CN112091482A - Automatic welding equipment and welding method for pipe fittings - Google Patents

Abstract

The invention discloses automatic pipe welding equipment and a welding method, wherein the automatic pipe welding equipment mainly comprises a base, a first feeding device, a second feeding device, an automatic conveying frame, a clamping and locating device, a control electric cabinet, a welding gun feeding device, a pairing and locating device, a material taking robot, a feeding and ejecting device, a visual camera for collecting information of workpieces on the automatic conveying frame and a 3D contour scanner for collecting information of the workpieces in the clamping and locating device. The invention utilizes the 3D contour scanner, the clamping and locating device and the like to ensure that the center positions of two workpieces are coincided with the welding rotation central line, simultaneously the first servo motor and the group in the clamping and locating device respectively drive the two workpieces to rotate step by step, and simultaneously a welding gun is aligned to a welding line, thereby avoiding the situations of partial welding, missing welding and the like and improving the welding quality; meanwhile, automatic welding is realized by adopting an instrument, so that the production efficiency is improved, and the labor intensity of manpower is reduced.

Description

Pipe fittings automatic welding equipment and welding method

technical field

The invention relates to welding technology, in particular to an automatic welding equipment and a welding method for pipe fittings.

Background technique

In the history of the development of drinking water pipelines in my country, it has experienced the evolution process from galvanized steel pipes to plastic pipes to stainless steel pipes.

Because galvanized steel pipes are not corrosion-resistant, the pipes will corrode after long-term use; plastic pipes are severely deformed by heat, and the aging of hot and cold changes is accelerated and easy to burn; galvanized steel pipes and plastic pipes will cause secondary pollution of water quality, yellow water and pipe scaling , bacterial growth and other problems; therefore, the drinking water pipes currently used are generally composed of stainless steel pipes. The stainless steel material is environmentally friendly, corrosion-resistant, durable, the inner wall is smooth and the water flow loss is small, after polishing, it is luxurious and beautiful, and the cost performance exceeds any existing water supply materials.

Stainless steel pipes need to be connected by stainless steel pipe fittings during installation. The pipe fittings are welded after deep processing of steel pipes. There are three main types of pipe fittings: straight through, elbow and tee. There are generally three kinds of assembly and welding processes of pipe fittings: the first is to manually align the two ends of the pipe fittings and then hand spot welding, and then place the pipe fittings on the rotating mechanism for welding; the second is to manually place the two ends of the pipe fittings in turn. On the special tooling, it is manually assembled and then pressed and rotated; The above three defects are: the first and second, pure manual operation, low production efficiency, large labor, completely dependent on operating skills, low yield, and product consistency cannot be guaranteed; the third, using mechanical mandrel positioning , Due to pipe fittings or clamping reasons, the rotation centers of the two workpieces are inconsistent, and the position of the welding seam and the welding torch deviates, which is prone to welding defects such as partial welding and missing welding. , Elbow, Tee fittings. At the same time, the welding of the above three pipe fittings cannot meet the automatic alignment and welding of elbows and tees.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an automatic welding equipment for pipe fittings with high production efficiency and high yield in order to overcome the above shortcomings of the prior art.

At the same time, another object of the present invention is to provide a welding method of an automatic welding equipment for pipe fittings.

The purpose of the present invention is achieved through the following technical solutions: the automatic welding equipment for pipe fittings includes a machine base, a first feeding device, a second feeding device, an automatic conveying frame, a clamping and locating device, a control electric cabinet, and a welding torch feeding device, a pair positioning device, a reclaiming robot, a feeding and ejecting device, a visual camera for collecting workpiece information on an automatic conveyor, and a 3D contour scanner for collecting workpiece information in the clamping and positioning device; A feeding device and a second feeding device are respectively installed on both ends of the machine base, the automatic conveying frame is installed on the machine base, and the material receiving end of the automatic conveying frame is connected to the blanking end of the first feeding device. The clamping and locating device is installed on the machine base through the first guide rail mechanism, and the clamping and locating mechanism is connected with the automatic conveying frame through the reclaiming robot; the pair of positioning devices is installed through the second guide rail mechanism On the machine base, the group pair positioning device is connected with the second feeding device through the feeding and ejecting device; the welding torch feeding device is installed on the machine base, and when the clamping and locating device clamps the first workpiece and the group When the positioning device is fixed to the second workpiece butt, the welding torch in the welding torch feeding device is aligned with the butt joint of the first workpiece and the second workpiece; the control electric cabinet is installed on the machine base, and the first feeding device , The second feeding device, the automatic conveying frame, the clamping and positioning device, the welding gun feeding device, the group pair positioning device, the reclaiming robot, the feeding and ejecting device, the visual camera and the 3D contour scanner are all connected with the control cabinet. .

Preferably, the clamping and positioning device includes a first servo motor, a second servo motor, a third servo motor, a fourth servo motor, a main box, an auxiliary box, a first screw mechanism, a second screw mechanism, a translation plate, lifting plate, adjustment block, corner shaft and first pneumatic finger; the lower end of the main box is installed on the first guide rail mechanism, the first servo motor is installed in the main box, and the first servo motor passes through the reducer Connected with the auxiliary box, the second servo motor and the first screw mechanism are installed on the inner wall of the auxiliary box, the power output shaft of the second servo motor is connected with the first screw mechanism, the third servo motor and the first screw mechanism are connected. The second screw mechanism is installed on the first screw mechanism through the translation plate, the power output shaft of the third servo motor is connected with the second screw mechanism, and the axis of the first screw mechanism is connected with the axis of the second screw mechanism. The axis is vertical; the inner side of the lifting plate is installed on the screw mechanism, the corner shaft is installed on the outer side of the lifting plate through the bearing seat, and one end of the corner shaft is connected with the power output shaft of the fourth servo motor, the first A pneumatic finger is connected to the corner shaft through an adjustment block.

