side of the welding gun 5, the laser is arranged in parallel with the welding gun 5, and the laser is arranged to enable the welding gun 5 to be welded accurately.
Example two: referring to fig. 1-5, a large-diameter circular tube internal welding robot comprises a moving seat 1, a mounting groove 2 is formed in one side of the moving seat 1, a first motor 3 is fixedly mounted on the inner wall of one side of the mounting groove 2 through a bolt, one side of a mounting seat 4 is fixedly mounted on the output shaft of the first motor 3 through a bolt, a welding gun 5 is fixedly mounted on the other side of the mounting seat 4 through a bolt, a wireless camera 6 and a lighting lamp 7 are fixedly mounted on the outer side of the welding gun 5 through a bolt, two grooves 8 are formed in the top and the bottom of the moving seat 1, vertical plates 9 are slidably mounted in the four grooves 8, a traveling wheel 10 is rotatably mounted at one end of each of the four vertical plates 9, an arc-shaped block 18 is fixedly mounted at the other end of each vertical plate 9 through a bolt, a vertical hole 21 is formed in the moving seat 1, transverse grooves 15 are formed in the inner walls of the two sides of the vertical hole 21, and the four grooves 8 are respectively communicated with the two transverse grooves 15, equal slidable mounting has transverse plate 16 in two transverse grooves 15, arc wall 17 has all been seted up to the top and the bottom of two transverse plates 16, four arc walls 17 cooperate with four arc pieces 18 respectively, the top and the equal slidable mounting in bottom of removal seat 1 have slurcam 19, one side that two slurcams 19 kept away from each other all has arc 20 through bolt fixed mounting, the outside of two arc 20 all has slipmat 30 through bolt fixed mounting, erect downthehole 21 internal rotation and install montant 22, montant 22 and two slurcam 19 threaded connection, equal slidable mounting has horizontal pole 24 in two transverse grooves 15, two horizontal poles 24 respectively with two transverse plate 16 threaded connection, the one end that two horizontal poles 24 are close to each other extends to in erecting downthehole 21 and has first conical gear 25 through bolt fixed mounting, the fixed cover in the outside of montant 22 is equipped with second conical gear 23, two first conical gear 25 all mesh with second conical gear 23.
In this embodiment, the two pushing plates 19 are provided with first thread grooves 28 on the sides close to each other, the thread directions of the two first thread grooves 28 are opposite, the vertical rod 22 is in threaded connection with the two first thread grooves 28, the two transverse plates 16 are provided with second thread grooves 29 on the sides close to each other, the two transverse rods 24 are in threaded connection with the two second thread grooves 29, and the two pushing plates 19 are separated from each other by the rotation of the vertical rod 22.
In this embodiment, a push rod motor 26 is fixedly installed at the top of the moving seat 1 through a bolt, a connecting plate 27 is fixedly installed on an output shaft of the push rod motor 26 through a bolt, one side of the connecting plate 27 is fixedly connected with one side of one push plate 19 of the two push plates 19, and the push rod motor 26 is used for driving the connecting plate 27 to move.
In this embodiment, two circular rods are all installed in the inboard of two arcs 20 through bolt fixed mounting, and two circular slots have all been seted up to the top and the bottom of removing seat 1, the outside of circular rod and the lateral wall sliding connection of the circular slot that corresponds, and the setting up of circular rod and circular slot makes arcs 20 can only vertical removal.
In this embodiment, there are two first bearings installed in the vertical hole 21 through bolt fixing, the outer side of the vertical rod 22 is fixedly connected with the inner rings of the two first bearings, there are second bearings installed in the two transverse grooves 15 through bolt fixing, the outer sides of the two cross rods 24 are respectively fixedly connected with the inner rings of the two second bearings, and the arrangement of the first bearings and the second bearings enables the vertical rod 22 and the cross rods
24 stable rotation.
In this embodiment, reset groove 12 has all been seted up on the both sides inner wall of four recesses 8, and slidable mounting has reset block 13 in reset groove 12, one side of reset block 13 and one side fixed connection of the riser 9 that corresponds, and reset block 13's removal drives riser 9 and removes.
In this embodiment, one side of the reset block 13 is fixedly provided with one end of a reset spring 14 through a bolt, the other end of the reset spring 14 is fixedly connected with the inner wall of one side of the reset groove 12, and the reset spring 14 is used for resetting the reset block 13.
