CN110216401B - Full-automatic tubular pile welding equipment and welding method - Google Patents
Full-automatic tubular pile welding equipment and welding method Download PDFInfo
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- CN110216401B CN110216401B CN201910486398.7A CN201910486398A CN110216401B CN 110216401 B CN110216401 B CN 110216401B CN 201910486398 A CN201910486398 A CN 201910486398A CN 110216401 B CN110216401 B CN 110216401B
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Abstract
The invention discloses full-automatic tubular pile welding equipment and a welding method; the equipment comprises a welding assembly and a feeding assembly; the welding assembly comprises two leads, wherein the first lead is provided with an upper magnetic head, and the second lead is provided with a lower magnetic head; the welding assembly further comprises a first vertical driving cylinder, an upper horizontal driving cylinder, a lower horizontal driving cylinder, an upper pneumatic finger and a lower pneumatic finger; a piston rod of the first vertical driving cylinder is provided with a connecting plate, cylinder bodies of the two horizontal driving cylinders are respectively fixed on the upper surface and the lower surface of the connecting plate, and a piston rod of each horizontal driving cylinder is connected with a fixed part of a corresponding pneumatic finger; the key of the method is as follows: two end plates are electrified by two leads, so that the two end plates which are originally close to each other are electrified and short-circuited, and the solder between the two end plates is melted at high temperature to realize welding. The equipment and the method can realize automatic welding and automatic feeding.
Description
Technical Field
The invention relates to the technical field of pile foundation construction in civil engineering, in particular to full-automatic tubular pile welding equipment and a method for welding tubular piles by using the same.
Background
The pipe pile has various forms such as PHC, PC, PTC and the like, is a mature pile foundation construction process, and has the advantages of simple process, easy control of construction quality, high construction efficiency, short construction period, strong vertical bearing capacity and the like, so the pipe pile is widely applied all over the country.
The tubular pile in the prior art is mainly constructed by welding section by section, specifically, a lower pile section is sunk into a soil body, an upper pile section is suspended to aim at the lower pile section, the upper pile section is lowered to enable two end plates of the two pile sections to be close to each other, a circle is welded around the joint of the two end plates to enable the upper pile section and the lower pile section to be integrated, pile sinking is continued, the other section of pile section is hoisted in place, welding is carried out again, pile sinking is carried out again, and the process is repeated. The sinking is typically done by static pressure or hammering.
The construction method for tubular pile welding in the prior art has the following disadvantages: the manual welding operation is needed, namely, the handheld welding gun welds a circle around the joint of the upper pile section and the lower pile section in an annular mode, the welding labor intensity is high, the welding quality is greatly influenced by manual factors, the welding site condition is generally poor, especially, when the static pressure pile sinking is carried out, a worker needs to drill into a narrow space below a frame of the static pressure machine for operation, the space is limited, the operation light is not good, the operation is inconvenient, the welding quality is difficult to control, and even potential safety hazards exist.
Disclosure of Invention
The invention aims to solve the technical problem of providing a welding device which can automatically butt and conduct two leads of a welding circuit with two end plates of an upper pile section and a lower pile section respectively; and the welding flux can be automatically placed on the full-automatic tubular pile welding equipment of the upper end plate of the lower pile section.
The invention provides a technical solution that a full-automatic tubular pile welding device is provided; the welding device comprises a welding assembly and a feeding assembly;
the welding assembly comprises two leads, wherein the first lead is provided with an upper magnetic head for adsorbing the lower end plate of the upper pile section, and the second lead is provided with a lower magnetic head for adsorbing the upper end plate of the lower pile section; the welding assembly further comprises a first vertical driving cylinder, an upper horizontal driving cylinder, a lower horizontal driving cylinder, an upper pneumatic finger for clamping the upper magnetic head and a lower pneumatic finger for clamping the lower magnetic head; a piston rod of the first vertical driving cylinder is provided with a connecting plate, cylinder bodies of the two horizontal driving cylinders are respectively fixed on the upper surface and the lower surface of the connecting plate, and a piston rod of each horizontal driving cylinder is connected with a fixed part of a corresponding pneumatic finger;
the feeding assembly comprises a vertical material cylinder, a material pushing driving cylinder, an inclined sliding groove and a bottom platform, a piston rod of the material pushing driving cylinder is provided with a push plate used for pushing solder at the bottom layer of the material cylinder to the inclined sliding groove, a long notch for the push plate to penetrate through is formed in the bottom of the side wall of the material cylinder, the bottom end of the inclined sliding groove is communicated with the bottom platform, the bottom platform is provided with a baffle for preventing the solder from continuously sliding downwards, and a feeding arm for grabbing the solder in front of the baffle is further arranged on the bottom platform.
