CN111438534A - Pipeline welding complete automatic system - Google Patents
Pipeline welding complete automatic system Download PDFInfo
- Publication number
- CN111438534A CN111438534A CN202010368825.4A CN202010368825A CN111438534A CN 111438534 A CN111438534 A CN 111438534A CN 202010368825 A CN202010368825 A CN 202010368825A CN 111438534 A CN111438534 A CN 111438534A
- Authority
- CN
- China
- Prior art keywords
- welding
- robot
- pipeline
- platform
- dimensional flexible
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/04—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass for both machining and other metal-working operations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D21/00—Machines or devices for shearing or cutting tubes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D33/00—Accessories for shearing machines or shearing devices
- B23D33/02—Arrangements for holding, guiding, and/or feeding work during the operation
-
- 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
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
- B23K37/0533—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor external pipe alignment clamps
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a complete automatic system for pipeline welding. The device mainly comprises the following devices: the three-dimensional flexible assembly platform comprises an intersecting line cutting robot for cutting raw materials of the round steel pipe, a three-dimensional flexible assembly platform for assembling the pipeline, a welding positioner, a welding robot and an auxiliary crane, so that the whole pipeline welding process of blanking, assembly, pre-welding and automatic welding is realized. The system integrates a plurality of automatic devices and a robot system, processes are reasonably arranged, man-machine cooperative operation is realized, the welding quality and efficiency of large-scale pipeline welding are greatly improved, and the system has novelty and creativity. Through the system, under the prerequisite of same welding work volume, save workman more than 60%, be the important measure that reduces pipeline welding cost, be the important component of intelligent manufacturing.
Description
Technical Field
The invention relates to semi-automatic welding equipment and a system, in particular to a complete set of automatic system for welding large pipelines.
Background
At present, manual operation is mostly adopted for welding large pipelines, particularly slurry conveying pipelines in a shield tunneling machine, the shapes and the trends of the pipelines are designed according to the complex structure in the shield tunneling machine, the pipelines are strange and unique, and the welding quality is required to meet the requirement of the shield tunneling machine on the welding seam of a high-pressure pipeline. In order to solve the problems of welding quality and efficiency, replacing manual welding with a welding robot is a poor choice. However, due to the complexity of pipeline welding and the characteristic of small single-piece batch, full-automatic robot welding cannot be realized, and in order to improve the stability and reliability of welding work, the invention provides a complete automatic system for pipeline welding, which provides a reliable complete solution for pipeline welding, has stable and reliable performance and has practical engineering significance.
Disclosure of Invention
The present invention is directed to an automated pipeline welding plant system that addresses the above-mentioned problems.
The object of the invention can be achieved by the following technical measures:
a complete set of automatic system for pipeline welding comprises:
the automatic system for the complete set of pipeline welding mainly comprises five main devices, namely an intersecting line cutting robot 1 for cutting and beveling raw materials of a steel pipe, a three-dimensional flexible assembly platform 2 for assembling the steel pipe, a welding positioner 3, a welding robot 4 and an auxiliary crane 5, wherein the intersecting line cutting robot 1 mainly comprises a feeding mechanism and a cutting mechanism, the feeding mechanism feeds the steel pipe along the length direction of the steel pipe according to the drawing size, the cutting mechanism cuts the steel pipe according to the drawing requirement and bevels the cut at the position of the cut, the cutting mechanism is a special cutting mechanism with not less than five degrees of freedom or a six-axis joint robot with a cutter arranged at the tail end, the three-dimensional flexible assembly platform 2 is arranged adjacent to the intersecting line cutting robot 1 and mainly comprises a platform assembly 21 and a positioning tool 22, the positioning tool 22 is adjustable in height and fixed on the platform 21 according to the shape and the direction of the pipeline, the welding positioner 3 is positioned on the welding robot 4 and cooperates with the welding robot through a control system on the side to complete the operation of a pipe-pipe butt-ring weld joint and a pipe-flange ring weld ring and a working line working process of the welding robot, the three-axis welding robot 1 and the working machine 2 and the working process of the three-dimensional flexible assembly robot 1, the three-dimensional flexible assembly robot, the working robot 1 comprises the following three-dimensional flexible assembly robot, the working machines, the working processes of the working machines, the working machines are not limited to be not:
a Step2 worker uses an auxiliary crane 5 to distribute pipelines produced in the Step 1 to the three-dimensional flexible assembling platform 2 as required, and the worker completes the pipeline assembling work according to a drawing;
a Step 4 worker uses an auxiliary crane 5 to transfer the pipeline completed by the Step 3 to the welding positioner 3 and fix the pipeline;
step 6 workers inspect and repair the pipe completed at Step 5 and remove the finished product using an auxiliary crane 5.
