CN113021003A - Automatic cutting, welding and moving workstation for fire fighting pipeline - Google Patents
Automatic cutting, welding and moving workstation for fire fighting pipeline Download PDFInfo
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Abstract
The invention discloses an automatic cutting and welding mobile workstation for a fire fighting pipeline, which comprises a host control system, a rail moving mechanism, a four-axis numerical control cutting machine, a six-axis robot welding machine, a rail sliding mechanism and a workpiece rotating and shifting clamp, wherein the rail moving mechanism and the rail sliding mechanism are arranged on the ground in parallel, the workpiece rotating and shifting clamp is arranged on the rail sliding mechanism and used for clamping a main pipe and driving the main pipe to rotate, the four-axis numerical control cutting machine is arranged on the rail moving mechanism and can be linearly movably connected with the rail moving mechanism and used for automatically performing numerical control cutting work on the main pipe, and the six-axis robot welding machine is arranged on the right side of the four-axis numerical control cutting machine on the rail moving mechanism and can be linearly movably connected with the rail moving. The automatic welding machine realizes the simultaneous automatic machining, cutting and welding processes in the same workstation, has high automation degree, improves the working efficiency by more than two times, improves the cutting precision and the welding precision, improves the product machining quality and reduces the production cost.
Description
Technical Field
The invention relates to the technical field of fire fighting pipeline welding, in particular to an automatic cutting and welding mobile workstation for a fire fighting pipeline.
Background
The fire fighting pipeline is formed by assembling and welding a main pipe and a plurality of drainage pipes, the maximum length of the main pipe is 12000mm, the diameter of the main pipe is 20-200mm, the thickness of the main pipe is 2.8-9.5mm, the drainage pipes are welded on the outer circular surface of the main pipe, the welding process of the main pipe and the drainage pipes comprises the steps of firstly carrying out intersecting line cutting, and then carrying out intersecting welding on the drainage pipes and the main pipe.
Penetration welding is a form of welding, so called penetration, which refers to a line of intersection. The intersection between pipes, such as circular pipe structures, net racks, and lattice trusses, is not planar, but rather is a curve of one or more spaces, which is the intersection line. The penetration welding is to weld the circular tube along the curves without seam.
At present, cutting machine and welding equipment on the market all are two sets of equipment of mutual independence, that is to say, the during operation earlier with main tubular product on the cutting machine cut the drainage tube and the butt joint hole of main tubular product, then shift welding equipment to weld again, the process is complicated, waste time and energy, equipment cost is high, and current cutting machine can not cut out the intersecting line well, influences follow-up welding quality.
Disclosure of Invention
In order to solve the background technical problem, the invention provides an automatic cutting and welding mobile workstation for a fire fighting pipeline, which can perfectly cut an intersecting line by arranging a four-axis numerical control cutting machine, and can automatically perform cutting and welding at the mobile workstation at the same time after two hole sites are cut in a numerical control manner, thereby greatly improving the working efficiency and the welding quality and reducing the production cost.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a fire control pipeline automatic cutout welding mobile workstation which characterized in that: the device comprises a host control system, a track moving mechanism, a four-axis numerical control cutting machine, a six-axis robot welding machine, a track sliding mechanism and a workpiece rotating and shifting clamp;
the track moving mechanism comprises a first track, two sliding rails and a spur rack, the first track is fixed on the ground, the two sliding rails are respectively arranged on the front side and the rear side of the first track in parallel, and the spur rack is arranged in the middle of the upper plane of the first track and is parallel to the sliding rails;
the track sliding mechanism comprises a second track and two guide rails, the second track is arranged on the ground on the front side of the first track in parallel, and the two guide rails are arranged on the front side and the rear side of the second track in parallel;
the four-axis numerical control cutting machine is arranged on the slide rail, is connected with the slide rail in a manner of moving linearly left and right, and is used for automatically performing numerical control cutting work on a main tubular product;
the six-axis robot welding machine is arranged on the right side of the four-axis numerical control cutting machine on the slide rail, is connected with the slide rail in a manner of moving linearly left and right, and is used for automatically welding the drainage tube and the main pipe;
the workpiece rotary displacement fixture comprises a rotary clamping mechanism, a driven mechanism and a drainage tube fixing fixture, wherein the rotary clamping mechanism is fixedly connected to the right end of the upper plane of the second track and comprises a pneumatic three-jaw chuck, the pneumatic three-jaw chuck is used for clamping the outer circular surface of the right end of a main pipe and driving the main pipe to rotate, the driven mechanism is arranged on the left side of the rotary clamping mechanism on the guide rail and is linearly movably connected with the guide rail in a left-right mode, the driven mechanism comprises a tip cone, the axis of the tip cone is coaxial with the rotation axis of the pneumatic three-jaw chuck and is used for supporting the left end hole of the main pipe, the drainage tube fixing fixture is provided with a plurality of parts which are respectively detachably and fixedly connected to the front side of the upper plane of the second track, and the;
the four-axis numerical control cutting machine, the six-axis robot welding machine, the rotary clamping mechanism and the drainage tube fixing clamp are all connected with a host control system. The running speed, running direction and running time of the four-axis numerical control cutting machine, the six-axis robot welding machine, the rotary clamping mechanism and the drainage tube fixing clamp are input and programmed by a host control system.
