CN110560942A - Automatic welding system for tower tube of steel tube tower and control method of automatic welding system - Google Patents
Automatic welding system for tower tube of steel tube tower and control method of automatic welding system Download PDFInfo
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- CN110560942A CN110560942A CN201910868628.6A CN201910868628A CN110560942A CN 110560942 A CN110560942 A CN 110560942A CN 201910868628 A CN201910868628 A CN 201910868628A CN 110560942 A CN110560942 A CN 110560942A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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- Butt Welding And Welding Of Specific Article (AREA)
Abstract
the invention discloses an automatic welding system for a tower tube of a steel tube tower and a control method thereof. The invention consists of a rib plate stacking platform, a feeding ground rail mechanism, a feeding robot, a welding ground rail mechanism, a deflection unit, a lifting roller carrier, a welding robot and an electrical control system. The main working flow of the system is as follows: the steel pipe on the roller frame is matched with the two flanges fixed on the positioner, and after the position is aligned, the welding manipulator performs spot welding and full welding operation on the pipe flange and the steel pipe. After welding of the flange and the steel pipe is completed, the feeding robot automatically clamps the rib plates on the rib plate stacking platform to the welding position according to the sequence of welding the rib plates, the welding manipulator firstly performs spot welding to fix the rib plates, and then the welding manipulator is changed into a unit to be linked with the welding robot to perform full-length welding. The system provided by the invention can realize automatic assembly and welding of various steel pipe tower pipes, reduce the labor intensity and workload of workers and improve the welding quality and efficiency.
Description
Technical Field
The invention relates to an automatic welding system for a tower tube of a steel pipe tower, in particular to a system for automatically assembling and welding a tower tube of a communication tower, and belongs to the technical field of equipment manufacturing.
Background
The steel tube tower belongs to a communication iron tower, and the components of the steel tube tower are mainly formed by splicing tower tubes. For the iron towers with different heights, the assembly angles of the tower pipes are different. The welding process of the tower tube is that full welding is carried out after the flange and the steel tube are spot welded. And (4) performing full welding after spot welding of the rib plates at the flange and the rib plates of the pipe body. Due to the fact that the size of the tower tube of the steel tube tower is large, the workload of splicing and full-length welding is large, the process is complicated, and the production efficiency of the tower tube is low.
after relevant data are checked, no system capable of meeting automatic welding of various types of tower tubes is found.
Disclosure of Invention
The invention aims to solve the problems and provides an automatic system for automatically welding the tower tubes of the steel pipe tower, which can realize automatic assembly welding of tower tubes of various types, has high automation degree, reduces the labor amount of workers, improves the production efficiency and avoids the welding quality problem caused by manual assembly welding.
the invention is implemented by adopting the following technical scheme:
the utility model provides a steel-pipe tower pipe automatic weld system, its structural composition includes that gusset pile-up platform 3, material loading ground rail mechanism 2, material loading robot 1, welding ground rail mechanism 4, machine of shifting 6, lift gyro wheel frame 5, welding robot 7 and electrical control system.
The rib plate stacking platform 3 comprises a platform frame 8, a No. 1 clamping mechanism 9 and a No. 2 clamping mechanism 10; the feeding ground rail mechanism 2 comprises a 1# hard limit stop 18, a profile base 20, a 1# rail 19, a 1# rack 17, a 2# hard limit stop and a feeding power trolley 16; the feeding robot 1 comprises a longitudinal beam 15, a cross beam 12, a cross coordinate mechanical arm 11, a rotating mechanism 13 and a pneumatic claw 14; the welding ground rail mechanism 4 comprises a 3# hard limit stop 21, a section bar base 22, a 2# rail 23, a 2# rack 24, a 4# hard limit stop 29, a 1# positioner power trolley 25, a 2# positioner power trolley 27, a 1# lifting roller frame power trolley 26 and a 2# lifting roller frame power trolley 28; the positioner 6 comprises a turnover shaft 30, a rotating shaft 31 and a rotating four-jaw chuck 32. The turning shaft and the rotating shaft are connected with a servo motor through a speed reducer and can rotate around respective central axes under the driving of the servo motor; a servo motor and a speed reducer for driving the turnover shaft are packaged in a square box body on the right side of the turnover shaft; a servo motor and a speed reducer which drive the rotating shaft are packaged in a cylindrical box body at the lower part of the rotating shaft; the rotary four-jaw chuck is used for placing the pipe flange and fixing the pipe flange through jaws; the lifting roller frame 5 comprises a roller 33, a roller bracket 34, a bridging lifting mechanism 36, a servo speed reducing motor 38, an upper mounting plate 35 and a lower mounting plate 37.