The three-dimensional flexible pairing platform 2 mainly comprises a platform 21 and a positioning tool 22, wherein a plurality of groups of positioning holes 211 which are arranged in rows × are formed in the platform 21, the row spacing and the column spacing are equal to A, the spacing precision tolerance is A +/-b, and | b | is less than or equal to 1 mm.
The auxiliary crane 5 is essentially a power balance arm.
The invention has the following beneficial effects:
the automatic pipeline welding complete system has flexibility and high efficiency in the case of complex, large-scale, single-piece and small-batch pipeline welding. The three-dimensional flexible assembly platform 2 can be flexibly adjusted according to the trend change of the pipeline, the correctness and the accuracy of pipeline assembly are guaranteed, pipeline pre-welding is achieved under the assistance of workers, the welding positioner 3 and the welding robot 4 are matched to achieve full-automatic welding work of a pipe-pipe butt-joint girth weld, a pipe-pipe butt-joint intersecting line weld and a pipe-flange butt-joint girth weld, the welding quality and the welding efficiency are greatly improved, and the three-dimensional flexible assembly platform has popularization value.
Drawings
FIG. 1 is a schematic diagram showing the configuration and the working flow of the main equipment of the complete automation system for pipeline welding;
fig. 2 is a schematic view of the overall structure of the three-dimensional flexible pairing platform 2;
FIG. 3 is a schematic view showing the mutual position relationship between the welding positioner 3 and the welding robot 4;
fig. 4 is a schematic structural diagram of the hollow welding positioner.
Fig. 5 is a structural schematic diagram of an L type welding positioner.
Fig. 6 is a schematic view of the auxiliary hoist structure.
Number in the figure: 0 pipeline, 1 looks transversal cutting robot, 2 three-dimensional flexible group is to platform, 21 platforms, 211 locating hole, 22 location frock, 3 positioner, 4 welding robot, 5 auxiliary crane.
Detailed Description
As shown in fig. 1, the automatic pipeline welding set system mainly comprises five main devices, namely an intersecting line cutting robot 1 for cutting and beveling raw materials of a steel pipe, a three-dimensional flexible assembly platform 2 for assembling the pipeline, a welding positioner 3, a welding robot 4 and an auxiliary crane 5; intersecting line cutting robot 1, three-dimensional flexible group constitute the production line of a flow type to platform 2, positioner 3 and welding robot 4 and workman collaborative operation to accomplish following action and flow:
a Step2 worker uses an auxiliary crane 5 to distribute pipelines produced in the Step 1 to the three-dimensional flexible assembling platform 2 as required, and the worker completes the pipeline assembling work according to a drawing;
a Step 4 worker uses an auxiliary crane 5 to transfer the pipeline completed by the Step 3 to the welding positioner 3 and fix the pipeline;
step 6 workers inspect and repair the pipe completed at Step 5 and remove the finished product using an auxiliary crane 5.
The intersecting line cutting robot 1 mainly comprises a feeding mechanism and a cutting mechanism, wherein the feeding mechanism feeds a steel pipe along the length direction of the steel pipe according to the drawing size, the cutting mechanism cuts the steel pipe according to the drawing requirement and performs beveling on a fracture, and after the cutting and beveling of one pipeline are completed, the cutting of the next pipeline is performed. The cut fracture has a circular shape and an intersecting line shape. The cutting mechanism is a special cutting mechanism with at least five degrees of freedom or a six-axis joint robot with a cutter arranged at the tail end, the steel pipe is cut at a specified position according to system or drawing requirements, and after the cutting is finished, the section is automatically beveled, so that the subsequent multilayer multi-pass welding work is facilitated.
As shown in fig. 2, the three-dimensional flexible assembly is arranged adjacent to the platform 2 and the intersecting line cutting robot 1, and mainly comprises a platform 21 and a positioning tool 22, wherein the positioning tool 22 is adjustable in height and fixed on the platform 21 according to the shape and the trend of the pipeline 0. The three-dimensional flexible group is to platform 2 and is provided with a plurality of location frock 22, according to the trend and the shape of pipeline 0, sets up location frock 22 in appropriate position, with steel pipe, flange etc. according to drawing requirement accurate positioning, realizes the group of a plurality of parts of a large-scale pipeline and works to carry out spot welding at the kneck by the workman, realize pipeline pre-welding work.
