CN107097033A - A kind of 90 ° of elbow internal wall built-up welding displacement devices - Google Patents

Abstract

The invention discloses a surfacing welding displacement device for the inner wall of a 90° elbow, which comprises a base frame, on which a workpiece rotary positioner is arranged on one side, and a welding robot is disposed on the other side; the workpiece rotary positioner is equipped with A rotatable L-shaped plate is installed, and a workpiece turning positioner is arranged on the L-shaped plate. The workpiece turning positioner is movable on the workpiece turning positioner, and the fixture assembly for fixing the workpiece is installed on the workpiece turning positioner. Among them, the workpiece turning positioner is used to drive the workpiece U-turn positioner to rotate, and the workpiece U-turn positioner is used to drive the fixture assembly to rotate. The present invention designs a surfacing displacement device with sufficient output torque for the 90° elbow, which can coordinate with the welding robot to realize surfacing welding on the inner wall of the 90° elbow, and can realize straight, The welding transformation of the bent pipe has high precision and high degree of automation, which can fully reduce the labor intensity of the operator and fully improve the work efficiency.

Description

A surfacing displacement device for inner wall of 90° elbow pipe

technical field

The invention belongs to automatic welding equipment, in particular to a displacement device for surfacing welding on the inner wall of a 90° elbow.

Background technique

At present, domestic manufacturers mainly use manual electrode arc welding to respectively surfacing and reassembling each section of the elbow. The manufacturing process is not only time-consuming and laborious, but also the quality of the surfacing layer cannot be guaranteed. Although domestically developed an overall surfacing displacement device for the inner wall of the elbow, the structure is complex, the displacement accuracy is not enough, and the price is expensive. It is also necessary to design the machine head and fixture tooling for each elbow. In short, the current technology of surfacing welding on the inner wall of 90° elbow still faces many problems.

Contents of the invention

In view of the above-mentioned problems in the prior art, the purpose of the present invention is to provide a surfacing displacement device for the inner wall of a 90° elbow, so as to fully reduce the labor intensity of the operator and improve the quality and efficiency of welding work.

In order to achieve the above tasks, the present invention adopts the following technical solutions:

A surfacing and displacement device for the inner wall of a 90° elbow pipe, including a base frame, a workpiece rotary positioner is arranged on one side of the bottom frame, and a welding robot is disposed on the other side; the workpiece rotary positioner is equipped with a rotatable The L-shaped plate, the L-shaped plate is provided with a workpiece turning positioner, the workpiece turning positioner is movably installed with a workpiece U-turn positioner, and a fixture assembly for fixing the workpiece is installed on the workpiece U-turn positioner; wherein, The workpiece turning positioner is used to drive the workpiece U-turn positioner to rotate, and the workpiece U-turn positioner is used to drive the fixture assembly to rotate.

Further, the workpiece rotary positioner includes a machine base fixed on the chassis, a first rotating shaft parallel to the horizontal plane is installed on the side of the machine base through a first bearing seat, and a rotary disc is arranged on the first rotating shaft, so The above-mentioned L-shaped plate is fixedly connected with the rotary table; the inside of the said machine base is provided with a first motor for driving the first rotating shaft, and the first motor is connected with the first rotating shaft through the first worm gear reducer.

Further, the workpiece turning and shifting machine includes a pair of supporting tailstocks, the bottom of which is fixed on the L-shaped plate; a rotating box is installed between the supporting tailstocks through a second rotating shaft , the second rotating shaft is perpendicular to the first rotating shaft; a motor support is provided inside the supporting tailstock, and a second motor and a second worm gear reducer are installed on the motor support, and the second rotating shaft is connected to the first rotating shaft through a coupling The two turbine reducers are connected.

Further, the workpiece U-turn positioner includes the rotating box, and the third motor and the third worm gear reducer are installed inside the rotating box, wherein the third worm gear reducer is installed with a protruding rotating box The third rotating shaft on the side, the third rotating shaft is perpendicular to the second rotating shaft, a second bearing seat is arranged between the third rotating shaft and the rotating box; a U-turn turntable is arranged on the third rotating shaft, and the clamp assembly is installed on the U-turn on the turntable.