Compared with the prior art, the full-automatic tubular pile welding equipment adopting the structure has the following advantages.
The device realizes butt joint and separation of two wires of a welding circuit and two end plates of an upper pile section and a lower pile section, particularly, after an upper magnetic head and a lower magnetic head are respectively positioned at the elevations of the upper end plate and the lower end plate through a first vertical driving cylinder, the upper horizontal driving cylinder and the lower horizontal driving cylinder are driven to respectively adsorb and fix the upper magnetic head and the lower magnetic head and the upper end plate and the lower end plate, then an upper pneumatic finger and a lower pneumatic finger are loosened, and the upper horizontal driving cylinder and the lower horizontal driving cylinder are retracted to keep away from an avoidance; after welding, the upper pneumatic finger and the lower pneumatic finger are advanced and tensioned, the upper magnetic head and the lower magnetic head are grasped and then retracted, the two magnetic heads are separated from the two end plates, and interference to subsequent pile sinking is avoided; moreover, the magnetic head and the corresponding end plate are reasonably designed in an adsorption mode, the adsorption force is moderate, the current can be used for further increasing the suction force during electrifying so as to ensure that the lead and the corresponding end plate are firmly connected and the welding is stable, and the driving cylinder can be used for easily pulling and separating when the lead needs to be separated after the welding is completed and the power is cut off; moreover, the upper horizontal driving cylinder and the lower horizontal driving cylinder are arranged on the connecting plate in a separated mode, even if the upper horizontal driving cylinder and the lower horizontal driving cylinder are installed on the connecting plate, the height difference is naturally generated, two magnetic heads can be conveniently aligned to two end plates with different heights respectively, the two magnetic heads with two leads are completely separated, the two magnetic heads are prevented from being short-circuited in advance due to accidental contact, and potential safety hazards are avoided. Even, the automatic feeding process of the welding flux is realized by the equipment, workers only need to stack a plurality of welding fluxes into the material cylinder at one time, the material pushing driving cylinders push the welding fluxes into the inclined sliding grooves one by one, and the feeding arms at the bottom automatically grab and feed the welding fluxes.
The welded assembly is preferably: the first vertical driving cylinder is positioned in the middle of the connecting plate in the width direction, and the upper horizontal driving cylinder and the lower horizontal driving cylinder are symmetrically distributed in an inclined mode along the width direction of the connecting plate to the center line in the overlooking direction; therefore, the two magnetic heads can be conveniently opposite to the pipe pile, and the two magnetic heads and the upper end plate and the lower end plate can be firmly adsorbed.
Further preferred for the welded assembly are: the front end of the upper pneumatic finger is provided with a first distance sensor, and the front end of the lower pneumatic finger is provided with a second distance sensor; therefore, the two distance sensors can provide accurate basis for the final positioning of the two magnetic heads, specifically, the two distance sensors are lowered to the elevation of the lower pile section, the two magnetic heads are moved transversely, when the readings of the first distance sensor and the second distance sensor are the same, the two magnetic heads on the surface are both aligned to the axis of the lower pile section, and the two magnetic heads are in place horizontally; driving the first vertical driving cylinder to enable the two magnetic heads to ascend, and when the first distance sensor suddenly cannot read and the second distance sensor reads normally, indicating that the lower magnetic head is opposite to the upper end plate of the lower pile section and the upper magnetic head is empty, and enabling the two magnetic heads to be in place vertically; then the upper pile section is descended to enable the upper pile section and the lower pile section to be close, and at the moment, the reading of the upper magnetic head is normal and is the same as that of the lower magnetic head; the vertical positioning of the two magnetic heads is further verified, so that the final positioning of the two magnetic heads is completed, namely the upper magnetic head faces the lower end plate of the upper pile section, and the lower magnetic head faces the upper end plate of the lower pile section.