As shown in fig. 2, the three-dimensional flexible pairing platform 2 mainly comprises a platform 21 and a positioning tool 22, the platform 21 is provided with a plurality of groups of positioning holes 211 which are arranged in × rows, the row spacing and the column spacing are equal to a, the spacing precision tolerance is a +/-b, and | b | is not more than 1 mm.
As shown in fig. 3, the welding positioner 3 is located at the side of the welding robot 4, and cooperates with the welding robot 4 through the control system to complete the welding of the pipe-pipe butt girth weld, the pipe-flange butt girth weld, and the pipe-pipe butt intersection line weld.
The types of the positioner 3 include, but are not limited to, a hollow structure type positioner and an L type positioner, wherein, fig. 4 shows a hollow welding positioner which is matched with the welding robot 4 and can complete the welding work of the pipe-pipe circumferential weld and the pipe-pipe intersecting line weld of the pipeline 0 with longer length, fig. 5 shows a L type welding positioner which is particularly suitable for completing the welding work of the pipe-flange circumferential weld.
As shown in fig. 6, the auxiliary hoist 5 is essentially a power balance arm. The auxiliary crane 4 is manually operated to realize the material carrying among the intersecting line cutting robot 1, the three-dimensional flexible assembly platform 2, the welding positioner 3 and the welding robot 4
The invention has the following beneficial effects:
the automatic pipeline welding complete system has flexibility and high efficiency in the case of complex, large-scale, single-piece and small-batch pipeline welding. The three-dimensional flexible assembly platform 2 can be flexibly adjusted according to the trend change of the pipeline, the correctness and the accuracy of pipeline assembly are guaranteed, pipeline pre-welding is achieved under the assistance of workers, the welding positioner 3 and the welding robot 4 are matched to achieve full-automatic welding work of a pipe-pipe butt-joint girth weld, a pipe-pipe butt-joint intersecting line weld and a pipe-flange butt-joint girth weld, the welding quality and the welding efficiency are greatly improved, and the three-dimensional flexible assembly platform has popularization value.
Claims (3)
1. The automatic system for the pipeline welding set is characterized by mainly comprising five main devices including a intersecting line cutting robot (1) for cutting and beveling a steel pipe raw material, a three-dimensional flexible assembling platform (2) for assembling the pipeline, a welding positioner (3), a welding robot (4) and an auxiliary crane (5), wherein the intersecting line cutting robot (1) mainly comprises a feeding mechanism and a cutting mechanism, the feeding mechanism feeds the steel pipe along the length direction of the steel pipe according to the drawing size, the cutting mechanism cuts the steel pipe and bevels the cut part according to the drawing requirement, the cutting mechanism is a special cutting mechanism with not less than five degrees of freedom or a six-axis joint robot with a cutter arranged at the tail end, the three-dimensional flexible assembling platform (2) is arranged adjacent to the intersecting line cutting robot (1), the three-dimensional flexible assembling platform (2) is mainly composed of a platform (21) and a positioning tool (22), the positioning tool (22) is adjustable in height and is fixed on the platform (21) according to the shape of the pipeline, the welding positioner (3) is positioned between the welding positioner (4), the welding robot (3) and the welding robot (3), the welding positioner (3) controls the operation of the intersecting line cutting robot (2) and the welding robot (2), and the welding robot to perform the operation of the three-dimensional flexible assembling and the operation of the three-dimensional flexible assembling of the welding robot, the three-dimensional welding robot, the operation of the welding robot, the welding robot comprises the three-dimensional flexible assembling robot, the operation of the three-dimensional flexible assembling robot, the three-dimensional welding robot, the three-dimensional flexible assembling robot (3), the three-dimensional flexible assembling robot, the operation of the robot, the operation of the robot, the robot:
step 1, placing the steel pipe raw material on an intersecting line cutting robot (1) by using an auxiliary crane (5) by a worker to finish cutting and beveling;
a Step2 worker uses an auxiliary crane (5) to distribute pipelines produced in the Step 1 to the three-dimensional flexible assembly platform (2) according to needs, and the worker completes pipeline assembly according to drawings;
step 3 workers use a welder to perform spot welding on the finished pipelines assembled at Step2 group at the interface to finish the pre-welding work of the pipelines;
a Step 4 worker uses an auxiliary crane (5) to transfer the pipeline completed by the Step 3 to a welding positioner (3) and fix the pipeline;
the Step 5 welding robot (4) carries out multilayer multi-pass welding on the interface of the pipeline in Step 4;
step 6 workers inspect and repair the pipe completed at Step 5 and remove the finished product using an auxiliary crane (5).