Further, the clamp assembly includes a support frame in the shape of "concave", the base of the support frame is provided with an X-axis guide rail and a Y-axis guide rail that can slide on the X-axis guide rail, wherein the Y-axis guide rail is provided with The position of the positioning slide seat can be adjusted. A support rod is fixed on the positioning slide seat. The end of the support rod is provided with a positioning block for supporting the workpiece. The positioning block is provided with an arc surface; the support frame is provided with a pressing The tightening beam is provided with a plurality of pressing screws passing through the pressing beam, and the ends of the pressing screws are provided with pressing handles, and the included angle between the pressing screws is an acute angle.

Further, two X-axis guide rails are arranged in parallel, and the X-axis guide rails are fixedly installed on a support platform parallel to the X-axis guide rails, and the support platform is fixedly connected to the base of the support frame; the support platform An X-axis lead screw is located in the middle of the two X-axis guide rails, a scale parallel to the X-axis lead screw is provided on the support table, and a drive for driving the X-axis lead screw to rotate is provided at the end of the X-axis lead screw. X axis handle;

Two pairs of the Y-axis guide rails are arranged in parallel, and each pair of Y-axis guide rails is distributed on both sides of the X-axis screw, and the bottom of the Y-axis guide rails is assembled on the X-axis guide rails through the first bayonet; The ends of each pair of Y-axis guide rails are connected by threaded sliding sleeves, and the threaded sleeves are set on the X-axis screw; each pair of Y-axis guide rails is provided with a Y-axis screw through, so The bottom of the above-mentioned positioning slide is provided with a second bayonet, and the second bayonet is assembled on the Y-axis guide rail. The positioning slide and the Y-axis screw are connected by threads, and the end of the Y-axis screw is provided with a Four motors.

Further, the positioning slide is equipped with gap adjustment bolts for adjusting the gap between the positioning slide and the Y-axis guide rail.

Compared with the prior art, the present invention has the following technical characteristics:

The present invention designs a three-axis positioner with sufficient output torque for the 90° elbow, which can coordinate with the welding robot to realize the surfacing welding of the inner wall of the 90° elbow. The welding transformation of the bent pipe has high precision and high degree of automation; the whole surfacing process can be regulated by automatic programming, realizing the flow operation of welding, which can fully reduce the labor intensity of the operator and fully improve the work efficiency.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the top view (excluding robot) of Fig. 1;

Fig. 3 is the side view (excluding robot) of Fig. 1;

Fig. 4 is a structural schematic diagram of the workpiece rotary positioner;

Fig. 5 Schematic diagram of the structure of the workpiece turning positioner;

Figure 7 is a schematic side view of the clamp assembly;

Figure 6 is a schematic structural diagram of the workpiece U-turn positioner;

Figure 7 is a side view of the clamp assembly;

Figure 8 is a front view of the clamp assembly;

Fig. 9 is a top structural schematic view of the X-axis guide rail and the Y-axis guide rail on the fixture assembly.

The symbols in the figure represent: 1—workpiece rotary positioner, 2—workpiece, 3—fixture assembly, 4—workpiece turning positioner, 5—workpiece turning positioner, 6—welding robot, 7—underframe;

101—the first rotating shaft, 102—the first worm gear reducer, 103—the machine base, 104—the first motor, 105—the rotary disc, 106—the L-shaped plate, 107—the first bearing seat, 108—the first screw, 301 —supporting frame, 302—compression screw, 303—compression handle, 304—positioning block, 305—base, 306—support rod, 307—positioning slide, 308—third screw, 309—scale scale, 310 —X-axis handle, 311—support table, 312—X-axis screw, 313—Y-axis guide rail, 314—fourth motor, 315—gap adjustment bolt, 316—X-axis guide rail, 401—turntable, 402—third Revolving shaft, 403—the second bearing seat, 404—the third worm gear reducer, 405—the third motor, 406—the rotating box, 501—the second screw, 502—supporting the tailstock, 503—the second rotating shaft, 504—the first Two motors, 505—the second worm gear reducer, 506—motor support, 507—coupling.

