CN109822249B - Opposite-top type flange and straight pipe assembling equipment - Google Patents
Opposite-top type flange and straight pipe assembling equipment Download PDFInfo
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- CN109822249B CN109822249B CN201910174511.8A CN201910174511A CN109822249B CN 109822249 B CN109822249 B CN 109822249B CN 201910174511 A CN201910174511 A CN 201910174511A CN 109822249 B CN109822249 B CN 109822249B
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- 238000001514 detection method Methods 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 abstract description 18
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 238000013459 approach Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Abstract
The invention discloses opposite-top type flange and straight pipe assembling equipment which comprises two flange support headstock which are arranged at intervals front and back and are used for bearing flanges, and a straight pipe bracket which is arranged between the two flange support headstock and is used for bearing straight pipes and limiting the front and back directions of the straight pipes, wherein each flange support headstock comprises a headstock body and a flange chuck which is arranged at one side of the headstock body, which faces the straight pipe bracket, and is used for clamping flanges and keeping the front and back directions of the axial lead of the flanges; the flange support headstock is also provided with a position adjusting mechanism for adjusting the position of the flange; based on the structure of the opposite-top type flange and straight pipe assembling equipment, the position relationship between the flange and the straight pipe can be adjusted from multiple angles through the flange supporting headstock in the assembling process of the flange and the straight pipe, so that the assembling precision between the flange and the straight pipe is ensured, and the assembling efficiency can be effectively improved when the two ends of the straight pipe are required to be assembled with the flange.
Description
Technical Field
The invention relates to the field of pipe fitting assembly, in particular to opposite-top type flange and straight pipe assembling equipment.
Background
In the modularized prefabrication process of the pipe fitting, positioning group pairs are needed to be carried out between the flange and the straight pipe before welding and fixing, and the quality of finished pipe fitting module products can be effectively improved through the accurate positioning group pairs. However, in the prior art, the pipe fitting assembling equipment for assembling the flange and the straight pipe is generally low in mobility, and the requirement of high-precision positioning assembling between the flange and the straight pipe is difficult to meet in a specific application process. When the flanges are required to be welded at two ends of the straight pipe, the assembly welding between one end of the straight pipe and the flange is usually realized, then the straight pipe is hoisted and rotated for 180 degrees, so that the assembly welding between the other end of the straight pipe and the other flange is realized through the same pipe assembly equipment; so make the prefabricated time overlength of pipe fitting modularization, inefficiency.
In view of the foregoing, there is a need for an improved pipe pairing apparatus that solves the above-described problems.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art, and to achieve the purposes of the invention, the invention provides opposite-top type flange and straight pipe assembly equipment, which is specifically designed as follows.
The opposite-top type flange and straight pipe assembling equipment comprises two flange support headstock which are arranged at intervals in the front-back direction and are used for bearing flanges, and a straight pipe bracket which is arranged between the two flange support headstock and is used for bearing straight pipes and limiting the front-back direction of the straight pipes, wherein each flange support headstock comprises a headstock body and a flange chuck which is arranged on one side of the headstock body, which faces the straight pipe bracket, and is used for clamping the flanges and keeping the front-back direction of the axial lead of the flanges; the flange support headstock is also provided with a position adjusting mechanism for adjusting the position of the flange, the position adjusting mechanism comprises a Y-axis adjusting unit for adjusting the position of the headstock body back and forth so as to enable the headstock body to be close to or far away from the straight pipe bracket, an X-Z axis adjusting table for adjusting the position of the flange axis so as to enable the flange axis to coincide with the axis of the straight pipe, and a rotary adjusting unit for driving the flange clamp to rotate around a rotary shaft, the X-Z axis adjusting table is connected with the headstock body and the flange chuck, and the straight line where the rotary shaft is located coincides with the position where the flange axis is located.
Further, each flange support head further comprises a head base arranged below the head body, and the Y-axis adjusting unit comprises a first guide assembly, a first rack, a first gear and a first motor, wherein the first guide assembly is connected with the head body and the head base to limit the head body to move forwards and backwards, the first rack is arranged on the head base and faces forwards and backwards, the first gear is arranged on the head body and meshed with the first rack to drive the head body to move forwards and backwards relative to the head base when rotating, and the first motor is used for driving the first gear to rotate.
Further, the pairing device is also provided with a distance adjusting unit for adjusting the distance between the two headstock bases, and the distance adjusting unit comprises a guide rail, a rack, a gear and a motor, wherein the guide rail is arranged at the bottom of at least one headstock base to limit the corresponding headstock base to move forwards and backwards, the rack is fixedly arranged relative to the guide rail and is consistent with the extending direction of the guide rail, the gear is arranged on the corresponding headstock base and meshed with the rack to drive the corresponding headstock base to move forwards and backwards when rotating, and the motor is used for driving the gear to rotate.
Further, the X-Z axis adjusting table comprises an X axis adjusting unit for adjusting the position of the flange chuck left and right relative to the headstock body and a Z axis adjusting unit for adjusting the position of the flange chuck up and down.
