CN113414561A - Automatic assembly system for straight pipe flange for welding before bending - Google Patents

Automatic assembly system for straight pipe flange for welding before bending Download PDF

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Publication number
CN113414561A
CN113414561A CN202110720163.7A CN202110720163A CN113414561A CN 113414561 A CN113414561 A CN 113414561A CN 202110720163 A CN202110720163 A CN 202110720163A CN 113414561 A CN113414561 A CN 113414561A
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CN
China
Prior art keywords
manipulator
rotary
flange
assembly
welding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110720163.7A
Other languages
Chinese (zh)
Inventor
邵国庆
孟秀文
李军
李小刚
高泽宏
亢国
蒋彬彬
姜文
孙进
宫丽彦
赵文卿
周庆林
佟贵富
赵寅妮
刘海仁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Dalian Shipbuilding Industry Outfitting Co ltd
Original Assignee
Dalian Shipbuilding Industry Outfitting Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Dalian Shipbuilding Industry Outfitting Co ltd filed Critical Dalian Shipbuilding Industry Outfitting Co ltd
Priority to CN202110720163.7A priority Critical patent/CN113414561A/en
Publication of CN113414561A publication Critical patent/CN113414561A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/047—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts for flexible profiles, e.g. sealing or decorating strips in grooves or on other profiles by devices moving along the flexible profile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

The invention discloses an automatic assembly system for a straight pipe flange for welding before bending, which is applied to the field of pipe fitting and flange processing and comprises a tray type stock feeding unit, wherein a plurality of groups of flanges are arranged on the tray type stock feeding unit; the swing manipulator clamping jaws of the swing manipulator unit, which can horizontally rotate and vertically move, are used for clamping the flange to the flange code printing unit for printing codes; the truss manipulator unit is used for clamping a flange placed on the tray type material storage and feeding unit or a flange subjected to code printing on the flange code printing machine to the assembly nail welding unit, and the assembly nail welding unit comprises an assembly nail welding supporting mechanism used for supporting a pipe fitting, an assembly nail welding clamping mechanism used for clamping the flange transferred from the truss manipulator unit at two ends of the pipe fitting, and an assembly nail welding gun used for welding the flange at two ends of the pipe fitting. The invention automatically carries out the composite operation of flange grabbing, feeding, code printing, positioning and straight pipe flange assembly, and has time-saving, labor-saving and high efficiency compared with manual operation.

Description

Automatic assembly system for straight pipe flange for welding before bending
Technical Field
The invention relates to the field of pipe fitting and flange processing, in particular to an automatic straight pipe flange assembling system for welding before bending.
Background
In the process of processing and manufacturing a pipe by using a straight pipe flange processing production line, flanges are generally required to be assembled at two ends of the straight pipe after blanking, the traditional processing technology is that proper flanges are manually selected, the flanges are picked up and then are installed at the end part of the straight pipe, then a right-angle caliper, a level meter and the like are operated by personnel to accurately position the flanges, and then the straight pipe flange is manually tack welded to complete the straight pipe flange assembling process.
The operation mode of manually picking up and assembling the flange causes that the labor intensity of workers is higher, the assembly efficiency is low, and the pipe fitting processing is restricted to improve the production efficiency and the precision.
Disclosure of Invention
The invention aims to provide an automatic straight pipe flange assembling system for welding before bending, so as to obtain composite operation equipment capable of automatically performing flange grabbing, feeding, code printing, positioning and straight pipe flange assembling.
In order to achieve the purpose, the invention adopts the following technical scheme:
a straight pipe flange automatic assembly system for welding before bending comprises a tray type material storage and feeding unit, a rotary manipulator unit, a flange code printing unit, a truss manipulator unit and an assembly nail welding unit;
a plurality of groups of flanges are arranged on the tray type material storing and feeding unit;
the rotary manipulator unit is used for grabbing flanges placed on the tray type material storing and feeding unit and comprises a rotary manipulator beam capable of horizontally rotating, a vertical rotary manipulator lifting mechanism is arranged at the end part, far away from the rotary vertical shaft, of the rotary manipulator beam, and a rotary manipulator clamping jaw for clamping the flanges is arranged at the bottom end of the rotary manipulator lifting mechanism;
the flange coding unit comprises a flange coding machine, and the flange coding machine is used for receiving the flange clamped by the rotary manipulator unit; the flange coding machine is also used for coding the flange;
the truss manipulator unit is used for clamping a flange placed on the tray type material storing and feeding unit or a flange subjected to code printing on the flange code printing machine, and an electric clamping jaw capable of driving the flange to move in a three-dimensional mode and rotate around a horizontal shaft is arranged on the truss manipulator unit;
the assembly nail welding unit comprises an assembly nail welding supporting mechanism for supporting the pipe fitting, an assembly nail welding clamping mechanism for clamping the flange transferred from the truss manipulator unit at two ends of the pipe fitting, and an assembly nail welding gun for welding the flange at two ends of the pipe fitting.