Still further preferably, the welding assembly further comprises a transverse track and a trolley in sliding fit with the track, and the cylinder body of the first vertical driving cylinder is mounted on the trolley; like this, improved the home range of welding assembly, enlarged the dodging distance of welding assembly and welding point when welding, further avoided robotic arm to weld and hinder.
The feeding arm is preferably selected to comprise a second vertical driving cylinder, a feeding horizontal driving cylinder and a feeding pneumatic finger for grabbing solder, a piston rod of the second vertical driving cylinder is fixed with a cylinder body of the feeding horizontal driving cylinder, and a piston rod of the feeding horizontal driving cylinder is fixed with a fixing part of the feeding pneumatic finger. Therefore, the structure is convenient to assemble and stable and reliable in function.
The feeding arm is further preferably provided with a feeding distance sensor on the front finger of the feeding pneumatic finger; a left distance sensor, a middle distance sensor and a right distance sensor are distributed on a side plate of the bottom platform, which is close to the lower pile section, the left distance sensor, the middle distance sensor and the right distance sensor are positioned on the same horizontal line, a connecting line is made from the center of a welding flux circle positioned on the bottom platform to the axis of the lower pile section, and the middle distance sensor is positioned on the connecting line. Therefore, accurate feeding can be realized, and particularly, when the left distance sensor, the middle distance sensor and the right distance sensor have readings which are the same, and the middle reading is the smallest, the fact that the welding flux positioned on the bottom platform is opposite to the lower pile section is proved; at the moment, the second vertical driving cylinder is started to lift the feeding pneumatic finger, when the reading of the feeding distance sensor is changed from normal to reading-out-impossible, the fact that the height of the feeding pneumatic finger just exceeds the top of the lower pile section is proved, the second vertical driving cylinder is stopped, the last normal reading of the feeding distance sensor is the distance between the feeding pneumatic finger and the lower pile section, the distance and the ring width of the lower pile section are used as a stroke to drive the feeding horizontal driving cylinder, the welding flux can be moved right above the lower pile section, the feeding pneumatic finger is loosened at the moment, and automatic feeding of the welding flux is completed.
The feeding assembly preferably further comprises a walking vehicle, and the vertical charging barrel, the cylinder body of the material pushing driving cylinder, the inclined chute, the bottom platform and the cylinder body of the second vertical driving cylinder are all fixed on the walking vehicle. Like this, increased material loading subassembly's wholeness, enlarged its migration range, promoted the mobility, be convenient for transport and use.
The invention aims to solve another technical problem of providing a method for welding tubular piles by using the full-automatic tubular pile welding equipment, which can realize automatic welding and automatic feeding and does not need manual operation at all.
Another technical solution of the present invention is to provide a method for welding a tubular pile by using the full-automatic tubular pile welding apparatus of the present invention, which comprises the steps of:
sinking the lower pile section into the soil body, and suspending and aligning the upper pile section by using a crane;
placing annular welding fluxes on an upper end plate of the lower pile section;
the trolley slides along the track, the first distance sensor and the second distance sensor are both positioned at the elevation of the lower pile section in the state, when the readings of the first distance sensor and the second distance sensor are the same, the trolley is stopped, the state shows that the two magnetic heads are both aligned to the axis of the lower pile section, and the horizontal directions of the two magnetic heads are in place; driving the first vertical driving cylinder to enable the two magnetic heads to ascend, and when the first distance sensor suddenly cannot read and the second distance sensor reads normally, indicating that the lower magnetic head is opposite to the upper end plate of the lower pile section and the upper magnetic head is empty, and enabling the two magnetic heads to be in place vertically;
then the upper pile section is lowered, so that two end plates of the upper pile section and the lower pile section are close to each other and tightly press the welding flux, and at the moment, the reading of the upper magnetic head is normal and is the same as that of the lower magnetic head;
driving the upper horizontal driving cylinder and the lower horizontal driving cylinder to enable the upper magnetic head and the lower magnetic head to respectively adsorb the upper end plate and the lower end plate; then the upper pneumatic finger and the lower pneumatic finger are released, and the upper horizontal driving cylinder and the lower horizontal driving cylinder are retracted to avoid the welding point;
the welding circuit is conducted, so that the upper end plate and the lower end plate are electrified, the welding flux between the two end plates is further melted, and welding is realized; and during welding, static pressure or hammering is used for providing pressure for the welding position.