detailed description

According to the above-mentioned technical scheme, as shown in the figure, the present invention discloses a surfacing and displacement device for the inner wall of a 90° elbow, which includes an underframe 7, and a workpiece rotary positioner 1 is arranged on one side of the underframe 7, and the other side A welding robot 6 is installed on the track, and a welding torch is installed on the welding robot 6. During actual work, the welding robot 6 is driven to weld after being close to the workpiece rotary positioner 1; L-shaped plate 106, the L-shaped plate 106 is provided with a workpiece turning positioner 5, and the workpiece turning positioner 5 is movably installed with a workpiece U-turn positioner 4, and is installed on the workpiece U-turn positioner 4 for fixing the workpiece The fixture assembly 3; wherein, the workpiece turning positioner 5 is used to drive the workpiece U-turn positioner 4 to rotate, and the workpiece U-turn positioner 4 is used to drive the fixture assembly 3 to rotate.

Specifically, as shown in FIG. 4 , the workpiece rotary positioner 1 includes a machine base 103 fixed on the chassis 7 through first screws 108 , and the side of the machine base 103 is installed with a first bearing seat 107 parallel to the horizontal plane. A rotary shaft 101, the first rotary shaft 101 is provided with a rotary disc 105, the L-shaped plate 106 is fixedly connected with the rotary disc 105; the inside of the base 103 is provided with a first motor 104 for driving the first rotary shaft 101 , the first motor 104 is connected to the first rotating shaft 101 through the first worm gear reducer 102 . Wherein, the first motor 104 adopts a DC servo motor. Driven by the first motor 104, the L-shaped plate 106 drives the workpiece turning positioner 5 to rotate in a direction parallel to the horizontal plane as a whole, so as to achieve Rotary operation on the workpiece.

As shown in Figure 5, the workpiece turning positioner 5 includes a pair of supporting tailstocks 502, and the bottom of the supporting tailstocks 502 is fixed on the L-shaped plate 106 of the workpiece turning positioner 1 by second screws 501; Between the tailstock 502, a rotating box 406 is installed through a second rotating shaft 503, the second rotating shaft 503 is perpendicular to the first rotating shaft 101, and the function of the second rotating shaft 503 is to drive the rotating box 406 to rotate so that the workpiece is turned over; The inside of the tailstock 502 is provided with a motor support 506, and a second motor 504 and a second worm gear reducer 505 are installed on the motor support 506. The second rotating shaft 503 is connected to the second worm gear reducer 505 through a coupling 507. connect.

As shown in Fig. 5 and Fig. 6, the workpiece U-turn positioner 4 includes the rotating box 406, and the inside of the rotating box 406 is equipped with a third motor 405 and a third worm gear reducer 404, wherein the third worm gear reducer The machine 404 is equipped with the third rotating shaft 402 that stretches out the side of the rotating box body 406, the third rotating shaft 402 is perpendicular to the second rotating shaft 503, and the second bearing seat 403 is arranged between the third rotating shaft 402 and the rotating box body 406; The three rotating shafts 402 are provided with a U-turn turntable 401 , and the clamp assembly 3 is installed on the U-turn turntable 401 .

The structure of the clamp assembly 3 is shown in Figure 2, Figure 7 and Figure 8. The clamp assembly 3 includes a support frame 301 in the shape of a "concave", and the support frame 301 is composed of a base 305 and stands arranged on both sides of the base 305 , the base 305 of the support frame 301 is provided with an X-axis guide rail 316 and a Y-axis guide rail 313 that can slide on the X-axis guide rail 316, wherein the Y-axis guide rail 313 is provided with a position-adjustable positioning slide 307, and the positioning slide 307 is fixed with a support rod 306, and the end of the support rod 306 is provided with a positioning pad 304 for supporting the workpiece. The positioning pad 304 is provided with an arc surface so that the positioning pad 304 can be in closer contact with the workpiece to prevent the workpiece Rotation; the support frame 301 is provided with a compression beam, the two ends of the compression beam are detachably connected to the top of the stand, and a plurality of compression screws 302 are provided through the compression beam, and the compression screw The end of 302 is provided with a compression handle 303, and the angle between the compression screws 302 is an acute angle. After the workpiece is installed, the axis of the compression screw 302 points to the axis of the workpiece. When installing the workpiece, the compression beam is first removed, and after the workpiece is supported on the positioning pad 304, the compression beam is fastened, and then the compression screw 302 is screwed, so that the end of the compression screw 302 is tightly pressed against the workpiece on the surface to achieve a firm fixation of the workpiece. By adjusting the position of the positioning slide 307 on the Y-axis guide rail 313, the fixing and welding of bent pipe workpieces with different diameters can be realized; and by adjusting the position of the Y-axis guide rail 313 on the Y-axis guide rail 313, straight and bent pipe workpieces can be realized. welding transformation.