Preferably, the four-axis numerical control cutting machine comprises a rack, a cutting power supply control box, an X-axis moving mechanism, a Z-axis lifting mechanism, a Y-axis moving mechanism, an A-axis rotating mechanism, a plasma cutting machine and a sliding block, wherein the rack is provided with an upper layer and a lower layer, the cutting power supply control box is fixedly connected to the left side surface of the rack, the X-axis moving mechanism comprises an X-axis servo motor and a first straight gear, the X-axis servo motor is arranged on the lower bottom plate of the rack, an output shaft penetrates through the lower bottom plate of the rack, the first straight gear is fixedly connected to the lower end head of the output shaft of the X-axis servo motor and is meshed with a straight rack, so that the four-axis numerical control cutting machine and the track moving mechanism form a left-right linear movement connection, the Z-axis lifting mechanism is fixedly connected to the right side surface of the rack, the Y-axis moving mechanism, the utility model discloses a cutting machine, including frame, a slide rail, a shaft rotary mechanism, a plasma cutting machine, a cutting torch, a slide block, a slide rail, a slide block, a slide mechanism, a slide rail, a slide mechanism, a cutting torch.
Preferably, the Z-axis lifting mechanism comprises a Z-axis servo motor and a first ball screw linear guide rail, a ball screw of the first ball screw linear guide rail is fixedly connected with an output shaft of the Z-axis servo motor through a first elastic coupling, and the Y-axis moving mechanism is fixedly connected to a working platform of the first ball screw linear guide rail.
Preferably, the Y-axis moving mechanism comprises a Y-axis servo motor and a second ball screw linear guide rail, a ball screw of the second ball screw linear guide rail is fixedly connected with an output shaft of the Y-axis servo motor through a second elastic coupling, and the a-axis rotating mechanism is fixedly connected to a working platform of the second ball screw linear guide rail.
Preferably, the A-axis rotating mechanism comprises an A-axis servo motor and a rotating disc, the rotating disc is fixedly connected with an output shaft of the A-axis servo motor, and the cutting gun is fixedly connected to the rotating disc, is parallel to the axis of the rotating disc and is eccentrically arranged, so that the cutting gun can rotate around the A-axis.
Preferably, the six-axis robot welding machine comprises a base plate, a welding power supply control box, six robots, an OTC two-protection welding machine, a moving mechanism and sliders, wherein the sliders are provided with six parts, the six sliders are uniformly distributed on the lower plane of the base plate in two rows and are fixedly connected with the lower plane of the base plate in an array manner, the sliders are respectively sleeved with slide rails on the front side and the rear side and are connected with the slide rails in a linearly movable manner, the welding power supply control box is arranged on the right side of the upper plane of the base plate, the six robots are arranged on the left side of the upper plane of the base plate, the moving mechanism comprises a servo motor and a second straight gear, the servo motor is arranged in the middle position of the upper plane of the base plate, an output shaft penetrates through the base plate, the second straight gear is fixedly connected with the lower end of the output shaft of the servo motor and is meshed with the straight gear, so that the six-axis robot welding, and a welding gun of the OTC secondary welding machine is fixedly connected with a sixth shaft flange of the six-shaft robot.
Preferably, the rotary clamping mechanism further comprises a speed reducer case, a belt transmission mechanism and a rotating shaft, the speed reducer case is arranged at the right end of the second track, a speed reducer is arranged inside the speed reducer case, a driving belt pulley of the belt transmission mechanism is fixedly connected with an output shaft of the speed reducer, a driven belt pulley is fixedly connected with the rotating shaft, and the pneumatic three-jaw chuck is fixedly connected to the left end of the rotating shaft.