The tray type material storing and feeding unit comprises a material storing base, and the center of the upper surface of the material storing base is connected to the center of a horizontal material storing rotary disc through a rotating shaft driven by a first motor; a plurality of turntable round openings are arranged on the material storage turntable around the center of the material storage turntable; the distances between the centers of the round openings of the plurality of turntables and the center of the material storage turntable are the same;
a material storage chuck limiting column is embedded in the round opening of the rotary table in a sliding mode, the top end of the material storage chuck limiting column is connected to the material storage chuck, the material storage chuck is stacked on the upper surface of the material storage rotary table, and the caliber of the material storage chuck is larger than that of the round opening of the rotary table;
at least three vertical material storage flange limiting columns are arranged on the upper surface of the material storage chuck around the center of the material storage chuck;
the side surface of the material storage base is connected with a material storage supporting mechanism used for vertically pushing the material storage chuck limiting column;
the side surface of the material storage base is also connected with a material storage bracket, and the top end of the material storage bracket extends to the upper part of the outer edge of the material storage chuck; the top end of the material storage bracket is connected with a material storage laser sensor.
The rotary manipulator comprises a rotary manipulator base box body, wherein one inner side wall of the rotary manipulator base box body is hinged with a fixed end of a rotary manipulator cylinder, a telescopic end of the rotary manipulator cylinder is hinged with a rotary manipulator hinged plate, the rotary manipulator hinged plate is horizontally fixed on the bottom surface of a rotary manipulator rotary bottom column, and the rotary manipulator rotary bottom column penetrates out from bottom to top and is axially fixed on a bearing arranged on a top plate of the rotary manipulator base box body;
a rotary manipulator rotary upright post is vertically fixed on the top surface of the rotary bottom post of the rotary manipulator, a horizontal rotary manipulator beam is connected to the top surface of the rotary upright post of the rotary manipulator, a vertical rotary manipulator lifting mechanism is arranged at one end, away from the rotary upright post of the rotary manipulator, of the rotary manipulator beam, and a downward rotary manipulator clamping jaw is arranged at the bottom end of the rotary manipulator lifting mechanism; the clamping jaw of the rotary manipulator is positioned outside the box body of the base of the rotary manipulator in the horizontal direction;
two swing manipulator stop plates are vertically arranged on the upper surface of a box top plate of a swing manipulator base; the side wall of the rotary upright post of the rotary manipulator is horizontally fixed with a rotary manipulator upright post baffle, and the two rotary manipulator baffle plates limit the rotary manipulator upright post baffle within a rotation range with a rotation angle range of theta.
The flange coding machine comprises a coding machine base, a coding machine chuck arranged on the coding machine base and used for clamping a flange, and a coding gun arranged on the coding machine base and used for coding the flange.
The truss manipulator unit comprises a horizontal truss manipulator first cross beam supported by a truss manipulator strut, a truss manipulator first walking support is erected on the side face of the truss manipulator first cross beam through a guide rail and connected to a horizontal truss manipulator second cross beam, and the truss manipulator second cross beam is perpendicular to the truss manipulator first cross beam; the first walking bracket of the truss manipulator is connected with a first screw rod, and the first screw rod is connected with a first motor fixed on a first beam of the truss manipulator;
a second walking support is erected on the side face of a second cross beam of the truss manipulator through a guide rail and connected to the vertical truss manipulator longitudinal beam; the second walking bracket is connected to a second screw rod, and the second screw rod is connected to a second motor fixed on a second beam of the truss manipulator;
the bottom of the truss manipulator longitudinal beam is hinged with a chassis through a horizontal truss manipulator hinged rotating shaft, a rotating motor is fixed on the chassis, and the rotating shaft of the rotating motor is connected with an electric clamping jaw positioned below the chassis;
the truss manipulator sensor support is vertically and downwards extended and is erected on the truss manipulator support sliding rail, and a truss manipulator laser sensor is fixed at the bottom end of the truss manipulator sensor support; the truss manipulator sensor bracket is connected to a third screw rod, and the third screw rod is connected to a third motor fixed on a truss manipulator longitudinal beam;
the other side of the truss manipulator longitudinal beam is connected to the fixed end of the truss manipulator hydraulic cylinder through a first connecting piece, the telescopic end of the truss manipulator hydraulic cylinder is hinged to a second connecting piece of the truss manipulator downwards vertically, and the second connecting piece of the truss manipulator is fixed on the chassis.
The assembly nail welding unit comprises an assembly nail welding base, two ends of the assembly nail welding base are respectively fixed with an assembly nail welding movable base, and an assembly nail welding supporting mechanism and an assembly nail welding clamping mechanism are fixed on each of the two assembly nail welding movable bases;
the assembly nail welding support mechanism comprises an assembly nail welding support box body, an assembly nail welding bracket is arranged at the top of the assembly nail welding support box body, and an assembly nail welding roller for supporting the end part of the pipe fitting is arranged on the assembly nail welding bracket;
the assembly nail welding clamping mechanism comprises an assembly nail welding chuck box body, one side of the assembly nail welding chuck box body is connected with an assembly nail welding electric chuck for clamping the flange through a horizontally extended assembly nail welding connecting column;
a rotatable assembly nail welding rotating gear is arranged around the assembly nail welding connecting column, and the assembly nail welding rotating gear is meshed with the assembly nail welding driving gear; the assembly nail welding driving gear is rotatably arranged on the side wall of the assembly nail welding chuck box body and is driven by the power of a motor;
the assembly nail welding rotary gear is further fixedly connected to the arc-shaped assembly nail welding rotary bracket, an assembly nail welding sensor is arranged at one end of the assembly nail welding rotary bracket, and an assembly nail welding gun is arranged at the other end of the assembly nail welding rotary bracket.