Preferably, the pair of positioning devices includes a mounting bracket, a fifth servo motor, a sixth servo motor, a sliding frame, a mounting cylinder, a positioning shaft mechanism and a positioning mandrel, and the lower end of the mounting bracket is mounted on the second guide rail mechanism, The sliding frame is mounted on the upper end of the mounting bracket through a third screw mechanism, and one end of the third screw mechanism is connected to the fifth servo motor. One end of the rotating shaft mechanism is connected with the power output shaft of the sixth servo motor, and the positioning mandrel is installed on the other end of the positioning rotating shaft mechanism.

Preferably, the positioning and rotating shaft mechanism includes a rotating shaft, a buffer shaft, a shaft cover and a buffer spring, the rotating shaft is mounted on the installation cylinder through a rotating bearing, and one end of the rotating shaft is connected to the sixth servo motor through a coupling. The power output shaft is connected, the other end of the rotating shaft is provided with a buffer cavity, the shaft cover is installed on the other end of the rotating shaft, the buffer shaft is inserted into the buffer cavity, and one end of the buffer shaft passes through the shaft cover, the The positioning mandrel is installed on one end of the buffer shaft, the buffer spring is placed in the buffer cavity, one end of the buffer spring is pressed against the stepped surface in the buffer chamber, and the other end of the buffer spring is pressed against the other end of the buffer shaft .

Preferably, the feeding and ejecting device includes an ejecting support foot, a receiving platform and an ejecting cylinder, the lower end of the ejecting support foot is mounted on the machine base, the receiving platform is fixed on the upper end of the ejecting support foot, and the receiving platform There is a receiving groove on it, this receiving groove is connected with the second feeding device, the ejecting cylinder is installed on the receiving platform, and the extension end of the telescopic rod of the ejecting cylinder extends into one end of the receiving groove; When the positioning device fixes the second workpiece, the positioning mandrels of the pair of positioning devices extend into the other end of the receiving groove.

Preferably, the welding gun feeding device includes a welding gun foot, a lifting motion module, a horizontal motion module and a swing gun motor, the horizontal motion module is installed on the welding gun foot through the lifting motion module, and the swing gun motor is installed by The frame is installed on one end of the horizontal movement module, and the power output shaft of the swing motor is installed on the fixing piece for fixing the welding torch.

Preferably, the automatic welding equipment for pipe fittings further includes a positioning turntable, which is installed between the automatic conveying frame and the reclaiming robot through the turning feet.

Preferably, the reclaiming robot includes an industrial robot and a grasping device, the grasping device includes a second pneumatic finger, two gripping pins and a aligning motor, the second pneumatic finger is installed on the industrial robot, and one clamp The removal pin is fixed on one of the second pneumatic fingers, and the other clamping pin is installed on the other finger of the second pneumatic finger through the pointing rotation shaft, and the pointing motor is connected with the pointing rotation shaft through a gear transmission mechanism.

A welding method based on the above-mentioned automatic pipe fitting welding equipment, characterized in that it comprises the following steps:

S1, when the first workpiece is transported to the pick-up position by the automatic conveying frame, the visual camera takes a picture at the pick-up position to obtain the data information of the first workpiece;

At the same time, the second workpiece is sent to the positioning mandrel in the paired positioning device to be fixed;

S2. According to the data information of the first workpiece obtained by the visual camera, the reclaiming robot clamps the first workpiece, and sends the first workpiece to the clamping and positioning device for fixing; the clamping and positioning device moves the first workpiece to the welding position When , the 3D contour scanner scans the first workpiece located in the clamping and positioning device to determine the center position of the first workpiece and the inclination angle of the welding port of the first workpiece; then the clamping and positioning device is based on the 3D contour scanner. According to the scanning result, adjust the center position of the first workpiece and the inclination angle of the welding port of the first workpiece, so that the center position of the first workpiece coincides with the rotation center line during welding;

At the same time, the pair positioning device fixed with the second workpiece moves to the welding position;

S3, after the first workpiece reaches the welding position, the fifth servo motor in the pairing positioning device drives the second workpiece, so that the welding port of the first workpiece and the welding port of the second workpiece are butted;

S4. The welding torch feeding device drives the welding torch, so that the welding torch is aligned with the welding seam between the first workpiece and the second workpiece, and the welding seam between the first workpiece and the second workpiece is welded; during the welding process, the clamping The first servo motor of the positioning device and the sixth servo motor of the group pair positioning device respectively drive the first workpiece and the second workpiece to rotate synchronously.

Preferably, in step S2, after the reclaiming robot picks up the first workpiece from the automatic conveying frame, it swings the first workpiece according to the data information of the first workpiece obtained by the visual camera, so that the welding port of the first workpiece faces downwards ; Then the first workpiece is placed on the positioning turntable, and finally the reclaiming robot clamps the first workpiece on the positioning turntable and sends it to the clamping and positioning device for fixing.

Compared with the prior art, the present invention has the following advantages:

1. The automatic welding equipment for pipe fittings in the present invention mainly consists of a machine base, a first feeding device, a second feeding device, an automatic conveying frame, a clamping and locating device, a control electric cabinet, a welding torch feeding device, and a pairing positioning device. , a reclaiming robot, a feeding and ejecting device, a visual camera for collecting the workpiece information on the automatic conveyor, and a 3D contour scanner for collecting the workpiece information in the clamping and positioning device, which uses instruments instead of traditional manual operations. , greatly improving the production efficiency and reducing the labor intensity; and using visual cameras and 3D contour scanners to collect data in real time to ensure that the first workpiece is fixed by the clamping and positioning device before welding, so that the center of the first workpiece is positioned It coincides with the set welding rotation center line, and finds the position of the welding seam and feeds the welding torch to the feeding device, so that the welding gun is automatically aligned with the welding seam for welding, so as to avoid welding defects such as partial welding and missing welding, and the yield is high; thus ensuring the welding quality. Yield, also ensures product consistency.