Compared with the prior art, the method for welding the tubular pile has the following advantages.
The method has the advantages that a novel tubular pile welding mode is creatively provided, namely two end plates are electrified by two leads, the two end plates which are originally close to each other are electrified and short-circuited, the generated high temperature melts the welding flux between the two end plates to realize welding, and therefore the welding quality and the welding efficiency are remarkably improved; moreover, the welding assembly is utilized to realize full-automatic butt joint and full-automatic separation of the two leads and the two end plates, the process of manually and circularly welding a circle in the prior art is completely replaced, even solder is fully automatically laid, and manual operation is completely not needed, so that the production efficiency is greatly improved, the construction period is shortened, the labor intensity is reduced, and workers are liberated from severe welding environments on narrow and narrow sites; moreover, the method and the equipment are suitable for two pile sinking procedures such as static pressure or hammering, have wide adaptability and strong universality, and have great economic value and popularization potential; moreover, the two leads are respectively positioned on the upper surface and the lower surface of the connecting plate, so that the two leads are prevented from contacting short circuit in advance, manual operation is not needed in the whole welding process, safety and stability are realized, and hidden dangers are avoided; moreover, the device utilizes the distance sensor to accurately control the positions and the running tracks of the two magnetic heads, so that the operation precision is high, and the failure rate is low.
The concrete process of placing the solder in the method for welding the tubular pile is as follows.
Stacking a plurality of annular solders in a vertical charging barrel, starting a material pushing driving cylinder, enabling a push plate to enter the charging barrel along a long notch, pushing a bottommost solder to an inclined sliding groove, enabling the solder to slide to the front of a baffle of a bottom platform, and grabbing the solder by a feeding pneumatic finger;
the walking vehicle moves forward, when the left distance sensor, the middle distance sensor and the right distance sensor have readings which are the same, and the middle reading is the smallest, the walking vehicle is stopped, and at the moment, the welding flux positioned on the bottom platform is opposite to the lower pile section;
and starting a second vertical driving cylinder to lift the feeding pneumatic finger, when the reading of the feeding distance sensor is changed from normal to unreadable, proving that the height of the feeding pneumatic finger exceeds the top of the lower pile section, stopping the second vertical driving cylinder, and taking the final normal reading of the feeding distance sensor as the distance between the feeding pneumatic finger and the lower pile section, driving the feeding horizontal driving cylinder by taking the distance and the ring width of the lower pile section as a stroke, so that the solder can move right above the lower pile section, and loosening the feeding pneumatic finger at the moment to finish the automatic feeding of the solder.
Like this, the material loading process is accurate, high-efficient, degree of automation is high.
Drawings
Fig. 1 is a schematic structural view of the full-automatic pipe pile welding equipment of the invention.
Fig. 2 is a schematic front view of the full-automatic pipe pile welding equipment of the present invention.
Fig. 3 is a schematic structural diagram of a welding assembly of the full-automatic pipe pile welding equipment.
Fig. 4 is a schematic structural diagram of a feeding assembly of the full-automatic pipe pile welding equipment.
Fig. 5 is a schematic structural diagram of the feeding assembly of the full-automatic pipe pile welding equipment, which is deflected by a certain angle.
The device comprises a first lead 1, a first lead 2, an upper pile section, a lower end plate 3, a lower end plate 4, an upper magnetic head 5, a second lead 6, a lower pile section 7, an upper end plate 8, a lower magnetic head 9, a first vertical driving cylinder 10, an upper horizontal driving cylinder 11, a lower horizontal driving cylinder 12, an upper pneumatic finger 13, a lower pneumatic finger 14, a connecting plate 15, a first distance sensor 16, a second distance sensor 17, a rail 18, a trolley 19, a charging barrel 20, a pushing driving cylinder 21, an inclined chute 22, a bottom platform 23, a welding material 24, a push plate 25, a long notch 26, a baffle plate 27, a second vertical driving cylinder 28, a feeding horizontal driving cylinder 29, a feeding pneumatic finger 30, a feeding distance sensor 31, a left distance sensor 32, a middle distance sensor 33, a right distance sensor 34 and a traveling vehicle.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
As shown in fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, the full-automatic pipe pile welding equipment of the invention comprises a welding assembly and a feeding assembly.