Further, the headstock body is provided with a mounting plate positioned at the front side, and the Z-axis adjusting unit comprises a Z-axis moving plate, a second guide assembly, a second rack, a second gear and a second motor, wherein the second guide assembly is used for connecting the Z-axis moving plate with the mounting plate to limit the Z-axis moving plate to move up and down; the X-axis adjusting unit further comprises an X-axis moving plate, a third guide assembly, a third rack, a third gear and a third motor, wherein the third guide assembly is used for connecting the X-axis moving plate with the Z-axis moving plate to limit the X-axis moving plate to move left and right; the flange chuck is rotatably connected to the X-axis moving plate.
Further, the rotation adjusting unit comprises a fourth gear which is arranged on the flange chuck and takes the rotating shaft as an axle center, a fifth gear which is arranged on the X-axis moving plate and meshed with the fourth gear so as to drive the flange chuck to rotate when rotating, and a fourth motor which drives the fifth gear to rotate.
Further, the pairing device is provided with two straight pipe brackets which are respectively close to the front side and the rear side and are used for bearing the straight pipes together and limiting the front and the rear directions of the straight pipes, each straight pipe bracket is fixedly arranged relative to the corresponding side of the headstock base of the flange support headstock, each straight pipe bracket comprises a bracket seat and a pair of supporting wheels which are oppositely arranged at the top of the bracket seat left and right and are used for abutting against different positions of the outer wall of the straight pipe when bearing the straight pipes, and the supporting wheels are respectively arranged in a rotating mode around a front and rear direction rotating shaft so as to drive the straight pipes to roll around the axial lead of the straight pipes when rotating.
Further, the support wheel on at least one of the straight tube brackets is connected with a fifth motor for driving the support wheel to rotate.
Further, the pairing device is further provided with two sensors which are respectively arranged on one side of the two headstock bodies, which face the straight pipe bracket, so as to sense the end part of the straight pipe when the flange is close to the straight pipe along the extending direction of the rotating shaft, so as to obtain the distance between the end part of the straight pipe and the flange.
Further, the pairing device is further provided with two axial lead detection units which are respectively used for detecting and acquiring positions of axial leads of the straight pipe at the front end and the rear end of the straight pipe, each axial lead detection unit comprises a first bracket fixedly arranged relative to the headstock body at the corresponding side and a 2D laser displacement sensor which is arranged relative to the first bracket in a vertical moving mode and is positioned at the corresponding side and above one side, close to the straight pipe bracket, of the flange chuck.
Further, the assembling device is further provided with two welding units for welding gaps between the flanges and the straight pipes on the front end and the rear end of the straight pipe respectively after the flanges and the straight pipes are assembled, each welding unit comprises a second bracket fixedly arranged on the corresponding side of the headstock body, and a first welding gun and a second welding gun which are arranged in a vertically moving mode relative to the second bracket so as to weld the gaps on the two sides of the flanges respectively after the flanges and the straight pipes are assembled on the corresponding side.
The beneficial effects of the invention are as follows: based on the structure of the opposite-top type flange and straight pipe assembling equipment, in the process of assembling the flange and the straight pipe, the position relationship between the flange and the straight pipe can be adjusted from a plurality of angles through the flange supporting headstock, so that the assembling precision between the flange and the straight pipe is ensured; the flange support headstock that a pair of interval set up can satisfy the straight tube both ends and simultaneously with the group between the different flanges to, all need to be when group with the flange at straight tube both ends to, can effectively improve group to efficiency.
Drawings
FIG. 1 is a schematic view of the flange support head of the present invention mated with a straight tube bracket;
FIG. 2 is an enlarged schematic view of portion a of FIG. 1;
FIG. 3 is a schematic view of the sensor in the configuration of FIG. 2 in a retracted state;
FIG. 4 is another angular schematic view of the structure of FIG. 1;
FIG. 5 is an enlarged schematic view of portion b of FIG. 4;
FIG. 6 is a schematic view showing the flange chuck assembled to the head body mounting plate;
FIG. 7 is a schematic diagram showing an implementation of the Z-axis adjusting unit in FIG. 6;
FIG. 8 is a schematic view of an embodiment of the X-axis adjusting unit of FIG. 6;
FIG. 9 is a schematic diagram of a flange chuck mated with an X-axis translation plate;
FIG. 10 is an exploded view of the structure of FIG. 9;
FIG. 11 is a schematic view of a flange and straight tube assembly apparatus according to the present invention;
FIG. 12 is an enlarged schematic view of portion c of FIG. 11;
FIG. 13 is an enlarged schematic view of portion d of FIG. 12;
FIG. 14 is a schematic view of a straight tube bracket;
FIG. 15 is a schematic view of a structure of the butt flange and straight tube assembly butt device of the present invention;
FIG. 16 is an enlarged schematic view of portion e of FIG. 5;
FIG. 17 is another angular schematic view of the structure of FIG. 16;
FIG. 18 is an enlarged schematic view of portion g of FIG. 17;
fig. 19 is an enlarged schematic view of the portion f in fig. 15.