Specifically, as shown in FIG. 9 , two X-axis guide rails 316 are arranged in parallel, and the X-axis guide rails 316 are fixedly installed on a support platform 311 parallel to the X-axis guide rails 316, and the support platform 311 and the support frame The base 305 of 301 is fixedly connected by the third screw 308; an X-axis screw 312 is arranged in the middle of the two X-axis guide rails 316 on the support table 311, and an X-axis screw 312 parallel to the X-axis screw 312 is arranged on the support table 311. The scale 309 of the X-axis lead screw 312 is provided with an X-axis handle 310 for driving the X-axis lead screw 312 to rotate, and the movement position of the X-axis lead screw 312 is measured by the scale 309 .

Two pairs of Y-axis guide rails 313 are arranged in parallel, and each pair of Y-axis guide rails 313 is distributed on both sides of the X-axis screw 312. The bottom of the Y-axis guide rails 313 is assembled on the X-axis guide rails through the first bayonet 316, the first bayonet ensures that the Y-axis guide rail 313 can move smoothly on the X-axis guide rail 316; the ends of each pair of Y-axis guide rails 313 are connected by threaded sliding sleeves, and the threaded sliding sleeves are set on the On the X-axis lead screw 312 described above, when the X-axis lead screw 312 rotates, the threaded slide sleeve will drive a pair of Y-axis guide rails 313 to move due to the thread cooperation on the lead screw and the thread in the threaded slide sleeve; Each pair of Y-axis guide rails 313 is provided with a Y-axis lead screw, the bottom of the positioning slide 307 is provided with a second bayonet, and the second bayonet is assembled on the Y-axis guide rail 313, and the positioning slide 307 and Y The shaft lead screw adopts a threaded connection mode, and a fourth motor 314 is arranged at the end of the Y-axis lead screw; the fourth motor 314 drives the Y-axis lead screw to rotate, and under the thread cooperation of the lead screw and the positioning slide 307, the The positioning slide 307 moves on the Y-axis guide rail 313, and the second bayonet ensures the stability of the movement. Gap adjustment bolts 315 for adjusting the gap between the positioning slide 307 and the Y-axis guide rail 313 are installed on the positioning slide 307, so as to perform fine-tuning when the workpiece is clamped, so that the position of the workpiece can be better fixed.

Workpiece clamping process:

Place the workpiece on the positioning pad 304, make the outer circumference of the workpiece meet the positioning pad 304, and then rotate the compression handle 303, so that the compression screw 302 is tightly pressed against the outer surface of the workpiece, and the installation of the workpiece is completed .

Rotation process:

The main function of the workpiece rotary positioner 1 is to realize the rotation of the workpiece turning positioner 5 and the workpiece turning positioner 4 and clamp assembly 3 installed thereon, and then drive the workpiece to rotate. The rotary disk 105 is driven to rotate by the first rotating shaft 101, and the rotary disk 105 drives the L-shaped plate 106 to rotate, thereby driving the workpiece to rotate and shift.

Flip process:

The main function of the workpiece turning positioner 5 is to realize the tipping of the workpiece U-turn positioner 4 and the fixture assembly 3, and then realize the tipping of the workpiece. The rotation of the second rotating shaft 503 is driven by the second motor 504, so that the workpiece U-turn positioner 4 and the fixture assembly 3 perform a tilting motion to realize the tilting of the workpiece.

