CN110560950A - intelligent manufacturing welding automation system and automatic welding method thereof - Google Patents
intelligent manufacturing welding automation system and automatic welding method thereof Download PDFInfo
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- CN110560950A CN110560950A CN201910861229.7A CN201910861229A CN110560950A CN 110560950 A CN110560950 A CN 110560950A CN 201910861229 A CN201910861229 A CN 201910861229A CN 110560950 A CN110560950 A CN 110560950A
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- 238000003466 welding Methods 0.000 title claims abstract description 164
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 11
- 238000000034 method Methods 0.000 title claims description 14
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 16
- 239000010959 steel Substances 0.000 claims abstract description 16
- 239000000725 suspension Substances 0.000 claims description 29
- 238000013519 translation Methods 0.000 claims description 27
- 239000007788 liquid Substances 0.000 claims description 11
- 238000005452 bending Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 239000007790 solid phase Substances 0.000 abstract 1
- 210000001503 joint Anatomy 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
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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
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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Abstract
The invention discloses an automatic intelligent manufacturing and welding system which comprises a welded three-way steel pipe, wherein the three-way steel pipe comprises a transverse main pipe and a branch pipe vertically connected with the main pipe, the middle section of the main pipe is provided with a bypass hole, one end of the branch pipe is communicated with the bypass hole, and a gap to be welded is formed at the joint of the main pipe and the branch pipe; the invention has simple structure and can realize the welding of the intersecting line track of the solid phase.
Description
Technical Field
the invention belongs to the field of welding systems.
background
The development of industrial welding robots has matured very much and can be summarized into three phases, the first: a teaching/reproducing type welding robot, the second stage: sensing information programming welding robot, third phase: adaptive intelligent welding robot. Because the intelligent welding robot not only has sensing capability, but also has certain independent judgment and action capability, a series of relatively complex actions can be completed through memory, reasoning and decision, and the intelligent welding robot can also carry out information butt joint, object butt joint and environment butt joint with the outside, and can work better in coordination with people and other equipment devices.
Disclosure of Invention
the purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides an intelligent manufacturing and welding automatic system capable of welding intersecting lines in a pipe and an automatic welding method thereof.
The technical scheme is as follows: in order to achieve the purpose, the intelligent manufacturing and welding automation system comprises a welded three-way steel pipe, wherein the three-way steel pipe comprises a transverse main pipe and a branch pipe vertically connected with the main pipe, the middle section of the main pipe is provided with a bypass hole, one end of the branch pipe is communicated with the bypass hole, and a gap to be welded is formed at the joint of the main pipe and the branch pipe; the inner ring of the gap to be welded is the gap to be welded in the pipe, and the outer ring of the gap to be welded is the gap to be welded outside the pipe; an intersecting line formed by intersecting the cylindrical surface of the outer wall of the branch pipe and the cylindrical surface of the outer wall of the main pipe is superposed with a gap to be welded outside the pipe; an intersecting line formed by intersecting the cylindrical surface of the inner wall of the branch pipe and the cylindrical surface of the outer wall of the main pipe is superposed with a gap to be welded in the pipe;
the device comprises a main pipe and a base platform, wherein the base platform is provided with a transverse main pipe seat, a main pipe accommodating groove body with a semicircular section is arranged on the main pipe seat, and the arc-shaped inner wall of the main pipe accommodating groove body is matched with the outer wall surface of the main pipe; the main pipe is coaxially and laterally laid in the main pipe accommodating groove body, and the branch pipe is vertically arranged;
A vertical upright post support is fixedly arranged on one side of the middle part of the main pipe seat, a plurality of arc-shaped fixed clamping pieces are fixedly arranged on one side of the upright post support close to the branch pipe, the bending radian of each arc-shaped fixed clamping piece is matched with the outer wall surface of the branch pipe, and one side surface of each arc-shaped fixed clamping piece close to the branch pipe is in fit contact with the outer wall of the branch pipe; a movable clamping piece support is arranged on one side, away from the stand column support, of the main pipe seat, an air cylinder device is mounted on the movable clamping piece support, an arc-shaped movable clamping piece is connected to the tail end of an air cylinder telescopic push rod of the air cylinder device, and the bending radian of the arc-shaped movable clamping piece is matched with the outer wall surface of the branch pipe; the branch pipe clamp is positioned between the arc-shaped fixed clamping piece and the arc-shaped movable clamping piece; a suspended type tubular intersecting line welding robot is suspended and arranged right above the upper end pipe orifice of the branch pipe; the suspension type inter-pipe intersection welding robot can descend into a branch pipe passage in the branch pipe, and the suspension type inter-pipe intersection welding robot can weld a to-be-welded gap in the pipe.
Furthermore, a cross beam is fixedly arranged at the top end of the upright post bracket, a hoisting winch is mounted on the cross beam, a lifting rope led out by the heavy hoisting winch downwards passes through a guide hole in the cross beam, and the tail end of the lifting rope is connected with the intersecting line welding robot in the suspension pipe in a suspension mode; the hoisting and lifting winch can drive the intersecting line welding robot in the suspended pipe to lift up and down through the lifting rope.