Detailed Description
The present invention will be described in detail with reference to the following embodiments shown in the drawings, and reference is made to fig. 1 to 19, which illustrate some preferred embodiments of the present invention.
Referring to fig. 1, a flange-supported head 100 according to the present invention includes a head body 11, and a flange chuck 12 provided at a front side of the head body 11 for clamping a flange 51 and maintaining a front-rear orientation of an axis of the flange 51; the flange-supported head mount 100 according to the present invention further has a position adjusting mechanism for adjusting the position of the flange 51.
Specifically, the position adjusting mechanism includes a Y-axis adjusting unit that adjusts the position of the head frame body 11 back and forth, an X-Z axis adjusting table that adjusts the position of the axis line of the flange 51, and a rotation adjusting unit that drives the flange chuck 12 to rotate about a rotation axis. The X-Z axis adjusting table is connected with the headstock body 11 and the flange chuck 12, and comprises an X axis adjusting unit for adjusting the position of the flange chuck 12 left and right relative to the headstock body 11 and a Z axis adjusting unit for adjusting the position of the flange chuck 12 up and down, and the rotating shaft of the rotating adjusting unit coincides with the position of the axial lead of the flange 51.
Based on the implementation structure of the flange support headstock 100 provided by the invention, the flange 51 can be subjected to up-and-down movement operation, left-and-right movement operation, front-and-back movement operation and rotation operation so as to realize multidimensional adjustment of the position of the flange; referring to fig. 1, in a pairing scene of a flange 51 and a straight pipe 52, the flange support headstock 100 provided by the invention can have a relatively accurate pairing relationship between the flange 51 and the straight pipe 52 before welding and fixing, so as to further ensure the welding quality of a subsequent welding and fixing link.
For a better understanding of the specific structure of the flange-supported headgear 100 according to the present invention, a more detailed description thereof will be provided below.
The flange-supported headgear 100 in this embodiment further includes a headgear base 13 disposed below the headgear body 11. As shown in fig. 1, 2, 4 and 5, the Y-axis adjusting unit includes a first guide assembly connecting the head body 11 and the head base 13 to define the front and rear movement of the head body 11, a first rack 142 provided on the head base 13 and facing front and rear, a first gear 143 provided on the head body 11 engaged with the first rack 142 to drive the head body 11 to move front and rear relative to the head base 13 when rotating, and a first motor 144 to drive the first gear 143 to rotate. Based on the Y-axis adjustment unit setting, when the first motor 144 is operated, the head frame body 11 can be moved back and forth, and further, the flange 51 on the flange chuck 12 can be moved back and forth.
In this embodiment, the head body 11 has a bottom plate 110 at the bottom, and the first guide assembly includes a first rail 141 fixed on the head base 13 and facing forward and backward, and a first slider (not shown) fixed on the bottom of the bottom plate 110 and slidably fitted on the first rail 141 along the length direction of the first rail 141. In a specific implementation process, the first guide rail 141 may include two parallel arranged first sliding blocks, and the number of the first sliding blocks may be adjusted according to actual requirements; the first motor 144 is fixed on the base plate 110, and the first gear 143 is linked with an output shaft of the first motor 144; typically, the first motor 144 is a servo motor, and a speed reducer is further disposed between the first motor 144 and the first gear 143, and is not specifically deployed herein.
As shown in fig. 1 and 6, the head body 11 has a mounting plate 111 at the front side, the Z-axis adjusting unit according to the present invention has a Z-axis moving plate 151 connected to the mounting plate 111 and moving up and down with respect to the mounting plate 111, the X-axis adjusting unit has an X-axis moving plate 161 connected to the Z-axis moving plate 151 and moving left and right with respect to the Z-axis moving plate 151, and the flange chuck 12 is rotatably connected to the X-axis moving plate 161. By the cooperation of the Z-axis adjusting unit and the X-axis adjusting unit, the up-and-down and left-and-right actions of the flange chuck 12 can be realized, and further the up-and-down and left-and-right movement of the flange 51 on the flange chuck 12 can be realized.
In particular, in this embodiment, as shown in fig. 6 and 7, the Z-axis adjusting unit further includes a second guide assembly connecting the Z-axis moving plate 151 with the mounting plate 111 to define the up-and-down movement of the Z-axis moving plate 151, a second rack 154 provided on the Z-axis moving plate 151 and facing up and down, a second gear (not shown) provided on the mounting plate 111 to be engaged with the second rack 154 to drive the Z-axis moving plate 151 to move up and down relative to the mounting plate 111 when rotating, and a second motor 155 to drive the second gear to rotate.
The second guide assembly in this embodiment includes a second guide rail 152 fixed on the Z-axis moving plate 151 and facing up and down, and a second slider 153 fixed on one side of the mounting plate 111 facing the Z-axis moving plate 151, and the second slider 153 is slidably fitted on the second guide rail 152 along the length direction of the second guide rail 152. In a specific implementation process, the second guide rail 152 may include two parallel second sliders 153, and the number of the second sliders 153 may be adjusted according to actual requirements; the second motor 155 is fixed on the mounting plate 111, and the second gear is linked with an output shaft of the second motor 155; typically, the second motor 155 is a servo motor, and a speed reducer is further disposed between the second motor 155 and the second gear, and is not specifically deployed here.
