CN109940324B

CN109940324B - Automatic welding device, welding method and welding equipment adopting automatic welding device

Info

Publication number: CN109940324B
Application number: CN201910360945.7A
Authority: CN
Inventors: 宋崇智; 王飞
Original assignee: Research Institute Of Industrial Technology Of Ahut At Xuancheng Co ltd
Current assignee: Research Institute Of Industrial Technology Of Ahut At Xuancheng Co ltd
Priority date: 2019-04-30
Filing date: 2019-04-30
Publication date: 2023-12-08
Anticipated expiration: 2039-04-30
Also published as: CN109940324A

Abstract

The invention discloses an automatic welding device, a welding method and welding equipment adopting the automatic welding device, and belongs to the technical field of welding equipment; the welding system comprises a machine head main body, a fixed claw and a welding gun; the fixed claw extends downwards and the top of the fixed claw is rotationally connected to the machine head main body; the bottom of the machine head main body is provided with a positioning device; the welding gun is arranged on the positioning device; the fixed claws are a plurality of and are uniformly distributed around the positioning device; the fixed claws can provide a welding system support to ensure the stability of welding; and can give welding system through flexible arm and provide the support to when welding system removes, the planar position of the flat position of adaptation welding system of connecting plate expansion on it gives welding system and provides the support, and the operation is got up simply and conveniently, uses manpower sparingly.

Description

Automatic welding device, welding method and welding equipment adopting automatic welding device

Technical Field

The invention belongs to the technical field of welding equipment, and particularly relates to an automatic welding device, a welding method and welding equipment adopting the automatic welding device.

Background

Heat exchangers are widely used in the industries of power stations, petroleum, chemical, boilers, atomic energy, shipbuilding, light industrial machinery, etc., and the quality of the welding of the tubes and tube sheets determines the service life and working performance of the heat exchanger.

At present, the welding mode of tube sheet joint mainly welds for the manual work, but because its welded tube quantity is more, and the time of welding is longer, is higher to the welding quality requirement, consequently such weldment work is tired easily to the operative employee, and welding efficiency is not high, and manual welding quality is difficult to guarantee moreover, in order to solve above-mentioned problem, chinese patent No.: 201320012981.2 the Chinese patent document with the disclosure time of 2013, 7 and 10 discloses a full-automatic tube plate welding machine, which comprises a power mechanism, a rotating shaft, an indexing mechanism, a tensioning mechanism, a welding mechanism and an automatic wire feeding mechanism; the scheme is provided with the indexing mechanism to solve the defects caused by weak welding arcing and arc-receiving current, and the welding range is 370 degrees; the tensioning mechanism is arranged, the cylinder is adopted to push the tensioning block nut, and the taper tensioning block is expanded by utilizing the taper, so that the stability of welding is ensured; a cone core sleeve seat is arranged to ensure concentricity of the welding gun and the pipe wall; however, this solution also has some drawbacks, in order to ensure the stability of welding, the structure of the tensioning mechanism used is complex, the operation is inconvenient, and the welding mechanism needs to perform welding work on the top of the pipe.

In addition, the Chinese patent number is: 201810681599.8, the disclosure time is: the Chinese patent document disclosed in 12 th 2018 and 7 th 2018 discloses automatic welding equipment for a circular seam of a tube plate joint of a heat exchanger, which comprises a positioning mechanism, a rotating mechanism, a stepping motor, an extension plate, a welding gun holder and a welding gun, wherein the positioning mechanism comprises a positioning device, a tensioning device and a hand wheel, the tensioning device and the hand wheel are arranged on the positioning device, the welding gun holder is fixed on the rotating mechanism through the extension plate, and the welding gun is fixed on the welding gun holder.

Disclosure of Invention

1. Problems to be solved

Aiming at the problems of complex structure, inconvenient operation and difficult accurate positioning caused by inconvenient movement of a welding mechanism in the prior art for ensuring the stability of welding, the invention provides an automatic welding device, a welding method and welding equipment adopting the automatic welding device; the fixed claw can provide support for the welding system so as to ensure the stability of welding; and can give welding system through flexible arm and provide the support to when welding system removes, the flat position of welding system is held in order to adapt to in the connecting plate expansion on it, gives welding system and provides the support, and the operation is got up simply and conveniently, uses manpower sparingly.

2. Technical proposal

In order to solve the problems, the invention adopts the following technical scheme.

An automatic welding device comprises a welding system, wherein the welding system comprises a machine head main body, a fixed claw and a welding gun; the fixed claw extends downwards and the top of the fixed claw is rotationally connected to the machine head main body; the bottom of the machine head main body is provided with a positioning device; the welding gun is arranged on the positioning device; the fixed claws are a plurality of and uniformly distributed around the positioning device.