The welding assembly comprises a first lead 1 and a second lead 5, the free end of the first lead 1 is provided with an upper magnetic head 4 for adsorbing the lower end plate 3 of the upper pile section 2 of the tubular pile, and the free end of the second lead 5 is provided with a lower magnetic head 8 for adsorbing the upper end plate 7 of the lower pile section 6 of the tubular pile; the non-free ends of the two leads are respectively connected with two poles of a welding power supply.
The welding assembly further comprises a first vertical drive cylinder 9, an upper horizontal drive cylinder 10, a lower horizontal drive cylinder 11, an upper pneumatic finger 12 for clamping the upper head 4 and a lower pneumatic finger 13 for clamping the lower head 8. The piston rod of the first vertical driving cylinder 9 is provided with a connecting plate 14, the cylinder body of the upper horizontal driving cylinder 10 is fixed on the upper surface of the connecting plate 14, and the piston rod of the upper horizontal driving cylinder 10 is fixed with the fixing part of the upper pneumatic finger 12. The cylinder body of the lower horizontal driving cylinder 11 is fixed on the lower surface of the connecting plate 14, and the piston rod of the lower horizontal driving cylinder 11 is fixed on the fixing part of the lower pneumatic finger 13. The first vertical driving cylinder 9 is located in the middle of the connecting plate 14 in the width direction, and the upper horizontal driving cylinder 10 and the lower horizontal driving cylinder 11 are symmetrically and obliquely distributed in the top view direction. The front end of the upper pneumatic finger 12 is provided with a first distance sensor 15, and the front end of the lower pneumatic finger 13 is provided with a second distance sensor 16.
The welding assembly of this embodiment preferably further comprises a transverse rail 17 and a carriage 18 slidably fitted within the rail 17, the cylinder body of the first vertical drive cylinder 9 being mounted on the carriage 18. Two ground supporting columns are fixed at two ends of the transverse rail 17. Of course, the cylinder body of the first vertical driving cylinder 9 may also be fixed on the slide block of other slide members, for example, a transverse ball screw pair may also be provided, and the cylinder body of the first vertical driving cylinder 9 is fixed on the slide block of the ball screw pair.
The feeding assembly comprises a vertical charging barrel 19, a pushing driving cylinder 20, an inclined chute 21 and a bottom platform 22. A plurality of pieces of solder 23 are stacked in the vertical barrel 19. The piston rod of the pushing driving cylinder 20 is provided with a push plate 24 for pushing the solder 23 on the bottom layer of the charging barrel 19 to the inclined chute 21, and the bottom of the side wall of the charging barrel 19 is provided with a long notch 25 for the push plate 24 to pass through. The bottom end of the inclined chute 21 is communicated with the bottom platform 22, and the bottom platform 22 is provided with a baffle 26 for preventing the solder 23 from continuously sliding downwards. The bottom platform 22 is also provided with a feed arm that grasps the solder 23 in front of the baffle 26.
The feeding arm preferably comprises a second vertical driving cylinder 27, a feeding horizontal driving cylinder 28 and a feeding pneumatic finger 29 for grabbing the solder 23, a piston rod of the second vertical driving cylinder 27 is fixed with a cylinder body of the feeding horizontal driving cylinder 28, and a piston rod of the feeding horizontal driving cylinder 28 is fixed with a fixing part of the feeding pneumatic finger 29.
A feeding distance sensor 30 is arranged on the front finger of the feeding pneumatic finger 29; a left distance sensor 31, a middle distance sensor 32 and a right distance sensor 33 are distributed on a side plate of the bottom platform 22 close to the lower pile section 6, the left, the middle and the right distance sensors are positioned on the same horizontal line, a connecting line is formed from the center of a circle of the welding flux 23 positioned on the bottom platform 22 to the axis of the lower pile section 6 in the overlooking direction, and the middle distance sensor 32 is positioned on the connecting line.
The loading assembly of the present embodiment preferably has a carrying structure, and further includes a traveling vehicle 34, and the vertical charging barrel 19, the cylinder body of the pushing driving cylinder 20, the inclined chute 21, the bottom platform 22, and the cylinder body of the second vertical driving cylinder 27 are all fixed on the traveling vehicle 34. Of course, instead of using a carriage 14, an integral bracket could be used to mount the various components of the loading assembly to the bracket.