Compared with the prior art, the straight pipe flange assembling and nail welding machine has the advantages that a certain number of specifications of flanges can be stored, operations such as flange grabbing, code printing, flange double-hole positive positioning, welding-before-bending pre-turning angular rotation and the like can be automatically carried out, straight pipe flange gaps can be automatically detected, straight pipe flange assembling and nail welding operations can be automatically carried out, the structure is simple, the operation precision is high, the automation is strong, and compared with manual operation, time and labor are saved, and the efficiency is high.
Drawings
FIG. 1 is a general schematic of the system of the present invention;
FIG. 2 is a perspective view of the tray type material storing and feeding unit of the present invention;
FIG. 3 is a side view of the tray type stock loading unit of the present invention;
fig. 4 is a perspective view of the swing manipulator unit of the present invention;
fig. 5 is a rear view of the swing robot unit of the present invention;
figure 6 is a side view of the swing robot unit of the present invention;
fig. 7 is a top view of the swing robot unit of the present invention;
FIG. 8 is a schematic view of a flange marking unit of the present invention;
FIG. 9 is a general schematic view of a truss robot unit;
FIG. 10 is an enlarged schematic view of the pointing element A of FIG. 9;
fig. 11 is a schematic view of the pointing element a of fig. 9 in a flipped state.
FIG. 12 is a schematic view of the overall structure of the assembly nail welding unit of the present invention;
FIG. 13 is a schematic structural view of a support mechanism of the assembly tack welding unit of the present invention;
FIG. 14 is a schematic view of the clamping mechanism of the assembly nail welding unit of the present invention.
In the figure, 1, a tray type material storing and feeding unit, 11, a material storing rotary disc, 12, a material storing base, 13, a material storing chuck, 14, a material storing lifting ring, 15, a material storing chuck limiting column, 16, a material storing flange limiting column, 18, a material storing and supporting mechanism, 19, a material storing bracket, 110 and a material storing laser sensor;
2. the rotary manipulator lifting mechanism comprises a rotary manipulator unit, 21, a rotary manipulator base box, 22, a rotary manipulator cylinder, 23, a rotary manipulator upright post baffle, 24, a rotary manipulator blocking plate, 25, a rotary manipulator rotary base post, 26, a rotary manipulator rotary upright post, 27, a rotary manipulator cross beam, 28, a rotary manipulator lifting mechanism, 29, a rotary manipulator clamping jaw, 210 and a rotary manipulator hinged plate;
3. a flange code printing unit 31, a code printing machine chuck 32 and a code printing gun;
4. a truss manipulator unit, 41, truss manipulator struts, 43, truss manipulator first beams, 44, a truss manipulator first walking support, 45, truss manipulator second beams, 47, truss manipulator longitudinal beams, 48, a truss manipulator hydraulic cylinder, 49, a truss manipulator hinge rotating shaft, 410, a truss manipulator second connecting piece, 411, truss manipulator support sliding rails, 412, a truss manipulator sensor support, 413 and a truss manipulator laser sensor;
5. an assembly nail welding unit, 51, an assembly nail welding base, 52, an assembly nail welding moving base, 53, an assembly nail welding supporting mechanism, 54, an assembly nail welding clamping mechanism, 55, an assembly nail welding supporting box body, 56, an assembly nail welding bracket, 57, an assembly nail welding roller, 58, an assembly nail welding first button, 59, an assembly nail welding second button, 510, an assembly nail welding chuck box body, 511, an assembly nail welding slewing gear, 512, an assembly nail welding driving gear, 513, an assembly nail welding electric chuck, 514, an assembly nail welding rotating bracket, 515, an assembly nail welding gun adjusting component, 517, an assembly nail welding gun, 518 and an assembly nail welding sensor.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1 to 14, the automatic assembly system for the straight pipe flange for welding before bending comprises a tray type material storage and feeding unit 1, a rotary manipulator unit 2, a flange coding unit 3, a truss manipulator unit 4 and an assembly nail welding unit 5;
a plurality of groups of flanges are arranged on the tray type material storing and feeding unit 1;
the rotary manipulator unit 2 is used for grabbing flanges placed on the tray type material storing and feeding unit 1, the rotary manipulator unit 2 comprises a rotary manipulator beam 27 capable of horizontally rotating, a vertical rotary manipulator lifting mechanism 28 is arranged at the end part, away from the rotary vertical shaft, of the rotary manipulator beam 27, and a rotary manipulator clamping jaw 29 used for clamping the flanges is arranged at the bottom end of the rotary manipulator lifting mechanism 28;
the flange coding unit 3 comprises a flange coding machine, and the flange coding machine is used for receiving the flange clamped by the rotary manipulator unit 2; the flange coding machine is also used for coding the flange;
the truss manipulator unit 4 is used for clamping a flange placed on the tray type material storing and feeding unit 1 or a flange subjected to code printing on a flange code printing machine, and an electric clamping jaw capable of driving the flange to move in three dimensions and rotate around a horizontal shaft is arranged on the truss manipulator unit 4;
the assembly tack welding unit 5 includes an assembly tack welding supporting mechanism 53 for supporting the pipe, an assembly tack welding clamping mechanism 54 for clamping the flange transferred from the truss robot unit 4 to both ends of the pipe, and an assembly tack welding torch 517 for welding the flange to both ends of the pipe.