2. The automatic welding equipment for pipe fittings in the present invention adopts a clamping locating device and a pairing positioning device to respectively fix the first workpiece and the second workpiece to be welded, and then use a 3D contour scanner to collect data before welding, so as to ensure the first workpiece. The workpiece and the second workpiece can be precisely butted, which improves the quality of the product; at the same time, the clamping and positioning device and the pairing positioning device are used together, which can meet the welding of three pipe fittings of straight through, elbow and tee, and has wide applicability.

3. In the welding method of the automatic pipe welding equipment used in the present invention, after the positioning device is clamped to fix the first workpiece, the 3D contour scanner is used to collect data, that is, the center position of the first workpiece and the welding of the first workpiece are collected. To ensure accurate positioning of the first workpiece, the first workpiece fixed on the positioning device and the second workpiece fixed in the group positioning device can be accurately docked, so that the first workpiece and the second workpiece can be accurately connected. The position of the center of the circle coincides with the set welding rotation center line. At the same time, during the welding process, the first servo motor in the clamping and positioning device and the sixth servo motor in the group positioning device drive the first workpiece and the second workpiece respectively. Synchronous rotation, thus ensuring a good weld between the first workpiece and the second workpiece, avoiding welding defects such as partial welding and missing welding, and high yield; and using equipment instead of traditional manual operations improves production efficiency and ensures that product consistency.

Description of drawings

FIG. 1 is a schematic view of the structure of the automatic pipe welding equipment of the present invention from a first perspective.

FIG. 2 is a schematic structural diagram of the automatic pipe welding equipment of the present invention from a second perspective.

FIG. 3 is a schematic diagram of the structure of the clamping and locating device of the present invention.

Fig. 4 is a side view of the gripping device of the present invention.

FIG. 5 is a cross-sectional view in the side view direction of the pinching and positioning device of the present invention.

FIG. 6 is a cross-sectional view in a plan direction of the pinching and positioning device of the present invention.

FIG. 7 is a schematic diagram of the internal structure of the auxiliary box in the clamping and positioning device of the present invention.

FIG. 8 is a schematic structural diagram of the welding gun feeding device of the present invention.

FIG. 9 is a schematic structural diagram of the pair positioning device of the present invention.

10 is a cross-sectional view of the pair positioning device of the present invention.

FIG. 11 is an enlarged schematic view of A in FIG. 10 .

FIG. 12 is a schematic structural diagram of the reclaiming robot of the present invention.

FIG. 13 is a schematic structural diagram of the grabbing device of the present invention.

Figure 14 is a schematic structural diagram of the feed ejection device of the present invention.

Among them, 100 is the machine base, 100-001 is the discharge port, 100-002 is the finished product storage frame, 200 is the first feeding device, 300 is the second feeding device, 400 is the automatic conveying frame, and 400-001 is the Conveying motor, 400-002 is the conveyor belt, 400-003 is the guard plate, 500 is the clamping and positioning device, 500-001 is the first servo motor, 500-002 is the second servo motor, and 500-003 is the third servo motor Motor, 500-004 is the fourth servo motor, 500-005 is the main box, 500-006 is the auxiliary box, 500-007 is the first screw mechanism, 500-008 is the second screw mechanism, 500-009 is the translation plate, 500-010 is the lifting plate, 500-011 is the adjustment block, 500-012 is the corner shaft, 500-013 is the first pneumatic finger, 500-014 is the reducer, 500-015 is the bearing seat, 600 is the control electric Cabinet, 700 is the welding gun feeding device, 700-001 is the welding leg, 700-002 is the lifting motion module, 700-003 is the horizontal motion module, 700-004 is the swing gun motor, 700-005 is the fixing part, 700 -006 is the welding torch, 800 is the pair positioning device, 800-001 is the mounting bracket, 800-002 is the fifth servo motor, 800-003 is the sixth servo motor, 800-004 is the sliding frame, and 800-005 is the mounting cylinder , 800-006 is the positioning shaft mechanism, 800-007 is the positioning mandrel, 800-008 is the third screw mechanism, 800-009 is the rotating shaft, 800-010 is the buffer shaft, 800-011 is the shaft cover, 800- 012 is a buffer spring, 800-013 is a coupling, 800-014 is a buffer cavity, 800-015 is a stepped surface, 800-016 is a convex ring, 800-017 is a rotary bearing, 800-018 is a sleeve, and 900 is a material robot, 900-001 is an industrial robot, 900-002 is a grasping device, 900-003 is a second pneumatic finger, 900-004 is a gripping pin, 900-005 is a pointing motor, 900-006 is a pointing shaft, 900- 007 is the gear transmission mechanism, 110 is the feeding and ejecting device, 110-001 is the ejecting foot, 110-002 is the receiving platform, 110-003 is the ejecting cylinder, 110-004 is the receiving groove, 120 is the visual camera, 130 is a 3D contour scanner, 140 is a first guide rail mechanism, 150 is a second guide rail mechanism, 160 is a return channel, 170 is a positioning transfer table, 180 is a transfer foot, 190 is a first workpiece, and 210 is a second workpiece.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and embodiments.