furthermore, the suspended pipe inner intersecting line welding robot comprises a vertical linear motor, four transverse second cylinder devices are fixedly arranged on the periphery of an upper end casing of the linear motor respectively, an arc-shaped upper holding piece is fixedly connected to the tail end of a second cylinder push rod of each second cylinder device, and the arc-shaped curvature of each arc-shaped upper holding piece is adaptive to the arc-shaped curvature of the outer wall surface of the branch pipe; the four arc-shaped upper holding pieces can be driven to tightly hold the inner wall of the branch pipe outwards by the synchronous extension motion of the push rods of the second air cylinders;
a rope knot is arranged right above the linear motor, the lower ends of the rope knot are connected with four suspension ropes with equal length together, and the lower ends of the four suspension ropes are respectively and fixedly connected with the shell of the four second cylinder devices; the lower end of the lifting rope is fixedly connected with the knot;
Four transverse third cylinder devices are fixedly arranged on the periphery of a lower end casing of the linear motor respectively, the tail end of a third cylinder push rod of each third cylinder device is fixedly connected with an arc-shaped lower holding piece, and the arc-shaped curvature of each arc-shaped lower holding piece is adapted to the arc-shaped curvature of the outer wall surface of the branch pipe; the synchronous stretching motion of the push rod of the fourth cylinder can drive the four arc-shaped lower holding pieces to tightly hold the inner wall of the branch pipe outwards;
The lower end of the linear motor is a linear push rod extending downwards, and the linear motor drives the linear push rod to do telescopic motion along the vertical direction; the lower end of the linear push rod is coaxially and rotatably connected with a bearing cylinder through a bearing, and the bearing cylinder moves up and down along with the linear push rod;
A horizontal second linear motor is arranged right below the bearing cylinder; the shell of the second linear motor is fixedly connected with the outer wall of the bearing cylinder through a supporting arm, and the whole second linear motor synchronously moves with the bearing cylinder through the supporting arm;
a welding gun is arranged at the tail end of a second linear telescopic rod of the second linear motor, and a welding gun nozzle is arranged at the tail end of the welding gun; the extension motion of the second linear telescopic rod can enable the welding gun nozzle to move along the extension direction of the second linear telescopic rod to contact the inner wall of the branch pipe; a camera is mounted at the tail end of the shell of the second linear motor, and a lens is arranged on one side of the camera, which is far away from the second linear motor;
The lower side of the shell of the second linear motor is fixedly connected with a vertical power shaft through a fixed shaft; the power shaft and the linear push rod are coaxially arranged; a distance sensor is arranged at the lower end of the power shaft; the shaft section profile of the power shaft is in a gear shape;
a main pipe channel which is communicated from left to right is arranged in the main pipe, and an electric guide rail is arranged in the main pipe channel along the axis direction; one end of the main pipe seat is provided with a guide rail seat, and one end of the electric guide rail is connected to the guide rail seat in a supporting manner; the electric guide rail is provided with a translation sliding block, and the translation sliding block can be driven by the electric guide rail to translate along the direction of the main pipe channel; a gear driving steering engine is fixedly mounted on the translation sliding block, and an output end of the gear driving steering engine is an output gear; the output gear can translate along with the translation sliding block to be meshed with the gear-shaped profile of the power shaft; the power shaft and the output gear are meshed with each other and can relatively slide along the axial direction of the power shaft.
further, a welding method for intelligently manufacturing a welding automation system comprises the following steps:
the method comprises the following steps:
Firstly, vertically connecting a branch pipe to a bypass hole on a main pipe, and forming a gap to be welded at the joint of the main pipe and the branch pipe; the inner ring of the gap to be welded is the gap to be welded in the pipe, the outer ring of the gap to be welded is the gap to be welded outside the pipe, and then the gap to be welded outside the pipe is manually welded; the branch pipe and the main pipe form an integrated connecting body; at the moment, the gap to be welded in the pipe is in a state to be welded;
Controlling a hoisting and lifting winch to enable the hoisting and lifting winch to control the suspended type in-pipe intersecting line welding robot to ascend to the height of the high end of the upright post bracket through a lifting rope; all the second cylinder devices and all the third cylinder devices are controlled to enable all the second cylinder push rods and all the third cylinder push rods to contract inwards, and further all the arc-shaped upper holding pieces and all the arc-shaped lower holding pieces contract inwards along with the second cylinder push rods and the third cylinder push rods; the integral body type of the intersecting line welding robot in the suspension type pipe is enabled to sufficiently downwards enter a branch pipe channel;
thirdly, the main pipe is coaxially and laterally laid in the main pipe accommodating groove body, the branch pipes are vertically arranged, and the branch pipe clamps are positioned between the arc-shaped fixed clamping pieces and the arc-shaped movable clamping pieces; thereby realizing the positioning of the three-way steel pipe;
Controlling a hoisting and lifting winch to drive the suspended type intraductal intersecting line welding robot to do descending motion through a lifting rope until the suspended type intraductal intersecting line welding robot descends into a branch pipe passage, and simultaneously monitoring the distance between an obstacle right below and the hoisting and lifting winch per se by a distance sensor at the lower end of the power shaft in real time; the hoisting and lifting winch is suspended until the middle height of the power shaft is the same as the height of the output gear on the translation sliding block along with the continuous descending of the intersecting line welding robot in the suspended pipe; then all the second cylinder devices and the third cylinder devices are controlled to enable all the second cylinder push rods and all the third cylinder push rods to extend outwards, and further all the arc-shaped upper holding pieces and all the arc-shaped lower holding pieces synchronously extend outwards along with the second cylinder push rods and the third cylinder push rods until the outer arc surfaces of all the