the electric control system comprises an industrial personal computer, a PLC (programmable logic controller) main station, a PLC slave station, a servo amplifier and a welding robot control panel.
the welding robot 7 employs a six-axis welding robot.
The control method of the automatic welding system for the steel tube tower tube comprises the following steps:
Preparation: the flange plates are manually and respectively installed on a 1# positioner and a 2# positioner, two rib plates are placed on a rib plate stacking platform according to specified positions, and a clamping mechanism on the rib plate stacking platform automatically clamps the rib plates. And selecting the specification of the steel pipe tower with one specification as a reference model, and teaching the welding robot.
Secondly, operating an upper computer: and inputting the diameter, the number of flange holes, the assembly angle and the assembly sequence of the tower tubes of the steel pipe tower on a human-computer interface of the industrial personal computer, and taking the diameters, the number of the flange holes, the assembly angle and the assembly sequence as production requirement data. The motion track of the welding robot 7 during teaching is stored as a reference track, the relevant parameters of the steel tube tower are stored as assembly data, the pneumatic automatic mode is adopted, the automatic welding system is powered on, and the feeding mechanical arm, the positioner and the lifting roller frame are reset.
welding the flange by spot welding: the lifting roller frame lifts the steel pipe to a proper height, the steel pipe is concentric with the flange plates on the two sides, the power trolley of the positioner moves, the flange plates are attached to the end face of the steel pipe tightly, the flange plates rotate at a constant speed, the welding robot is matched with the positioner to rotate to carry out electric welding, 6-8 points are welded according to the diameters of the steel pipes with different specifications, and the flanges at the two ends and the steel pipe are fixed. After spot welding is completed, the lifting roller carrier resets, the deflection unit resets to the initial rotation position, and the welding robot returns to the standby position.
Fourthly, full welding of flanges: and moving a welding gun of the welding robot to an initial welding position, starting welding, rotating the deflection unit at a constant speed, and rotating for 360 degrees to complete full welding operation of the flange and the steel pipe. The position changing unit is reset to the initial rotation position, and the welding robot returns to the standby position.
Rib plate welding: the material loading robot snatchs gusset to welding position according to assembling the order in proper order, and welding robot is with the firm back of gusset spot welding, and the material loading robot returns standby position and waits to carry out the operation of snatching next time, and welding robot returns standby position, and in welding process, PLC control machine of shifting, cooperation welding robot rotate different angles and weld, and first gusset spot welding is accomplished. And the welding robot carries out full welding on the first rib plate by the original path. And after the full-welding operation of the first rib plate is performed, performing spot welding and full-welding operation of the next rib plate.
Compared with the prior art, the invention has the remarkable advantages that:
The automatic welding system for the steel tube tower tubes can realize automatic assembly welding of tower tubes of various types through combined operation of the feeding robot, the positioner, the lifting roller frame and the welding robot, can stably and continuously produce, has high automation degree, reduces labor amount of workers, improves production efficiency, and avoids welding quality problems caused by inaccurate rib plate assembly by manpower.
And secondly, the automatic welding control system for the tower tube of the steel tube tower can control the feeding robot to be linked with the positioner according to the input assembling sequence and assembling angle of the rib plates of the tower tube, so that the rib plates can be accurately assembled.
And the automatic welding control system for the tower tube of the steel pipe tower can track the position of the steel plate in the reference tower shoe model by controlling the movement of two axes of the positioner according to the position deviation of the to-be-welded rib plate and each rib plate in the tower tube reference model, and the movement track generated during teaching of the welding robot is called to complete full-welding work.
drawings
FIG. 1 is a schematic diagram of the overall structure of an automatic welding system for a tower tube of a steel tube tower;
FIG. 2 is a schematic structural view of a rib plate stacking platform;
FIG. 3 is a schematic view of a loading ground rail mechanism and a loading robot mounting structure;
FIG. 4 is a schematic view of the installation structure of the welding ground rail mechanism, the position changing unit and the lifting roller frame;
FIG. 5 is a schematic structural diagram of a positioner;
FIG. 6 is a schematic view of the elevating roller frame;
Fig. 7 is a schematic structural diagram of an automatic welding control system for a tower tube of a steel tube tower.