As shown in fig. 7 and 8, the X-axis adjusting unit further includes a third guide assembly connecting the X-axis moving plate 161 and the Z-axis moving plate 151 to define a left-right movement of the X-axis moving plate 161, a third rack 164 provided on the X-axis moving plate 161 and oriented left-right, a third gear (not shown) provided on the Z-axis moving plate 151 to be engaged with the third rack 164 to drive the X-axis moving plate 161 to move left-right relative to the Z-axis moving plate 151 when rotated, and a third motor 165 to drive the third gear to rotate.
The third guide assembly in this embodiment includes a third guide rail 162 fixed to the Z-axis moving plate 151 and oriented left and right, and a third slider 163 fixed to the side of the X-axis moving plate 161 oriented toward the Z-axis moving plate 151, and the third slider 163 is slidably fitted on the third guide rail 162 along the length direction of the third guide rail 162. In a specific implementation process, the third guide rail 162 may include two parallel third sliders 163, and the number of the third sliders may be adjusted according to actual requirements; the third motor 165 is fixed on the Z-axis moving plate 151, and the third gear is linked with an output shaft of the third motor 165; typically, the third motor 165 is a servo motor, and a speed reducer is further disposed between the third motor 165 and the third gear, and is not specifically deployed here.
It will be appreciated that the first, second and third guide assemblies of the present invention are used to limit the back and forth, up and down, and side to side movement of the flange chuck 12, respectively. In the implementation process, the setting positions of the first guide rail 141 and the first slider that form the first guide assembly may be interchanged, that is, the first guide rail 141 is fixed to the bottom of the base plate 110, and the first slider is fixed to the head frame base 13, so that the head frame body 11 can be set in a back-and-forth movement manner. Similarly, the second guide rail 152 and the second slider 153 that constitute the second guide assembly may be interchanged in arrangement positions; the installation positions of the third guide rail 162 and the third slider 163 constituting the third guide assembly may also be interchanged.
As a preferred embodiment of the present invention, the X-Z axis adjustment stage further has a Z axis limit unit that limits the upward and downward movement stroke of the Z axis moving plate 151 and an X axis limit unit that limits the leftward and rightward movement stroke of the X axis moving plate 161.
In particular, in the present embodiment, as shown in fig. 6 and 7, the Z-axis limiting unit includes a pair of first shutters 156 fixed to the Z-axis moving plate 151 at an up-down interval, and a pair of first trigger switches 157 fixed to the mounting plate 111 at an up-down interval, and the pair of first trigger switches 157 are located between the pair of first shutters 156. When the Z-axis moving plate 151 moves upward until the lower first shutter 156 abuts against the lower first trigger switch 157, the Z-axis moving plate 151 stops continuing to move upward; when the Z-axis moving plate 151 moves downward to the upper first shutter 156 to abut against the upper first trigger switch 157, the Z-axis moving plate 151 stops moving downward.
As shown in fig. 7 and 8, the X-axis limiting unit includes a pair of second shutters 166 fixed to the X-axis moving plate 161 at a left-right interval, and a pair of second trigger switches 167 fixed to the Z-axis moving plate 151 at a left-right interval, the pair of second trigger switches 167 being located between the pair of second shutters 166. When the X-axis moving plate 161 moves leftward to the right side and the second shutter 166 abuts against the second right side trigger switch 167, the X-axis moving plate 161 stops continuing to move leftward; when the X-axis moving plate 161 moves rightward until the left second shutter 166 abuts against the left second trigger switch 167, the X-axis moving plate 161 stops moving further rightward.
In other embodiments of the present invention, the specific structures of the Z-axis limit unit and the X-axis limit unit are not limited to the structures shown in fig. 6, 7, and 8.
As shown in fig. 9 and 10, the swing adjusting unit according to the present invention includes a fourth gear 171 provided on the flange chuck 12 and having a rotation shaft as an axis, a fifth gear 172 provided on the X-axis moving plate 161 and engaged with the fourth gear 171 to drive the flange chuck 12 to rotate when rotated, and a fourth motor 173 to drive the fifth gear 172 to rotate.
More specifically, referring to fig. 10, the fourth gear 171 is rotatably coupled to the rotation support 170, the rotation support 170 is coupled to the screw hole 1610 of the X-axis moving plate 161 by a bolt 1700 to be fixed to the X-axis moving plate 161, the fourth motor 173 is a servo motor, and a speed reducer is further disposed between the fourth motor 173 and the fifth gear 172, and is not particularly unfolded herein.