Preferably, the number of the fixing claws is three, and the fixing claws comprise vertical rods, transverse plates and claw heads; the top of the vertical rod is hinged on an extension plate arranged on the side part of the machine head main body, and the bottom of the vertical rod is hinged with one end of a transverse plate; the other end of the transverse plate is hinged with the top of the claw head.

Preferably, the device further comprises a flexible telescopic arm and a lifting system; the lifting system comprises a supporting seat and a sliding seat; the sliding seat is connected to the supporting seat in a sliding manner and can move up and down along the vertical direction; one end of the flexible telescopic arm is hinged on the sliding seat, and the other end of the flexible telescopic arm is hinged with the machine head main body.

Preferably, the flexible telescopic arm comprises a plurality of connecting plates; the connecting plates are positioned in the same horizontal plane, and the end parts of the connecting plates are mutually hinged.

Preferably, the positioning device comprises a positioning shaft, a positioning rod and a positioning head; the top of the positioning shaft is connected to the bottom of the machine head main body, the bottom of the positioning shaft is connected with the top of the positioning rod, and the bottom of the positioning rod is connected with the positioning head; the center lines of the positioning shaft, the positioning rod and the positioning head are coincident.

Preferably, the welding gun comprises a welding gun adjusting device and a welding gun clamping device; the welding gun adjusting device comprises a first supporting plate, a second supporting plate and a fixing seat; the vertical projection areas of the first support plate and the second support plate are overlapped, and one end of each of the first support plate and the second support plate is fixed on the same side of the positioning shaft; the fixing seat is positioned between the first supporting plate and the second supporting plate and can move up and down along the vertical direction between the first supporting plate and the second supporting plate; the welding gun clamping device is connected with the fixed seat through a connecting column; the connecting column is in threaded connection with the fixing seat; the welding gun clamping device is used for clamping a welding gun; the welding gun is positioned in a vertical plane where the diameter of the bottom end of the positioning shaft is positioned.

Preferably, a vertical rod and a threaded column which are vertically distributed are arranged between the first supporting plate and the second supporting plate; the number of the vertical rods is two; one end of the vertical rod is fixed on the first supporting plate, and the other end of the vertical rod penetrates through the fixing seat and then is connected with the second supporting plate; the thread column is positioned between the two vertical rods; one end of the threaded column is rotationally connected to the first support plate, and the other end of the threaded column penetrates through the fixing seat and then is connected with the second support plate; wherein, the fixing base is equipped with the screw hole with screw post complex.

The welding method adopts the automatic welding device, and comprises the following steps:

a. moving the machine head main body to enable the positioning head to be positioned above a pipe orifice at the top of the pipe, and unfolding a connecting plate on the flexible telescopic arm so as to adapt to the plane position of the machine head main body and provide support for the machine head main body;

b. the height position of the main body of the mobile machine head is adjusted, so that the positioning head is inserted into a pipe orifice at the top of a pipe, and simultaneously, the claw heads of the fixed claws are placed on the pipe plate, wherein when the claw heads interfere with adjacent pipes, the rotating claw heads rotate around the vertical space where the vertical rods are positioned so as to avoid the adjacent pipes;

c. adjusting the position of the welding gun to enable the welding gun to be aligned with a welding circular seam between the pipe to be welded and the pipe plate;

d. the positioning shaft is driven to rotate by the power device, and the welding gun is driven to rotate for a circle to finish girth welding.

A welding method adjusts the position of a welding gun by adjusting a welding gun adjusting device, and the specific adjusting steps are as follows:

A. rotating the threaded column, and lifting or lowering the fixing seat to drive the welding gun to lift or lower;

B. and rotating the connecting column, and moving the welding gun clamping device forwards or backwards along the axial direction of the connecting column to drive the welding gun to move forwards or backwards along the axial direction of the connecting column.

The welding equipment adopts the automatic welding device and further comprises a movable automatic lifting system, a welding machine, a wire feeder, a gas cylinder and a control system; the automatic welding device, the lifting system, the welding machine, the wire feeder, the gas cylinder and the control system are all positioned at the top of the movable automatic lifting system.