As shown in Figure 1 and Figure 2, the automatic welding equipment for pipe fittings includes a machine base, a first feeding device, a second feeding device, an automatic conveying frame, a clamping and locating device, a control electric cabinet, a welding gun feeding device, a group of The positioning device, the reclaiming robot, the feeding and ejecting device, the visual camera used to collect the workpiece information on the automatic conveyor, and the 3D contour scanner used to collect the workpiece information in the clamping and positioning device; the first feeding The device and the second feeding device are respectively installed on both ends of the machine base, the automatic conveying frame is installed on the machine base, and the material receiving end of the automatic conveying frame is connected with the blanking port of the first feeding device; The clamping and locating device is installed on the machine base through the first guide rail mechanism, and the clamping and locating mechanism is connected to the automatic conveying frame through the reclaiming robot; the paired positioning device is installed on the machine base through the second guide rail mechanism On the upper side, the pair positioning device is connected with the second feeding device through the feeding and ejecting device; the welding torch feeding device is installed on the machine base, when the clamping and positioning device clamps the first workpiece and the pairing positioning device When fixing the second workpiece butt joint, the welding gun in the welding gun feeding device is aimed at the butt joint of the first workpiece and the second workpiece; the control electric cabinet is installed on the machine base, the first feeding device, the second workpiece The feeding device, automatic conveying frame, clamping and positioning device, welding gun feeding device, group pair positioning device, material reclaiming robot, feeding and ejecting device, visual camera and 3D contour scanner are all connected to the control cabinet.

Specifically, in order to save design costs, both the first feeding device and the second feeding device can be purchased directly from the market, but the first feeding device and the second feeding device are of different models to meet different shapes of workpieces. . The automatic conveyor is mainly composed of a conveyor motor and a conveyor belt. The conveyor belt is installed on the machine base, and one end of the conveyor belt is connected to the power output shaft of the conveyor motor, and the bearing surface of the conveyor belt is located at the landing of the first feeding device. directly below the opening. Then, when the first workpiece falls from the blanking port of the first feeding device to the receiving surface of the conveying belt, the conveying motor drives the conveying belt to rotate, and the first workpiece that falls on the receiving surface is conveyed to the pick-up position. At the same time, in order to prevent the first workpiece from falling off the conveyor belt, guard plates are provided on both sides of the conveyor belt. The first guide rail mechanism and the second guide rail mechanism are both composed of a screw rod, a slide rail, a screw rod nut and a sliding seat. The first guide rail mechanism and the second guide rail mechanism can also use the existing guide rail mechanism, which can be directly obtained from the market. At the same time, the structure of the first guide rail mechanism and the second guide rail mechanism are the same, but different models and sizes are used.

The vision camera is installed above the conveyor belt, and the vision camera faces the pickup position on the conveyor belt. As shown in Figures 1 and 8, in order to ensure the compactness of the structure, the 3D contour scanner is installed on one side of the welding gun foot of the welding gun feeding device, and the scanning end of the 3D contour scanner faces the clamping and positioning device. When the first workpiece is transported to the pick-up position by the conveyor belt, the visual camera shoots the first workpiece to collect data information such as the position and placement angle of the first workpiece on the pick-up piece, and transmit the data information to the Control the electric cabinet, control the electric cabinet to process the data information, and issue control instructions to the reclaiming robot, so that the reclaiming robot takes the first workpiece from the pickup position and swings the angle of the first workpiece to make the first workpiece. The welding port of a workpiece is facing down, and then the first workpiece is placed on the positioning turntable, and then the reclaiming robot clamps the first workpiece on the positioning turntable again, and sends the first workpiece to the clamping and positioning The device is fixed, so as to ensure that the first workpiece has a proper orientation angle when the clamping and positioning device is fixed, so as to reduce the clamping and positioning device. The first workpiece can be quickly adjusted later to make the center position of the first workpiece and the welding rotation center. The coincidence of the lines also ensures that the first workpiece fixed on the clamping and positioning device and the second workpiece fixed in the paired positioning device can be precisely butted together.

After the first workpiece is fixed by the clamping and positioning device, the clamping and positioning device moves from the initial position to the welding position through the first guide rail mechanism; during the moving process, the 3D contour scanner scans the first workpiece to collect The first workpiece is in the position of the center of the circle of the first workpiece of the clamping and locating device, the height of the welding port of the first workpiece and the inclination angle of the welding port of the first workpiece and other data information, and this data information is transmitted to the control cabinet, The control cabinet sends out control commands according to the data information to drive the second servo motor, the third servo motor and the fourth servo motor in the clamping and positioning device, so as to adjust the position of the first workpiece in the first position of the clamping and positioning device. The center position of the workpiece, the height of the welding port of the first workpiece, and the inclination angle of the welding port of the first workpiece can further ensure that the first workpiece and the second workpiece fixed in the pairing positioning device are accurately connected.

The material frame of the first feeding device is connected with the end of the automatic conveying rack through a return channel. As shown in the figure, the reflow pass is mainly composed of several spliced slide plates arranged at an inclination. When the automatic conveyor transports the first workpiece to the pick-up position, the position and orientation of the first workpiece captured by the visual camera are not suitable for the picking robot to grasp, the automatic conveyor starts again, and the first workpiece is removed from the conveyor belt. Drop onto the sliding plate of the return channel, and then the first workpiece slides down to the material frame of the first feeding device by its own weight, thereby forming a circular feeding.