In this embodiment, there are second motor 11 in one side of two risers 9 in four risers 9 all through bolt fixed mounting, and the output shaft of two second motors 11 respectively with two walking wheels 10 fixed connection that correspond, second motor 11 is used for the rotation of driven walking wheel 10.
In this embodiment, the guide way has all been seted up to the lateral wall of two transverse grooves 15, and the outside of two transverse plates 16 all has the guide block through bolt fixed mounting, the lateral wall sliding connection of guide block and the guide way that corresponds, and the setting up of guide way and guide block makes the stable horizontal migration of transverse plates 16.
In this embodiment, a laser is fixedly mounted on the outer side of the welding gun 5 through a bolt, the laser is arranged in parallel with the welding gun 5, and the laser is arranged so that the welding gun 5 can accurately weld.
In this embodiment, when in use, the movable seat 1 is first placed in a pipeline, the four traveling wheels 10 contact the inner wall of the pipeline, the two second motors 11 are started, the two second motors 11 drive the two traveling wheels 10 to rotate, so that the movable seat 1 moves in the pipeline, the interior of the pipeline is observed by the wireless camera 6 in cooperation with the illuminating lamp 7, when the wireless camera 6 observes that the laser on the welding gun 5 is aligned with the pipeline interface, the wireless controller starts the push rod motor 26, the push rod motor 26 drives the connecting plate 27 to move, the connecting plate 27 moves to drive one pushing plate 19 to move, the pushing plate 19 moves to rotate the vertical rod 22 in threaded connection with the pushing plate 19, the vertical rod 22 rotates to vertically move the other pushing plate 19, the thread directions of the first thread grooves 28 on the two pushing plates 19 are opposite, so that the two pushing plates 19 move in opposite directions, and the two pushing plates 19 drive the two arc plates 20 to move away from each other, the two arc plates 20 drive the two anti-slip pads 30 to move away from each other, so that the two anti-slip pads 30 are extruded with the inner wall of the pipeline, thereby enabling the position of the movable seat 1
It is fixed, rotation through montant 22 drives second bevel gear 23 and rotates, second bevel gear 23 drives two first bevel gear 25 rotations, two first bevel gear 25 drive two horizontal poles 24 and rotate, two horizontal poles 24 rotate and make two transverse plates 16 rather than threaded connection keep away from each other, when arc 17 on two transverse plates 16 aligns with arc piece 18, reset spring 14 resets and makes four risers 9 begin to shrink, make arc piece 18 clamp in corresponding arc 17, make four walking wheels 10 no longer contact with the pipeline inner wall, weld the pipeline through welder 5, meanwhile, drive mount pad 4 through first motor 3 and rotate, mount pad 4 drives welder 5 and rotates, welder 5 rotates and carries out 360 welding to the pipeline.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention in the technical scope of the present invention.
Claims (10)
1. The utility model provides a welding robot inside major diameter pipe, is including removing seat (1), its characterized in that: the portable wireless camera is characterized in that one side of the movable seat (1) is provided with a mounting groove (2), a first motor (3) is fixedly mounted on the inner wall of one side of the mounting groove (2), an output shaft of the first motor (3) is fixedly mounted on one side of the mounting seat (4), the other side of the mounting seat (4) is fixedly mounted with a welding gun (5), the outer side of the welding gun (5) is fixedly mounted with a wireless camera (6) and a lighting lamp (7), the top and the bottom of the movable seat (1) are both provided with two grooves (8), the four grooves (8) are both slidably mounted with vertical plates (9), one ends of the four vertical plates (9) are both rotatably mounted with walking wheels (10), the other ends of the four vertical plates (9) are both fixedly mounted with arc blocks (18), the movable seat (1) is provided with vertical holes (21), the inner walls of the two sides of the vertical holes (21) are both provided with transverse grooves (15), and the four grooves (8) are respectively communicated with the two transverse grooves (15), the sliding type automatic lifting device is characterized in that transverse plates (16) are arranged in the two transverse grooves (15) in a sliding mode, arc-shaped grooves (17) are formed in the tops and the bottoms of the two transverse plates (16), the four arc-shaped grooves (17) are matched with the four arc-shaped blocks (18) respectively, pushing plates (19) are arranged on the tops and the bottoms of the movable base (1) in a sliding mode, arc-shaped plates (20) are fixedly arranged on one sides, far away from each other, of the two pushing plates (19), anti-slip pads (30) are fixedly arranged on the outer sides of the two arc-shaped plates (20), vertical rods (22) are installed in the vertical holes (21) in a rotating mode, the vertical rods (22) are in threaded connection with the two pushing plates (19), transverse rods (24) are arranged in the two transverse grooves (15) in a sliding mode, the two transverse rods (24) are respectively in threaded connection with the two transverse plates (16), one ends, close to each other, of the two transverse rods (24) extend into the vertical holes (21) and are fixedly provided with first bevel gears (25), a second bevel gear (23) is fixedly sleeved on the outer side of the vertical rod (22), and the two first bevel gears (25) are meshed with the second bevel gear (23).