3. Advantageous effects

Compared with the prior art, the invention has the beneficial effects that:

(1) According to the automatic welding device, the support can be provided for the welding system through the flexible telescopic arm, and when the welding system moves, the connecting plate on the flexible telescopic arm is unfolded to adapt to the plane position of the welding system, the support is provided for the welding system, so that the operation is simple and convenient, and the labor is saved; in addition, the fixed claw can further provide a welding system support to ensure the stability of welding, and the girth welding can be completed after the welding gun rotates for one circle; compared with the manual welding technology, the invention can rapidly position and accurately weld, and has the advantages of simple operation, high automation degree, high welding efficiency and good welding effect;

(2) According to the automatic welding device provided by the invention, the adopted fixed claw has an adjusting function, and the rotary claw head rotates around the vertical space where the vertical rod is positioned so as to avoid adjacent pipes, so that the fixed claw head can be supported by a welding system so as to ensure the stability of welding;

(3) According to the automatic welding device provided by the invention, the adopted positioning head and the positioning rod are detachably connected, so that the positioning head and the positioning rod can be replaced according to different pipe diameters to be welded, diversified welding requirements can be met, and the automatic welding device has the advantages of good universality and the like;

(4) According to the automatic welding device, the adopted welding gun adjusting device can adjust the height position and the horizontal position of the welding gun, so that the position of the welding gun can be finely adjusted according to actual use conditions, and the automatic welding device is simple and convenient to use and high in reliability;

(5) According to the automatic welding device, the lifting system can drive the welding system to ascend or descend, so that the welding system can weld the next position after welding is finished, enough torque can be provided to meet the requirement of the welding system, and the stability of the welding system in operation is ensured;

(6) The automatic welding device provided by the invention has the advantages of simple structure, reasonable design and easiness in manufacturing;

(7) The welding method provided by the invention can be used for rapidly positioning and accurately welding the tube and the tube plate, and has the advantages of simplicity in operation, high automation degree, high welding efficiency and good welding effect.

Drawings

FIG. 1 is a schematic diagram of a welding apparatus of the present invention;

FIG. 2 is a schematic view of an automatic welding device according to the present invention;

FIG. 3 is a schematic view of a flexible telescopic arm and lifting system according to the present invention;

FIG. 4 is a schematic diagram of a lifting system according to the present invention;

FIG. 5 is a schematic diagram illustrating the assembly of the lifting system according to the present invention;

FIG. 6 is a schematic diagram of a welding system according to the present invention;

FIG. 7 is a second schematic diagram of the welding system according to the present invention;

FIG. 8 is an enlarged view of the welding system of FIG. 6A in accordance with the present invention;

FIG. 9 is a schematic view of the structure of the fixing claw of the present invention;

FIG. 10 is a top block diagram of the welding apparatus of the present invention;

FIG. 11 is a schematic diagram of a mobile automatic lifting system according to the present invention;

FIG. 12 is a view showing a structure of connection between a support saddle and a support lifter in the present invention;

FIG. 13 is a block diagram of a support lift apparatus of the present invention;

FIG. 14 is a diagram showing a connection structure between a supporting lifting device and a supporting platform in the present invention;

FIG. 15 is a schematic view of the structure of the support platform of the present invention;

FIG. 16 is a front view of the support platform of the present invention when deployed;

FIG. 17 is a schematic view of the support platform of the present invention in its deployed configuration;

fig. 18 is an enlarged view of fig. 17 a in the present invention.

In the figure: 1. a mobile automatic lifting system; 101 supporting a saddle; 1011. a ladder stand; 1012. a first fixing seat; 1013. a first sliding seat; 102. supporting the lifting device; 1021. an inner scissors fork; 1022. an outer scissors fork; 1023. a hydraulic cylinder; 103. a support platform; 1031. a fixed platform; 10311. a first track; 10312. a first wheel; 10313. a foot brake fixing point; 10314. a baffle; 1032. a first right guard rail; 1033. a first left guard rail; 1034. a front guardrail; 1035. a movable platform; 10351. a second track; 10352. a second wheel; 10353. a foot brake pedal; 1036. a second left guard rail; 1037. a second right guard rail; 1038. a rear guardrail; 1039. operating the handle frame; 2. a welding system; 201. a handpiece body; 202. a fixed claw; 2021. a vertical rod; 2022. a cross plate; 2023. a claw head; 203. a control switch; 204. a cable support sleeve; 205. a cable; 206. positioning a shaft; 207. a positioning rod; 208. a positioning head; 209. a welding gun adjusting device; 2091. a first support plate; 2092. a second support plate; 2093. a fixing seat; 2094. a vertical rod; 2095. a threaded column; 2096. a connecting column; 210. a welding gun clamping device; 211. a welding gun; 3. a flexible telescopic arm; 301. a connecting plate; 4. a lifting system; 401. a support base; 4011. a slide rail; 4012. a chute; 4013. a top cover; 4014. a top cover; 4015. a slide plate; 4016. a support base main body; 402. a sliding seat; 4021. a sliding block; 4022. a connecting block; 403. a triggering module; 404. a first sensing module; 405. a second sensing module; 5. welding machine; 6. a wire feeder; 7. a gas cylinder; 8. and a control system.

Detailed Description

The invention is further described below in connection with specific embodiments and the accompanying drawings.