U-turn change:

The effect of the workpiece U-turn positioner 4 is to realize the transformation of the workpiece position after the 45 ° welding at one end of the workpiece is completed, so as to facilitate the welding of the other end 45 ° elbow. Drive the third motor 405 to drive the third worm gear reducer 404 to rotate, and drive the U-turn turntable 401 to rotate through the third rotating shaft 402 to realize a 180° rotation, thereby changing the position of the workpiece.

The workpiece is tilted while rotating, ensuring that the welding point of the welding torch is always in a horizontal position. The welding torch also rotates with the workpiece in order to get out of the inner wall of the elbow. While rotating, the tip of the torch does not move, and the pile of single-ended 45° elbow is completed. After welding, the torch is retracted to the outside of the workpiece. After the displacement, the surfacing operation of the 45° elbow on the other side is realized, and the overall surfacing welding of the inner wall of the 90° elbow is realized.

Utilize the present invention to carry out the process of surfacing welding of 90 elbow inner wall as follows:

Step 1, according to the specific shape and size of the workpiece, adjust the specific positions of the Y-axis guide rail 313 and the positioning slide 307, load the workpiece into the fixture assembly 3, and press the workpiece;

Step 2, drive the second motor 504 in the workpiece turning positioner 5, thereby driving the tipping shaft, tipping the single end of the workpiece to a horizontal position, realize the rotation of the workpiece itself through the workpiece turning positioner 1, and start the welding robot The motor of 6 performs surfacing welding on the straight pipe part of the elbow;

Step 3: When the surfacing welding of the straight pipe part of the elbow is completed, the first 45° elbow surfacing welding is performed; the workpiece turning positioner 5 works synchronously, and the workpiece is turned over while turning to ensure that the welding point is always at the level position, the welding torch in the welding robot 6 also rotates with the workpiece in order to let the inner wall of the bend pipe rotate, and the torch tip does not move while rotating;

Step 4, after surfacing into a single-ended 45° elbow, return the welding torch to the outside of the workpiece;

Step 5, use the workpiece turning positioner 5 to reset the workpiece, and the U-turn positioner realizes the position change of the workpiece through the turning of the turntable 401, and prepares for welding at the other end of the elbow;

Step six, repeat steps two to four to realize surfacing welding at the other end of the elbow.

Step 7, using the workpiece turning and shifting machine 5 to reset the workpiece, and the surfacing welding of the entire 90° elbow is completed.

The patent of the present invention designs a three-axis positioner with sufficient output torque for the surfacing welding displacement device on the inner wall of the 90° elbow, which can coordinate with the welding robot 6 to realize the surfacing welding on the inner wall of the 90° elbow, and XY axis adjustment to realize different diameters High-precision positioning and clamping tooling for straight and curved pipe transformation. The whole surfacing welding process realizes the flow operation of welding, which can fully reduce the labor intensity of the operator and fully improve the work efficiency.

Claims (7)