2. The automatic pipe welding set system according to claim 1, wherein the three-dimensional flexible pairing platform (2) mainly comprises a platform (21) and a positioning tool (22), the platform (21) is provided with a plurality of groups of positioning holes (211) which are arranged in × rows, the distance between the rows and the columns is equal to A, the precision tolerance of the distance is A +/-b, and | b | ≦ 1 mm.
3. The automated pipe welding kit system of claim 1, wherein: the auxiliary crane (5) is a power-assisted balance arm in essence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010368825.4A CN111438534A (en) | 2020-05-02 | 2020-05-02 | Pipeline welding complete automatic system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010368825.4A CN111438534A (en) | 2020-05-02 | 2020-05-02 | Pipeline welding complete automatic system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111438534A true CN111438534A (en) | 2020-07-24 |
Family
ID=71653597
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010368825.4A Pending CN111438534A (en) | 2020-05-02 | 2020-05-02 | Pipeline welding complete automatic system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111438534A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111889947A (en) * | 2020-07-31 | 2020-11-06 | 中车大连电力牵引研发中心有限公司 | Lean production layout of unit type box girder welding device and welding procedure thereof |
| CN114211089A (en) * | 2021-12-15 | 2022-03-22 | 渤海造船厂集团有限公司 | Pipeline flexible assembly and automatic welding composite working method |
| CN117102827A (en) * | 2023-10-23 | 2023-11-24 | 烟台恒邦泵业有限公司 | Liquid collecting pipe processing technology |
-
2020
- 2020-05-02 CN CN202010368825.4A patent/CN111438534A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111889947A (en) * | 2020-07-31 | 2020-11-06 | 中车大连电力牵引研发中心有限公司 | Lean production layout of unit type box girder welding device and welding procedure thereof |
| CN114211089A (en) * | 2021-12-15 | 2022-03-22 | 渤海造船厂集团有限公司 | Pipeline flexible assembly and automatic welding composite working method |
| CN117102827A (en) * | 2023-10-23 | 2023-11-24 | 烟台恒邦泵业有限公司 | Liquid collecting pipe processing technology |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111438534A (en) | Pipeline welding complete automatic system | |
| CN110560942A (en) | Automatic welding system for tower tube of steel tube tower and control method of automatic welding system | |
| CN108526743B (en) | Automatic tailor-welding method for connecting rod body of hydraulic support | |
| CN206780397U (en) | Drilling robot | |
| CN104801869A (en) | Automatic welding production line of car wheel casing and production method thereof | |
| CN111468901A (en) | High-flexibility high-efficiency intelligent production process of comprehensive pipe | |
| CN212145295U (en) | Pipeline welding complete automatic system | |
| CN202667985U (en) | Flame cutting fixture for heavy mining chain wheels | |
| CN101774098A (en) | Automatic detecting and correcting method and device of mechanical part | |
| CN204771197U (en) | Prefabricated workstation of convection zone frame of steam turbine group is annotated to high pressure | |
| CN108788505A (en) | A kind of interior weldering construction method of long cantilever, Multicarity, small space linear type steel plate combined shear wall | |
| CN102107326A (en) | Centering process method for electron beam of plane annular welding line | |
| CN113253688B (en) | Servo mechanism flame exhaust pipe digital assembly manufacturing method | |
| CN105772996A (en) | Prefabricating working station for convection section frameworks of high-pressure gas injection units | |
| CN104400430A (en) | Automatic production process and device of steel pipe bundle combined structural component | |
| CN207494983U (en) | A kind of engine support air-actuated turnover clamp for machining | |
| CN212330230U (en) | Clamping and positioning tool for butt welding of small-caliber steam water pipeline | |
| CN111085795A (en) | Welding structure of box type structural member | |
| CN109352152B (en) | Multi-axis linkage space curve welding seam polarity-changing plasma arc welding method | |
| CN105537732A (en) | Full-automatic steering welding equipment | |
| CN214443861U (en) | Multi-process flexible laser welding system | |
| CN204524573U (en) | A kind of wheel cover of automobile automatic welding production line | |
| CN204747799U (en) | Assembly devices of barrel reinforcing ring | |
| CN216758519U (en) | Shield constructs quick-witted drive box welding automation equipment | |
| JPH07285042A (en) | Parts manufacturing device for plural member connecting device and parts manufacturing system thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200724 |
|
| WD01 | Invention patent application deemed withdrawn after publication |