Example 1

As shown in fig. 6 and 7, an automatic welding apparatus, which adopts a welding mode of vertical (pipe orifice upward) welding, is used for a welding process of a pipe and a pipe plate; it comprises a welding system 2, wherein the welding system 2 comprises a machine head main body 201, a fixed claw 202 and a welding gun 211; the machine head main body 201 is used as a bearing platform of the welding system 2, the fixed claws 202 extend downwards, the top of the fixed claws is rotationally connected to the machine head main body 201, a positioning device is arranged at the bottom of the machine head main body 201, the welding guns 211 are arranged on the positioning device, and the fixed claws 202 are uniformly distributed around the positioning device; the provision of the fixing claws 202 can provide support for the welding system 2 to ensure stability of welding.

Further, the number of the fixing claws 202 may be set to three, as shown in fig. 9, the fixing claws 202 include a vertical rod 2021, a transverse plate 2022 and a claw head 2023, the top of the vertical rod 2021 is hinged on an extension plate provided on the side of the handpiece main body 201, the bottom is hinged with one end of the transverse plate 2022, and the other end of the transverse plate 2022 is hinged with the top of the claw head 2023; the vertical rods 2021 are uniformly distributed on an arc with the center of the main body 201 of the machine head as a circle center and the diameter of 220mm, the rotary claw head 2023 rotates around the vertical space where the vertical rods 2021 are located as the circle center and within the range of 120mm in diameter so as to avoid adjacent pipes, and further the vertical rods can be supported by the welding system 2 so as to offset the inclination moment generated by the self weight of the welding system 2, and further the stability of welding is ensured.

Further, as shown in fig. 2 and 3, the device further comprises a flexible telescopic arm 3 and a lifting system 4, wherein the lifting system 4 comprises a supporting seat 401 and a sliding mechanism 402, the sliding mechanism 402 is slidably connected to the supporting seat 401 and can move up and down along the vertical direction, one end of the flexible telescopic arm 3 is hinged to the sliding mechanism 402, and the other end is hinged to the machine head main body 201; the lifting system 4 can drive the welding system 2 to ascend or descend, so that the welding system 2 can weld at the next position after welding is finished, enough torque can be provided to meet the requirement of the welding system, and the stability of the welding system 2 during working is ensured; wherein the flexible telescopic arm 3 comprises a plurality of connecting plates 301, the end parts of the connecting plates 301 are positioned in the same horizontal plane and mutually hinged, the arrangement of the flexible telescopic arm 3 can provide support for the welding system 2, and when the welding system 2 moves, the connecting plates 301 on the flexible telescopic arm are unfolded to adapt to the plane position of the welding system 2, and simultaneously provide support for the welding system 2, so that the operation is simple and convenient, and the labor is saved; the hinge portions of the respective connection plates 301 may be provided with dampers, so that the stability of welding of the welding system 2 can be improved.

Further, as shown in fig. 4 and 6, the supporting seat 401 includes a sliding rail 4011, a top cover 4013, a bottom cover 4014, a sliding plate 4015 and a supporting seat main body 4016, the supporting seat main body 4016 is fixed on the supporting platform 103, the sliding rail 4011 is vertically arranged and fixed on one side of the supporting seat main body 4016, a sliding groove 4012 is arranged on one side of the sliding rail 4011 far away from the supporting seat main body 4016, the top cover 4013 and the bottom cover 4014 are respectively installed at the upper end and the lower end of the sliding rail 4011, the top cover 4013 and the bottom cover 4014 are respectively and outwardly extended away from the sliding groove 4012, the sliding plate 4015 is vertically installed between the top cover 4013 and the bottom cover 4014, the sliding mechanism 402 includes a sliding block 4021 and a connecting block 4022, the sliding mechanism 402 is slidably connected on the sliding plate 4015, one side of the sliding mechanism 402 is contacted with the sliding groove 4012, the connecting block 4012 is fixed on one side of the sliding mechanism 402 far from the sliding plate 4015, a triggering module 403 is arranged on one side of the sliding rail 4011, a first sensing module 404 and a second sensing module 405 corresponding to the triggering module 403 are respectively, and the first sensing module 404 and the second sensing module 405 are respectively. The first sensing module 404 is located above the second sensing module 405, and the first sensing module 404 is located at a height position where the second sensing module 405 can detect the welding device, so as to perform corresponding operations.

Further, as shown in fig. 6 and 7, the positioning device comprises a positioning shaft 206, a positioning rod 207 and a positioning head 208, wherein the top of the positioning shaft 206 is connected to the bottom of the handpiece main body 201, and the bottom is connected with the positioning head 208 through the positioning rod 207; the central lines of the positioning shaft 206, the positioning rod 207 and the positioning head 208 coincide, the positioning shaft 206 is detachably connected with the positioning rod 207, specifically, the positioning rod 207 and the positioning shaft 206 are integrally connected, the positioning head 208 and the positioning rod 207 can be in threaded connection, and the positioning rod can be replaced according to different pipe diameters to be welded, so that diversified welding requirements can be met, and the positioning rod has the advantages of being good in universality and the like.