arc-shaped upper holding pieces and all the arc-shaped lower holding pieces tightly press the inner wall of the branch pipe, so that the holding of the robot for welding intersecting lines in the suspension pipe in the branch pipe passage is realized, and the axis of the linear push rod is coincided with the axis of the branch pipe passage; then controlling the linear motor to enable the linear push rod to perform vertical telescopic fine adjustment, and further achieving fine adjustment of the height of the second linear motor until a welding gun nozzle at the tail end of a welding gun corresponds to a to-be-welded seam in the pipe; then, the second linear telescopic rod is controlled to do extension movement, so that the welding gun nozzle moves to a to-be-welded seam in the pipe contacting the inner wall of the branch pipe along the extension direction of the second linear telescopic rod; meanwhile, the electric guide rail is controlled to drive the translation sliding block to translate along the axis of the main pipe channel towards the direction close to the power shaft until the output gear is displaced along with the translation sliding block to be meshed with the gear-shaped outline of the power shaft; at the moment, the preparation work of welding in the pipe is realized;
controlling a gear to drive a steering engine, enabling an output gear to drive a power shaft meshed with the output gear to rotate, further enabling a second linear motor to rotate along the axis of a bearing barrel, further enabling a welding gun nozzle to rotate along the axis of the bearing barrel along with the second linear motor, and enabling the power shaft and the output gear to slide relatively along the axis direction of the power shaft while being meshed with each other, so that the output gear cannot interfere with the vertical displacement of the second linear motor; meanwhile, the linear motor is controlled to enable the linear push rod to stretch up and down, so that the second linear motor and the welding gun can rotate along the axis of the bearing cylinder and move up and down; by controlling the vertical stretching amplitude of the linear push rod in real time, the motion track of the welding gun nozzle at the tail end of the welding gun is an intersecting line track, and the motion track of the welding gun nozzle at the tail end of the welding gun is superposed with the track of a to-be-welded seam in the pipe; the welding liquid is slowly sprayed out while a welding gun nozzle at the tail end of a welding gun moves along the track of the to-be-welded seam in the pipe, the welding liquid is slowly sprayed out by the welding gun nozzle along the path of the intersecting line of the to-be-welded seam in the pipe, the welding liquid is further made to gradually infiltrate the to-be-welded seam in the whole circle of pipe, and meanwhile, the camera records the welding quality in real time;
after the welding process of the to-be-welded seam in the pipe is finished, controlling an electric guide rail to drive a translation sliding block to translate along the axis of the main pipe channel in the direction far away from the power shaft until an output gear is displaced along with the translation sliding block to be separated from the power shaft; then all the second cylinder devices and all the third cylinder devices are controlled to enable all the second cylinder push rods and all the third cylinder push rods to contract inwards, and further all the arc-shaped upper holding pieces and all the arc-shaped lower holding pieces contract inwards along with the second cylinder push rods and the third cylinder push rods; enabling the suspension type intraductal intersecting line welding robot to be released from the holding state in the branch pipe passage, then controlling a hoisting and lifting winch to control the suspension type intraductal intersecting line welding robot to ascend to the height of the high end of the upright post bracket through a lifting rope, and enabling the suspension type intraductal intersecting line welding robot to ascend to be separated from the branch pipe passage; then the three-way pipe which is welded inside and outside is disassembled.
has the advantages that: the welding device has a simple structure, and can realize welding of intersecting line tracks in the pipes of the three-way steel pipe; the second linear motor and the welding gun rotate along the axis of the bearing cylinder and move up and down at the same time; by controlling the vertical stretching amplitude of the linear push rod in real time, the motion track of a welding gun nozzle at the tail end of a welding gun is superposed with the track of a to-be-welded gap in the pipe; the welding liquid is slowly sprayed out while a welding gun nozzle at the tail end of a welding gun moves along the track of the to-be-welded seam in the pipe, and the welding liquid is slowly sprayed out by the welding gun nozzle to gradually infiltrate the to-be-welded seam in the whole circle of pipe along the movement of the welding gun nozzle along the intersecting line path of the to-be-welded seam in the pipe; the process makes up for the three-dimensional track welding mode of the intersecting line which can not be realized by the traditional welding robot which can only do the standard circular track.
drawings
FIG. 1 is a schematic view of the overall structure of the device;
FIG. 2 is a cut-away schematic view of FIG. 1;
FIG. 3 is a schematic structural view of the apparatus after the three-way steel pipe to be welded is hidden;
FIG. 4 is a schematic top view of FIG. 3;
FIG. 5 is a schematic view of a power shaft at the lower end of a suspended tubular intersecting line welding robot in cooperation with an output gear;
FIG. 6 is an enlarged schematic view of the output gear of FIG. 5;
FIG. 7 is a schematic structural view of a suspended tubular intersection welding robot;
FIG. 8 is a schematic diagram of the lower part of a suspended tubular intersection welding robot;
FIG. 9 is a schematic cross-sectional view of the bearing cartridge;
FIG. 10 is a schematic structural view of a three-way steel pipe to be welded;
FIG. 11 is a schematic sectional view of a three-way steel pipe to be welded;
FIG. 12 is a schematic view of the main pipe and branch pipe separated.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
the welding seam of the three-way steel pipe is positioned at the position of the intersecting line formed by the intersection of the branch pipe and the main pipe, the intersecting line is a three-dimensional track, and the simple circular track motion cannot coincide with the intersecting line, so that the traditional circular welding track welding robot cannot realize the welding of the intersecting line in the pipe, the traditional mode usually only simply carries out manual welding on the intersecting line outside the pipe, the manual welding in the pipe cannot touch the intersecting line, and if the welding in the pipe is not carried out, all performances such as the sealing, the structural strength and the like of the three-way pipe can be influenced.