The tray type material storing and feeding unit 1 comprises a material storing base 12, and the center of the upper surface of the material storing base 12 is connected to the center of a horizontal material storing rotary disc 11 through a rotating shaft driven by a first motor; a plurality of turntable round openings are arranged on the material storage turntable 11 around the center of the material storage turntable 11; the distances between the centers of the round openings of the plurality of turntables and the center of the material storage turntable 11 are the same;
a material storage chuck limiting column 15 is embedded in the round opening of the rotary table in a sliding mode, the top end of the material storage chuck limiting column 15 is connected to a material storage chuck 13, the material storage chuck 13 is stacked on the upper surface of the material storage rotary table 11, and the caliber of the material storage chuck 13 is larger than that of the round opening of the rotary table;
at least three vertical material storage flange limiting columns 16 are arranged on the upper surface of the material storage chuck 13 around the center of the material storage chuck 13;
the side surface of the material storage base 12 is connected with a material storage and supporting mechanism 18 for vertically pushing the material storage chuck limiting column 15;
the side surface of the material storage base 12 is also connected with a material storage bracket 19, and the top end of the material storage bracket 19 extends to the upper part of the outer edge of the material storage chuck 13; a stock laser sensor 110 is connected to the top end of the stock cradle 19.
The rotary manipulator base box comprises a rotary manipulator base box body 21, wherein one inner side wall of the rotary manipulator base box body 21 is hinged with a fixed end of a rotary manipulator cylinder 22, a telescopic end of the rotary manipulator cylinder 22 is hinged with a rotary manipulator hinged plate 210, the rotary manipulator hinged plate 210 is horizontally fixed on the bottom surface of a rotary manipulator rotary bottom column 25, and the rotary manipulator rotary bottom column 25 penetrates out from bottom to top and is axially fixed on a bearing arranged on the top plate of the rotary manipulator base box body 21;
a rotary manipulator rotary upright post 26 is vertically fixed on the top surface of the rotary manipulator rotary bottom post 25, a horizontal rotary manipulator beam 27 is connected on the top surface of the rotary manipulator rotary upright post 26, a vertical rotary manipulator lifting mechanism 28 is arranged at one end of the rotary manipulator beam 27 far away from the rotary manipulator rotary upright post 26, and a downward rotary manipulator clamping jaw 29 is arranged at the bottom end of the rotary manipulator lifting mechanism 28; the swing manipulator clamping jaw 29 is positioned outside the swing manipulator base box 21 in the horizontal direction;
two swing manipulator stop plates 24 are vertically arranged on the upper surface of the top plate of the swing manipulator base box 21; a rotary manipulator upright post baffle plate 23 is horizontally fixed on the side wall of the rotary manipulator rotary upright post 26, and the rotary manipulator upright post baffle plate 23 is limited in a rotation range with a rotation angle range theta by the two rotary manipulator baffle plates 24.
The flange coding machine comprises a coding machine base, a coding machine chuck 31 arranged on the coding machine base and used for clamping the flange, and a coding gun 32 arranged on the coding machine base and used for coding the flange.
The truss manipulator unit 4 comprises a horizontal truss manipulator first cross beam 43 supported by a truss manipulator strut 41, a truss manipulator first walking support 44 is erected on the side face of the truss manipulator first cross beam 43 through a guide rail, the truss manipulator first walking support 44 is connected to a horizontal truss manipulator second cross beam 45, and the truss manipulator second cross beam 45 is perpendicular to the truss manipulator first cross beam 43; the first traveling bracket 44 of the truss manipulator is connected to a first lead screw, and the first lead screw is connected to a first motor fixed on a first cross beam 43 of the truss manipulator;
a second walking bracket is erected on the side surface of the second cross beam 45 of the truss manipulator through a guide rail and connected to the vertical longitudinal beam 47 of the truss manipulator; the second walking bracket is connected to a second screw rod, and the second screw rod is connected to a second motor fixed on a second cross beam 45 of the truss manipulator;
the bottom of the truss manipulator longitudinal beam 47 is hinged with a chassis through a horizontal truss manipulator hinge rotating shaft 49, a rotating motor is fixed on the chassis, and the rotating shaft of the rotating motor is connected with an electric clamping jaw positioned below the chassis;
the two ends of the truss manipulator hinge rotating shaft 49 are fixed on one side edge of the bottom of the truss manipulator longitudinal beam 47, a truss manipulator support sliding rail 411 is arranged at the side position of the truss manipulator longitudinal beam 47 corresponding to the side edge, a truss manipulator sensor support 412 extending vertically and downwards is erected on the truss manipulator support sliding rail 411, and a truss manipulator laser sensor 413 is fixed at the bottom end of the truss manipulator sensor support 412; the truss manipulator sensor bracket 412 is connected to a third lead screw, which is connected to a third motor fixed on the truss manipulator longitudinal beam 47;
the other side surface of the truss manipulator longitudinal beam 47 is also connected to the fixed end of the truss manipulator hydraulic cylinder 48 through a first connecting piece, the telescopic end of the truss manipulator hydraulic cylinder 48 is hinged to the truss manipulator second connecting piece 410 vertically downwards, and the truss manipulator second connecting piece 410 is fixed to the chassis.