Further, as shown in fig. 8, the welding gun adjusting device 209 further comprises a welding gun adjusting device 209 and a welding gun clamping device 210, wherein the welding gun adjusting device 209 comprises a first supporting plate 2091, a second supporting plate 2092 and a fixing seat 2093, vertical projection areas of the first supporting plate 2091 and the second supporting plate 2092 are overlapped, one ends of the first supporting plate 2091 and the second supporting plate 2092 are fixed on the same side of the positioning shaft 206, the fixing seat 2093 is positioned between the first supporting plate 2091 and the second supporting plate 2092 and can move up and down along the vertical direction between the first supporting plate 2091 and the second supporting plate 2092, and the welding gun clamping device 210 is connected with the fixing seat 2093 through a connecting column 2096; the connection column 2096 is in threaded connection with the fixed seat 2093, and the connection column 2096 is rotated to realize that the connection column 2096 generates lateral displacement relative to the fixed seat 2093, and the connection column 2096 is in rotational connection with the welding gun clamping device 210 to drive the welding gun clamping device 210 to generate lateral displacement, so that the use requirement that the welding gun 211 can be adjusted in the horizontal position is met, meanwhile, the posture of the welding gun 211 is not changed, and the welding quality is guaranteed; the welding gun clamping device 210 is used for clamping a welding gun 211; the welding gun adjusting device 209 is arranged, so that the height position and the horizontal position of the welding gun 211 can be adjusted, the position of the welding gun 211 can be finely adjusted according to the actual use condition, the use is simple and convenient, and the reliability is high; the welding gun 211 is positioned in the vertical plane where the bottom end diameter of the positioning shaft 206 is positioned, so that the welding work of the welding gun 211 is facilitated, and the welding quality is ensured.

Further, as shown in fig. 8, vertical rods 2094 and threaded columns 2095 are vertically arranged between the first support plate 2091 and the second support plate 2092, the number of the vertical rods 2094 is two, one end of each vertical rod 2094 is fixed on the first support plate 2091, the other end of each vertical rod 2094 passes through the fixing seat 2093 and then is connected with the second support plate 2092, the threaded column 2095 is located between the two vertical rods 2094, one end of each threaded column 2095 is rotatably connected on the first support plate 2091, and the other end of each threaded column 2095 passes through the fixing seat 2093 and then is connected with the second support plate 2092; wherein, the fixed seat 2093 is provided with a threaded hole matched with the threaded column 2095; the screw column 2095 is rotated to drive the fixing seat 2093 to move in the vertical direction, so that the use requirement that the welding gun 211 can be adjusted in the horizontal position is met.

In addition, handrails are arranged on two opposite sides of the main body 201 of the machine head so as to be convenient for operators to operate, a control switch 203 is arranged on the other side, a cable support sleeve 204 is arranged on the top, a cable 205 is sleeved in the cable support sleeve 204, and the cable 205 is used for providing power required by the welding system 2; the automatic welding device in the implementation can provide support for the welding system 2 through the flexible telescopic arm 3, and when the welding system 2 moves, the connecting plate 301 on the welding device is unfolded to adapt to the plane position of the welding system 2, and simultaneously provides support for the welding system 2, so that the operation is simple and convenient, and the labor is saved; in addition, the fixed claw 202 can provide support for the welding system 2 so as to ensure the stability of welding, and the welding gun 211 can finish girth welding after rotating for one circle; compared with the manual welding technology, the embodiment can be used for quick positioning and accurate welding and has the advantages of being simple in operation, high in automation degree, high in welding efficiency and good in welding effect.

Example 2

A welding method using the automatic welding apparatus of embodiment 1, specifically described as follows:

a welding method comprises the following steps:

a. cleaning the tube and the tube plate, cleaning the tube plate by alkali liquor or organic solution, and polishing the tube by sand paper until the tube has metallic luster; moving the handpiece body 201 to enable the positioning head 208 to be positioned above the pipe orifice at the top of the pipe, and unfolding the connecting plate 301 on the flexible telescopic arm 3 so as to adapt to the plane position of the handpiece body 201 and provide support for the handpiece body 201;

b. adjusting the height position of the moving head main body 201 so that the positioning head 208 is inserted into the pipe orifice at the top of the pipe while the head 2023 of the stationary claw 202 is placed on the pipe plate, wherein when the head 2023 interferes with the adjacent pipe, the rotating head 2023 rotates around the vertical space where the vertical rod 2021 is located so as to avoid the adjacent pipe;

c. rotating the threaded column 2095, lifting or lowering the fixed seat 2093 to drive the welding gun 211 to lift or lower, rotating the connecting column 2096, and driving the welding gun 211 to move forward or backward along the axis direction of the connecting column 2096, so as to adjust the position of the welding gun 211, and enabling the welding gun 211 to be aligned with a welding ring seam between a pipe to be welded and a pipe sheet;

d. the positioning shaft 206 is driven to rotate by the power device, and the welding gun 211 is driven to rotate for one circle to finish girth welding.