Detailed Description
The following describes in detail a specific embodiment of the present invention with reference to the drawings.
See fig. 1-6.
The reference numbers in the figures illustrate:
A feeding robot 1, a feeding ground rail mechanism 2, a plate stacking platform 3, a welding ground rail mechanism 4, a lifting roller frame 5, a position changing machine 6, a welding robot 7, a platform frame 8, a 1# clamping mechanism 9, a 2# clamping mechanism 10, a cross coordinate mechanical arm 11, a cross beam 12, a rotating mechanism 13, a pneumatic claw hand 14, a longitudinal beam 15, a feeding power trolley 16, a 1# rack 17, a 1# hard limit stop 18, a 1# rail 19, a section bar base 20, a 3# hard limit stop 21, a section bar base 22, a 2# rail 23, a 2# rack 24, a 1# position changing power trolley 25, a 1# lifting roller frame power trolley 26, a 2# position changing power trolley 27, a 2# lifting roller frame power trolley 28, a 4# hard limit stop 29, an overturning shaft 30, a rotating shaft 31, a rotating four-jaw chuck 32, a roller 33, a roller bracket 34, an upper mounting plate 35, a scissor support lifting mechanism 36, A lower mounting plate 37 and a servo speed-reducing motor 38.
The automatic welding system for the tower tube of the steel tube tower has the advantages that the rib plates are automatically clamped, positioned and welded, the flanges of the tube are automatically welded, the rib plates are automatically welded, and the functions of automatic feeding, automatic welding, failure alarm and the like are realized.
As shown in figure 1, the structure of the welding robot comprises a rib plate stacking platform 3, a feeding ground rail mechanism 2, a feeding robot 1, a welding ground rail mechanism 4, a positioner 6, a lifting roller frame 5, a welding robot 7 and an electrical control system.
As shown in fig. 2, the rib plate stacking platform 3 is composed of a platform frame 8, a # 1 clamping mechanism 9 and a # 2 clamping mechanism 10. Rib plate materials regularly placed are provided for the feeding robot 1, and the automatic feeding function of the welding process is achieved.
As shown in fig. 3, the feeding robot 1 is installed on a power trolley of a feeding ground rail mechanism, and can perform reciprocating motion on a rib plate stacking platform and a welding position according to a set program, so as to move a rib plate material to the welding position, and perform spot welding and full welding in cooperation with a welding robot. The feeding robot 1 is composed of a cross-shaped coordinate mechanical arm, a cross beam 12, a longitudinal beam 15, a rotating mechanism 13 and a pneumatic claw 14. The power is provided by two servo speed reducers and compressed air.
As shown in fig. 4 and 5, the positioner unit comprises two positioner units, which are respectively mounted on two power trolleys of the welded ground rail mechanism and can move independently and synchronously in the same direction. The distance of the steel pipes can be adjusted according to different lengths of the steel pipes, so that the steel pipes are suitable for steel pipes with different specifications. And the PLC controls the two positioner to synchronously rotate, and the two positioner is matched with the feeding robot and the welding robot to position and weld the rib plate.
As shown in fig. 6, the lifting roller frame 5 is composed of a roller 33, a roller bracket 34, a scissor lift mechanism 36, a servo motor 38, an upper mounting plate 35, and a lower mounting plate 37. The steel pipe welding machine is arranged on a power trolley of a welding ground rail mechanism, after the steel pipe is manually placed on a lifting roller carrier, the center of the steel pipe and the center of a flange are automatically aligned, and three workpieces are adjusted to be in a state to be welded through the independent movable function of a position changing unit and the linkage of a position changing machine and the roller carrier.