The assembly nail welding unit 5 comprises an assembly nail welding base 51, assembly nail welding movable bases 52 are respectively fixed at two ends of the assembly nail welding base 51, and an assembly nail welding supporting mechanism 53 and an assembly nail welding clamping mechanism 54 are respectively fixed on each of the two assembly nail welding movable bases 52;
the assembly nail welding supporting mechanism 53 comprises an assembly nail welding supporting box body 55, an assembly nail welding bracket 56 is arranged at the top of the assembly nail welding supporting box body 55, and an assembly nail welding roller 57 for supporting the end part of the pipe fitting is arranged on the assembly nail welding bracket 56;
the assembly nail welding clamping mechanism 54 comprises an assembly nail welding chuck box body 510, one side of the assembly nail welding chuck box body 510 is connected with an assembly nail welding electric chuck 513 used for clamping the flange through a horizontally extending assembly nail welding connecting column;
a rotatable assembly nail welding rotary gear 511 is arranged around the assembly nail welding connecting column, and the teeth of the assembly nail welding rotary gear 511 are meshed with an assembly nail welding driving gear 512; the assembly nail welding driving gear 512 is rotatably arranged on the side wall of the assembly nail welding chuck box body 510 and is driven by motor power;
assembly nail welds slewing gear 511 still fixed connection in curved assembly nail and welds rotatory bracket 514, and assembly nail welds rotatory bracket 514 one end and is provided with assembly nail and welds sensor 518, and the assembly nail welds the other end of rotatory bracket 514 and is provided with assembly nail and welds welder 517.
As for the tray type stock feeding unit 1, more specifically:
the upper surface of the material storage rotary disc 11 is provided with a material storage lifting ring 14.
The material storage and supporting mechanism 18 comprises a second motor fixed on the material storage base 12, the second motor is connected to a vertical screw rod, and the screw rod is connected to a vertical push rod.
Three material storage flange limiting columns 16 are arranged, and the three material storage flange limiting columns 16 are arranged at the edge of the material storage chuck 13 and located at three vertexes of an equilateral triangle.
The first motor is disposed in the stock base 12.
The stock holder 19 is an L-shaped bar.
The material holding and supporting mechanism 18 can be implemented in many ways, only one of which is described above. The push rod can be pushed to move up and down through the arrangement of a hydraulic cylinder and a guide rail.
When the tray type material storing and feeding unit 1 is used, the material storing flange limiting column 16 of each material storing chuck 13 can be specially arranged in position according to flanges with different specifications, so that each material storing chuck 13 can correspond to a flange with one specification; flanges with different specifications are respectively placed on different material storage chucks 13 and are limited through material storage flange limiting columns 16.
When the flanges (flanges at two ends of a straight pipe) need to be grabbed, the first motor drives the stock turntable 11 to rotate through rotation, the flanges meeting the specification are rotated to be right above the stock supporting mechanism 18 through programming or manual control switches, the stock supporting mechanism 18 is started to move upwards to push the stock chuck 13 to move upwards, and when the topmost flange touches the horizontal position detected by the stock laser sensor 110, the second motor stops, so that the topmost flange is conveyed to the specific position, and the subsequent mechanical arm is convenient to clamp; after the manipulator clamps a flange, the material storage laser sensor 110 detects that the flange disappears, and the material storage material supporting mechanism 18 moves upwards after receiving a signal until the material storage laser sensor 110 detects the flange, so that the flange with the required specification is moved to the position again, and the clamping is convenient. When the flange is not needed any more or the required specification of the flange is changed, the material storage and supporting mechanism 18 moves downwards, and the original material storage chuck 13 returns.
As the swing robot unit 2, more specifically:
the swing manipulator lifting mechanism 28 comprises a vertical lifting shell, and a swing manipulator clamping jaw 29 is fixed at the bottom of the lifting shell;
a vertical sliding chute is arranged on one side surface of the lifting shell facing the rotary manipulator beam 27, and a threaded seat is horizontally arranged in the lifting shell and is connected and fixed to the rotary manipulator beam 27 through a connecting rod penetrating through the sliding chute;
a motor is fixed on the inner top surface of the lifting shell, and a main shaft end of the motor is vertically downwards connected with a screw rod; the screw rod is screwed into a threaded hole formed in the threaded seat from top to bottom.
Preferably, the swing robot jaw 29 is a motorized jaw.
Preferably, θ is in the range of 90 ° to 110 °.
Preferably, θ is 100 °.
The invention can be used for transferring the flange between two fixed points. Specifically, through the expansion and contraction of the swing manipulator cylinder 22, the swing manipulator hinge plate 210 drives the swing manipulator swing bottom post 25 to rotate, and the swing manipulator swing bottom post 25 further drives the swing manipulator swing upright post 26 to rotate in a rotation area between the two swing manipulator stop plates 24; the position is adjusted before the operation, so that when the rotary manipulator upright post baffle plate 23 on the rotary manipulator rotary upright post 26 touches one of the rotary manipulator baffle plates 24, the rotary manipulator clamping jaw 29 is just above the position of the flange to be picked up, and the flange can be clamped by controlling the rotary manipulator lifting mechanism 28 to descend and closing the rotary manipulator clamping jaw 29 (which can be an electric clamping jaw); similarly, the pre-operative position is adjusted such that when the swing robot upright stop 23 on the swing robot swing upright 26 touches the other swing robot stop 24, the swing robot gripper 29 is located just above the location of the flange to be transferred for storage, and the flange can be released by controlling the swing robot lifting mechanism 28 to lower and by opening the swing robot gripper 29.