Preferably, drainage tube mounting fixture includes fixing base, first cylinder, second cylinder, parallel die clamping cylinder, the fixing base can be dismantled and connect on the second track, and first cylinder 71 cylinder body fixed connection is on the fixing base, and the position corresponds with treating to weld the drainage tube position, second cylinder body fixed connection is on first cylinder tailpiece of the piston rod end fixed plate, parallel die clamping cylinder body fixed connection is on second cylinder tailpiece of the piston rod end fixed plate, and two parallel splint of this parallel die clamping cylinder are used for the centre gripping in the drainage tube lateral surface.
Preferably, be equipped with 1V type roll supporting device below being responsible for the material on the guide rail at least, linear motion is connected about V type roll supporting device and guide rail formation, V type roll supporting device includes V type frame and gyro wheel, the height of V type frame can be adjusted along with being responsible for material diameter size, be equipped with the V type groove that link up in the middle of the V type frame left surface, be equipped with the open slot that link up in the middle of the leading flank, be equipped with the arc groove that a plurality of groups are symmetry, bilateral symmetry on the preceding, the two inside walls of back along V type groove on the left and right both sides wall of open slot, be equipped with the rotation axis in the middle of the gyro wheel, the both ends headgear of this rotation axis locates the corresponding arc inslot on the left and right lateral wall of open slot, the gyro wheel is equipped with two, and two are bilateral symmetry and set up for the outer.
Preferably, V type roll supporting device still includes chassis, lead screw, hand wheel and pulley, the pulley is equipped with four, and four pulleys are two rows of array equipartitions and locate on the bottom surface under the chassis, the pulley overlaps respectively and locates on the guide rail of preceding, back both sides, forms linear movement with the guide rail and is connected, the lead screw is vertical to be passed in the middle of the chassis, and the top is connected with V type frame through antifriction bearing, the hand wheel is located in the middle of the plane on the chassis, and this hand wheel is inside to be equipped with lead screw matched with internal thread hole, cup joints mutually with the lead screw external screw thread.
Compared with the prior art, the invention has the beneficial effects that: 1) through the cooperation of the host control system, the rail moving mechanism, the rail sliding mechanism, the four-axis numerical control cutting mechanism, the six-axis robot welding machine and the workpiece rotating and shifting fixture, the simultaneous automatic machining, cutting and welding processes in the same workstation are realized, the automation degree is high, the working efficiency is improved by more than two times, the cutting precision and the welding precision are improved, the product processing quality is improved, and the production cost is reduced; 2) through the arrangement of the four-axis numerical control cutting mechanism, the intersecting holes for welding the drainage tube can be well cut, and the subsequent welding precision is improved; 3) by arranging the drainage tube fixing clamp, the drainage tube is positioned and clamped for spot welding, and an operator does not need to manually perform spot welding positioning, so that the positioning precision of the drainage tube is improved, and the labor intensity of the operator is reduced; 4) the outer circular surface of the special main pipe can be automatically clamped by arranging the pneumatic three-jaw chuck, and an operator does not need to manually adjust the three jaws, so that the clamping and rotating precision is improved, and the labor intensity of the operator is reduced; 5) the V-shaped rolling supporting device is arranged, and the roller is used for supporting the outer circular surface of the main pipe, so that the friction between the V-shaped frame and the main pipe is reduced, and the scratch on the outer surface of the main pipe is effectively prevented; the V-shaped frame can be lifted, so that the V-shaped rolling supporting device can be suitable for supporting main pipes of different specifications.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic top view of an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a four-axis numerical control cutting mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a six-axis robot welding machine according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of a rotary clamping mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a driven mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic structural view of a drainage tube fixing clamp according to an embodiment of the present invention;
FIG. 8 is a schematic structural view of a V-shaped rolling bearing device according to an embodiment of the present invention;
FIG. 9 is a schematic view of a movable connection structure of a four-axis numerical control cutting mechanism, a six-axis robot welding machine and a slide rail according to an embodiment of the invention;
FIG. 10 is a schematic view of a sliding structure of the follower mechanism and the guide rail according to the embodiment of the present invention;
fig. 11 is a schematic view of the sliding structure of the V-shaped rolling bearing device and the guide rail according to the embodiment of the invention.