As shown in FIG. 3 to FIG. 7 , the clamping and positioning device includes a first servo motor, a second servo motor, a third servo motor, a fourth servo motor, a main box, an auxiliary box, a first screw mechanism, a third Two screw mechanism, translation plate, lifting plate, adjustment block, corner shaft and first pneumatic finger; the lower end of the main box is installed on the first guide rail mechanism, the first servo motor is installed in the main box, the second A servo motor is connected with the auxiliary box through a reducer, the second servo motor and the first screw mechanism are installed on the inner wall of the auxiliary box, the power output shaft of the second servo motor is connected with the first screw mechanism, the The third servo motor and the second screw mechanism are mounted on the first screw mechanism through the translation plate, the power output shaft of the third servo motor is connected with the second screw mechanism, and the axis of the first screw mechanism is connected to the The axis of the second screw mechanism is vertical; the inner side of the lifting plate is mounted on the screw mechanism, the corner shaft is mounted on the outer side of the lifting plate through the bearing seat, and one end of the corner shaft is connected to the power output of the fourth servo motor The shaft is connected, and the first pneumatic finger is connected with the corner shaft through the adjustment block. The first screw mechanism and the second screw mechanism have the same structure, but use different models and sizes. The first screw mechanism and the second screw mechanism are composed of a screw and a screw nut. In order to reduce the design cost, the first screw mechanism and the second screw mechanism can be purchased from the market. The first pneumatic finger is used for clamping and fixing the first workpiece, which ensures that the first workpiece can be stably fixed to the clamping and positioning device, and also ensures that the first workpiece can rotate stably during the welding process, thereby further improving the welding quality. Specifically, after the first workpiece is sent to the first pneumatic finger to be fixed by the reclaiming robot, the 3D contour scanner scans the first workpiece in real time while the first guide rail mechanism drives the entire clamping and positioning mechanism to move to the welding position. To collect data, that is, data such as the center position of the first workpiece and the inclined port of the welding port of the first workpiece. That is, a space coordinate system XYZ is established on the machine base, and the data of the X, Y and Z axes of the first workpiece in the space coordinate system are collected, so as to determine the position of the center of the first workpiece and the inclination angle of the welding port of the first workpiece. , Y and Z axis data. Then, the control system in the control cabinet sends control commands to the second servo motor, the third servo motor and the fourth servo motor according to the data collected by the 3D contour scanner to adjust the center position of the first workpiece and the welding of the first workpiece respectively. Therefore, when the first workpiece reaches the welding position, the position of the center of the first workpiece coincides with the set welding rotation center line, so that the welding port of the first workpiece and the welding port of the second workpiece can be precisely butted. After the welding port of the first workpiece and the welding port of the second workpiece are precisely butted, the first servo motor and the sixth servo motor respectively drive the first workpiece and the second workpiece to rotate synchronously, so as to improve the welding effect. As shown in FIG. 9 to FIG. 11 , the pair of positioning devices includes a mounting bracket, a fifth servo motor, a sixth servo motor, a sliding frame, a mounting cylinder, a positioning shaft mechanism and a positioning mandrel, and the lower end of the mounting bracket is installed In the second guide rail mechanism, the sliding frame is installed on the upper end of the mounting bracket through the third screw mechanism, one end of the third screw mechanism is connected with the fifth servo motor, and the positioning shaft mechanism is installed on the sliding frame through the installation cylinder. and one end of the positioning shaft mechanism is connected with the power output shaft of the sixth servo motor, and the positioning mandrel is installed on the other end of the positioning shaft mechanism. The fifth servo motor is used to drive the second workpiece to approach the first workpiece, so that the welding port of the second workpiece is connected to the welding port of the second workpiece, that is, during operation, when the second workpiece is conveyed by the second feeding device After being fixed on the positioning mandrel, the second guide rail mechanism moves the paired positioning device to the welding position, and then the fifth servo motor drives the third screw mechanism to run, thereby driving the second workpiece fixed on the positioning mandrel, making the second workpiece The first workpiece is approached until the welding port of the first workpiece is butted with the welding port of the second workpiece to form a welding seam. The sixth servo motor drives the second workpiece to rotate through the positioning shaft mechanism, thereby ensuring that the second workpiece and the first workpiece rotate synchronously during the welding process, so as to improve the welding quality.

The positioning and rotating shaft mechanism includes a rotating shaft, a buffer shaft, a shaft cover and a buffer spring, the rotating shaft is mounted on the installation cylinder through a rotating bearing, and one end of the rotating shaft passes through a coupling and the power output shaft of the sixth servo motor The other end of the rotating shaft is provided with a buffer cavity, the shaft cover is installed on the other end of the rotating shaft, the buffer shaft is inserted into the buffer cavity, and one end of the buffer shaft passes through the shaft cover, and the positioning mandrel Installed on one end of the buffer shaft, the buffer spring is placed in the buffer cavity, one end of the buffer spring is pressed against the stepped surface in the buffer chamber, and the other end of the buffer spring is pressed against the other end of the buffer shaft. With this structure, when the first workpiece and the second workpiece are butted against each other, a large impact force can be avoided, thereby preventing the first workpiece and the second workpiece from being damaged. In order to prevent the buffer shaft from being ejected from the buffer cavity, a convex ring is provided at the inner end of the buffer shaft (ie, the end of the buffer shaft inserted into the buffer cavity), and a sleeve is provided between the convex ring and the end plate of the shaft cover.

As shown in Figure 14, the feed ejection device includes an ejection support foot, a receiving table and an ejection cylinder. The lower end of the ejection support foot is installed on the machine base, and the receiving table is fixed on the upper end of the ejection support foot. The receiving platform is provided with a receiving groove, the receiving groove is connected with the second feeding device, the ejecting cylinder is installed on the receiving platform, and the extension end of the telescopic rod of the ejecting cylinder extends into one end of the receiving groove; When the paired positioning device fixes the second workpiece, the positioning mandrel of the paired positioning device extends into the other end of the receiving groove. During the working process, the second feeding device sends the second workpiece to the receiving groove of the receiving platform, and then starts the positioning device at the initial position, that is, the fifth servo motor starts to drive the positioning mandrel to move axially until the positioning core is moved. One end of the rod is inserted into the receiving groove, and at this time, the ejecting cylinder pushes the second workpiece located in the receiving groove toward the positioning mandrel, so as to sleeve and fix the second workpiece on the positioning mandrel. The feeding and ejecting device adopting this structure is simple in structure and reliable in operation, and ensures that the second workpiece can be accurately sent to the positioning mandrel to be fixed.