The lifting principle of the swing manipulator lifting mechanism 28 is as follows: the screw rod is driven to rotate through the motor, the screw rod can be driven to rotate in the threaded seat, and the threaded seat is fixed with the rotary manipulator beam 27 through the connecting rod, so that the threaded seat cannot move, the whole relative lifting shell can move up and down, and finally the rotary manipulator clamping jaw 29 is driven to move. Of course, this is only one embodiment, and there are many ways to achieve lifting.
The application of the swing manipulator unit 2 in the system of the invention is as follows: the flange grabbing device can be used for grabbing the flange from the tray type material storing and feeding unit 1, rotationally moving the flange to the flange coding machine, and achieving automatic grabbing of the flange and feeding operation of the flange on the flange coding machine.
When the automatic positioning device is used, the specific positions of the tray type material storing and feeding unit 1, the rotary manipulator unit 2 and the flange coding machine are accurately positioned. The rotary manipulator rotary upright post 26 is controlled by the rotary manipulator cylinder 22 to rotate to one side until the rotary manipulator upright post baffle 23 touches one rotary manipulator baffle plate 24, then the rotary manipulator cylinder 22 stops working, at the moment, the rotary manipulator clamping jaw 29 is just positioned right above the flange tray type material storage and feeding unit 1, and the rotary manipulator lifting mechanism 28 controls the rotary manipulator clamping jaw 29 to descend and to grab the flange and then ascend; the rotary manipulator rotary upright post 26 rotates to the other side until the rotary manipulator upright post baffle plate 23 touches the other rotary manipulator baffle plate 24, at the moment, the rotary manipulator clamping jaw 29 is just positioned right above the flange coding machine, and the rotary manipulator lifting mechanism 28 controls the rotary manipulator clamping jaw 29 to descend and ascend after loosening the flange. The transfer of a plurality of flanges can be completed by repeating the actions.
To flange code printing unit 3, it mainly includes the flange code printing machine, and the flange code printing machine is including beating the ink recorder base, setting up the code printing machine chuck 31 on beating the ink recorder base and setting up the code printing rifle 32 on beating the ink recorder base. Code printer chuck 31 is used for the fixed flange, beats sign indicating number rifle 32 and is used for beating the sign indicating number to the flange. The flange coding machine is a mature technology in the prior art, is used for printing a bar code on a flange as an identifier, and is available on the market, so that more descriptions are not provided here.
As the truss manipulator unit 4, more specifically:
the truss manipulator sensor support 412 is an L-shaped support.
The truss manipulator sensor support 412 includes a horizontal bar and a vertical bar, the horizontal bar is horizontally connected to a third traveling support, and the third traveling support is mounted on a truss manipulator support slide 411.
The third screw rod is connected with the third travelling bracket.
The electric clamping jaw is in a three-jaw hand form.
At least two first traveling supports 44 of the truss manipulator are erected on the first beam 43 of the truss manipulator.
In the attached drawings, the drawing of a first motor, a first screw rod, a second motor, a second screw rod, a third motor, a third screw rod and a third travelling bracket is omitted for the convenience of drawing and clear composition. These driving means can be achieved by different means, the screw pushing being only one of them and therefore not emphasized in the figures.
When the truss manipulator unit 4 is used, the electric clamping jaw can be driven to move left and right through the movement of the first walking support 44 of the truss manipulator, the electric clamping jaw can be driven to move front and back through the movement of the second walking support, and the electric clamping jaw can be driven to move up and down through the expansion and contraction of the hydraulic cylinder 48 of the truss manipulator; the electric clamping jaw can move in the three-dimensional direction; in addition, the electric clamping jaw can be driven to rotate by the rotating motor; the clamping process of the electric clamping jaw can be controlled by a motor arranged on the electric clamping jaw.
During straight tube and flange assembly operation, two electronic clamping jaws can follow tray formula stock material loading unit 1 or flange coding machine up-down motion respectively and snatch the flange, snatch electronic clamping jaw behind the flange and carry out upward movement again, extract the flange to a take the altitude. Next, by extending the truss manipulator hydraulic cylinder 48 downward, the electric clamping jaw can be turned 90 ° around the truss manipulator hinge rotating shaft 49, and at this time, the truss manipulator sensor support 412 is controlled to move downward, the truss manipulator laser sensor 413 stops moving when detecting the position of the flange hole, and at this time, the electric clamping jaw is rotated by the rotating motor, and when the truss manipulator laser sensor 413 detects the flange hole again, the distance between the two flange holes can be measured. When the truss manipulator laser sensor 413 cannot detect the position of the flange hole for the first time, the position of the flange hole can be adjusted through the rotating motor to be detected.