Therefore, the use method can be used for rapidly positioning and accurately welding the tube and the tube plate, and has the advantages of simplicity in operation, high automation degree, high welding efficiency and good welding effect.

Example 3

As shown in fig. 1 and 10, the present embodiment provides a welding apparatus, which adopts the automatic welding device described in embodiment 1, and further includes a mobile automatic lifting system 1, a welding machine 5, a wire feeder 6, a gas cylinder 7, and a control system 8; the movable automatic lifting system 1 comprises a supporting saddle 101, a supporting lifting device 102 and a supporting platform 103, wherein the bottom of the supporting lifting device 102 is connected to the supporting saddle 101, the top of the supporting lifting device is connected to the bottom of the supporting platform 103, and the lifting system 4, the welding machine 5, the wire feeder 6, the gas cylinder 7 and the control system 8 are all positioned at the top of the supporting platform 103; the supporting seat main body 4016 is fixed on the top of the supporting platform 103, the wire feeder 6 is used for providing soldering tin for the welding system 2, and the welding machine 5 is connected with the welding system 2 so as to complete welding work; the gas cylinder 7 is used for providing a required shielding gas, such as carbon dioxide, etc., at the time of welding; the control system 8 is used for controlling the automatic welding of the welding system 2; the supporting and lifting device 102 can drive the supporting platform 103 to ascend or descend so as to achieve the ideal height position of the automatic welding device for welding operation.

As shown in fig. 1 and 11, the mobile automatic lifting system 1 includes a support saddle 101, a support lifting device 102 and a support platform 103, wherein the bottom of the support lifting device 102 is connected to the support saddle 101, the top is connected to the bottom of the support platform 103, and the support platform 103 includes a fixed platform 1031 and a movable platform 1035, wherein the fixed platform 1031 and the movable platform 1035 can move relatively.

As shown in fig. 13, the supporting and lifting device 102 is a scissor lifting device, which is favorable for providing sufficient supporting force, the supporting and lifting device 102 comprises an inner scissor 1021, an outer scissor 1022 and a hydraulic cylinder 1023, the hydraulic cylinder 1023 is used for providing power for the supporting and lifting device 102, the inner scissor 1021 is multiple and the ends of adjacent inner scissor 1021 are hinged to each other, the outer scissor 1022 is multiple and the ends of adjacent outer scissor 1022 are hinged to each other, the bottom of the fixed platform 1031 is provided with a second fixing seat and a second sliding seat, the second sliding seat is slidably connected at the bottom of the fixed platform 1031 and can move along the length direction of the fixed platform 1031, the second sliding seat is arranged near the front end of the fixed platform 1031, the second fixing seat is positioned at the bottom of the fixed platform 1031 and the corner of the rear end thereof, the top of the inner scissor 1021 positioned at the bottom of the topmost through the second fixing seat and the top of the outer scissor 1021 is hinged at the bottom of the fixed platform 1031 through the second sliding seat, or the top of the outer scissor 1022 positioned at the topmost through the top of the second sliding seat is hinged at the bottom of the top of the fixed platform 1031.

In this embodiment, the welding device can be driven to perform operation at an ideal height position, as shown in fig. 16, by adjusting the position of the movable platform 1035, so as to balance the overturning moment, the stability of the support platform 103 is ensured, and the stability of welding is further improved; the bearing area of the supporting platform 103 can be increased; compared with the existing scissor type lifting device technology, the scissor type lifting device has the advantages of being high in reliability, convenient to operate and the like.

The movable platform 1035 is located above the fixed platform 1031, and the movable platform 1035 can move relative to the fixed platform 1031 and the movement can be controlled, which is one of the following specific technical solutions: the two sides of the fixed platform 1031 are vertically provided with a first track 10311 upwards, the two sides of the movable platform 1035 are respectively provided with a second rotating wheel 10352 matched with the first track 10311, the second rotating wheels 10352 are distributed close to the front end of the movable platform 1035, the movable platform 1035 moves along the length direction of the first track 10311 through the second rotating wheels 10352, and the position of the movable platform 1035 relative to the fixed platform 1031 can be adjusted according to actual use requirements; a first rotating wheel 10312 is arranged on one side of the first track 10311 opposite to the movable platform 1035, a second track 10351 for the first rotating wheel 10312 to roll is arranged on the side surface of the movable platform 1035, the first rotating wheel 10312 is arranged close to the rear end of the fixed platform 1031, and the first rotating wheel 10312 always gives support to the movable platform 1035 through the second track 10351 in the moving process of the movable platform 1035, so that the stability of the movable platform 1035 is ensured; is beneficial to the operation safety.

