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CN-121972753-A - 5G small groove welding machine

CN121972753ACN 121972753 ACN121972753 ACN 121972753ACN-121972753-A

Abstract

The embodiment of the application provides a 5G small groove welding machine, and relates to the technical field of welding equipment. The 5G small groove welding machine comprises a welding trolley, wherein a main body of the welding trolley is a titanium alloy vehicle body with a six-shaft type light-weight structure, a G communication module is arranged in the main body of the welding trolley, a driving motor drives a driving wheel to rotate through a driving speed reducer, a lifting motor drives a lifting screw rod, a fixed end of the angle swing motor is connected with the lifting screw rod, a first gun clamp is arranged at a driving end of the angle swing motor, a driving end of a wire feeding motor is connected with an input end of a worm and worm gear transmission mechanism, and an output end of the worm and worm gear transmission mechanism is connected with a wire feeding wheel. The swinging and lifting angle swinging module realizes the positioning and angle self-adaption of the welding gun positioning stage welding gun, adapts to the small groove, solves the problems of environmental adaptability, precise control and remote control of deep sea small groove welding, and improves the welding quality and efficiency.

Inventors

  • YU YANG
  • Sun Ruoke
  • YU JIANXING
  • LI XIAOYI

Assignees

  • 天津大学

Dates

Publication Date
20260505
Application Date
20260204

Claims (10)

  1. 1. A5G small groove welding machine is characterized by comprising The welding trolley is characterized in that the main body of the welding trolley is a titanium alloy trolley body with a six-shaft type lightweight structure, and a 5G communication module is arranged in the main body of the welding trolley; The driving module (1), the driving module (1) comprises a tensioning shaft (19), a tensioning top shaft (25), a tensioning guide shaft (26), a driving motor (46), a driving speed reducer (45) and a driving wheel (47), and the driving motor (46) drives the driving wheel (47) to rotate through the driving speed reducer (45); the swinging module (2) comprises a straight swinging motor (57), a straight swinging screw rod (61), a left-right moving motor (72) and a synchronous belt transmission mechanism; The lifting angle swing module (3), wherein the lifting angle swing module (3) comprises a lifting motor (90), a lifting screw rod (82), an angle swing motor (95), a first gun clamp (98) and a second gun clamp (99), the lifting screw rod (82) is driven by the lifting motor (90), the fixed end of the angle swing motor (95) is connected with the lifting screw rod (82), the first gun clamp (98) is installed at the driving end of the angle swing motor (95), and the second gun clamp (99) is matched and fixed with the first gun clamp (98); the wire feeding module (4), the wire feeding module (4) comprises a wire feeding motor (110), a worm and worm gear transmission mechanism, a wire feeding wheel (113) and a spring pre-pressing device, the driving end of the wire feeding motor (110) is connected with the input end of the worm and worm gear transmission mechanism, and the output end of the worm and worm gear transmission mechanism is connected with the wire feeding wheel (113); The deep sea protection module comprises a double-layer sealing shell, a pressure compensation structure and an anti-corrosion coating; the intelligent control module comprises a high-definition liquid crystal industrial computer, a microelectronic PCB and a remote controller.
  2. 2. The 5G small groove welding machine according to claim 1, wherein the driving module (1) further comprises a driving speed reducer base connecting plate (23), a tensioning block, a tensioning seat (15), a tensioning driven bridge (17), a first driving guide shaft (27), a first driving guide seat (32), a second driving guide seat (33) and guide pins (36, 37), and the driving speed reducer base connecting plate (23) is fixedly connected with the driving module (1).
  3. 3. The 5G small groove welding machine according to claim 2 is characterized in that the driving motor (46) is provided with an orthogonal encoder and an angle sensor, the crawling speed of the welding trolley is adjustable, the tensioning shaft (19) is locked through pushing on a thick end and retracting a thin end to match spring rebound, the tensioning shaft is adapted to pipelines with different pipe diameters, the tensioning shaft (19) is provided with an eccentric section, the driving motor (46) is a constant torque stepping motor, the driving wheel (47) is made of rubber, the tensioning guide shaft (26) and the first driving guide shaft (27) are respectively sleeved with springs, and the guide legs (36) are made of polytetrafluoroethylene.
  4. 4. The 5G small groove welding machine according to claim 1, wherein the swinging module (2) further comprises a coupler, a straight swinging screw nut (60), a straight swinging seat (51), a left and right moving guide shaft (74), a left and right moving seat (54), a left and right moving screw nut (66), a left and right moving screw rod (67), synchronizing wheels (69, 70) and a synchronous belt (71), the straight swinging seat (51) slides along the left and right moving guide shaft (74), the left and right moving screw rod (67) pushes the left and right moving seat (54) to slide, and the synchronizing wheels (69, 70) are in transmission connection with the synchronous belt (71).
  5. 5. The small 5G bevel welding machine according to claim 1, wherein the lifting angle swing module (3) further comprises a coupling, a lifting screw nut (83), a lifting seat (79), a lifting guide shaft (86), a lifting guard plate (81), a first angle swing connecting plate (92), a second angle swing connecting plate (93) and an angle swing motor seat (94), the angle swing motor seat (94) is fixed at the driving end of the angle swing motor (95), and the lifting guard plate (81) is axially and rotatably arranged along the lifting guide shaft (86).
  6. 6. The 5G small groove welding machine according to claim 1, wherein the worm and worm gear transmission mechanism comprises a worm (104), a worm wheel (103), a first wire feeder worm wheel seat (101), a second wire feeder worm wheel seat (102), a worm wheel shaft (105), a driven wheel seat (114), a driven wheel (116), a pressure spring top shaft (117), a wire feeder locking rod and a spring, the worm (104) is meshed with the worm wheel (103), the worm wheel (103) is installed in an installation cavity between the first wire feeder worm wheel seat (101) and the second wire feeder worm wheel seat (102), and a driving shaft of the wire feeding motor (110) is coaxially fixed with the worm (104).
  7. 7. The small 5G bevel welding machine according to claim 1, wherein the 5G communication module comprises a 5G industrial module, a signal enhancement antenna and a data caching unit, and supports video transmission and offline data complementary transmission.
  8. 8. The 5G small groove welding machine according to claim 1, wherein the protection level of the outer titanium alloy layer and the inner fluororubber layer of the double-layer sealing shell reaches IP69K, the pressure compensation structure comprises filled inert gas, all electric interfaces adopt pressure-resistant waterproof joints, and the corrosion-resistant coating is polytetrafluoroethylene corrosion-resistant coating.
  9. 9. The 5G small groove welding machine according to claim 1, wherein the high-definition liquid crystal industrial personal computer is a 7-inch touch screen and resistant to low temperature of 20 ℃ below zero, the microelectronic PCB is integrated with an STM32H743 main control chip, the remote controller is a wired or wireless WIFI remote controller, the control distance is less than or equal to 50m, and the core algorithm of the intelligent control module comprises multi-point intelligent partition control, an automatic joint staggering algorithm and abnormality monitoring and protection.
  10. 10. A method of welding a 5G small groove welder, comprising the 5G small groove welder of any of claims 1-9; the method comprises the following steps: (1) Installing a welding machine on a pipeline track, and locking a driving module (1); (2) Presetting groove parameters and welding process remotely or locally, and generating partition parameters by an intelligent control module; (3) Starting by a key, automatically starting the device (12-point position), stopping the device along the vertical downward welding to 6-point position, and returning to the secondary starting at a high speed; (4) The 5G module uploads data in real time and remotely fine-tunes parameters; (5) After the multi-layer and multi-channel welding is completed, the equipment is reset, and the upper joint is polished.