After the distance between the two holes is detected and the model is determined to be the selected model, the flange can be rotated by a preset rotation angle according to the positioning requirement of subsequent assembly in a positive state (the flange hole corresponds to the truss manipulator laser sensor 413) (for example, if the flange needs to be vertically positioned in the middle of the two holes, the flange can be reversely rotated by a half distance angle between the two holes), and then the subsequent assembly can be carried out. During assembly, the truss manipulator sensor support 412 moves upward so that the truss manipulator laser sensor 413 does not obscure the flange. At the moment, the flanges clamped by the two electric clamping jaws are opposite, a pipe is placed between the two flanges, and the two flanges can be accurately assembled on the pipe by controlling the two electric clamping jaws to be close to each other. And after one pipe is processed, repeating the above actions to process a second pipe. In the system of the invention, however, the flange is transferred to the assembly nail welding unit 5 for special assembly.
As for the assembly tack welding unit 5, it is described more specifically as follows:
the assembly nail welding unit 5 is provided with a rectangular assembly nail welding base 51, the two ends of the assembly nail welding base 51 are fixed with movable stock bases, and the assembly nail welding movable bases 52 ensure that the invention can be suitable for straight pipes with different length sizes. The assembly tack welding clamping mechanism 54 and the assembly tack welding supporting mechanism 53 are fixed on the assembly tack welding moving base 52. The assembly nail welding clamping mechanism 54 and the assembly nail welding supporting mechanism 53 on the assembly nail welding moving base 52 are arranged oppositely at two ends of the assembly nail welding base 51.
The assembly nail welding supporting mechanism 53 is provided with an assembly nail welding supporting box body 55, an assembly nail welding bracket 56 is fixed at the top of the assembly nail welding supporting box body 55, two assembly nail welding rollers 57 are fixed on the assembly nail welding bracket 56 through steel plates, and the two assembly nail welding rollers 57 are V-shaped. A servo motor is arranged in the assembly nail welding supporting box body 55, and a motor shaft of the servo motor is fixedly connected with the assembly nail welding bracket 56, so that the assembly nail welding bracket 56 can be adjusted up, down, left and right. The straight pipe can be adjusted up, down, left and right by adjusting up, down, left and right of the assembly nail welding bracket 56, the center of the straight pipe and the flange can be corrected, and welding can be carried out after the centers of the straight pipe and the flange are corrected and overlapped. The driving buttons of the servo motor are arranged on the outer surface of the assembly nail welding supporting box body 55, namely an assembly nail welding first button 58 and an assembly nail welding second button 59.
The assembly nail welding clamping mechanism 54 is provided with an assembly nail welding chuck box body 510, one side of the assembly nail welding chuck box body 510 is provided with an assembly nail welding driving gear 512, the assembly nail welding driving gear 512 is meshed with the assembly nail welding rotary gear 511, the assembly nail welding driving gear 512 rotates to drive the assembly nail welding rotary gear 511 to rotate, the assembly nail welding driving gear 512 is driven by a motor, and the motor of the assembly nail welding driving gear 512 is arranged in the assembly nail welding chuck box body 510. The gear shaft of the assembly nail welding rotary gear 511 is connected with an assembly nail welding electric chuck 513, an arc-shaped assembly nail welding rotary bracket 514 is further fixed on the assembly nail welding electric chuck 513, a circular support frame extends out of the tail of the arc-shaped assembly nail welding bracket 56, the circular support frame is sleeved on the gear shaft and is fixed with the gear shaft, and the circular support frame is arranged between the assembly nail welding electric chuck 513 and the assembly nail welding rotary gear 511. An assembly nail welding sensor 518 is arranged at one end of the assembly nail welding rotating bracket 514, so that dislocation cannot occur after the straight pipe is contacted with the flange, and an assembly nail welding gun 517 is fixed at the other end of the assembly nail welding rotating bracket 514. The assembly nail welding rotating bracket 514 is positioned in front of the assembly nail welding electric chuck 513, and an assembly nail welding sensor 518 arranged on the assembly nail welding rotating bracket 514 is convenient to correct the gap between the flange and the straight pipe. The assembly nail welding gun 517 is fixed on the assembly nail welding rotating bracket 514 through an assembly nail welding gun 517 adjusting device, the assembly nail welding gun 517 adjusting device is provided with a longitudinal rail perpendicular to the assembly nail welding chuck box 510 and a transverse rail parallel to the assembly nail welding chuck box 510, the assembly nail welding gun 517 is connected with the transverse rail in a sliding mode, the transverse rail is connected with the longitudinal rail in a sliding mode, and the position of the assembly nail welding gun 517 relative to the straight pipe and the flange can be conveniently adjusted.
The invention is controlled by an external control system, an operator operates the assembly nail welding movable base 52 and the assembly nail welding driving gear 512 through the control system, data monitored by the assembly nail welding sensor 518 is also transmitted to the control system, and the operator adjusts the assembly nail welding bracket 56 after reading the data, so as to ensure that the center of the straight pipe is aligned with the center of the flange.