The motion control of the movable platform 1035 relative to the fixed platform 1031 is as follows: as shown in fig. 17 and 18, a foot brake fixing point 10313 which is uniformly distributed is installed at the top of a first track 10311, a foot brake pedal 10353 is installed at the top of a second track 10351, the middle part of the foot brake pedal 10353 is hinged on the second track 10351, a stop part and a pedal are respectively arranged at the front end and the rear end, the pedal is tilted upwards to drive the stop part to move downwards, and a stop column arranged at the bottom of the stop part is matched with the foot brake fixing point 10313; the relative positions of the fixed movable platform 1035 and the fixed platform 1031 can be adjusted according to actual use requirements, so that the diversified use requirements are met, the universality is wide, and the wide-range popularization and use are facilitated; when the movable platform 1035 moves backward, the movable platform 1035 needs to be limited to prevent the movable platform 1035 from excessively moving backward and being separated from the fixed platform 1031; for this reason, the pedals are arranged at the rear end of the foot brake pedal 10353, a baffle 10314 is arranged at the top of the first track 10311 near the rear end of the fixed platform 1031, and the baffle 10314 drives the pedals to tilt upwards; limiting the limit movement positions of the movable and fixed platforms 1035 and 1031.

As shown in fig. 12, a first fixing seat 1012 and a first sliding seat 1013 are provided on the support saddle 101, the first sliding seat 1013 is slidably connected to the top of the support saddle 101 and can move along the length direction of the support saddle 101, the bottom end of the bottommost inner scissors 1021 is hinged on the first fixing seat 1012, and the bottom end of the bottommost outer scissors 1022 is hinged on the first sliding seat 1013, or the bottom end of the bottommost inner scissors 1021 is hinged on the first sliding seat 1013, and the bottom end of the bottommost outer scissors 1022 is hinged on the first fixing seat 1012.

The two sides of the fixed platform 1031 are respectively vertically hinged with a first right guardrail 1032 and a first left guardrail 1033 upwards, the front end is vertically hinged with a front guardrail 1034 upwards, the two sides of the movable platform 1035 are respectively vertically hinged with a second left guardrail 1036 and a second right guardrail 1037 upwards, and the rear end is vertically hinged with a rear guardrail 1038 upwards; the first right guard rail 1032, the first left guard rail 1033 and the front guard rail 1034 on the fixed platform 1031 can all rotate, and the second left guard rail 1036, the second right guard rail 1037 and the rear guard rail 1038 on the movable platform 1035 can all rotate, as shown in fig. 14, the supporting platform 103 can shrink when not in use; as shown in fig. 15, in use, the support platform 103 may be deployed, the deployed state being secured by fasteners; the corners of the second left guard bar 1036 and the rear guard bar 1038 are provided with operation handle frames 1039, which are beneficial for the operation of staff; the front end of the supporting saddle 101 is provided with a ladder 1011; is beneficial to staff climbing.

The examples of the present invention are merely for describing the preferred embodiments of the present invention, and are not intended to limit the spirit and scope of the present invention, and those skilled in the art should make various changes and modifications to the technical solution of the present invention without departing from the spirit of the present invention.

Claims

1. An automatic welding device, characterized in that: the welding device comprises a welding system (2), wherein the welding system (2) comprises a machine head main body (201), a fixed claw (202) and a welding gun (211); the fixed claw (202) extends downwards and the top part of the fixed claw is rotationally connected to the machine head main body (201); the bottom of the machine head main body (201) is provided with a positioning device; the welding gun (211) is arranged on the positioning device; the number of the fixed claws (202) is multiple, and the fixed claws are uniformly distributed around the positioning device;

the number of the fixing claws (202) is three, and the fixing claws (202) comprise a first vertical rod (2021), a transverse plate (2022) and claw heads (2023); the top of the first vertical rod (2021) is hinged to an extension plate arranged on the side part of the machine head main body (201), and the bottom of the first vertical rod is hinged to one end of the transverse plate (2022); the other end of the transverse plate (2022) is hinged with the top of the claw head (2023); the first vertical rods (2021) are uniformly distributed on an arc with the diameter of 220mm by taking the center of the machine head main body (201) as the center of a circle; the rotary claw head (2023) rotates around the vertical space where the first vertical rod (2021) is positioned as a circle center within the range of 120mm in diameter;