In the figure: 1. a track moving mechanism, 11, a first track, 12, a sliding rail, 13, a straight rack, 2, a four-axis numerical control cutting machine, 21, a frame, 22, an X-axis moving mechanism, 221, an X-axis servo motor, 222, a first straight gear, 23, a Z-axis lifting mechanism, 231, a Z-axis servo motor, 232, a first ball screw linear guide rail, 233, a first ball screw linear guide rail working platform, 24, a Y-axis moving mechanism, 241, a Y-axis servo motor, 242, a second ball screw linear guide rail working platform, 243, a second ball screw linear guide rail working platform, 25, an A-axis rotating mechanism, a A-axis servo motor, 251, a rotating disk, 26, a plasma cutting machine, 261, a cutting gun, 27, a cutting power supply control box, 28, a sliding block, 3, a six-axis robot welding machine, 31, a bottom plate, 32, a moving mechanism, 321, a servo motor, 322, a second straight gear, 33. six-axis robot, 34, OTC two-purpose welder, 35, welding power supply control box, 4, rail sliding mechanism, 41, second rail, 42, guide rail, 5, rotary clamping mechanism, 51, speed reducer, 52, belt transmission mechanism, 521, belt driving wheel, 522, belt driven wheel, 53, rotary shaft, 54, pneumatic three-jaw chuck, 6, driven mechanism, 61, mounting seat, 62, fixed shaft, 621, tip cone, 63, second slider, 7, drainage tube fixing clamp, 71, first cylinder, 72, second cylinder, 73, parallel clamping cylinder, 74, fixed seat, 8, V-shaped rolling support device, 81, pulley, 82, chassis, 83, V-shaped frame, 831, V-shaped groove, 832, open groove, 833, circular arc groove, 84, roller, 85, lead screw, 86, hand wheel, g1, main pipe, g2, drainage tube.
Detailed Description
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", "vertical", "horizontal", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description and simplicity of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
As shown in fig. 1 to 11, the embodiment of the present invention includes a host control system (not shown in the drawings), a rail moving mechanism 1, a four-axis numerical control cutting machine 2, a six-axis robot welding machine 3, a rail sliding mechanism 4, and a workpiece rotation displacement jig.
The rail moving mechanism 1 comprises a first rail 11, a sliding rail 13 and a spur rack 12, the first rail 11 is fixed on the ground, the sliding rail 13 is provided with two sliding rails 13, the two sliding rails 13 are respectively arranged on the front side and the rear side of the first rail 11 in parallel, and the spur rack 12 is arranged in the middle of the upper plane of the first rail 11 and is parallel to the sliding rail 13.
The rail sliding mechanism 4 includes a second rail 41 and a guide rail 42, the second rail 41 is disposed in parallel on the ground on the front side of the first rail 11, two guide rails 42 are disposed on the guide rail 42, and the two guide rails 42 are disposed in parallel on the front and rear sides of the second rail 41.
The four-axis numerical control cutting machine 2 is arranged on the slide rail 13, is connected with the slide rail 13 in a manner of moving linearly left and right, and is used for automatically performing numerical control cutting work on a main tubular product;
the four-axis numerical control cutting machine 2 comprises a rack 21, a cutting power supply control box 27, an X-axis moving mechanism 22, a Z-axis lifting mechanism 23, a Y-axis moving mechanism 24, an A-axis rotating mechanism 25, a plasma cutting machine 26 and a slide block 28, wherein the rack 21 is provided with an upper layer and a lower layer, and the cutting power supply control box 27 is fixedly connected to the left side surface of the rack 21;
the X-axis moving mechanism 22 comprises an X-axis servo motor 221 and a first straight gear 222, the X-axis servo motor 221 is arranged on a lower bottom plate of the rack 21, an output shaft penetrates through the lower bottom plate of the rack 21, and the first straight gear 222 is fixedly connected to the lower end of the output shaft of the X-axis servo motor 221 and meshed with the straight rack 12, so that the four-axis numerical control cutting machine 4 and the track moving mechanism 1 form left-right linear moving connection;
the Z-axis lifting mechanism 23 is fixedly connected to the right side surface of the frame 21, the Z-axis lifting mechanism 23 comprises a Z-axis servo motor 231 and a first ball screw linear guide rail 232, and a ball screw of the first ball screw linear guide rail 232 is fixedly connected with an output shaft of the Z-axis servo motor 231 through a first elastic coupling;
the Y-axis moving mechanism 24 is fixedly connected to the working platform 233 of the first ball screw linear guide rail, the Z-axis lifting mechanism 23 can drive the Y-axis moving mechanism 24 to move linearly up and down along the Z axis (namely, the first ball screw), the Y-axis moving mechanism 24 comprises a Y-axis servo motor 241 and a second ball screw linear guide rail 242, and the ball screw of the second ball screw linear guide rail 242 is fixedly connected with the output shaft of the Y-axis servo motor 241 through a second elastic coupling;
the a-axis rotating mechanism 25 is fixedly connected to the working platform 243 of the second ball screw linear guide rail, the Y-axis moving mechanism 24 can drive the a-axis rotating mechanism 25 to linearly move along the front and back of the Y-axis (i.e. the second ball screw), the a-axis rotating mechanism 25 comprises an a-axis servo motor 251 and a rotating disc 252, and the rotating disc 252 is fixedly connected with an output shaft of the a-axis servo motor 251;
the plasma cutting machine 26 is arranged on the upper bottom plate of the frame 21, a cutting gun 261 of the plasma cutting machine is fixedly connected to the rotating disc 252 and is parallel to the axis of the rotating disc 252 and is eccentrically arranged, and the A-axis rotating mechanism 25 can drive the cutting gun 261 to rotate around the A axis;
four sliding blocks 28 are arranged, the four sliding blocks 28 are uniformly distributed on the lower plane of the lower bottom plate of the rack 21 in two rows of arrays, and the sliding blocks 28 are respectively sleeved with the sliding rails 13 on the front side and the rear side and are connected with the sliding rails 13 in a linear movable manner.