2. The internal welding robot of the large-diameter circular pipe according to claim 1, characterized in that: first thread groove (28) have all been seted up to one side that two slushing plates (19) are close to each other, and the screw thread of two first thread grooves (28) is turned round oppositely, montant (22) and two first thread groove (28) threaded connection, and second thread groove (29) have all been seted up to one side that two horizontal boards (16) are close to each other, and two horizontal poles (24) respectively with two second thread groove (29) threaded connection.
3. The internal welding robot of the large-diameter circular pipe according to claim 1, characterized in that: the top of the moving seat (1) is fixedly provided with a push rod motor (26), an output shaft of the push rod motor (26) is fixedly provided with a connecting plate (27), and one side of the connecting plate (27) is fixedly connected with one side of one push plate (19) of the two push plates (19).
4. The internal welding robot of the large-diameter circular pipe according to claim 1, characterized in that: two round bars are fixedly mounted on the inner sides of the two arc-shaped plates (20), two round grooves are formed in the top and the bottom of the movable seat (1), and the outer sides of the round bars are connected with the side walls of the corresponding round grooves in a sliding mode.
5. The internal welding robot of the large-diameter circular pipe according to claim 1, characterized in that: two first bearings are fixedly mounted in the vertical hole (21), the outer side of the vertical rod (22) is fixedly connected with the inner rings of the two first bearings, the second bearings are fixedly mounted in the two transverse grooves (15), and the outer sides of the two transverse rods (24) are fixedly connected with the inner rings of the two second bearings respectively.
6. The internal welding robot of the large-diameter circular pipe according to claim 1, characterized in that: reset grooves (12) are formed in the inner walls of the two sides of the four grooves (8), reset blocks (13) are arranged in the reset grooves (12) in a sliding mode, and one sides of the reset blocks (13) are fixedly connected with one sides of the corresponding vertical plates (9).
7. The internal welding robot of the large-diameter circular pipe according to claim 6, characterized in that: one side of the reset block (13) is fixedly provided with one end of a reset spring (14), and the other end of the reset spring (14) is fixedly connected with the inner wall of one side of the reset groove (12).
8. The internal welding robot of the large-diameter circular pipe according to claim 1, characterized in that: the two vertical plates (9) in the four vertical plates (9) are fixedly provided with second motors (11) on one sides, and output shafts of the two second motors (11) are fixedly connected with the corresponding two walking wheels (10) respectively.
9. The internal welding robot of the large-diameter circular pipe according to claim 1, characterized in that: the guide way has all been seted up to the lateral wall of two transverse grooves (15), and the equal fixed mounting in the outside of two transverse plates (16) has the guide block, the guide block and the lateral wall sliding connection of the guide way that corresponds.
10. The internal welding robot of the large-diameter circular pipe according to claim 1, characterized in that: and a laser is fixedly arranged on the outer side of the welding gun (5) and is parallel to the welding gun (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911223570.6A CN110802341B (en) | 2019-12-03 | 2019-12-03 | Inside welding robot of major diameter pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911223570.6A CN110802341B (en) | 2019-12-03 | 2019-12-03 | Inside welding robot of major diameter pipe |
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| Publication Number | Publication Date |
|---|---|
| CN110802341A CN110802341A (en) | 2020-02-18 |
| CN110802341B true CN110802341B (en) | 2021-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911223570.6A Active CN110802341B (en) | 2019-12-03 | 2019-12-03 | Inside welding robot of major diameter pipe |
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|---|---|---|---|---|
| CN112108874B (en) * | 2020-08-24 | 2021-11-30 | 南京蹑波物联网科技有限公司 | Industrial robot for pipeline welding and control method thereof |
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| CN110802341A (en) | 2020-02-18 |
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