The automatic intelligent manufacturing and welding system shown in fig. 1 to 12 includes a welded three-way steel pipe, the three-way steel pipe includes a transverse main pipe 7 and a branch pipe 40 vertically connected to the main pipe 7, a bypass hole 39 is formed in the middle section of the main pipe 7, one end of the branch pipe 40 is communicated with the bypass hole 39, and a gap to be welded is formed at the connection position of the main pipe 7 and the branch pipe 40; the inner ring of the gap to be welded is a gap 38 to be welded in the pipe, and the outer ring of the gap to be welded is a gap 41 to be welded outside the pipe; the intersection line formed by the intersection of the outer wall cylindrical surface of the branch pipe 40 and the outer wall cylindrical surface of the main pipe 7 is superposed with the gap 41 to be welded outside the pipe; the intersection line formed by the intersection of the cylindrical surface of the inner wall of the branch pipe 40 and the cylindrical surface of the outer wall of the main pipe 7 is superposed with the gap 38 to be welded in the pipe;
the specific structure of the welding system comprises a base platform 10, wherein a transverse main pipe seat 9 is arranged on the base platform 10, a main pipe accommodating groove body 52 with a semicircular section is arranged on the main pipe seat 9, and the arc-shaped inner wall of the main pipe accommodating groove body 52 is adapted to the outer wall surface of the main pipe 7; the main pipe 7 is coaxially and laterally laid in the main pipe accommodating groove body 52, and the branch pipe 40 is vertically arranged;
a vertical upright post bracket 12 is fixedly arranged on one side of the middle part of the main pipe seat 9, a plurality of arc-shaped fixed clamping pieces 36 are fixedly arranged on one side of the upright post bracket 12 close to the branch pipe 40, the bending radian of each arc-shaped fixed clamping piece 36 is matched with the outer wall surface of the branch pipe 40, and one side surface of each arc-shaped fixed clamping piece 36 close to the branch pipe 40 is in contact with the outer wall of the branch pipe 40 in an attaching manner; a movable clamping piece support 8 is arranged on one side, away from the upright post support 12, of the main pipe seat 9, an air cylinder device 6 is installed on the movable clamping piece support 8, an arc-shaped movable clamping piece 3 is connected to the tail end of an air cylinder telescopic push rod 5 of the air cylinder device 6, and the bending radian of the arc-shaped movable clamping piece 3 is matched with the outer wall surface of the branch pipe 40; the branch pipe 40 is clamped between the arc-shaped fixed clamping piece 36 and the arc-shaped movable clamping piece 3; a suspension type tubular intersecting line welding robot 37 is suspended and arranged right above the upper end pipe orifice of the branch pipe 40; the suspended intra-pipe intersection welding robot 37 can descend into the branch duct 4 within the branch pipe 40, and the suspended intra-pipe intersection welding robot 37 can weld the gaps 38 to be welded within the pipe.
a cross beam 11 is fixedly arranged at the top end of the upright post bracket 12, a hoisting winch 1 is arranged on the cross beam 11, a hoisting rope 2 led out by the hoisting winch 1 downwards passes through a guide hole on the cross beam 11, and the tail end of the hoisting rope 2 is connected with a intersected line welding robot 37 in the suspension pipe in a suspension mode; the hoisting and lifting winch 1 can drive the intersecting line welding robot 37 in the suspended pipe to lift up and down through the lifting rope 2.
The suspended pipe intersecting line welding robot 37 comprises a vertical linear motor 19, four transverse second cylinder devices 17 are fixedly arranged on the periphery of an upper end machine shell of the linear motor 19 respectively, the tail ends of second cylinder push rods 15 of the second cylinder devices 17 are fixedly connected with arc-shaped upper holding pieces 16, and the arc-shaped curvature of each arc-shaped upper holding piece 16 is adapted to the arc-shaped curvature of the outer wall surface of the branch pipe 40; the synchronous extension movement of the push rod 15 of the fourth cylinder can drive the four arc-shaped upper holding pieces 16 to tightly hold the inner wall of the branch pipe 40 outwards;
A rope knot 18 is arranged right above the linear motor 19, the lower ends of the rope knot 18 are connected with four suspension ropes 14 with equal length together, and the lower ends of the four suspension ropes 14 are respectively and fixedly connected with the shell of the four second cylinder devices 17; the lower end of the lifting rope 2 is fixedly connected with the knot 18;
Four transverse third cylinder devices 20 are fixedly arranged on the periphery of a lower end shell of the linear motor 19 respectively, the tail end of a third cylinder push rod 22 of each third cylinder device 20 is fixedly connected with an arc-shaped lower holding piece 21, and the arc-shaped curvature of each arc-shaped lower holding piece 21 is matched with the arc-shaped curvature of the outer wall surface of the branch pipe 40; the synchronous extending movement of the fourth cylinder push rod 22 can drive the four arc-shaped lower holding pieces 21 to tightly hold the inner wall of the branch pipe 40 outwards;
the lower end of the linear motor 19 is a linear push rod 23 extending downwards, and the linear motor 19 can drive the linear push rod 23 to do telescopic motion along the vertical direction; the lower end of the linear push rod 23 is coaxially and rotatably connected with a bearing cylinder 24 through a bearing 25, and the bearing cylinder 24 moves up and down along with the linear push rod 23;
a horizontal second linear motor 27 is arranged right below the bearing cylinder 24; the shell of the second linear motor 27 is fixedly connected with the outer wall of the bearing cylinder 24 through a supporting arm 25, and the whole second linear motor 27 synchronously moves with the bearing cylinder 24 through the supporting arm 25;
a welding gun 30 is arranged at the tail end of a second linear telescopic rod 29 of the second linear motor 27, and a welding gun nozzle 31 is arranged at the tail end of the welding gun 30; the extension motion of the second linear expansion link 29 enables the welding gun nozzle 31 to move along the extension direction of the second linear expansion link 29 to contact the inner wall of the branch pipe 40; a camera 26 is mounted at the tail end of the casing of the second linear motor 27, and a lens 34 is arranged on one side of the camera 26 away from the second linear motor 27;
a vertical power shaft 32 is fixedly connected to the lower side of the casing of the second linear motor 27 through a fixed shaft 28; the power shaft 32 and the linear push rod 23 are coaxially arranged; a distance sensor 33 is arranged at the lower end of the power shaft 32; the shaft section profile of the power shaft 32 is in a gear shape;
a main pipe channel 42 which is penetrated left and right is arranged in the main pipe 7, and an electric guide rail 44 is arranged in the main pipe channel 42 along the axial direction; one end of the main pipe seat 9 is provided with a guide rail seat 43, and one end of the electric guide rail 44 is supported and connected on the guide rail seat 43; the electric guide rail 44 is provided with a translation sliding block 45, and the electric guide rail 44 can drive the translation sliding block 45 to translate along the main pipe channel 42; a gear driving steering engine 51 is fixedly mounted on the translation sliding block 45, and the output end of the gear driving steering engine 51 is an output gear 46; the output gear 46 can translate along with the translation slider 45 to be meshed with the gear-shaped profile of the power shaft 32; the power shaft 32 is meshed with the output gear 46 and can relatively slide along the axial direction of the power shaft 32.