The six-axis robot welding machine 3 is arranged on the right side of the four-axis numerical control cutting machine 2 on the slide rail 13, is connected with the slide rail 13 in a manner of moving linearly left and right, and is used for automatically welding the drainage tube g2 and the main tube g 1;
the six-axis robot welding machine 3 comprises a bottom plate 31, a welding power supply control box 35, a six-axis robot 33, an OTC two-protection welding machine 34, a moving mechanism 32 and a sliding block 28, wherein six sliding blocks 28 are arranged, the six sliding blocks 28 are uniformly distributed in two rows and are fixedly connected to the lower plane of the bottom plate 31, the sliding blocks 28 are respectively sleeved with sliding rails 13 on the front side and the rear side and are linearly movably connected with the sliding rails 13, the welding power supply control box 35 is arranged on the right side of the upper plane of the bottom plate 31, the six-axis robot 33 is arranged on the left side of the upper plane of the bottom plate 31, the moving mechanism 32 comprises a servo motor 321 and a second straight gear 322, the servo motor 321 is arranged in the middle position of the upper plane of the bottom plate 31, an output shaft penetrates through the bottom plate 31, the second straight gear 322 is fixedly connected to the lower end of the output shaft of the servo motor 321 and, the second OTC welding protection machine 34 is arranged on the rear side of the planar six-axis robot 33 on the bottom plate 31, and a welding gun of the second OTC welding protection machine 34 is fixedly connected with a sixth axis (end axis) flange of the six-axis robot 33.
The workpiece rotating deflection clamp comprises a rotating clamping mechanism 5, a driven mechanism 6 and a drainage tube fixing clamp 7;
the rotary clamping mechanism 5 is fixedly connected to the right end of the upper plane of the second track 41 and comprises a speed reducer box, a belt transmission mechanism 52, a rotating shaft 53 and a pneumatic three-jaw chuck 54, the speed reducer box is arranged at the right end of the second track 41, a speed reducer 51 is arranged in the speed reducer box, a driving belt pulley 521 of the belt transmission mechanism 52 is fixedly connected with an output shaft of the speed reducer 51, a driven belt pulley 522 is fixedly connected with the rotating shaft 53, and the pneumatic three-jaw chuck 54 is fixedly connected to the left end of the rotating shaft 53 and connected with an air source and used for clamping the outer circular surface of the right end of the main pipe g1 and driving the;
the driven mechanism 6 is arranged on the left side of the rotary clamping mechanism 5 on the guide rail 42 and is connected with the guide rail 42 in a manner of moving linearly left and right, the driven mechanism 6 comprises a mounting seat 61, a fixed shaft 62 and a second sliding block 63, the fixed shaft 62 is fixedly connected to the top of the mounting seat 61, the right end head is provided with a tip cone 621, the axis of the tip cone 621 is coaxial with the rotary axis of the pneumatic three-jaw chuck 54 and is used for propping against the left end hole of the main pipe g1g so as to enable the main pipe g1 to be kept horizontal;
a plurality of V-shaped rolling supporting devices 8 are arranged below the main pipe g1g on the guide rail 42, the V-shaped rolling supporting devices 8 and the guide rail 42 form a left-right linear moving connection,
the V-shaped rolling supporting device 8 comprises a bottom frame 82, a V-shaped frame 83, rollers 84, a screw rod 85, a hand wheel 86 and four pulleys 81, wherein the four pulleys 81 are uniformly distributed on the lower bottom surface of the bottom frame 82 in two rows, the pulleys 81 are respectively sleeved on the guide rails 42 at the front side and the rear side and form linear moving connection with the guide rails 42, the screw rod 85 vertically penetrates through the middle of the bottom frame 82, the top end of the screw rod is connected with the V-shaped frame 83 through a rolling bearing, the hand wheel 86 is arranged in the middle of the upper plane of the bottom frame 82, an internal thread hole matched with the screw rod 85 is arranged in the hand wheel 86 and is sleeved with an external thread of the screw rod 85, the height of the V-shaped frame 83 can be adjusted along the diameter of a main pipe g1 by rotating the hand wheel 86, a through V-shaped groove 831 is arranged in the middle of the left side surface of the V-shaped frame 83, a through opening groove 832 is arranged in, The two rolling wheels 84 are symmetrically arranged left and right and used for supporting the outer circular surface of the main pipe g1, the middle flexural strength of the main pipe g1 is improved, and the cutting and welding quality of the product is improved.