The working process of the automatic welding system for the tower tube of the steel tube tower comprises the following steps: the flange plates are manually and respectively installed on a 1# positioner and a 2# positioner, two rib plates are placed on a rib plate stacking platform according to specified positions, and a clamping mechanism on the rib plate stacking platform automatically clamps the rib plates. And selecting the specification of the steel pipe tower with one specification as a reference model, and teaching the welding robot. And inputting the diameter, the number of flange holes, the assembly angle and the assembly sequence of the tower tubes of the steel pipe tower on a human-computer interface of the industrial personal computer, and taking the diameters, the number of the flange holes, the assembly angle and the assembly sequence as production requirement data. The motion track of the welding robot 7 during teaching is stored as a reference track, the relevant parameters of the steel tube tower are stored as assembly data, the pneumatic automatic mode is adopted, the automatic welding system is powered on, and the feeding mechanical arm, the positioner and the lifting roller frame are reset. The lifting roller frame lifts the steel pipe to a proper height, the steel pipe is concentric with the flange plates on the two sides, the power trolley of the positioner moves, the flange plates are attached to the end face of the steel pipe tightly, the flange plates rotate at a constant speed, the welding robot is matched with the positioner to rotate to carry out electric welding, 6-8 points are welded according to the diameters of the steel pipes with different specifications, and the flanges at the two ends and the steel pipe are fixed. After spot welding is completed, the lifting roller carrier resets, the deflection unit resets to the initial rotation position, and the welding robot returns to the standby position. And moving a welding gun of the welding robot to an initial welding position, starting welding, rotating the deflection unit at a constant speed, and rotating for 360 degrees to complete full welding operation of the flange and the steel pipe. The position changing unit is reset to the initial rotation position, and the welding robot returns to the standby position. The material loading robot snatchs gusset to welding position according to assembling the order in proper order, and welding robot is with the firm back of gusset spot welding, and the material loading robot returns standby position and waits to carry out the operation of snatching next time, and welding robot returns standby position, and in welding process, PLC control machine of shifting, cooperation welding robot rotate different angles and weld, and first gusset spot welding is accomplished. And the welding robot carries out full welding on the first rib plate by the original path. And after the first rib plate full-welding operation is performed, performing the next rib plate spot welding and full-welding operation to complete the welding work of one steel pipe tower tube, and after the steel pipe is conveyed to the next station, completely resetting the welding robot, the feeding robot, the positioner and the lifting roller frame for standby.
Claims (4)
1. The automatic welding system for the tower tube of the steel tube tower is mainly characterized in that a positioning welding rib plate, an automatic welding tube flange and a rib plate are automatically clamped, and functions of automatic feeding, automatic welding, failure alarm and the like are achieved. The structure of the welding robot comprises a rib plate stacking platform 3, a feeding ground rail mechanism 2, a feeding robot 1, a welding ground rail mechanism 4, a positioner 6, a lifting roller frame 5, a welding robot 7 and an electrical control system.
the rib plate stacking platform 3 comprises a platform frame 8, a No. 1 clamping mechanism 9 and a No. 2 clamping mechanism 10.
The feeding ground rail mechanism 2 comprises a 1# hard limit stop 18, a profile base 20, a 1# rail 19, a 1# rack 17, a 2# hard limit stop and a feeding power trolley 16.
The feeding robot 1 comprises a longitudinal beam 15, a cross beam 12, a cross coordinate mechanical arm 11, a rotating mechanism 13 and a pneumatic claw 14.
The welding ground rail mechanism 4 comprises a 3# hard limit stop 21, a section bar base 22, a 2# rail 23, a 2# rack 24, a 4# hard limit stop 29, a 1# positioner power trolley 25, a 2# positioner power trolley 27, a 1# lifting roller frame power trolley 26 and a 2# lifting roller frame power trolley 28.
The positioner 6 comprises a turnover shaft 30, a rotating shaft 31 and a rotating four-jaw chuck 32. The turning shaft and the rotating shaft are connected with a servo motor through a speed reducer and can rotate around respective central axes under the driving of the servo motor; a servo motor and a speed reducer for driving the turnover shaft are packaged in a square box body on the right side of the turnover shaft; a servo motor and a speed reducer which drive the rotating shaft are packaged in a cylindrical box body at the lower part of the rotating shaft; the rotary four-jaw chuck is used for placing the pipe flange and fixing the pipe flange through the jaws.