the welding process and the welding principle of the scheme are as follows:
the method comprises the following steps:
firstly, vertically connecting a branch pipe 40 to a bypass hole 39 on a main pipe 7, and further forming a gap to be welded at the joint of the main pipe 7 and the branch pipe 40; the inner ring of the gap to be welded is the gap 38 to be welded in the pipe, the outer ring of the gap to be welded is the gap 41 to be welded outside the pipe, and then the gap 41 to be welded outside the pipe is manually welded; the branch pipe 40 and the main pipe 7 form an integrated connecting body; at this time, the gap 38 to be welded in the pipe is in a state to be welded;
Step two, controlling the hoisting and lifting winch 1 to enable the hoisting and lifting winch 1 to control the suspended type tubular intersecting line welding robot 37 to ascend to the height of the high end of the upright post bracket 12 through the lifting rope 2; and all the second cylinder devices 17 and the third cylinder devices 20 are controlled to enable all the second cylinder push rods 15 and all the third cylinder push rods 22 to contract inwards, so that all the arc-shaped upper holding sheets 16 and all the arc-shaped lower holding sheets 21 contract inwards along with the second cylinder push rods 15 and the third cylinder push rods 22; the integral body type of the intersecting line welding robot 37 in the suspended pipe is enabled to sufficiently enter the branch pipe passage 4 downwards;
thirdly, the main pipe 7 is coaxially and laterally laid in the main pipe accommodating groove body 52, the branch pipe 40 is vertically arranged, and the branch pipe 40 is clamped between the arc-shaped fixed clamping piece 36 and the arc-shaped movable clamping piece 3; thereby realizing the positioning of the three-way steel pipe;
Controlling the hoisting and lifting winch 1 to enable the hoisting and lifting winch 1 to drive the suspended type intraductal intersecting line welding robot 37 to do descending motion through the lifting rope 2 until the suspended type intraductal intersecting line welding robot 37 descends into the branch pipe passage 4, and meanwhile, monitoring the distance between the barrier below and the self in real time through the distance sensor 33 at the lower end of the power shaft 32; the hoisting and lifting winch 1 is suspended until the middle height of the power shaft 32 is equal to the height of the output gear 46 on the translation sliding block 45 along with the continuous descending of the intersecting line welding robot 37 in the suspended pipe; then all the second cylinder devices 17 and the third cylinder devices 20 are controlled to enable all the second cylinder push rods 15 and all the third cylinder push rods 22 to extend outwards, and further all the arc-shaped upper holding pieces 16 and the arc-shaped lower holding pieces 21 synchronously extend outwards along with the second cylinder push rods 15 and the third cylinder push rods 22 until the outer arc surfaces of all the arc-shaped upper holding pieces 16 and the arc-shaped lower holding pieces 21 tightly press the inner wall of the branch pipe 40, so that the holding of the intersecting line welding robot 37 in the suspension pipe in the branch pipe passage 4 is realized, and the axis of the linear push rod 23 is coincided with the axis of the branch pipe passage 4; then controlling the linear motor 19 to make the linear push rod 23 perform fine adjustment of vertical extension, so as to further realize fine adjustment of the height of the second linear motor 27 until a welding gun nozzle 31 at the tail end of a welding gun 30 corresponds to a to-be-welded seam 38 in the pipe; then, the second linear expansion link 29 is controlled to do extension movement, so that the welding gun nozzle 31 moves to contact the to-be-welded seam 38 in the pipe on the inner wall of the branch pipe 40 along the extension direction of the second linear expansion link 29; meanwhile, the electric guide rail 44 is controlled to drive the translation sliding block 45 to translate along the axis of the main pipe channel 42 towards the direction close to the power shaft 32 until the output gear 46 is displaced along with the translation sliding block 45 to be meshed with the gear-shaped profile of the power shaft 32; at the moment, the preparation work of welding in the pipe is realized;
step five, controlling a gear to drive a steering engine 51, enabling an output gear 46 to drive a power shaft 32 meshed with the output gear to rotate, further enabling a second linear motor 27 to rotate along the axis of a bearing barrel 24, further enabling a welding gun nozzle 31 to rotate along the axis of the bearing barrel 24 along with the second linear motor 27, and enabling the power shaft 32 and the output gear 46 to be meshed with each other and simultaneously capable of relatively sliding along the axis direction of the power shaft 32, so that the output gear 46 does not interfere with the vertical displacement of the second linear motor 27; meanwhile, the linear motor 19 is controlled to enable the linear push rod 23 to extend up and down, so that the second linear motor 27 and the welding gun 30 rotate along the axis of the bearing cylinder 24 and move up and down; by controlling the vertical extension amplitude of the linear push rod 23 in real time, the motion track of the welding gun nozzle 31 at the tail end of the welding gun 30 is an intersecting line track, and the motion track of the welding gun nozzle 31 at the tail end of the welding gun 30 is superposed with the track of a to-be-welded seam 38 in the pipe; the welding liquid is slowly sprayed out while the welding gun nozzle 31 at the tail end of the welding gun 30 moves along the track of the to-be-welded seam 38 in the pipe, the welding liquid is slowly sprayed out by the welding gun nozzle 31 along the path of the intersecting line of the to-be-welded seam 38 in the pipe, the welding liquid is further slowly sprayed out by the welding gun nozzle 31 to gradually infiltrate the to-be-welded seam 38 in the whole circle of pipe, and meanwhile, the camera 26 records the welding quality in real time;