As shown in FIG. 8 , the welding gun feeding device includes a welding gun foot, a lifting motion module, a horizontal motion module and a swing gun motor. The horizontal motion module is installed on the welding gun foot through the lifting motion module, and the swing gun The motor is mounted on one end of the horizontal movement module through the mounting frame, and the power output shaft of the swing motor is mounted on the fixing piece for fixing the welding torch. Specifically, the lifting motion module and the horizontal motion module are both composed of servo motors and screw mechanisms, both of which have the same structure, and different servo motor models and screw mechanism models can be selected according to the needs of the work. At the same time, the screw mechanism is mainly composed of a screw and a screw nut, and the entire screw mechanism can be directly constructed from the market. The swing motor is used to adjust the angle of the welding torch, so as to ensure that the welding torch is aligned with the welding seam between the first workpiece and the second workpiece during welding. The lifting motion module and the horizontal motion module are used to adjust the height position and horizontal position of the welding torch, respectively. During the working process, the control cabinet sends control commands to the lifting motion module, the horizontal motion module and the pendulum gun motor, so as to adjust the position of the welding gun in the space coordinate system to ensure that the welding gun is accurately aligned with the welding seam.

The automatic welding equipment for pipe fittings further includes a positioning turntable, which is installed between the automatic conveying frame and the reclaiming robot through the turning feet. The turntable plays a transitional role to ensure the orientation of the first workpiece when the reclaiming robot sends the first workpiece to the clamping and positioning device. That is, during the working process, after the reclaiming robot grabs the first workpiece from the pickup position, it adjusts the orientation of the first workpiece according to the control instructions found by the control cabinet, and then places the first workpiece on the positioning turntable for positioning. , and then the reclaiming robot grabs the first workpiece on the turntable and sends it to the clamping and positioning device for fixing. This positioning turntable has a simple structure, which further ensures that the clamping and positioning device can accurately fix the first workpiece.

As shown in FIGS. 12 and 13 , the reclaiming robot includes an industrial robot and a grasping device, the grasping device includes a second pneumatic finger, two gripping pins and a aligning motor, and the second pneumatic finger is installed on the industrial robot , one of the gripping pins is fixed on one of the second pneumatic fingers, the other gripping pin is installed on the other finger of the second pneumatic finger through the pointing shaft, and the pointing motor is connected with the pointing shaft through a gear transmission mechanism. The structure is simple. After the second pneumatic finger drives the two clamping pins to grab the first workpiece, the pointing motor drives the first workpiece to rotate through the pointing shaft, so as to adjust the orientation of the welding port of the first workpiece to ensure that the first workpiece is clamped. When the positioning device is fixed, the welding port of the first workpiece does not have a large deviation, so as to avoid that the fourth servo motor in the positioning device cannot properly adjust the orientation of the welding port of the first workpiece. Meanwhile, the industrial robot in this embodiment adopts a SCARA robot.

A welding method based on the above-mentioned automatic pipe fitting welding equipment, characterized in that it comprises the following steps:

S1. When the first workpiece is transported to the pick-up position by the automatic conveying frame, the visual camera takes a picture at the pick-up position to obtain the data information of the first workpiece; this data information includes the position state and orientation of the first workpiece at the pick-up position status to ensure whether the first workpiece can be grasped by the reclaiming robot. During the construction process, the first workpiece is first sent to the receiving surface of the automatic conveying frame by the first feeding device, and then the automatic conveying frame conveys the first workpiece to the pick-up position.

At the same time, the second workpiece is sent to the positioning mandrel in the paired positioning device to be fixed; specifically, the second workpiece is sleeved on the positioning mandrel. When the second workpiece is sent to the receiving groove of the feeding and ejecting device by the second feeding device, the second workpiece is then pushed to the positioning mandrel by the telescopic rod of the feeding and ejecting device.

S2. According to the data information of the first workpiece obtained by the visual camera, the reclaiming robot clamps the first workpiece, and sends the first workpiece to the clamping and positioning device to be fixed; specifically, when the first workpiece is a three-way type, The reclaiming robot picks up the first workpiece from the automatic conveying frame, and swings the angle of the first workpiece according to the data information obtained by the visual camera, that is, the welding port of the first workpiece is facing down, and the first workpiece is placed on the positioning turntable. , and then the reclaiming robot clamps the first workpiece on the positioning turntable and sends it to the clamping and positioning device to be fixed, so as to ensure that the first workpiece can be fixed by the clamping and positioning device at the beginning, and to ensure that the first workpiece has a relatively high initial value. A good orientation angle can reduce the adjustment time of the clamping and positioning device for the first workpiece and improve work efficiency; when the first workpiece is an elbow type, after the reclaiming robot clamps the first workpiece from the automatic conveying frame, it first The first workpiece is placed on the positioning turntable, then clamped from the positioning turntable and sent to the clamping and positioning device for fixing;