As shown in fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, the method for welding the tube pile by using the fully automatic tube pile welding equipment of the present invention includes the following steps.
The lower pile section 6 is sunk into the soil body, and the upper pile section 2 is suspended and aligned by a crane. The pile sinking in the application adopts the conventional static pressure or hammering process.
An annular solder 23 rests on the upper end plate 7 of the lower stub section 6.
The trolley 18 slides along the track 17, in the state, the first distance sensor 15 and the second distance sensor 16 are both positioned at the level of the lower pile section 6, when the readings of the first distance sensor 15 and the second distance sensor 16 are the same, the trolley 18 is stopped, the state shows that the two magnetic heads are both aligned with the axle center of the lower pile section 6, and the horizontal directions of the two magnetic heads are in place; and then driving the first vertical driving cylinder 9 to enable the two magnetic heads to ascend, and when the first distance sensor 15 suddenly cannot read and the second distance sensor 16 reads normally, indicating that the lower magnetic head 8 is opposite to the upper end plate 7 of the lower pile section 6 and the upper magnetic head 4 is opposite to the empty, and the two magnetic heads are in place vertically.
Then the upper pile section 2 is descended to enable the two end plates of the upper pile section and the lower pile section to be close and tightly press the welding flux 23, at the moment, the reading of the upper magnetic head 4 is recovered to be normal and is the same as the reading of the lower magnetic head 8 because the first distance sensor 15 is over against the descending upper pile section 2; therefore, it can be verified whether the heights of the two heads, particularly the upper head 4, are in position according to whether the reading of the first distance sensor 15 is restored to normal.
Driving an upper horizontal driving cylinder 10 and a lower horizontal driving cylinder 11 so that an upper magnetic head 4 and a lower magnetic head 8 respectively adsorb an upper end plate 7 and a lower end plate 3; then the upper pneumatic finger 12 and the lower pneumatic finger 13 are released, and the upper horizontal driving cylinder 10 and the lower horizontal driving cylinder 11 are retracted to avoid welding points; if necessary, the carriage 18 can even be driven away so that the welded assembly is maximally distanced from the weld.
The welding circuit is conducted, so that the upper end plate 7 and the lower end plate 3 are electrified, the welding flux 23 between the two end plates is further melted, and welding is achieved; and during welding, static pressure or hammering is used for providing pressure for the welding position.
In the present embodiment, the process of placing the solder 23 is fully automatic, and of course, manual placing may be relied on. The specific loading procedure of this example is as follows.
A plurality of annular solders 23 are stacked in the vertical material cylinder 19, the material pushing driving cylinder 20 is started, the push plate 24 enters the material cylinder 19 along the long notch 25 and pushes a piece of solder 23 at the bottommost layer to the inclined sliding groove 21, and the solder 23 slides to the front of the baffle 26 of the bottom platform 22 and is grabbed by a feeding pneumatic finger 29.
And (3) the traveling vehicle 34 advances, and when the readings of the left, the middle and the right distance sensors are the same, and the middle reading is the smallest, the traveling vehicle 34 is stopped, and at the moment, the welding material 23 positioned on the bottom platform 22 is opposite to the lower pile section 6.
And starting the second vertical driving cylinder 27 to lift the feeding pneumatic finger 29, and when the reading of the feeding distance sensor 30 is changed from normal to unreadable, proving that the height of the feeding pneumatic finger 29 just exceeds the top of the lower pile section 6, so that the reading is suddenly increased and even can not be read. The second vertical driving cylinder 27 is stopped and the last normal reading of the feeding distance sensor 30 is the distance between the feeding pneumatic finger 29 and the lower pile section 6, and the distance plus the ring width of the lower pile section 6 is taken as a stroke, and the feeding horizontal driving cylinder 28 is driven by the stroke, so that the solder 23 can move to the position right above the lower pile section 6, and at the moment, the feeding pneumatic finger 29 is released, and the automatic feeding of the solder 23 is completed.
For example, in the process of lifting the feeding pneumatic finger 29 by the second vertical driving cylinder 27, if the reading of the feeding distance sensor 30 is always 40cm and suddenly rises until the reading cannot be read, the distance between the feeding pneumatic finger 29 and the lower pile section 6 is 40cm, the ring width of the lower pile section 6 is increased by 5cm, and the target stroke of the feeding horizontal driving cylinder 28 is 45 cm.