step six, after the welding process of the to-be-welded seam 38 in the pipe is finished, controlling the electric guide rail 44 to drive the translation sliding block 45 to translate along the axis of the main pipe channel 42 in the direction away from the power shaft 32 until the output gear 46 moves along with the translation sliding block 45 to be separated from the power shaft 32; then all the second cylinder devices 17 and the third cylinder devices 20 are controlled to enable all the second cylinder push rods 15 and all the third cylinder push rods 22 to contract inwards, and further all the arc-shaped upper holding sheets 16 and the arc-shaped lower holding sheets 21 contract inwards along with the second cylinder push rods 15 and the third cylinder push rods 22; enabling the suspension type intraductal intersecting line welding robot 37 to be released from the holding state in the branch pipe passage 4, then controlling the hoisting and lifting winch 1 to control the suspension type intraductal intersecting line welding robot 37 to ascend to the height of the high end of the upright post bracket 12 through the lifting rope 2, and enabling the suspension type intraductal intersecting line welding robot 37 to ascend to be separated from the branch pipe passage 4; then the three-way pipe which is welded inside and outside is disassembled.
the above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (4)
1. the intelligent manufacturing and welding automation system comprises a welded three-way steel pipe, wherein the three-way steel pipe comprises a transverse main pipe (7) and a branch pipe (40) vertically connected with the main pipe (7), a bypass hole (39) is formed in the middle section of the main pipe (7), one end of the branch pipe (40) is communicated with the bypass hole (39), and a to-be-welded gap is formed at the joint of the main pipe (7) and the branch pipe (40); the inner ring of the gap to be welded is a gap (38) to be welded in the pipe, and the outer ring of the gap to be welded is a gap (41) to be welded outside the pipe; the intersection line formed by the intersection of the cylindrical surface of the outer wall of the branch pipe (40) and the cylindrical surface of the outer wall of the main pipe (7) is superposed with the gap (41) to be welded outside the pipe; the intersection line formed by the intersection of the cylindrical surface of the inner wall of the branch pipe (40) and the cylindrical surface of the outer wall of the main pipe (7) is superposed with the gap (38) to be welded in the pipe;
the method is characterized in that: the device is characterized by further comprising a base platform (10), wherein a transverse main pipe seat (9) is arranged on the base platform (10), a main pipe accommodating groove body (52) with a semicircular section is arranged on the main pipe seat (9), and the arc-shaped inner wall of the main pipe accommodating groove body (52) is matched with the outer wall surface of the main pipe (7); the main pipe (7) is coaxially and laterally laid in the main pipe accommodating groove body (52), and the branch pipe (40) is vertically arranged;
A vertical upright post bracket (12) is fixedly arranged on one side of the middle part of the main pipe seat (9), a plurality of arc-shaped fixed clamping sheets (36) are fixedly arranged on one side, close to the branch pipe (40), of the upright post bracket (12), the bending radian of the arc-shaped fixed clamping sheets (36) is matched with the outer wall surface of the branch pipe (40), and one side surface, close to the branch pipe (40), of each arc-shaped fixed clamping sheet (36) is in contact with the outer wall of the branch pipe (40) in an attaching manner; a movable clamping piece support (8) is arranged on one side, away from the upright post support (12), of the main pipe seat (9), an air cylinder device (6) is mounted on the movable clamping piece support (8), an arc-shaped movable clamping piece (3) is connected to the tail end of an air cylinder telescopic push rod (5) of the air cylinder device (6), and the bending radian of the arc-shaped movable clamping piece (3) is matched with the outer wall surface of the branch pipe (40); the branch pipe (40) is clamped between the arc-shaped fixed clamping sheet (36) and the arc-shaped movable clamping sheet (3); a suspension type tubular intersecting line welding robot (37) is suspended over the upper end pipe orifice of the branch pipe (40); the suspended intra-pipe intersection welding robot (37) can descend into a branch pipe passage (4) in a branch pipe (40), and the suspended intra-pipe intersection welding robot (37) can weld a to-be-welded seam (38) in the pipe.
2. the automated intelligent manufacturing welding system of claim 1, wherein: a cross beam (11) is fixedly arranged at the top end of the upright post bracket (12), a hoisting winch (1) is arranged on the cross beam (11), a hoisting rope (2) led out by the hoisting winch (1) downwards passes through a guide hole in the cross beam (11), and the tail end of the hoisting rope (2) is connected with a intersected line welding robot (37) in the suspension pipe in a suspension mode; the hoisting and lifting winch (1) can drive the suspended type pipe internal intersecting line welding robot (37) to lift up and down through the lifting rope (2).