The drainage tube fixing clamp 7 is provided with a plurality of pieces which are respectively detachably and fixedly connected to the front side of the upper plane of the second track 41, correspond to the welding position of the drainage tube g2 and are used for automatically clamping the drainage tube g 2;
the drainage tube fixing clamp 7 comprises a fixing seat 74, a first air cylinder 71, a second air cylinder 72 and a parallel clamping air cylinder 73, the fixing seat 74 can be detachably and fixedly connected to the second rail 41, a cylinder body of the first air cylinder 71 is fixedly connected to the fixing seat 74, the position of the cylinder body corresponds to the position of a drainage tube g2 to be welded, a cylinder body of the second air cylinder 72 is fixedly connected to a piston rod end fixing plate of the first air cylinder 71, a cylinder body of the parallel clamping air cylinder 73 is fixedly connected to a piston rod end fixing plate of the second air cylinder 72, two parallel clamping plates of the parallel clamping air cylinder 73 are used for pneumatically and automatically clamping the outer side face of the drainage tube g2, and a six-axis robot welding machine 3 can conveniently perform spot welding, so that the positioning.
The four-axis numerical control cutting machine 2, the six-axis robot welding machine 3, the rotary clamping mechanism 5, the driven mechanism 6 and the drainage tube fixing clamp 7 are connected with a host control system. The running speed, running direction and running time of the four-axis numerical control cutting machine 2, the six-axis robot welding machine 3, the rotary clamping mechanism 5, the driven mechanism 6 and the drainage tube fixing clamp 7 are input and programmed by a host control system.
The working principle of the invention is as follows: switching on a power supply, starting a host control system, starting a pneumatic three-jaw chuck 54, loosening three jaws, inserting the right end head of a main pipe g1 into the pneumatic three-jaw chuck 54, starting the pneumatic three-jaw chuck 54 to enable the three jaws to simultaneously clamp the outer circular surface of the right end of the main pipe g1, pushing a driven mechanism 6 rightwards to enable a tip cone 621 to prop against the inner hole of the left end of the main pipe g1 to ensure that the axis of the right end head of the main pipe g1 is horizontal, adjusting a plurality of drainage tube fixing clamps 7 to be corresponding to the positions of drainage tubes g2, enabling a piston rod of a second air cylinder 72 to be in a retracting position, starting a four-axis numerical control cutting machine 2 to move to a first drainage tube g2 welding position at the right end of the main pipe g1, moving a cutting gun to above the welding position to cut through holes, continuing to cut the next through hole rightwards after cutting two hole positions from the right to the left, manually placing a drainage tube 39, two parallel clamping plates of a parallel clamping cylinder 73 are pneumatically and automatically clamped at the upper end of the outer side surface of the drainage tube g2, a six-axis robot welding machine 3 is started, a welding gun is moved to a first through hole position, the drainage tube g2 and the main tube g1 are subjected to spot welding positioning, and welding is carried out after spot welding positioning. The invention can simultaneously carry out cutting and welding procedures in the same workstation, has high automation degree, improves the working efficiency by more than two times, improves the cutting precision and the welding precision, improves the product processing quality and reduces the production cost. The invention is suitable for industrial automatic batch production and is worth popularizing and applying.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a fire control pipeline automatic cutout welding mobile workstation which characterized in that: the device comprises a host control system, a track moving mechanism, a four-axis numerical control cutting machine, a six-axis robot welding machine, a track sliding mechanism and a workpiece rotating and shifting clamp;
the track moving mechanism comprises a first track, two sliding rails and a spur rack, the first track is fixed on the ground, the two sliding rails are respectively arranged on the front side and the rear side of the first track in parallel, and the spur rack is arranged in the middle of the upper plane of the first track and is parallel to the sliding rails;
the track sliding mechanism comprises a second track and two guide rails, the second track is arranged on the ground on the front side of the first track in parallel, and the two guide rails are arranged on the front side and the rear side of the second track in parallel;