Of course, the welding method is not limited to the pipe pile, and the solid square pile or the hollow square pile with the end plate can be constructed by the method.
Claims (9)
1. The utility model provides a full-automatic tubular pile welding equipment which characterized in that: the welding device comprises a welding assembly and a feeding assembly;
the welding assembly comprises two leads, wherein the first lead (1) is provided with an upper magnetic head (4) for adsorbing the lower end plate (3) of the upper pile section (2), and the second lead (5) is provided with a lower magnetic head (8) for adsorbing the upper end plate (7) of the lower pile section (6); the welding assembly further comprises a first vertical driving cylinder (9), an upper horizontal driving cylinder (10), a lower horizontal driving cylinder (11), an upper pneumatic finger (12) for clamping the upper magnetic head (4) and a lower pneumatic finger (13) for clamping the lower magnetic head (8); a piston rod of the first vertical driving cylinder (9) is provided with a connecting plate (14), cylinder bodies of the two horizontal driving cylinders are respectively fixed on the upper surface and the lower surface of the connecting plate (14), and the piston rod of each horizontal driving cylinder is connected with a fixed part of a corresponding pneumatic finger;
the feeding assembly comprises a vertical material cylinder (19), a material pushing driving cylinder (20), an inclined sliding groove (21) and a bottom platform (22), a piston rod of the material pushing driving cylinder (20) is provided with a push plate (24) used for pushing solder (23) on the bottom layer of the material cylinder (19) to the inclined sliding groove (21), a long notch (25) for the push plate (24) to penetrate through is formed in the bottom of the side wall of the material cylinder (19), the bottom end of the inclined sliding groove (21) is communicated with the bottom platform (22), the bottom platform (22) is provided with a baffle (26) for preventing the solder (23) from continuously sliding downwards, and the bottom platform (22) is further provided with a feeding arm for grabbing the solder (23) located in front of the baffle (26.
2. The full-automatic tubular pile welding equipment of claim 1, characterized in that: the first vertical driving cylinders (9) are arranged in the middle of the connecting plate (14) in the width direction, and the upper horizontal driving cylinders (10) and the lower horizontal driving cylinders (11) are symmetrically and obliquely distributed in the top view direction.
3. The full-automatic tubular pile welding equipment of claim 2, characterized in that: the front end of the upper pneumatic finger (12) is provided with a first distance sensor (15), and the front end of the lower pneumatic finger (13) is provided with a second distance sensor (16).
4. The full-automatic tubular pile welding equipment of claim 3, characterized in that: the welding assembly further comprises a transverse rail (17) and a trolley (18) which is in sliding fit with the rail (17), and a cylinder body of the first vertical driving cylinder (9) is installed on the trolley (18).
5. The full-automatic tubular pile welding equipment of claim 4, characterized in that: the feeding arm comprises a second vertical driving cylinder (27), a feeding horizontal driving cylinder (28) and a feeding pneumatic finger (29) used for grabbing the welding flux (23), a piston rod of the second vertical driving cylinder (27) is fixed with a cylinder body of the feeding horizontal driving cylinder (28), and a piston rod of the feeding horizontal driving cylinder (28) is fixed with a fixing portion of the feeding pneumatic finger (29).
6. The full-automatic tubular pile welding equipment of claim 5, characterized in that: a feeding distance sensor (30) is arranged on the front finger of the feeding pneumatic finger (29); a left distance sensor (31), a middle distance sensor (32) and a right distance sensor (33) are distributed on a side plate of the bottom platform (22) close to the lower pile section (6), the left, the middle and the right distance sensors are positioned on the same horizontal line, a connecting line is made from the circle center of a welding flux (23) positioned on the bottom platform (22) to the axle center of the lower pile section (6), and the middle distance sensor (32) is positioned on the connecting line.
7. The full-automatic tubular pile welding equipment of claim 6, characterized in that: the feeding assembly further comprises a walking vehicle (34), and the vertical charging barrel (19), the cylinder body of the pushing driving cylinder (20), the inclined chute (21), the bottom platform (22) and the cylinder body of the second vertical driving cylinder (27) are all fixed on the walking vehicle (34).