3. The automated intelligent manufacturing welding system of claim 1, wherein: the suspended type pipe internal intersecting line welding robot (37) comprises a vertical linear motor (19), four transverse second cylinder devices (17) are fixedly arranged on the periphery of an upper end machine shell of the linear motor (19) respectively, the tail end of a second cylinder push rod (15) of each second cylinder device (17) is fixedly connected with an arc-shaped upper holding piece (16), and the arc-shaped curvature of each arc-shaped upper holding piece (16) is adapted to the arc-shaped curvature of the outer wall surface of the branch pipe (40); the synchronous extension movement of the push rod (15) of the fourth cylinder can drive the four arc-shaped upper holding sheets (16) to tightly hold the inner wall of the branch pipe (40) outwards;
a rope knot (18) is arranged right above the linear motor (19), the lower ends of the rope knot (18) are connected with four suspension ropes (14) with equal length together, and the lower ends of the four suspension ropes (14) are respectively and fixedly connected with the shell of the fourth cylinder device (17); the lower end of the lifting rope (2) is fixedly connected with the knot (18);
four transverse third cylinder devices (20) are fixedly arranged on the periphery of a lower end shell of the linear motor (19) respectively, the tail end of a third cylinder push rod (22) of each third cylinder device (20) is fixedly connected with an arc-shaped lower holding piece (21), and the arc-shaped curvature of each arc-shaped lower holding piece (21) is adapted to the arc-shaped curvature of the outer wall surface of the branch pipe (40); the synchronous stretching motion of the fourth cylinder push rod (22) can drive the four arc-shaped lower holding sheets (21) to tightly hold the inner wall of the branch pipe (40) outwards;
the lower end of the linear motor (19) is provided with a linear push rod (23) extending downwards, and the linear motor (19) can drive the linear push rod (23) to do telescopic motion along the vertical direction; the lower end of the linear push rod (23) is coaxially and rotatably connected with a bearing cylinder (24) through a bearing (25), and the bearing cylinder (24) moves up and down along with the linear push rod (23);
A horizontal second linear motor (27) is arranged right below the bearing cylinder (24); the shell of the second linear motor (27) is fixedly connected with the outer wall of the bearing cylinder (24) through a supporting arm (25), and the whole second linear motor (27) synchronously moves along with the bearing cylinder (24) through the supporting arm (25);
A welding gun (30) is arranged at the tail end of a second linear telescopic rod (29) of the second linear motor (27), and a welding gun nozzle (31) is arranged at the tail end of the welding gun (30); the extension motion of the second linear expansion rod (29) can enable the welding gun nozzle (31) to move along the extension direction of the second linear expansion rod (29) to contact the inner wall of the branch pipe (40); a camera (26) is mounted at the tail end of the shell of the second linear motor (27), and a lens (34) is arranged on one side, away from the second linear motor (27), of the camera (26);
the lower side of the shell of the second linear motor (27) is fixedly connected with a vertical power shaft (32) through a fixed shaft (28); the power shaft (32) and the linear push rod (23) are coaxially arranged; a distance sensor (33) is arranged at the lower end of the power shaft (32); the shaft section profile of the power shaft (32) is in a gear shape;
a main pipe channel (42) which is communicated from left to right is arranged in the main pipe (7), and an electric guide rail (44) is arranged in the main pipe channel (42) along the axial direction; one end of the main pipe seat (9) is provided with a guide rail seat (43), and one end of the electric guide rail (44) is supported and connected on the guide rail seat (43); the electric guide rail (44) is provided with a translation sliding block (45), and the electric guide rail (44) can drive the translation sliding block (45) to translate along the direction of the main pipe channel (42); a gear driving steering engine (51) is fixedly mounted on the translation sliding block (45), and an output gear (46) is arranged at the output end of the gear driving steering engine (51); the output gear (46) can translate along with the translation sliding block (45) to be meshed with the gear-shaped profile of the power shaft (32); the power shaft (32) is meshed with the output gear (46) and can relatively slide along the axial direction of the power shaft (32).
4. the welding method of the intelligent manufacturing welding automation system of claim 3, wherein:
the method comprises the following steps:
firstly, vertically connecting a branch pipe (40) to a bypass hole (39) on a main pipe (7), and further forming a gap to be welded at the joint of the main pipe (7) and the branch pipe (40); the inner ring of the gap to be welded is a gap (38) to be welded in the pipe, the outer ring of the gap to be welded is a gap (41) to be welded outside the pipe, and then the gap (41) to be welded outside the pipe is manually welded; the branch pipe (40) and the main pipe (7) form an integrated connecting body; at the moment, a gap (38) to be welded in the pipe is in a state to be welded;
controlling the hoisting and lifting winch (1) to enable the hoisting and lifting winch (1) to control the suspended type pipe intersecting line welding robot (37) to ascend to the height of the high end of the upright post bracket (12) through the lifting rope (2); all the second cylinder devices (17) and all the third cylinder devices (20) are controlled to enable all the second cylinder push rods (15) and all the third cylinder push rods (22) to contract inwards, and further all the arc-shaped upper holding sheets (16) and all the arc-shaped lower holding sheets (21) contract inwards along with the second cylinder push rods (15) and the third cylinder push rods (22); the integral body type of the intersecting line welding robot (37) in the suspended pipe is enabled to sufficiently enter the branch pipe passage (4) downwards;
thirdly, the main pipe (7) is coaxially and laterally laid in the main pipe accommodating groove body (52), the branch pipe (40) is vertically arranged, and the branch pipe (40) is clamped between the arc-shaped fixed clamping piece (36) and the arc-shaped movable clamping piece (3); thereby realizing the positioning of the three-way steel pipe;