the four-axis numerical control cutting machine is arranged on the slide rail, is connected with the slide rail in a manner of moving linearly left and right, and is used for automatically performing numerical control cutting work on a main tubular product;
the six-axis robot welding machine is arranged on the right side of the four-axis numerical control cutting machine on the slide rail, is connected with the slide rail in a manner of moving linearly left and right, and is used for automatically welding the drainage tube and the main pipe;
the workpiece rotary displacement fixture comprises a rotary clamping mechanism, a driven mechanism and a drainage tube fixing fixture, wherein the rotary clamping mechanism is fixedly connected to the right end of the upper plane of the second track and comprises a pneumatic three-jaw chuck, the pneumatic three-jaw chuck is used for clamping the outer circular surface of the right end of a main pipe and driving the main pipe to rotate, the driven mechanism is arranged on the left side of the rotary clamping mechanism on the guide rail and is linearly movably connected with the guide rail in a left-right mode, the driven mechanism comprises a tip cone, the axis of the tip cone is coaxial with the rotation axis of the pneumatic three-jaw chuck and is used for supporting the left end hole of the main pipe, the drainage tube fixing fixture is provided with a plurality of parts which are respectively detachably and fixedly connected to the front side of the upper plane of the second track, and the;
the four-axis numerical control cutting machine, the six-axis robot welding machine, the rotary clamping mechanism and the drainage tube fixing clamp are all connected with a host control system.
2. The automatic cutting and welding mobile workstation for fire fighting pipelines according to claim 1, characterized in that: the four-axis numerical control cutting machine comprises a rack, a cutting power supply control box, an X-axis moving mechanism, a Z-axis lifting mechanism, a Y-axis moving mechanism, an A-axis rotating mechanism, a plasma cutting machine and a sliding block, wherein the rack is provided with an upper layer and a lower layer, the cutting power supply control box is fixedly connected to the left side surface of the rack, the X-axis moving mechanism comprises an X-axis servo motor and a first straight gear, the X-axis servo motor is arranged on a lower bottom plate of the rack, an output shaft penetrates through the lower bottom plate of the rack, the first straight gear is fixedly connected to the lower end head of the output shaft of the X-axis servo motor and is meshed with a straight rack, so that the four-axis numerical control cutting machine and a track moving mechanism form a left-right linear moving connection, the Z-axis lifting mechanism is fixedly connected to the right side surface of the rack, the Y-axis moving, the utility model discloses a cutting machine, including frame, a slide rail, a shaft rotary mechanism, a plasma cutting machine, a cutting torch, a slide block, a slide rail, a slide block, a slide mechanism, a slide rail, a slide mechanism, a cutting torch.
3. The automatic cutting and welding mobile workstation for fire fighting pipelines according to claim 2, characterized in that: the Z-axis lifting mechanism comprises a Z-axis servo motor and a first ball screw linear guide rail, a ball screw of the first ball screw linear guide rail is fixedly connected with an output shaft of the Z-axis servo motor through a first elastic coupling, and the Y-axis moving mechanism is fixedly connected to a working platform of the first ball screw linear guide rail.
4. The automatic cutting and welding mobile workstation for fire fighting pipelines according to claim 3, characterized in that: the Y-axis moving mechanism comprises a Y-axis servo motor and a second ball screw linear guide rail, a ball screw of the second ball screw linear guide rail is fixedly connected with an output shaft of the Y-axis servo motor through a second elastic coupling, and the A-axis rotating mechanism is fixedly connected to a working platform of the second ball screw linear guide rail.
5. The automatic cutting and welding mobile workstation for fire fighting pipelines according to claim 4, characterized in that: the A-axis rotating mechanism comprises an A-axis servo motor and a rotating disc, the rotating disc is fixedly connected with an output shaft of the A-axis servo motor, and the cutting gun is fixedly connected onto the rotating disc, is parallel to the axis of the rotating disc and is eccentrically arranged, so that the cutting gun can rotate around the A-axis.