As further shown in fig. 9 and 10, the flange chuck 12 includes a chuck base 120 rotated about a rotation axis, a plurality of jaws 121 uniformly distributed on the chuck base 120 centering around the rotation axis, and a jaw adjusting mechanism for synchronously adjusting a relative rotation axis distance of the plurality of jaws 121 to clamp or unclamp the flange 51. In particular, in the present embodiment, the jaw adjustment mechanism has a power supply assembly including a sixth gear 125 rotatably provided with respect to a fourth gear 171 to adjust a distance of the jaw 121 with respect to a rotation axis upon rotation, a seventh gear 124 engaged with the sixth gear 125, and a sixth motor 122 to drive rotation of the seventh gear 124. A clutch 123 is arranged between the sixth motor 122 and the seventh gear 124, and when the clutch 123 is in a combined state, the sixth motor 122 can drive the seventh gear 124 to rotate; while when the clutch 123 is in the disengaged state, the output of the sixth motor 122 is disconnected from the seventh gear 124, and the sixth gear 125 rotates in synchronization with the fourth gear 171.
The jaw adjustment mechanism in this embodiment further has a manual adjustment assembly for manually adjusting the position of the jaw 121 by a user, and as shown with reference to fig. 9 and 10, the manual adjustment assembly includes an eighth gear 126 engaged with the sixth gear 125 and a rotation lever 127 for rotating the eighth gear 126, the rotation lever 127 being rotatably provided on the X-axis moving plate 161.
Referring to fig. 1 and 2, the flange-supported head 100 according to the present invention further includes a sensor 191 provided at the front side of the head body 11 to sense the rear end of the straight tube 52 to obtain the distance between the rear end of the straight tube 52 and the flange 51 when the straight tube 52 assembled with the flange 51 approaches the flange 51 in the direction in which the rotation axis extends. In the process of assembling the flange 51 and the straight pipe 52, when the flange support headstock 100 drives the flange 51 to approach the straight pipe 52 to a certain specific distance, the sensor 191 can sense the rear end of the straight pipe 52, and based on the thickness of the flange, the position relationship between the flange chuck 12 and the sensor 191 in the Y-axis direction and the like, the distance between the flange 51 and the rear end of the straight pipe 52 can be obtained, and then the moving distance of the flange 51 in the Y-axis direction can be accurately controlled by controlling the action of the Y-axis adjusting unit, so that the flange 51 and the straight pipe 52 have a proper position relationship in the assembling process.
As a preferred embodiment of the present invention, referring to fig. 2 and 3, the flange-supported head frame 100 further includes a telescopic rod 192 fixed to the front side of the head frame body 11 in such a manner that the telescopic direction coincides with the extension direction of the rotation axis, and the sensor 191 is fixed to the front end of the telescopic rod 192. Based on this arrangement, after the sensor 191 senses the rear end of the straight tube 52 and obtains the distance between the front flange 51 and the rear end of the straight tube 52, the telescopic rod 192 can be retracted, thereby preventing the sensor 191 from being damaged by further movement of the head frame body 11 or other operations.
As shown in fig. 1 and 11, the present invention also provides a flange and straight pipe assembling apparatus having the above flange support head 100 and a straight pipe bracket 200 provided on the front side of the flange support head 100 for supporting a straight pipe 52.
More specifically, the straight pipe bracket 200 in the invention can limit the front-back orientation of the straight pipe 52, the position of the headstock body 11 can be adjusted by the front-back adjustment unit of the Y-axis adjusting unit to enable the headstock body 11 to be close to or far from the straight pipe bracket 200, and the axial lead of the flange 51 can be overlapped with the axial lead of the straight pipe 52 when the axial lead of the flange 51 is adjusted by the X-Z axis adjusting table.
Referring to fig. 11, the pairing apparatus in this embodiment has two spaced apart straight tube brackets 200 that collectively carry the straight tubes 52 and define a front-to-back orientation of the straight tubes 52. As shown in fig. 14, each of the straight tube brackets 200 includes a bracket base 21 and a pair of supporting wheels 22 disposed on the top of the bracket base 21 and opposite to each other in a left-right direction to abut against different positions of the outer wall of the straight tube 52 when the straight tube 52 is carried, and as shown in fig. 14, the pair of supporting wheels 22 includes a first supporting wheel 221 and a second supporting wheel 222, and the first supporting wheel 221 and the second supporting wheel 222 are respectively disposed to rotate around a front-rear rotation axis so as to drive the straight tube 52 to roll around the axis of the straight tube 52 when rotating.
In a specific implementation process, the supporting wheel 22 on at least one straight tube bracket 200 is connected with a fifth motor (not shown in the figure) for driving the supporting wheel to rotate, and based on the arrangement of the fifth motor, the active rotation of the straight tube 52 on the straight tube bracket 200 can be realized.
The flange and straight pipe assembling device according to the present invention further includes an axis line detection unit 300 for detecting a position of an axis line of the straight pipe 52, and referring to fig. 12 and 13, the axis line detection unit 300 includes a first bracket 31 fixedly disposed with respect to the head frame body 11, and a 2D laser displacement sensor 32 disposed to move up and down with respect to the first bracket 31 and located above a front side of the flange chuck 12.
