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CN-122007795-A - Automatic positioning and butt joint manipulator for pipeline welding

CN122007795ACN 122007795 ACN122007795 ACN 122007795ACN-122007795-A

Abstract

The invention relates to the technical field of pipeline welding, in particular to an automatic positioning butt joint manipulator for pipeline welding, which comprises a base, wherein a driving ring is fixedly connected to the top of the base, a transmission chamber is connected to the inner wall of the driving ring in a sliding manner, a protective shell is detachably connected to the inner side of the transmission chamber, a positioning assembly is arranged in the protective shell and comprises a thick connecting rod, a threaded rod is connected to the end part of the thick connecting rod in a threaded manner, a fixed disc is fixedly connected to the end part of the threaded rod, a positioning ring is fixedly connected to one side, far away from the threaded rod, of the fixed disc, and a steering assembly is further arranged on the inner side of the transmission chamber.

Inventors

  • HUO YANG
  • LI CHAO
  • Jin Quanlei
  • WANG XIAOWEI
  • SUN XIAOMO
  • YU CONG
  • ZHANG YI
  • WANG LIXIANG
  • TIAN HUIGUANG
  • LI JINGYANG
  • YIN ZIHE

Assignees

  • 北京海淀生态环保有限公司

Dates

Publication Date
20260512
Application Date
20260410

Claims (10)

  1. 1. The utility model provides an automatic positioning butt joint manipulator for pipeline welding, includes base (1), its characterized in that, the top fixedly connected with actuating ring (11) of base (1), the inner wall sliding connection of actuating ring (11) has driving chamber (2), driving chamber (2) can be dismantled in one side of keeping away from actuating ring (11) and be connected with baffle (21), driving chamber (2) inboard can be dismantled and be connected with protective housing (3), be provided with locating component (4) in protective housing (3), locating component (4) are including thick connecting rod (4321), the tip threaded connection of thick connecting rod (4321) has threaded rod (433), the tip fixedly connected with fixed disk (4331) of threaded rod (433), fixed disk (4331) are in one side fixedly connected with locating ring (46) of keeping away from threaded rod (433), driving chamber (2) inboard still is provided with steering component (5), wherein: Under the transmission of the positioning assembly (4), the thick connecting rod (4321) and the positioning ring (46) are utilized to finish automatic positioning and butt joint during pipeline welding, and simultaneously, under the transmission of the steering assembly (5), the pipeline positioning welding of different angles is finished; A square hole (211) is formed in the surface of the baffle plate (21), and one side of the positioning ring (46) is connected in the square hole (211) in a sliding mode.
  2. 2. The automatic positioning butt joint manipulator for pipeline welding according to claim 1, wherein a rotating ring (22) is arranged on the inner side of the driving ring (11), the rotating ring (22) penetrates through the transmission chamber (2) and is fixedly connected with the transmission chamber (2), a sliding column (221) is fixedly connected to the outer wall of one side of the rotating ring (22) far away from the transmission chamber (2), the sliding column (221) is electrically and slidingly connected to the inner side of the driving ring (11), a limiting plate (23) is arranged on the inner side of one side of the rotating ring (22) far away from the transmission chamber (2), a first telescopic rod (231) is fixedly connected to the outer wall of the limiting plate (23), one end of the first telescopic rod (231) far away from the limiting plate (23) is fixedly connected to the inner wall of the rotating ring (22), a plurality of visual sensors (232) and welding rods (24) are further arranged on the inner side of the limiting plate (23), and the visual sensors (232) are arranged at the peripheral positions of the welding rods (24), wherein: The two-end inner walls of the transmission chamber (2) are fixedly connected with touch sensors (26), the positions of the thick connecting rods (4321) are matched with the positions of the touch sensors (26), and a strip-shaped hole (27) is formed in the outer wall of one side, far away from the positioning ring (46), of the transmission chamber (2).
  3. 3. The automatic positioning butt joint manipulator for pipeline welding according to claim 2, wherein limiting rings (25) are slidably connected to two ends of the inner wall of the limiting plate (23), the limiting rings (25) are located at the outer side positions of the positioning rings (46), second telescopic rods (461) are fixedly connected to the outer walls of the positioning rings (46) and the limiting rings (25) in a penetrating mode, clamping claws (462) are fixedly connected to the end portions of the second telescopic rods (461), the clamping claws (462) are located at the inner sides of the positioning rings (46), supporting plates (463) are detachably and slidably connected to the lower end positions of one sides of the positioning rings (46), and the supporting plates (463) are used for being connected with pipeline transportation equipment on two sides.
  4. 4. The automatic positioning and butting manipulator for pipeline welding as claimed in claim 1, wherein the fixed covers (31) are fixedly connected to the two opposite sides of the protective shell (3), the second square holes (311) are formed in the surfaces of the fixed covers (31), the thick connecting rods (4321) are slidably connected in the second square holes (311), vertical plates (32) are fixedly connected to the inner wall of the protective shell (3), and third square holes (33) are formed in the top and the bottom of the protective shell (3).
  5. 5. The automatic positioning and docking manipulator for pipeline welding according to claim 4, wherein the positioning assembly (4) further comprises an electric telescopic rod (41), the middle end of the electric telescopic rod (41) is fixedly connected with a fixing rod (411), the upper end and the lower end of the electric telescopic rod (41) are fixedly connected with sliding pieces (42), one sides of the sliding pieces (42) are provided with square notches (421), one end, far away from the square notches (421), of the sliding pieces (42) is fixedly connected with sliding strips (422), the outer walls of the sliding strips (422) are provided with gear grooves (423), and the upper sliding strip and the lower sliding strip (422) are respectively and slidably connected in the upper square notch (421) and the lower square notch (421), and the automatic positioning and docking manipulator is characterized in that: The outside of the gear groove (423) on both sides is connected with a circular gear (43) in a meshed manner, and the circular gear (43) is rotationally connected with the inner wall of the protective shell (3).
  6. 6. The automatic positioning and docking manipulator for pipeline welding according to claim 5, wherein a first connecting rod (431) is rotatably connected to the peripheral position of one side of the circular gear (43), a first rotary table (45) is rotatably connected to one side of the first connecting rod (431) far away from the circular gear (43), the first rotary table (45) is rotatably connected to the inner wall of the baffle (21), a second connecting rod (432) is rotatably connected to one end of the first connecting rod (431) far away from the circular gear (43), and the second connecting rod (432) is fixedly connected with a thick connecting rod (4321) at one end of the second connecting rod (432) far away from the first connecting rod (431).
  7. 7. The automatic positioning and docking manipulator for pipeline welding as claimed in claim 6, wherein the top of the sliding piece (42) is connected with a telescopic column (44) in a telescopic manner, the top of the telescopic column (44) is rotatably connected with a top plate (441), and the sliding piece (42) is connected in a third square hole (33) in a penetrating and sliding manner.
  8. 8. The automatic positioning and docking manipulator for pipeline welding as claimed in claim 7, wherein the steering assembly (5) comprises a first expansion bracket (51), one side of the first expansion bracket (51) is fixedly connected with one end of a fixing rod (411) far away from the vertical plate (32), two ends of the first expansion bracket (51) are fixedly connected with extension columns (511), and one side of the first expansion bracket (51) far away from the fixing rod (411) is fixedly connected with a second expansion bracket (52).
  9. 9. The automatic positioning and butt-joint manipulator for pipeline welding according to claim 8, wherein a motor (521) is fixedly connected to the inner side of the second expansion bracket (52), the output end of the motor (521) penetrates through the second expansion bracket (52) and is fixedly connected with a bending connecting rod (522), one end, far away from the motor (521), of the bending connecting rod (522) is fixedly connected with an inserting rod (523), the other end of the inserting rod (523) is fixedly connected with a bending connecting rod (522), and the inserting rod (523) is fixedly connected with the bending ends of the two bending connecting rods (522), wherein: the bending connecting rod (522) is fixedly connected with a rotating rod (524) at one end far away from the penetrating rod (523), and the rotating rod (524) is fixedly connected with a third telescopic rod (53) at one end far away from the bending connecting rod (522).
  10. 10. The automatic positioning butt joint manipulator for pipeline welding according to claim 9, wherein the extending column (511) is connected with a central rotating shaft of a second rotating disc (54) in a penetrating and rotating mode, the central rotating shaft of the second rotating disc (54) is fixedly connected with one end, far away from the fixed disc (4331), of a threaded rod (433), the other rotating disc (54) is connected with the inner wall of the transmission chamber (2) in a rotating mode, a plurality of connecting columns (541) are fixedly connected between the two second rotating discs (54), penetrating rods (523) penetrate through positions among the connecting columns (541), limiting rods (55) are arranged on the outer walls of the middle ends of the rotating rods (524), and the rotating rods (524) are connected with the limiting rods (55) in a penetrating and rotating mode, and the limiting rods (55) are arranged in a penetrating and rotating mode: One end of the limiting rod (55) and one end of the second rotary table (54) are provided with a sliding block (551), and the sliding block (551) is in sliding connection with the strip-shaped hole (27).

Description

Automatic positioning and butt joint manipulator for pipeline welding Technical Field The invention relates to the technical field of pipeline welding, in particular to an automatic positioning and butt joint manipulator for pipeline welding. Background Along with the accelerated transformation of the manufacturing industry to the intelligent and flexible direction, the demands of industrial automation equipment are explosive growth, wherein the cooperative robot and the composite manipulator become the fastest growing subdivision field due to the high flexibility and the multi-task adaptation capability. In the scenes of automobile manufacturing, electronic assembly, logistics storage and the like, the traditional fixed station manipulator cannot meet the dynamic production requirement, and the automatic positioning and docking technology becomes a core support for realizing seamless cooperation between equipment. The application discloses a large-caliber pressure pipeline butt welding device, which comprises a tightening assembly and tightening assemblies arranged at two ends of the tightening assembly, wherein the tightening assemblies comprise a positioning table, a plurality of tightening ends are slidably arranged on the side parts of the positioning table, the outer side surfaces of the tightening ends can be abutted against the inner side surfaces of pipelines, the tightening assemblies comprise a plurality of pairs of embedded arms I and embedded arms II which are embedded and slidably connected together, the end parts of the embedded arms I and the embedded arms II are respectively provided with spherical ends, the spherical ends are rotatably connected with rotating seats in the positioning table, the tightening assemblies can extend into the inner sides of the butt joint positions of two pipelines, respectively clamp the two pipelines from the inner sides, and perform positioning butt joint on the two pipelines along with the traction movement of the two pipelines, on the basis, the volume and the manufacturing cost of the device are reduced, meanwhile, the large-area welding operation space is reserved outside the pipelines, and the smooth welding of the pipelines is ensured. Although the above patent utilizes a plurality of gomphosis arms to stretch into the inboard of two pipeline butt joints department, carries out the tight clamp to two pipeline from the inboard respectively and carries out the location butt joint to two pipeline, can remain large tracts of land welding operation space, nevertheless consider the manifold of pipeline form, can't splice the location to the pipeline that has the contained angle in needs, and automatic weld is comparatively difficult. In view of this, we propose an automatic positioning docking manipulator for pipe welding. Disclosure of Invention The invention aims to provide an automatic positioning and butting manipulator for pipeline welding, which solves the problems in the background technology. In order to achieve the above object, the invention provides an automatic positioning butt joint manipulator for pipeline welding, which comprises a base, wherein the top of the base is fixedly connected with a driving ring, the inner wall of the driving ring is in sliding connection with a transmission chamber, the transmission chamber is detachably connected with a baffle plate on one side far away from the driving ring, the inner side of the transmission chamber is detachably connected with a protective shell, a positioning assembly is arranged in the protective shell, the positioning assembly comprises a thick connecting rod, the end part of the thick connecting rod is in threaded connection with a threaded rod, the end part of the threaded rod is fixedly connected with a fixed disc, the fixed disc is fixedly connected with a positioning ring on one side far away from the threaded rod, and the inner side of the transmission chamber is also provided with a steering assembly, wherein: The automatic positioning butt joint during pipeline welding is completed by using the thick connecting rod and the positioning ring under the transmission of the positioning assembly, and simultaneously, the pipeline positioning welding at different angles is completed by using the transmission of the steering assembly; The surface of baffle has seted up square hole No. one, one side sliding connection of holding ring is in square hole No. one. Preferably, the inner side of the driving ring is provided with a rotating ring, the rotating ring penetrates through the transmission chamber and is fixedly connected with the transmission chamber, the outer wall of one side of the rotating ring far away from the transmission chamber is fixedly connected with a sliding column, the sliding column is electrically and slidably connected with the inner side of the driving ring, the inner side of one side of the rotating ring far away from the transmission chamber is provided with a limiting pl