The lifting roller frame 5 comprises a roller 33, a roller bracket 34, a bridging lifting mechanism 36, a servo speed reducing motor 38, an upper mounting plate 35 and a lower mounting plate 37.
The electric control system comprises an industrial personal computer, a PLC (programmable logic controller) main station, a PLC slave station, a servo amplifier and a welding robot control panel.
2. The automatic loading of claim 1, wherein: the rib plates to be welded are placed neatly according to specific positions, the feeding mechanical arm sequentially clamps the rib plates to the welding positions according to the welding sequence, the feeding mechanical arm returns to the original position to be ready after the welding robot spot-welds the rib plates, and the feeding mechanical arm executes the next automatic feeding program after the welding robot performs full-welding operation.
3. the automated weld of claim 1, wherein: the welding robot firstly fixes the flange and the steel pipe by spot welding, and then carries out full welding operation. In the welding process, the position changing is carried out on the positioning machine group and the joint welding robot, the two positioning machines realize synchronous rotation, the whole welding process is controlled by the PLC, and the welding robot is controlled to carry out welding operation after the workpiece is moved to the designated position. And after the flange and the pipe are welded, performing rib plate and pipe welding operation. According to the design drawing, the feeding mechanical arm is matched with the deflection unit to move the rib plate to the designated position, and the welding robot performs electric welding and full welding operations.
4. The control method of the automatic welding system for the tower tube of the steel tube tower comprises the following steps:
Preparation: the flange plates are manually and respectively installed on a 1# positioner and a 2# positioner, two rib plates are placed on a rib plate stacking platform according to specified positions, and a clamping mechanism on the rib plate stacking platform automatically clamps the rib plates. And selecting the specification of the steel pipe tower with one specification as a reference model, and teaching the welding robot.
Secondly, operating an upper computer: and inputting the diameter, the number of flange holes, the assembly angle and the assembly sequence of the tower tubes of the steel pipe tower on a human-computer interface of the industrial personal computer, and taking the diameters, the number of the flange holes, the assembly angle and the assembly sequence as production requirement data. The motion track of the welding robot 7 during teaching is stored as a reference track, the relevant parameters of the steel tube tower are stored as assembly data, the pneumatic automatic mode is adopted, the automatic welding system is powered on, and the feeding mechanical arm, the positioner and the lifting roller frame are reset.
Welding the flange by spot welding: the lifting roller frame lifts the steel pipe to a proper height, the steel pipe is concentric with the flange plates on the two sides, the power trolley of the positioner moves, the flange plates are attached to the end face of the steel pipe tightly, the flange plates rotate at a constant speed, the welding robot is matched with the positioner to rotate to carry out electric welding, 6-8 points are welded according to the diameters of the steel pipes with different specifications, and the flanges at the two ends and the steel pipe are fixed. After spot welding is completed, the lifting roller carrier resets, the deflection unit resets to the initial rotation position, and the welding robot returns to the standby position.
fourthly, full welding of flanges: and moving a welding gun of the welding robot to an initial welding position, starting welding, rotating the deflection unit at a constant speed, and rotating for 360 degrees to complete full welding operation of the flange and the steel pipe. The position changing unit is reset to the initial rotation position, and the welding robot returns to the standby position.
Rib plate welding: the material loading robot snatchs gusset to welding position according to assembling the order in proper order, and welding robot is with the firm back of gusset spot welding, and the material loading robot returns standby position and waits to carry out the operation of snatching next time, and welding robot returns standby position, and in welding process, PLC control machine of shifting, cooperation welding robot rotate different angles and weld, and first gusset spot welding is accomplished. And the welding robot carries out full welding on the first rib plate by the original path. And after the full-welding operation of the first rib plate is performed, performing spot welding and full-welding operation of the next rib plate.
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| CN201910868628.6A CN110560942A (en) | 2019-09-16 | 2019-09-16 | Automatic welding system for tower tube of steel tube tower and control method of automatic welding system |
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| CN201910868628.6A CN110560942A (en) | 2019-09-16 | 2019-09-16 | Automatic welding system for tower tube of steel tube tower and control method of automatic welding system |
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