6. The automatic cutting and welding mobile workstation for fire fighting pipelines according to claim 1, characterized in that: the six-axis robot welding machine comprises a base plate, a welding power supply control box, a six-axis robot, an OTC two-protection welding machine, a moving mechanism and a sliding block, wherein the sliding block is provided with six parts, the six parts of the sliding block are uniformly distributed in two rows in an array manner and are fixedly connected to the lower plane of the base plate, the sliding block is respectively sleeved with sliding rails on the front side and the rear side and is linearly movably connected with the sliding rails, the welding power supply control box is arranged on the right side of the upper plane of the base plate, the six-axis robot is arranged on the left side of the upper plane of the base plate, the moving mechanism comprises a servo motor and a second straight gear, the servo motor is arranged in the middle position of the upper plane of the base plate, an output shaft penetrates through the base plate, the second straight gear is fixedly connected to the lower end of the output shaft of the servo motor and is meshed with the straight rack, so that the six-, and a welding gun of the OTC secondary welding machine is fixedly connected with a sixth shaft flange of the six-shaft robot.
7. The automatic cutting and welding mobile workstation for fire fighting pipelines according to claim 1, characterized in that: the rotary clamping mechanism further comprises a speed reducer case, a belt transmission mechanism and a rotating shaft, the speed reducer case is arranged at the right end of the second track, a speed reducer is arranged inside the speed reducer case, a driving belt pulley of the belt transmission mechanism is fixedly connected with an output shaft of the speed reducer, a driven belt pulley is fixedly connected with the rotating shaft, and the pneumatic three-jaw chuck is fixedly connected to the left end of the rotating shaft.
8. The automatic cutting and welding mobile workstation for fire fighting pipelines according to claim 1, characterized in that: drainage tube mounting fixture includes fixing base, first cylinder, second cylinder, parallel die clamping cylinder, the fixing base can be dismantled and connect on the second track, and first cylinder 71 cylinder body fixed connection is on the fixing base, and the position is corresponding with treating to weld the drainage tube position, second cylinder body fixed connection is on first cylinder tailpiece of the piston rod end fixed plate, parallel die clamping cylinder body fixed connection is on second cylinder tailpiece of the piston rod end fixed plate, and two parallel splint of this parallel die clamping cylinder are used for the centre gripping in the drainage tube lateral surface.
9. The automatic cutting and welding mobile workstation for fire fighting pipelines according to any one of claims 1 to 8, characterized in that: be equipped with 1V type roll supporting device below being responsible for the material on the guide rail at least, linear motion is connected about V type roll supporting device and guide rail formation, V type roll supporting device includes V type frame and gyro wheel, the height of V type frame can be adjusted along with being responsible for material diameter size, be equipped with the V type groove that link up in the middle of the V type frame left surface, be equipped with the open slot that link up in the middle of the leading flank, be equipped with a plurality of groups on the preceding, two inside walls of back along V type groove on the left and right both sides wall of open slot and be symmetry, bilateral symmetry's circular arc groove around being, be equipped with the rotation axis in the middle of the gyro wheel, the both ends headgear of this rotation axis is located the corresponding circular arc inslot on the left and right lateral wall of open slot, the gyro wheel is equipped with two, and two are bilateral symmetry.
10. The automatic cutting and welding mobile workstation for fire fighting pipelines according to claim 9, characterized in that: the V-shaped rolling supporting device further comprises an underframe, a screw rod, a hand wheel and pulleys, wherein the pulleys are four, the four pulleys are uniformly distributed in two rows and arranged on the lower bottom surface of the underframe, the pulleys are respectively sleeved on guide rails on the front side and the rear side and are connected with the guide rails in a linear movement mode, the screw rod vertically penetrates through the underframe, the top end of the screw rod is connected with the V-shaped frame through a rolling bearing, the hand wheel is arranged on the upper plane of the underframe, and an internal thread hole matched with the screw rod is formed in the hand wheel and is sleeved with external threads of the screw rod.
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| CN202110371433.8A CN113021003A (en) | 2021-04-07 | 2021-04-07 | Automatic cutting, welding and moving workstation for fire fighting pipeline |
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| CN202110371433.8A CN113021003A (en) | 2021-04-07 | 2021-04-07 | Automatic cutting, welding and moving workstation for fire fighting pipeline |
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