During the process of moving the first workpiece to the welding position by the clamping and positioning device, the 3D contour scanner scans the first workpiece in the clamping and positioning device to determine the center position of the first workpiece and the welding port of the first workpiece Inclination angle; then the clamping and positioning device adjusts the center position of the first workpiece and the inclination angle of the welding port of the first workpiece according to the scanning results of the 3D contour scanner, so that the center position of the first workpiece coincides with the rotation center line during welding At the same time, the pair positioning device with the second workpiece is moved to the welding position; in the process of moving the first workpiece from the initial position of the clamping positioning device to the welding position, the 3D contour scanner scans the first workpiece to The center position of the first workpiece and the inclination angle of the welding port of the first workpiece are obtained. At the same time, the control cabinet sends out control commands in time according to the 3D contour scanner, and then the second servo motor, the third servo motor and the third servo motor in the positioning device are clamped. When the fourth servo motor is actuated, after the clamping and locating device drives the first workpiece to the welding position, the position of the circle center of the first workpiece coincides with the welding rotation center line. This saves time and further increases productivity. At the same time, with the cooperation of the 3D contour scanner and the control cabinet, the welding port of the first workpiece can be accurately connected with the welding port of the second workpiece. Specifically, an XYZ space coordinate system is established on the machine base, and the 3D contour scanner is based on this XYZ space coordinate system to determine the data of the X, Y, and Z axes of the first workpiece in the space coordinate system XYZ, thereby determining the first workpiece. The inclination angle of the welding mouth of the first workpiece at the center of the circle, according to the scanning data of the 3D contour scanner, control the data of the X, Y, Z axes of the center position of the first workpiece and the data of the set welding rotation center line by the electric cabinet Fitting is carried out, then when the first workpiece is moved to the welding position, the position of the circle center of the first workpiece coincides with the welding rotation center.

S3, after the first workpiece reaches the welding position, the fifth servo motor in the pairing positioning device drives the second workpiece, so that the welding port of the first workpiece and the welding port of the second workpiece are butted;

S4. The welding torch feeding device drives the welding torch, so that the welding torch is aligned with the welding seam between the first workpiece and the second workpiece, and the welding seam between the first workpiece and the second workpiece is welded; during the welding process, the clamping The first servo motor of the positioning device and the sixth servo motor of the group pair positioning device respectively drive the first workpiece and the second workpiece to rotate synchronously. The first work piece and the second work piece are driven by the first servo motor and the sixth servo motor respectively, so that the first work piece and the second work piece are rotated synchronously. The position of the center of the circle and the inclination angle of the welding port of the first workpiece are adjusted according to the scanning data of the 3D contour scanner, so as to ensure that the welding rotation center lines of the first workpiece and the second workpiece are consistent and the difference between the first workpiece and the second workpiece is guaranteed. The gap between the welds is tight. After the first workpiece and the second workpiece are docked, according to the scanning data of the 3D contour scanner, the control cabinet sends out control commands, and the lifting motion module, the horizontal motion module and the swinging gun motor in the welding torch feeding device act, thereby Adjust the position of the welding gun so that the welding gun is aimed at the weld. When the first workpiece and the second workpiece are rotated synchronously, the welding seam and the welding torch between the first workpiece and the second workpiece will not deviate, thereby avoiding the occurrence of defects such as offset welding and missing welding, and improving the welding effect. .

Finally, after the first workpiece and the second workpiece are welded together, the paired positioning device returns to the initial position, and the first pneumatic finger in the gripping position device acts to release the welded first workpiece and the second workpiece. , the first workpiece and the second workpiece welded together drop directly to the discharge port of the machine base, and then slide down from the discharge port to the finished product holding frame.

The above-mentioned specific embodiments are the preferred embodiments of the present invention, and do not limit the present invention. Any other changes or other equivalent replacement methods that do not deviate from the technical solutions of the present invention are included in the protection scope of the present invention. within.

Claims (10)

