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CN-121339796-B - Narrow and small space pipeline installation robot in factory building

CN121339796BCN 121339796 BCN121339796 BCN 121339796BCN-121339796-B

Abstract

The application relates to the technical field of indoor pipeline installation, in particular to a robot for installing a pipeline in a narrow space in a factory building. The welding gun comprises a controller, a supporting mechanism, a clamping mechanism, an auxiliary welding mechanism and a welding gun, wherein the supporting mechanism is movably arranged on the ground and is provided with a supporting frame, the clamping mechanism is connected with the supporting frame and is connected with the controller, the clamping mechanism is controlled to clamp a pipeline, the auxiliary welding mechanism is connected with the supporting frame and is connected with the controller, the auxiliary welding mechanism comprises a fixed seat and a semi-annular movable seat, a semi-circular first sliding rail is constructed on the fixed seat, one end of the first sliding rail is connected with a bolt seat, a semi-circular second sliding rail which can be spliced with the first sliding rail is constructed on the movable seat, one end of the second sliding rail is connected with a pin lock, the movable seat is connected with the fixed seat in a sliding fit mode, the welding gun is connected with the first sliding rail, and the welding gun is controlled to move along the first sliding rail. The application can ensure that the pipeline has better welding quality and good maintainability.

Inventors

  • WANG PAN
  • WANG YING
  • YANG JING
  • LIU GANG
  • ZHANG GUOMIN
  • LIU WENQIANG
  • Liao Yuanzhou
  • LI HAO
  • REN CHANGMING
  • ZHANG JIN
  • HU XIWEN

Assignees

  • 四川华西第九建筑工程有限公司

Dates

Publication Date
20260505
Application Date
20251205

Claims (10)

  1. 1. Narrow and small space pipeline installation robot in factory building, its characterized in that includes: A controller; A support mechanism (100), wherein the support mechanism (100) is used for being movably arranged on the ground and is provided with a support frame (105); The clamping mechanism (200) is connected with the supporting frame (105) and the controller, and the clamping mechanism (200) is controlled to act so as to clamp the pipeline; The auxiliary welding mechanism is connected with the support frame (105) and the controller, the auxiliary welding mechanism comprises a fixed seat (301) and a semi-annular movable seat (302), a semicircular first sliding rail (303) is constructed on the fixed seat (301), one end of the first sliding rail (303) is connected with a bolt seat (306), a semicircular second sliding rail (304) which can be spliced with the first sliding rail (303) is constructed on the movable seat (302), one end of the second sliding rail (304) is connected with a pin lock (305), wherein the movable seat (302) is connected in the fixed seat (301) in a sliding mode, the movable seat (302) is controlled to rotate on the fixed seat (301) around the self axis or slide along the self axis so that the first sliding rail (303) and the second sliding rail (304) can be spliced, and the pin lock (305) can be spliced with the bolt seat (306); And the welding gun (400) is in sliding fit with the first sliding rail (303) and connected with the controller, and the welding gun (400) is controlled to act so as to slide along the first sliding rail (303).
  2. 2. The in-building small space pipeline installation robot of claim 1, wherein the support mechanism (100) comprises: -a soleplate (101), the soleplate (101) being provided with wheels (104) for controlled movement; The limiting baffle (102), the limiting baffle (102) is vertically connected with the bottom plate (101); The two limiting stop rods (103) are respectively and vertically connected with the bottom plate (101), the limiting stop rods (103) and the limiting baffle plates (102) are arranged at intervals, and the two limiting stop rods (103) are respectively positioned at two sides of the supporting frame (105); the first bearing plate (106), the first bearing plate (106) is elastically and rotatably connected with the limit baffle (102); The second bearing plate (107), the second bearing plate (107) is elastically and rotatably connected with the limit stop lever (103); The first limiting block (108) is connected with the limiting baffle (102) and positioned at one side of the first bearing plate (106) so as to form unidirectional rotation limiting for the first bearing plate (106); the second limiting block (109) is connected with the limiting stop lever (103) and is positioned on one side of the second bearing plate (107) so as to form unidirectional rotation limiting for the second bearing plate (107); when the first bearing plate (106) and the second bearing plate (107) are limited by the first limiting block (108) and the second limiting block (109) respectively, the plate surfaces of the first bearing plate (106) and the second bearing plate (107) are overlapped and spliced with each other to form a bearing platform for placing pipe joints.
  3. 3. The in-building small space pipeline installation robot of claim 2, wherein the clamping mechanism (200) comprises: -a first linear motion assembly (201), the first linear motion assembly (201) being connected to the support frame (105); -a second linear motion assembly (202), said second linear motion assembly (202) being connected to said first linear motion assembly (201); -a jaw (203), said jaw (203) being connected to said second linear movement assembly (202).
  4. 4. A small space pipeline installation robot in a factory according to claim 3, characterized in that the number of the clamping jaws (203) is two, and the clamping jaws (203) are elastically and rotatably connected with the second linear motion assembly (202).
  5. 5. A small space pipeline installation robot in a factory building according to claim 3, wherein the fixing base (301) comprises: -a first block (3011), said first block (3011) being connected to said second linear motion assembly (202), said first block (3011) being configured with a semi-circular recess; A second block (3012), the second block (3012) being a semicircular block and being located in the semicircular groove, the second block (3012) having a spacing from a bottom of the semicircular groove to form an arcuate slideway (3013); Wherein the movable seat (302) is located in the arc-shaped slide way (3013) and is in sliding fit with the second block (3012) so that the movable seat (302) can rotate around the self axis and can move along the self axis.
  6. 6. The small space pipeline installation robot in a factory building according to claim 5, wherein the second block (3012) is provided with a plurality of balls through a groove locking ball process, and the movable seat (302) is abutted with the balls to form a sliding fit.
  7. 7. The robot for installing a small space pipeline in a factory building according to claim 5, wherein a guide groove coaxial with the movable seat (302) is formed in an end face of one axial end of the movable seat (302), and a stop block (3023) is connected to a notch at one end of the guide groove; The fixed seat (301) is connected with a push-pull assembly (600), the push-pull assembly (600) is provided with a push-pull rod, the end part of the push-pull rod is connected with a baffle plate, and the baffle plate is positioned in the guide groove and is in sliding fit with the guide groove.
  8. 8. The small space pipeline installation robot in a factory building according to claim 1, wherein the first sliding rail (303) and the second sliding rail (304) are respectively provided with a first pin rack and a second pin rack; The welding gun (400) is provided with a connecting driving source (500), and the connecting driving source (500) is in gear transmission fit with the first pin rack or the second pin rack.
  9. 9. The small space pipeline installation robot in a factory building according to claim 8, wherein the connection driving source (500) is elastically slidably matched with the first sliding rail (303) or the second sliding rail (304).
  10. 10. The small space pipeline installation robot in a factory building according to claim 1, wherein the pin lock (305) comprises a plug rod (3051), a first driving wedge block (3052) and a second driving wedge block (3053), the first driving wedge block (3052) is fixedly connected with the plug rod (3051), the second driving wedge block (3053) is elastically and slidably connected with the plug rod (3051), and the first driving wedge block (3052) and the second driving wedge block (3053) are provided with wedge surfaces facing opposite directions; The plug seat (306) comprises a socket (3061), a limit spring (3063) and a locking wedge block (3065), a positioning sinking groove (3062) is formed in the socket (3061), the limit spring (3063) is located in a small-diameter section of the positioning sinking groove (3062), a baffle (3064) used for being abutted to the end of the plug rod (3051) is connected to the end portion of the limit spring (3063), the locking wedge block (3065) is partially located in a large-diameter section of the positioning sinking groove (3062), and the locking wedge block (3065) is elastically and slidably connected with the plug seat (306) so that the locking wedge block (3065) can leave the positioning sinking groove (3062).