In particular, in the present embodiment, the pairing device has a carrier 30 fixed on the base plate 110, a first bracket 31 is fixed on the carrier 30 and extends upward toward the front side of the flange chuck 12, and a first fixing rod 320 for fixing the 2D laser displacement sensor 32 is provided at the front end of the first bracket 31 to move up and down.
In a specific application process, the axial lead detection process of the straight tube 52 is as follows: the straight tube 52 is carried on the straight tube bracket 200, the headstock body 11 drives the carrier 30 to move towards the direction of the straight tube bracket 200 until the sensor 191 senses the end part of the straight tube 52, the Y-axis moving unit stops moving, at the moment, the end part of the straight tube 52 is positioned in the detection range of the 2D laser displacement sensor 32, the supporting wheel 22 on the straight tube bracket 200 drives the straight tube 52 to rotate for one circle, and the 2D laser displacement sensor 32 obtains the axial lead of the straight tube 52 according to the appearance detection data of the straight tube 52. According to the axis of the straight pipe 52 detected by the 2D laser displacement sensor 32, the X-Z axis adjustment table of the flange support head 100 adjusts the position of the flange chuck 12 in the vertical direction and the left-right direction until the axis of the flange 51 coincides with the axis of the straight pipe 52. In a specific assembling process, the flange 51 can also rotate to a proper angle around the axial lead of the flange 51 before being assembled with the straight pipe 52 through the rotation adjustment of the rotation adjustment unit.
As further shown in fig. 12 and 13, the pairing device according to the present invention further includes a welding unit for welding the gap between the flange 51 and the straight pipe 52 after pairing the flange 51 and the straight pipe 52, the welding unit including a second bracket 41 fixedly provided with respect to the head frame body 11, and a first welding gun 42 and a second welding gun 43 each provided to move up and down with respect to the second bracket 41 so as to weld the gap on both sides of the flange 51 after pairing the flange 51 and the straight pipe 52, respectively.
In the implementation process, the second bracket 41 is also fixed on the carrier 30 and extends towards the upper front side of the flange chuck 12, the second bracket 41 is provided with a second fixing rod 420 and a third fixing rod 430 which move up and down, and the first welding gun 42 and the second welding gun 43 are respectively assembled on the second fixing rod 420 and the third fixing rod 430 through a first cross slide 421 and a second cross slide 431; in this embodiment, the first welding gun 42 and the second welding gun 43 are disposed in front of the 2D laser displacement sensor 32 and are disposed at intervals.
In a specific application process, the flange support headstock 100 can adjust the position of the flange 51 in a multi-dimensional manner to enable the flange 51 and the straight pipe 52 to have proper position relation, and after the flange 51 and the straight pipe 52 reach proper position relation, the assembly and the fixation between the flange 51 and the straight pipe 52 can be completed in a manual local spot welding mode; after the fixing of the two sets, the gap formed between the two sets needs to be fully welded, at this time, the flange chuck 12 releases the flange 51, and the y-axis moving unit drives the bottom plate 110 to move away from the straight pipe bracket 200 until the first welding gun 42 and the second welding gun 43 are respectively located above two sides of the flange 51. Then, with the cooperation of the second fixing rod 420 and the first cross carriage 421, the first welding gun 42 can move to a first welding position on one side of the flange 51 to weld the gap between the flange 51 and the straight pipe 52 on the one side; with the cooperation of the third fixing lever 430 and the second carriage 431, the second welding gun 43 is movable to the other side of the flange 51 to a second welding position at which the gap between the flange 51 and the straight pipe 52 is welded. When welding the gap between the flange 51 and the straight pipe 52, the support wheel 22 on the straight pipe bracket 200 drives the straight pipe 52 to rotate, and the first welding gun 42 and the second welding gun 43 continuously weld the gap between the flange 51 and the straight pipe 52 on both sides of the flange 51. In practical applications, the first cross carriage 421 and the second cross carriage 431 have a profile component that elastically abuts against the flange sidewall and/or the straight pipe outer wall so that the first welding gun 42 and the second welding gun 43 are always in proper welding positions during the welding process, and in particular, the profile components are not further developed herein.
As a more preferable implementation mode of the invention, the invention also provides a butt flange and straight pipe assembly device. Referring to fig. 15, the pair of top flanges and straight tube assembling apparatus includes two flange support head frames 100 disposed at intervals in front and rear and each for carrying a flange 51, and a straight tube bracket 200 disposed between the two flange support head frames 100 for carrying a straight tube 52 and defining a front and rear orientation of the straight tube 52. In this embodiment, the top-facing flange and straight pipe assembling device adds a flange support headstock 100 on the basis of the flange and straight pipe assembling device structure shown in fig. 11, and based on this added flange support headstock 100, it is able to meet that two ends of a straight pipe 52 are simultaneously assembled with different flanges 51, so as to effectively improve the assembling efficiency of the flanges 51 and the straight pipe 52.
In order to adapt to the assembly between the two ends of the straight pipe 52 with different lengths and the flange 51, the assembly device for the top-to-top type flange and the straight pipe in the embodiment is further provided with a distance adjusting unit for adjusting the distance between the two head frames 13.