8. The method for welding a tubular pile by using the full-automatic tubular pile welding equipment of claim 7, which is characterized in that: the method comprises the following steps:
sinking the lower pile section (6) into the soil body, and suspending and aligning the upper pile section (2) by using a crane;
placing annular welding materials (23) on an upper end plate (7) of the lower pile section (6);
when the trolley (18) slides along the track (17), the first distance sensor (15) and the second distance sensor (16) are both located at the elevation of the lower pile section (6), when the readings of the first distance sensor (15) and the second distance sensor (16) are the same, the trolley (18) is stopped, the state shows that the two magnetic heads are both aligned to the axis of the lower pile section (6), and the two magnetic heads are in place horizontally; then driving a first vertical driving cylinder (9) to enable the two magnetic heads to ascend, and when the first distance sensor (15) suddenly cannot read and the second distance sensor (16) reads normally, indicating that the lower magnetic head (8) is opposite to the upper end plate (7) of the lower pile section (6) and the upper magnetic head (4) is empty, and enabling the two magnetic heads to be in place vertically;
then the upper pile section (2) is lowered, so that two end plates of the upper pile section and the lower pile section are close to each other and tightly press the welding flux (23), and at the moment, the reading of the upper magnetic head (4) is normal and is the same as that of the lower magnetic head (8);
driving an upper horizontal driving cylinder (10) and a lower horizontal driving cylinder (11) to enable an upper magnetic head (4) and a lower magnetic head (8) to respectively adsorb an upper end plate (7) and a lower end plate (3); then the upper pneumatic finger (12) and the lower pneumatic finger (13) are released, and the upper horizontal driving cylinder (10) and the lower horizontal driving cylinder (11) are retracted to avoid welding points;
the welding circuit is conducted, so that the upper end plate (7) and the lower end plate (3) are electrified, and further, the welding flux (23) between the two end plates is melted, and welding is realized; and during welding, static pressure or hammering is used for providing pressure for the welding position.
9. The method of welding a tube pile according to claim 8, wherein: the procedure of laying up the solder (23) is as follows:
stacking a plurality of annular solders (23) in a vertical charging barrel (19), starting a material pushing driving cylinder (20), enabling a push plate (24) to enter the charging barrel (19) along a long notch (25) and pushing a solder (23) at the bottommost layer to an inclined sliding groove (21), wherein the solder (23) slides to the front of a baffle (26) of a bottom platform (22) and is grabbed by a feeding pneumatic finger (29);
the walking vehicle (34) advances, when the left, the middle and the right distance sensors have readings, the left readings are the same, and the middle readings are the minimum, the walking vehicle (34) is stopped, and at the moment, the welding materials (23) positioned on the bottom platform (22) are opposite to the lower pile section (6);
and starting a second vertical driving cylinder (27) to lift the feeding pneumatic finger (29), when the reading of the feeding distance sensor (30) is changed from normal to unreadable, the fact that the height of the feeding pneumatic finger (29) exceeds the top of the lower pile section (6) is proved, the second vertical driving cylinder (27) is stopped, the last normal reading of the feeding distance sensor (30) is the distance between the feeding pneumatic finger (29) and the lower pile section (6), the distance and the ring width of the lower pile section (6) are used as a stroke to drive the feeding horizontal driving cylinder (28), so that the solder (23) can be moved to the position right above the lower pile section (6), the feeding pneumatic finger (29) is loosened at the moment, and automatic feeding of the solder (23) is completed.
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| KR20110129368A (en) * | 2011-11-14 | 2011-12-01 | 현대중공업 주식회사 | Fit-up device for h-type steel beam |
| CN203487525U (en) * | 2013-10-11 | 2014-03-19 | 招商局重工(深圳)有限公司 | High-strength steel pile leg |
| CN104475940B (en) * | 2014-11-12 | 2017-04-05 | 中国石油天然气集团公司 | A kind of pile pipe submerged-arc automatic welding device |
| CN105855766B (en) * | 2016-05-06 | 2017-10-03 | 哈尔滨工程大学 | A kind of welding robot for docking tubular type |
| CN206445397U (en) * | 2016-12-16 | 2017-08-29 | 浙江大成智能装备股份有限公司 | A kind of pile tube welding robot |
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