1. The automatic welding equipment for pipe fittings is characterized in that: it includes a machine base, a first feeding device, a second feeding device, an automatic conveying frame, a clamping and locating device, a control electric cabinet, a welding torch feeding device, and a pairing positioning device. , a reclaiming robot, a feeding and ejecting device, a visual camera for collecting the workpiece information on the automatic conveyor, and a 3D contour scanner for collecting the workpiece information in the clamping and positioning device; the first feeding device and the second Two feeding devices are respectively installed on both ends of the machine base, the automatic conveying frame is installed on the machine base, and the material receiving end of the automatic conveying frame is connected with the blanking port of the first feeding device; The positioning device is installed on the machine base through the first guide rail mechanism, and the clamping positioning mechanism is connected with the automatic conveying frame through the reclaiming robot; the paired positioning device is installed on the machine base through the second guide rail mechanism, so The paired positioning device is connected with the second feeding device through the feeding and ejecting device; the welding torch feeding device is installed on the machine base, when the clamping and positioning device clamps the first workpiece and the paired positioning device fixes the second workpiece When the workpieces are docked, the welding torch in the welding torch feeding device is aimed at the butt joint of the first workpiece and the second workpiece; the control electric cabinet is installed on the machine base, and the first feeding device and the second feeding device , automatic conveying frame, clamping and positioning device, welding gun feeding device, group pair positioning device, reclaiming robot, feeding and ejecting device, visual camera and 3D contour scanner are all connected with the control cabinet. 2 . The automatic welding equipment for pipe fittings according to claim 1 , wherein the clamping and positioning device comprises a first servo motor, a second servo motor, a third servo motor, a fourth servo motor, a main box, an auxiliary box, the first screw mechanism, the second screw mechanism, the translation plate, the lifting plate, the adjustment block, the corner shaft and the first pneumatic finger; the lower end of the main box is installed on the first guide rail mechanism, the first servo motor Installed in the main box, the first servo motor is connected to the auxiliary box through a reducer, the second servo motor and the first screw mechanism are installed on the inner wall of the auxiliary box, and the power output shaft of the second servo motor is connected to the auxiliary box. The first screw mechanism is connected, the third servo motor and the second screw mechanism are installed on the first screw mechanism through the translation plate, the power output shaft of the third servo motor is connected with the second screw mechanism, and all the The axis of the first screw mechanism is perpendicular to the axis of the second screw mechanism; the inner side of the lifting plate is mounted on the screw mechanism, the corner shaft is mounted on the outer side of the lifting plate through the bearing seat, and the One end is connected with the power output shaft of the fourth servo motor, and the first pneumatic finger is connected with the corner shaft through the adjusting block. 3 . The automatic pipe fitting welding equipment according to claim 1 , wherein the paired positioning device comprises a mounting bracket, a fifth servo motor, a sixth servo motor, a sliding frame, a mounting cylinder, a positioning shaft mechanism and a positioning core. 4 . rod, the lower end of the mounting bracket is mounted on the second guide rail mechanism, the sliding frame is mounted on the upper end of the mounting bracket through a third screw mechanism, one end of the third screw mechanism is connected with the fifth servo motor, the The positioning shaft mechanism is mounted on the sliding frame through an installation cylinder, one end of the positioning shaft mechanism is connected with the power output shaft of the sixth servo motor, and the positioning mandrel is installed on the other end of the positioning shaft mechanism. 4. The pipe fitting automatic welding equipment according to claim 3, wherein the positioning and rotating shaft mechanism comprises a rotating shaft, a buffer shaft, a shaft cover and a buffer spring, the rotating shaft is installed on the installation cylinder through a rotating bearing, and the One end of the rotating shaft is connected with the power output shaft of the sixth servo motor through a coupling, the other end of the rotating shaft is provided with a buffer cavity, the shaft cover is installed on the other end of the rotating shaft, and the buffer shaft is inserted into the buffer One end of the buffer shaft passes through the shaft cover, the positioning mandrel is installed on one end of the buffer shaft, the buffer spring is placed in the buffer cavity, and one end of the buffer spring is pressed against the stepped surface in the buffer cavity , the other end of the buffer spring abuts the other end of the buffer shaft. 5 . The automatic pipe fitting welding equipment according to claim 1 , wherein the feeding and ejecting device comprises an ejecting support foot, a receiving platform and an ejecting cylinder, and the lower end of the ejecting support foot is mounted on the machine base, so the The receiving platform is fixed on the upper end of the ejecting support feet, and the receiving platform is provided with a receiving groove, which is connected with the second feeding device, the ejecting cylinder is installed on the receiving platform, and the telescopic The protruding end of the rod extends into one end of the receiving groove; when the paired positioning device fixes the second workpiece, the positioning mandrel of the paired positioning device extends into the other end of the receiving groove. 6. The pipe fitting automatic welding equipment according to claim 1, wherein the welding gun feeding device comprises a welding gun foot, a lifting motion module, a horizontal motion module and a pendulum gun motor, and the horizontal motion module is lifted and lowered by The motion module is installed on the foot of the welding gun, the swing gun motor is installed on one end of the horizontal motion module through the mounting frame, and the power output shaft of the swing motor is installed on the fixing piece for fixing the welding gun. 7 . The automatic welding equipment for pipe fittings according to claim 1 , further comprising a positioning turntable, the positioning turntable is installed between the automatic conveying frame and the reclaiming robot through the turning feet. 8 . 8 . The automatic welding equipment for pipe fittings according to claim 1 , wherein the reclaiming robot comprises an industrial robot and a grabbing device, and the grabbing device comprises a second pneumatic finger, two clamping pins and a straightening motor, 8 . The second pneumatic finger is installed on the industrial robot, wherein one gripping pin is fixed to one of the second pneumatic fingers, and the other gripping pin is installed on the other finger of the second pneumatic finger through the pointing shaft, and the pointing The motor is connected with the pointing shaft through a gear transmission mechanism. 9. A welding method based on the automatic pipe welding equipment according to any one of claims 1 to 8, characterized in that, comprising the following steps: S1, when the first workpiece is transported to the pick-up position by the automatic conveying frame, the visual camera takes a picture at the pick-up position to obtain the data information of the first workpiece; At the same time, the second workpiece is sent to the positioning mandrel in the paired positioning device to be fixed; S2. According to the data information of the first workpiece obtained by the visual camera, the reclaiming robot clamps the first workpiece, and sends the first workpiece to the clamping and positioning device for fixing; the clamping and positioning device moves the first workpiece to the welding position When , the 3D contour scanner scans the first workpiece located in the clamping and positioning device to determine the center position of the first workpiece and the inclination angle of the welding port of the first workpiece; then the clamping and positioning device is based on the 3D contour scanner. According to the scanning result, adjust the center position of the first workpiece and the inclination angle of the welding port of the first workpiece, so that the center position of the first workpiece coincides with the rotation center line during welding; At the same time, the pairing positioning device fixed with the second workpiece moves to the welding position; S3. When the first workpiece reaches the welding position, the fifth servo motor in the pairing positioning device drives the second workpiece to make the welding of the first workpiece. butt joint with the welding port of the second workpiece; S4. The welding torch feeding device drives the welding torch, so that the welding torch is aligned with the welding seam between the first workpiece and the second workpiece, and the welding seam between the first workpiece and the second workpiece is welded; during the welding process, the clamping The first servo motor of the positioning device and the sixth servo motor of the group pair positioning device respectively drive the first workpiece and the second workpiece to rotate synchronously. 10. The welding method of the pipe fitting automatic welding equipment according to claim 9, characterized in that it comprises the following steps: in step S2, after the reclaiming robot picks up the first workpiece from the automatic conveying frame, and obtains it according to the visual camera The data information of the first workpiece swings the first workpiece so that the welding port of the first workpiece faces downward; then the first workpiece is placed on the positioning turntable, and finally the reclaiming robot will position the first workpiece on the turntable. The gripper is sent to the gripper and the positioning device is fixed.

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