As shown in fig. 16, 17, 18 and 4, the interval adjusting unit includes a guide rail provided at the bottom of one head base 13 to define the forward and backward movement of the corresponding head base 13, a rack 34 fixedly provided with respect to the guide rail and in conformity with the extending direction of the guide rail, a gear 35 provided on the corresponding head base 13 to be engaged with the rack 34 to drive the corresponding head base 13 to move forward and backward when rotated, and a motor 36 to drive the gear 35 to rotate.
In this embodiment, the butt flange and straight pipe pairing device is provided with a mounting base, a pair of parallel rails facing front and back are fixed on the mounting base, the bottom of the headstock base 13 is in sliding fit with the rails through a sliding block 33, a motor 36 is fixed on the headstock base 13, and a gear 35 is linked with an output shaft of the motor 36; typically, the motor 36 is a servo motor, and a speed reducer is further disposed between the motor 36 and the gear 35, and is not developed here.
In other embodiments of the present invention, both flange support head frames 100 constituting the butt flange, straight tube pairing apparatus are assembled on the mounting base by the above-mentioned spacing adjustment unit.
The butt flange, straight tube alignment apparatus shown in fig. 11 has two straight tube brackets 200 respectively adjacent to the front and rear flange support head 100 to collectively carry the straight tube 52 and define the front and rear orientation of the straight tube 52, each straight tube bracket 200 preferably being fixedly disposed with respect to the head base 13 of the corresponding side flange support head 100. As shown in fig. 16 and 17, the straight tube bracket 200 near the side flange supporting the head frame 100 is fixed on the head frame base 13, and based on this, the distance between the two straight tube brackets 200 for carrying the straight tubes 52 is adjustable, so as to adapt to the support of the straight tubes 52 with different lengths.
It can be understood that, for the butt flange and straight pipe assembling apparatus shown in fig. 11, both front and rear ends thereof are provided with an axis line detecting unit 300 for detecting and obtaining the position of the axis line of the straight pipe 52 at both front and rear ends of the straight pipe 52, and a welding unit for performing welding operation at both front and rear ends of the straight pipe 52 after the flange 51 and straight pipe 52 are assembled. The specific design structures of the axis line detection unit 300 and the welding unit are described above.
As shown in fig. 15 and 19, the pairing device according to the present invention further includes an auxiliary bracket 24 for supporting the straight pipe 52 in cooperation with the straight pipe brackets 200, and the auxiliary bracket 24 is disposed between the two straight pipe brackets 200 to support the straight pipe 52 when the length of the straight pipe 52 is too long. In the present embodiment, the auxiliary bracket 24 is disposed on the mounting base in a turned state, and the auxiliary bracket 24 has an upright state for supporting the straight pipe 52 and a lying state accommodated in the mounting base.
Referring to fig. 16, in the implementation process, the pairing device according to the present invention further has a loading and unloading unit 400 for loading and unloading the straight pipe 52 after pairing and welding, and a control cabinet 600 for controlling the operation of the pairing device, which are not further developed herein.
It should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is for clarity only, and that the skilled artisan should recognize that the embodiments may be combined as appropriate to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.
Claims (6)
1. The opposite-top type flange and straight pipe assembling equipment is characterized by comprising two flange support headstock which are arranged at intervals in the front-back direction and are used for bearing flanges, and a straight pipe bracket which is arranged between the two flange support headstock and is used for bearing straight pipes and limiting the front-back direction of the straight pipes, wherein each flange support headstock comprises a headstock body and a flange chuck which is arranged at one side of the headstock body, which faces the straight pipe bracket, and is used for clamping flanges and keeping the front-back direction of the axial lead of the flanges; the flange support headstock is also provided with a position adjusting mechanism for adjusting the position of the flange, the position adjusting mechanism comprises a Y-axis adjusting unit for adjusting the position of the headstock body back and forth so as to enable the headstock body to be close to or far away from the straight pipe bracket, an X-Z axis adjusting table for adjusting the position of the flange axis so as to enable the flange axis to coincide with the axis of the straight pipe, and a rotary adjusting unit for driving the flange clamp to rotate around a rotary shaft, the X-Z axis adjusting table is connected with the headstock body and the flange chuck, and the straight line where the rotary shaft is located coincides with the position where the flange axis is located;
each flange support head further comprises a head base arranged below the head body, the Y-axis adjusting unit comprises a first guide assembly, a first rack, a first gear and a first motor, the first guide assembly is connected with the head body and the head base to limit the head body to move forwards and backwards, the first rack is arranged on the head base and faces forwards and backwards, the first gear is arranged on the head body and meshed with the first rack to drive the head body to move forwards and backwards relative to the head base when rotating, and the first motor is used for driving the first gear to rotate;
the X-Z axis adjusting table comprises an X axis adjusting unit for adjusting the position of the flange chuck left and right relative to the headstock body and a Z axis adjusting unit for adjusting the position of the flange chuck up and down;