controlling the hoisting and lifting winch (1) to enable the hoisting and lifting winch (1) to drive the suspended type intraductal intersecting line welding robot (37) to do descending motion through the lifting rope (2) until the suspended type intraductal intersecting line welding robot (37) descends into the branch pipe channel (4), and meanwhile, monitoring the distance between the obstacle under the power shaft (32) and the self in real time through a distance sensor (33) at the lower end of the power shaft (32); the hoisting and lifting winch (1) is suspended until the middle height of the power shaft (32) is equal to the height of an output gear (46) on the translation sliding block (45) along with the continuous descending of the intersecting line welding robot (37) in the suspension pipe; then all the second cylinder devices (17) and all the third cylinder devices (20) are controlled to enable all the second cylinder push rods (15) and all the third cylinder push rods (22) to extend outwards, and further all the arc-shaped upper holding sheets (16) and all the arc-shaped lower holding sheets (21) synchronously extend outwards along with the second cylinder push rods (15) and the third cylinder push rods (22) until the outer arc surfaces of all the arc-shaped upper holding sheets (16) and all the arc-shaped lower holding sheets (21) tightly press the inner wall of the branch pipe (40), so that the holding of the suspended type pipe internal intersecting line welding robot (37) in the branch pipe channel (4) is realized, and the axis of the linear push rod (23) is coincided with the axis of the branch pipe channel (4); then controlling the linear motor (19) to enable the linear push rod (23) to perform vertical telescopic fine adjustment, and further achieving fine adjustment on the height of the second linear motor (27) until a welding gun nozzle (31) at the tail end of a welding gun (30) corresponds to a to-be-welded seam (38) in the pipe; then, the second linear telescopic rod (29) is controlled to do stretching movement, so that the welding gun nozzle (31) moves to contact a to-be-welded seam (38) in the pipe on the inner wall of the branch pipe (40) along the stretching direction of the second linear telescopic rod (29); meanwhile, an electric guide rail (44) is controlled to drive the translation sliding block (45) to translate along the axis of the main pipe channel (42) towards the direction close to the power shaft (32) until the output gear (46) is displaced along with the translation sliding block (45) to be meshed with the gear-shaped profile of the power shaft (32); at the moment, the preparation work of welding in the pipe is realized;
controlling a gear to drive a steering engine (51), enabling an output gear (46) to drive a power shaft (32) meshed with the output gear to rotate, further enabling a second linear motor (27) to rotate along the axis of a bearing cylinder (24), further enabling a welding gun nozzle (31) to rotate along the axis of the bearing cylinder (24) along with the second linear motor (27), and enabling the output gear (46) not to interfere with the vertical displacement of the second linear motor (27) because the power shaft (32) and the output gear (46) can slide relatively along the axis direction of the power shaft (32) while being meshed with each other; meanwhile, the linear motor (19) is controlled to enable the linear push rod (23) to extend up and down, so that the second linear motor (27) and the welding gun (30) rotate along the axis of the bearing cylinder (24) and move up and down; by controlling the vertical extension amplitude of the linear push rod (23) in real time, the motion track of the welding gun nozzle (31) at the tail end of the welding gun (30) is an intersecting line track, and the motion track of the welding gun nozzle (31) at the tail end of the welding gun (30) is overlapped with the track of a to-be-welded seam (38) in the pipe; the welding liquid is slowly sprayed out while a welding gun nozzle (31) at the tail end of a welding gun (30) moves along the track of a to-be-welded seam (38) in the pipe, the welding liquid is slowly sprayed out from the welding gun nozzle (31) along the path of the intersecting line of the to-be-welded seam (38) in the pipe, the welding liquid is further slowly sprayed out from the welding gun nozzle (31) to gradually infiltrate the to-be-welded seam (38) in the whole circle of pipe, and meanwhile, the camera (26) records the welding quality in real time;
Step six, after the welding process of the gap (38) to be welded in the pipe is finished, controlling an electric guide rail (44) to drive a translation sliding block (45) to translate along the axis of the main pipe channel (42) towards the direction far away from the power shaft (32) until an output gear (46) is displaced along with the translation sliding block (45) to be separated from the power shaft (32); then all the second cylinder devices (17) and all the third cylinder devices (20) are controlled to enable all the second cylinder push rods (15) and all the third cylinder push rods (22) to contract inwards, and further all the arc-shaped upper holding sheets (16) and all the arc-shaped lower holding sheets (21) contract inwards along with the second cylinder push rods (15) and the third cylinder push rods (22); enabling the suspension type intraductal intersecting line welding robot (37) to be released from a holding state in the branch pipe passage (4), then controlling the lifting hoist (1) to control the suspension type intraductal intersecting line welding robot (37) to ascend to the height of the high end of the upright post bracket (12) through the lifting rope (2), and enabling the suspension type intraductal intersecting line welding robot (37) to ascend to be separated from the branch pipe passage (4); then the three-way pipe which is welded inside and outside is disassembled.
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| CN111843274A (en) * | 2020-08-06 | 2020-10-30 | 杭涛 | Inner wall precision welding robot and welding process for pressure tank |
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| CN116252082A (en) * | 2023-05-16 | 2023-06-13 | 山东轻工职业学院 | Welding device for connecting pipe of electromechanical equipment |
| CN117884822A (en) * | 2024-03-18 | 2024-04-16 | 吉林农业科技学院 | Welding device for annular track |
| CN117884822B (en) * | 2024-03-18 | 2024-05-07 | 吉林农业科技学院 | Welding device for annular track |
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Denomination of invention: An intelligent manufacturing welding automation system and its automatic welding method Effective date of registration: 20220303 Granted publication date: 20211123 Pledgee: Agricultural Bank of China Limited by Share Ltd. Wenling branch Pledgor: ZHEJIANG EDON MECHANICAL & ELECTRICAL Co.,Ltd. Registration number: Y2022330000282 |