Description

Narrow and small space pipeline installation robot in factory building Technical Field The application relates to the technical field of indoor pipeline installation, in particular to a robot for installing a pipeline in a narrow space in a factory building. Background In the factory building process, pipelines with larger diameters are required to be arranged generally, and adjacent pipelines are required to be connected in a welding and fixing mode to ensure tightness and prevent gas and liquid from leaking. At present, the welding of the pipelines at the corners of the upper part of the wall surface is performed by manual welding, before welding, a scaffold is required to be built to meet the installation height of the pipelines, and when welding, the pipelines are connected with a support which is installed in advance to complete the positioning of the pipelines, and then the manual welding is performed on the scaffold. In view of this, related welding equipment is also disclosed in the prior art, for example, patent publication No. CN110355509a discloses a pipeline welding robot, which realizes the position change of the movable guide rail by controlling the movable guide rail to move on the fixed guide rail, realizes the circumferential welding of the pipeline by moving the welding gun on the movable guide rail at different positions, and can realize the continuous welding in the circumferential direction of the pipeline by controlling the movable guide rail to rotate at a constant speed and controlling the sliding frame to rotate at a constant speed. However, when the welding gun approaches the welding end (namely the joint of the movable guide rail and the fixed guide rail), the position of the welding gun corresponding to the sliding frame is not supported by the fixed guide rail any more, a cantilever-like structure is formed, vibration generated by welding and vibration generated during transmission of the sliding frame and the movable guide rail easily influence welding quality, partial welding flux is uneven, stress concentration is easily caused, and a pipeline is easily broken when being in service in a severe environment at a later stage, such as when a high-temperature and high-pressure medium is transported. Disclosure of Invention The application aims at solving at least one of the technical problems in the background technology, and provides a robot for installing a pipeline in a narrow space in a factory building, which provides a complete and stable slide rail for a welding gun before welding, reduces vibration possibly generated in the welding process and ensures welding quality. The application is realized by the following technical scheme: Narrow and small space pipeline installation robot in factory building, its characterized in that includes: A controller; The support mechanism is used for being movably arranged on the ground and is provided with a support frame; The clamping mechanism is connected with the support frame and the controller, and the clamping mechanism is controlled to act so as to clamp the pipeline; The auxiliary welding mechanism is connected with the support frame and the controller, the auxiliary welding mechanism comprises a fixed seat and a semi-annular movable seat, a semicircular first sliding rail is constructed on the fixed seat, one end of the first sliding rail is connected with a latch seat, a semicircular second sliding rail which can be spliced with the first sliding rail is constructed on the movable seat, one end of the second sliding rail is connected with a latch, the movable seat is slidably connected in the fixed seat, and the movable seat is controlled to rotate on the fixed seat around an own axis or slide along an own axis so as to splice the first sliding rail and the second sliding rail, and the latch is spliced with the latch seat; and the welding gun is in sliding fit with the first sliding rail and connected with the controller, and the welding gun is controlled to act so as to slide along the first sliding rail. Compared with the conventional pipeline welding device, the movable seat rotates around the axis of the movable seat to be spliced with the fixed seat, the opening and closing actions are avoided, the space occupation requirement is low, the automatic connection of the pipeline can be realized in a limited space such as a wall angle in the factory, compared with the prior art, the application provides a complete and stable annular slide rail for the welding gun before the welding starts, vibration generated in the welding process is greatly reduced, motion coupling does not exist in the welding process, the welding quality is relatively controllable, the welding gun is beneficial to ensuring uniformity, the welding gun only needs to control the positioning accuracy of the annular slide rail, and the positioning accuracy is reduced. In some of the alternative embodiments of the present invention, The support mechanism includes: