Non-guide rail automatic-tracking flexible crawl trolley

Abstract

The invention relates to a non-guide rail automatic-tracking flexible crawl trolley. The trolley mainly comprises a travel mechanism (1), a rigid connection plate (2), a magnetic wheel rotary shaft (3) and an axial sensor (4), wherein the travel mechanism (1) provided with two groups of magnetic wheels (18) is provided with a combination structure of an upper pressing plate (9) and a lower pressing plate (10); a pressure spring (12) is connected between the upper pressing plate and the lower pressing plate; the combination structure is fixed through both ends of the rigid connection plate (2)to form a main body of the crawl trolley; moreover, the trolley is provided with a fan gear wheel (7) and a pinion (6); and an angle sensor (5) is fixedly connected with the rotary shaft (17) of the pinion (6). The non-guide rail automatic-tracking flexible crawl trolley has the characteristics of simple structure, reliable operation, low cost and simple use and maintenance, and an execution mechanism of the trolley can be replaced according to practical requirements; therefore, the trolley can be used in engineering projects such as the welding of inner and outer circular seams and vertical seams of pipelines, groove machining, welding seam detection as well as all-position welding and body spraying of spherical tanks.

Description

technical field [0001] The invention relates to a crawling trolley, in particular to a flexible crawling trolley without guide rails which can automatically track the annular seams and longitudinal seams of pipelines. Background technique [0002] At present, when the pipeline is welded by the robot, the circular track parallel to the weld of the pipeline is generally laid in advance, and the welding seam is tracked by using the orientation of the track. However, the process of laying the track is complicated and takes a lot of time. The track is concentric with the pipeline, which makes it difficult to guarantee the welding quality. In response to this problem, we have developed a "railless golden position walking photoelectric real-time tracking pipeline welding robot", and has obtained the Chinese patent right, the patent number is ZL03246772.9. This patent better solves the problem of all-position welding of pipelines without laying tracks, but after a long period of en...

AI Technical Summary

Problems solved by technology

First, the crawling trolley of the welding robot is rigidly connected. When the welding trolley deviates from the busbar and crawls or encounters an obstacle, if the sensor is handled properly, the trolley’s walking mechanism will not be able to ensure a complete fit with the pipe surface, and welding will easily occur at this time. The danger of the robot falling off the pipe; in addition, because the photoelectric tracking sensor needs to draw the line in advance, this will increase the workload before welding

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