the positioning device comprises a positioning shaft (206), a positioning rod (207), a positioning head (208), a welding gun adjusting device (209) and a welding gun clamping device (210); the top of the positioning shaft (206) is connected to the bottom of the machine head main body (201), the bottom is connected with the top of the positioning rod (207), and the bottom of the positioning rod (207) is detachably connected with the positioning head (208); the central lines of the positioning shaft (206), the positioning rod (207) and the positioning head (208) are overlapped;

the welding gun adjusting device (209) comprises a first supporting plate (2091), a second supporting plate (2092) and a fixing seat (2093); the vertical projection areas of the first support plate (2091) and the second support plate (2092) are overlapped, and one end of each of the first support plate and the second support plate is fixed on the same side of the positioning shaft (206); the fixed seat (2093) is located between the first support plate (2091) and the second support plate (2092) and can move up and down along the vertical direction between the first support plate (2091) and the second support plate (2092); the welding gun clamping device (210) is connected with the fixed seat (2093) through a connecting column (2096); wherein, the connecting column (2096) is in threaded connection with the fixed seat (2093); the welding gun clamping device (210) is used for clamping a welding gun (211); the welding gun (211) is positioned in a vertical plane where the bottom end diameter of the positioning shaft (206) is positioned;

a second vertical rod (2094) and a threaded column (2095) which are vertically arranged are arranged between the first supporting plate (2091) and the second supporting plate (2092); the number of the second vertical rods (2094) is two; one end of the second vertical rod (2094) is fixed on the first supporting plate (2091), and the other end of the second vertical rod passes through the fixing seat (2093) and is connected with the second supporting plate (2092); the threaded column (2095) is positioned between the two second vertical rods (2094); one end of the threaded column (2095) is rotatably connected to the first support plate (2091), and the other end of the threaded column passes through the fixing seat (2093) and is connected with the second support plate (2092); wherein, fixing base (2093) is equipped with the screw hole with screw post (2095) complex.

2. An automatic welding device according to claim 1, wherein: the device also comprises a flexible telescopic arm (3) and a lifting system (4); the lifting system (4) comprises a supporting seat (401) and a sliding mechanism (402); the sliding mechanism (402) is connected to the supporting seat (401) in a sliding manner and can move up and down along the vertical direction; one end of the flexible telescopic arm (3) is hinged on the sliding mechanism (402), and the other end of the flexible telescopic arm is hinged with the machine head main body (201).

3. An automatic welding device according to claim 2, wherein: the flexible telescopic arm (3) comprises a plurality of connecting plates (301); the plurality of connecting plates (301) are positioned in the same horizontal plane and are hinged with each other at the end parts.

4. A welding method employing the automatic welding apparatus according to any one of claims 2 to 3, comprising the steps of:

a. moving the handpiece body (201) to enable the positioning head (208) to be positioned above a pipe orifice at the top of the pipe, and unfolding a connecting plate (301) on the flexible telescopic arm (3) so as to adapt to the plane position of the handpiece body (201) and provide support for the handpiece body (201);

b. adjusting the height position of the mobile handpiece body (201) so that the positioning head (208) is inserted into the pipe orifice at the top of the pipe, and simultaneously, the claw head (2023) of the fixed claw (202) is placed on the pipe plate, wherein when the claw head (2023) interferes with the adjacent pipe, the rotating claw head (2023) rotates around the vertical space where the first vertical rod (2021) is positioned so as to avoid the adjacent pipe;

c. adjusting the position of the welding gun (211) to enable the welding gun (211) to be aligned with a welding circular seam between the pipe to be welded and the pipe plate;

d. the positioning shaft (206) is driven to rotate by the power device, and the welding gun (211) is driven to rotate for one circle to finish girth welding.

5. A welding method as defined in claim 4, wherein: the position of the welding gun (211) is further adjusted by adjusting the welding gun adjusting device (209), and the specific adjusting steps are as follows:

A. rotating the threaded column (2095), and lifting or descending the fixed seat (2093) to drive the welding gun (211) to lift or descend;

B. the connecting column (2096) is rotated, and the welding gun clamping device (210) moves forwards or backwards along the axis direction of the connecting column (2096) to drive the welding gun (211) to move forwards or backwards along the axis direction of the connecting column (2096).

6. A welding apparatus, characterized in that: the automatic welding device according to any one of claims 1-3, further comprising a movable automatic lifting system (1), a welding machine (5), a wire feeder (6), a gas cylinder (7) and a control system (8); the automatic welding device, the lifting system (4), the welding machine (5), the wire feeder (6), the gas cylinder (7) and the control system (8) are all positioned at the top of the movable automatic lifting system (1).