1. A 90 ° elbow inner wall surfacing displacement device, comprising an underframe (7), is characterized in that, one side of the underframe (7) is provided with a workpiece rotary positioner (1), and the other A welding robot (6) is arranged on the side; a rotatable L-shaped plate (106) is installed on the workpiece rotary positioner (1), and a workpiece turning positioner (5) is arranged on the L-shaped plate (106) , the workpiece turning positioner (5) is movably installed with a workpiece U-turn positioner (4), and a fixture assembly (3) for fixing the workpiece (2) is installed on the workpiece U-turn positioner (4); wherein , the workpiece turning positioner (5) is used to drive the workpiece U-turn positioner (4) to rotate, and the workpiece U-turn positioner (4) is used to drive the fixture assembly (3) to rotate. 2. The displacement device for surfacing welding on the inner wall of a 90° elbow according to claim 1, characterized in that, the workpiece rotation displacement machine (1) includes a base (103) fixed on the chassis (7) , the side of the machine base (103) is equipped with a first rotating shaft (101) parallel to the horizontal plane through the first bearing seat (107), the first rotating shaft (101) is provided with a rotary disc (105), and the L-shaped plate (106) is fixedly connected with the rotary disc (105); the inside of the base (103) is provided with a first motor (104) for driving the first rotating shaft (101), and the first motor (104) passes through the first turbine The speed reducer (102) is connected with the first rotating shaft (101). 3. The displacement device for surfacing welding on the inner wall of a 90° elbow as claimed in claim 1, wherein the workpiece turning positioner (5) includes a pair of supporting tailstocks (502), and the supporting tailstocks (502 ) is fixed on the L-shaped plate (106); the second rotating shaft (503) is installed with a rotating box (406) between the supporting tailstocks (502), and the second rotating shaft (503) is connected to the The first rotating shaft (101) is vertical; a motor support (506) is arranged inside the support tailstock (502), and a second motor (504) and a second worm gear reducer (505) are installed on the motor support (506) , the second rotating shaft (503) is connected with the second worm gear reducer (505) through a coupling (507). 4. The surfacing displacement device for 90° elbow inner wall as claimed in claim 3, characterized in that, said workpiece U-turn positioner (4) comprises said rotating box (406), and said rotating box ( 406) is equipped with a third motor (405) and a third worm gear reducer (404), wherein the third worm gear reducer (404) is equipped with a third rotating shaft (402 extending from the side of the rotating box (406) ), the third rotating shaft (402) is perpendicular to the second rotating shaft (503), and the second bearing seat (403) is arranged between the third rotating shaft (402) and the rotating box (406); on the third rotating shaft (402) A U-turn turntable (401) is provided, and the clamp assembly (3) is installed on the U-turn turntable (401). 5. The surfacing displacement device for the inner wall of a 90° elbow pipe according to claim 1, wherein the clamp assembly (3) includes a support frame (301) in a "concave" shape, and the support frame (301 ) is provided with an X-axis guide rail (316) and a Y-axis guide rail (313) that can slide on the X-axis guide rail (316), wherein the Y-axis guide rail (313) is provided with an adjustable positioning Sliding seat (307), on the positioning sliding seat (307), support bar (306) is fixed, and the end of support bar (306) is provided with the positioning block (304) that is used to support workpiece (2), and positioning block (304 ) is provided with an arc surface; the support frame (301) is provided with a compression beam, and a plurality of compression screws (302) are provided through the compression beam, and the ends of the compression screw (302) are provided with compression Tighten the handle (303), and the angle between the compression screw (302) is an acute angle. 6. The displacement device for surfacing welding on the inner wall of a 90° elbow as claimed in claim 5, wherein two described X-axis guide rails (316) are arranged in parallel, and the X-axis guide rails (316) are fixedly mounted on a On the support platform (311) parallel to the shaft guide rail (316), the support platform (311) is fixedly connected with the base (305) of the support frame (301); the support platform (311) is located on two X-axis An X-axis leading screw (312) is arranged at the middle part of the guide rail (316), and a scale scale (309) parallel to the X-axis leading screw (312) is provided on the support table (311). On the X-axis leading screw (312) An X-axis handle (310) for driving the rotation of the X-axis lead screw (312) is provided at the end; Two pairs of Y-axis guide rails (313) are arranged in parallel, and each pair of Y-axis guide rails (313) is distributed on both sides of the X-axis screw (312), and the bottom of the Y-axis guide rails (313) passes through the first A bayonet is assembled on the X-axis guide rail (316); the ends of each pair of Y-axis guide rails (313) are connected through threaded sliding sleeves, and the threaded sliding sleeves are sleeved on the described X-axis lead screw (312) Above; each pair of Y-axis guide rails (313) is provided with a Y-axis lead screw, and the bottom of the positioning slide (307) is provided with a second bayonet, and the second bayonet is assembled on the Y-axis guide rail ( 313), the positioning slide (307) and the Y-axis screw screw adopt a threaded connection mode, and the end of the Y-axis screw screw is provided with a fourth motor (314). 7. The displacement device for surfacing welding on the inner wall of a 90° elbow as claimed in claim 5, characterized in that, the positioning slide (307) is equipped with a guide rail (313) for adjusting the positioning slide (307) and the Y-axis ) gap adjustment bolt (315).