the headstock body is provided with a mounting plate positioned at the front side, the Z-axis adjusting unit comprises a Z-axis moving plate, a second guide assembly, a second rack, a second gear and a second motor, the second guide assembly is used for connecting the Z-axis moving plate with the mounting plate to limit the Z-axis moving plate to move up and down, the second rack is arranged on the Z-axis moving plate and faces up and down, the second gear is arranged on the mounting plate and meshed with the second rack so as to drive the Z-axis moving plate to move up and down relative to the mounting plate when rotating, and the second motor is used for driving the second gear to rotate; the X-axis adjusting unit further comprises an X-axis moving plate, a third guide assembly, a third rack, a third gear and a third motor, wherein the third guide assembly is used for connecting the X-axis moving plate with the Z-axis moving plate to limit the X-axis moving plate to move left and right; the flange chuck is rotationally connected to the X-axis moving plate;
the pairing device is also provided with two sensors which are respectively arranged on one side of the headstock body, facing the straight pipe bracket, so as to sense the end part of the straight pipe when the flange is close to the straight pipe along the extending direction of the rotating shaft, and obtain the distance between the end part of the straight pipe and the flange;
the assembling equipment is also provided with two axial lead detection units which are respectively used for detecting and acquiring the positions of the axial leads of the straight pipe at the front end and the rear end of the straight pipe, wherein each axial lead detection unit comprises a first bracket fixedly arranged relative to the headstock body at the corresponding side and a 2D laser displacement sensor which is arranged relative to the first bracket in a vertical moving way and is positioned at the corresponding side and above one side, close to the straight pipe bracket, of the flange chuck.
2. The butt flange and straight pipe pairing apparatus according to claim 1 further comprising a distance adjusting unit for adjusting a distance between the two headstock bases, the distance adjusting unit including a guide rail provided at a bottom of at least one of the headstock bases to define a forward and backward movement of the corresponding headstock base, a rack fixedly provided with respect to the guide rail and aligned with an extending direction of the guide rail, a gear provided on the corresponding headstock base to be engaged with the rack to drive the corresponding headstock base to move forward and backward when rotated, and a motor to drive the gear to rotate.
3. The butt flange and straight pipe assembling apparatus according to claim 1, wherein the rotation adjusting unit includes a fourth gear provided on the flange chuck and centered on the rotation shaft, a fifth gear provided on the X-axis moving plate and engaged with the fourth gear to drive the flange chuck to rotate when rotating, and a fourth motor to drive the fifth gear to rotate.
4. The butt-type flange and straight pipe assembling apparatus according to claim 2, wherein the assembling apparatus has two straight pipe brackets respectively adjacent to the front and rear sides of the flange support headstock to jointly carry the straight pipe and define the front and rear directions of the straight pipe, each of the straight pipe brackets is fixedly provided with respect to the headstock base of the flange support headstock on the corresponding side, and each of the straight pipe brackets includes a bracket seat and a pair of support wheels oppositely provided on the top of the bracket seat in left and right to abut against different positions of the outer wall of the straight pipe when carrying the straight pipe, and the pair of support wheels are respectively rotatably provided around a front and rear direction rotation shaft to drive the straight pipe to roll around the straight pipe axis when rotating.
5. A counter top flange, straight tube pairing apparatus according to claim 4 wherein the support wheel on at least one of the straight tube brackets is connected to a fifth motor which drives rotation thereof.
6. The butt-type flange and straight pipe assembling apparatus according to claim 1 or 2, wherein the assembling apparatus further has two welding units for welding a gap between the flange and the straight pipe on the respective sides respectively at the front and rear ends of the straight pipe after the flange and the straight pipe are assembled, each of the welding units including a second bracket fixedly provided with respect to the head frame body on the respective side and a first welding gun and a second welding gun each provided to move up and down with respect to the second bracket for welding the gap on the respective sides of the flange after the flange and the straight pipe are assembled on the respective sides respectively at the both sides of the flange.
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| CN201910174511.8A CN109822249B (en) | 2019-03-08 | 2019-03-08 | Opposite-top type flange and straight pipe assembling equipment |
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| CN201910174511.8A CN109822249B (en) | 2019-03-08 | 2019-03-08 | Opposite-top type flange and straight pipe assembling equipment |
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| CN109822249B true CN109822249B (en) | 2023-09-08 |
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| CN110711998A (en) * | 2019-11-21 | 2020-01-21 | 徐州华恒机器人系统有限公司 | Automatic assembling device and method for cylinder body and flange of oil cylinder |
| CN112676750A (en) * | 2020-12-28 | 2021-04-20 | 大连船舶重工集团有限公司 | Automatic assembling device for straight pipe flanges |
| CN116066301A (en) * | 2022-11-28 | 2023-05-05 | 上海泰胜风能装备股份有限公司 | Fan tower flange pair splicing device |
| CN117260124A (en) * | 2023-10-11 | 2023-12-22 | 广州龙穴管业有限公司 | Flange positioning mechanism, assembly equipment and assembly method |
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| CN109822249A (en) | 2019-05-31 |
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