Description

5G small groove welding machine Technical Field The application relates to the technical field of welding equipment, in particular to a 5G small groove welding machine. Background As global ocean resource development advances to deep seas (water depths exceeding 500 m), welding requirements for deep sea pipelines and ocean engineering equipment continue to increase. However, the specificity of the deep sea environment presents multiple challenges to conventional welding equipment: The traditional welding machine is designed for land or shallow sea, cannot bear the high pressure of 10-100MPa in deep sea, strong corrosion of seawater and low temperature (0-10 ℃) environment, and frequently has the problems of equipment sealing failure, structural corrosion and the like, so that the welding is interrupted; The welding suitability of the small groove is poor, namely the deep sea pipeline is designed for reducing the filling quantity, improving the welding efficiency and the small groove with a gap of 2-5mm, the welding gun of the traditional welding machine is insufficient in positioning precision and swing track control capability, and the defects of incomplete welding, undercut and the like are easy to occur; the automatic degree is low, the position of the welding gun is required to be adjusted and the welding wire is required to be replaced by relying on the assistance of a diver or an underwater robot, the operation risk is high (potential safety hazard of the diver), and the welding efficiency is low due to manual intervention. In the prior art, shallow sea welding equipment tries to improve the waterproof performance through a sealing design, but is not subjected to pressure compensation optimization aiming at a deep sea high-pressure environment, and a part of automatic welding machines have a parameter presetting function, but lack special track control capability of a small groove, so that the deep sea operation requirement cannot be met. Disclosure of Invention The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides a 5G small groove welding machine. The embodiment of the invention provides a 5G small groove welding machine, which comprises The welding trolley is characterized in that the main body of the welding trolley is a titanium alloy trolley body with a six-shaft type lightweight structure, and a G communication module is arranged in the main body of the welding trolley; The driving module comprises a tensioning shaft, a tensioning top shaft, a tensioning guide shaft, a driving motor, a driving speed reducer and a driving wheel, wherein the driving motor drives the driving wheel to rotate through the driving speed reducer; The swinging module comprises a straight swinging motor, a straight swinging screw rod, a left-right moving motor and a synchronous belt transmission mechanism; The lifting angle swing module comprises a lifting motor, a lifting screw rod, an angle swing motor, a first gun clamp and a second gun clamp, wherein the lifting motor drives the lifting screw rod, the fixed end of the angle swing motor is connected with the lifting screw rod, the first gun clamp is installed at the driving end of the angle swing motor, and the second gun clamp is matched and fixed with the first gun clamp; The wire feeding module comprises a wire feeding motor, a worm and worm gear transmission mechanism, a wire feeding wheel and a spring pre-pressing device, wherein the driving end of the wire feeding motor is connected with the input end of the worm and worm gear transmission mechanism, and the output end of the worm and worm gear transmission mechanism is connected with the wire feeding wheel; The deep sea protection module comprises a double-layer sealing shell, a pressure compensation structure and an anti-corrosion coating; the intelligent control module comprises a high-definition liquid crystal industrial computer, a microelectronic PCB and a remote controller. In addition, the 5G small groove welding machine provided by the embodiment of the application has the following additional technical characteristics: in a preferred mode of the invention, the driving module further comprises a driving speed reducer base connecting plate, a tensioning block, a tensioning base, a tensioning driven bridge, a first driving guide shaft, a first driving guide base, a second driving guide base and guide feet. In a preferred mode, the driving motor is provided with an orthogonal encoder and an angle sensor, the crawling speed of the welding trolley is adjustable, the positioning error is less than or equal to 0.2mm, the tensioning shaft is pushed up by a thick end and retracted by a thin end to be matched with spring rebound to realize track locking, the tensioning shaft is suitable for a pipeline with the diameter of phi 159-phi 630mm, the tensioning shaft is provided with an eccentric section, the driving motor is a consta