After receiving the straight pipe flange processing instruction data, the straight pipe flange automatic assembly device can automatically adjust the positions of the assembly nail welding moving bases 52 on the left side and the right side according to the length of the straight pipe to move to the optimum positions, the assembly nail welding electric chuck 513 receives the flange which is captured and transported by the truss manipulator, and the straight pipe is transported to the assembly nail welding bracket 56 through a pipe transportation line. The assembly nail welding rotating bracket 514 rotates for a circle around the assembly nail welding electric chuck 513, the assembly nail welding sensor 518 detects the clearance between the straight pipe and the flange, the upper, lower, left and right positions of the assembly nail welding bracket 56 are adjusted through the assembly nail welding first button 58 and the assembly nail welding second button 59, the centering and aligning requirements of the two ends of the straight pipe and the flange are met, and the adjustment is stopped when the clearance is proper. And after the adjusting component of the assembly nail welding gun 517 on the assembly nail welding rotating bracket 514 adjusts the position of the assembly nail welding gun 517 to be proper, performing nail welding operation, wherein the assembly nail welding rotating bracket 514 rotates for 120 degrees twice in the nail welding process, and the straight pipe flange is respectively nailed at the welding position, and when the nail welding operation is completed, the straight pipe flange automatic assembly nail welding operation is completed. And after the assembly and the processing of one pipe are finished, repeating the actions to carry out the assembly and the processing of a second pipe.
When the system is used, the tray type material storing and feeding unit 1 is used for storing different flanges, the rotating manipulator unit 2 is utilized to transfer the flanges to the flange code printing unit 3 for printing codes, and the coded flanges are transferred to the assembly nail welding unit 5 for welding the pipe fittings through the transfer of the truss manipulator unit 4; since only one of the two flanges at the two ends of one pipe fitting needs to be coded in principle, the two manipulators of the truss manipulator unit 4 can be used for respectively taking the flanges from the tray type material storing and feeding unit 1 and the flange coding machine and respectively placing the flanges on the two assembling nail welding electric chucks 513 of the assembling nail welding unit 5, and then, the flanges and the straight pipes arranged on the assembling nail welding bracket 56 are subjected to nail welding. All driving components of a hydraulic cylinder, an air cylinder, a motor and the like of the system are connected with the control system to carry out collective control, so that the flange assembling process can be automated.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.

Claims (6)

1. A straight pipe flange automatic assembly system for welding before bending is characterized by comprising a tray type material storage and feeding unit (1), a rotary manipulator unit (2), a flange coding unit (3), a truss manipulator unit (4) and an assembly nail welding unit (5);
a plurality of groups of flanges are arranged on the tray type material storing and feeding unit (1);
the rotary manipulator unit (2) is used for grabbing flanges placed on the tray type material storing and feeding unit (1), the rotary manipulator unit (2) comprises a rotary manipulator beam (27) capable of horizontally rotating, a vertical rotary manipulator lifting mechanism (28) is arranged at the end part, far away from a rotary vertical shaft, of the rotary manipulator beam (27), and a rotary manipulator clamping jaw (29) used for clamping the flanges is arranged at the bottom end of the rotary manipulator lifting mechanism (28);
the flange coding unit (3) comprises a flange coding machine, and the flange coding machine is used for receiving the flange clamped by the rotary manipulator unit (2); the flange code printer is also used for printing codes on the flange;
the truss manipulator unit (4) is used for clamping a flange placed on the tray type material storing and feeding unit (1) or a flange subjected to code printing on the flange code printing machine, and an electric clamping jaw capable of driving the flange to move in a three-dimensional mode and rotate around a horizontal shaft is arranged on the truss manipulator unit (4);
the assembly nail welding unit (5) comprises an assembly nail welding supporting mechanism (53) for supporting a pipe, an assembly nail welding clamping mechanism (54) for clamping the flange transferred from the truss manipulator unit (4) at two ends of the pipe, and an assembly nail welding gun (517) for welding the flange at two ends of the pipe.
2. The automatic assembly system of the straight pipe flange for welding before bending according to claim 1, wherein the tray type stock feeding unit (1) comprises a stock base (12), and the center of the upper surface of the stock base (12) is connected to the center of a horizontal stock turntable (11) through a rotating shaft driven by a first motor; a plurality of rotary disc round openings are arranged on the material storage rotary disc (11) around the center of the material storage rotary disc (11); the centers of the round openings of the plurality of turntables are the same with the center of the material storage turntable (11);
a material storage chuck limiting column (15) is embedded in the round opening of the rotary table in a sliding mode, the top end of the material storage chuck limiting column (15) is connected to a material storage chuck (13), the material storage chuck (13) is stacked on the upper surface of the material storage rotary table (11), and the caliber of the material storage chuck (13) is larger than that of the round opening of the rotary table;
at least three vertical material storage flange limiting columns (16) are arranged on the upper surface of the material storage chuck (13) around the center of the material storage chuck (13);
the side surface of the stock base (12) is connected with a stock supporting mechanism (18) which is used for vertically pushing the stock chuck limiting column (15);
the side surface of the stock base (12) is also connected with a stock bracket (19), and the top end of the stock bracket (19) extends to the position above the outer edge of the stock chuck (13); the top end of the stock bracket (19) is connected with a stock laser sensor (110).
3. The automatic assembly system for the straight pipe flange for welding before bending according to claim 1, which comprises a rotary manipulator base box body (21), wherein one inner side wall of the rotary manipulator base box body (21) is hinged with a fixed end of a rotary manipulator cylinder (22), a telescopic end of the rotary manipulator cylinder (22) is hinged with a rotary manipulator hinged plate (210), the rotary manipulator hinged plate (210) is horizontally fixed on the bottom surface of a rotary manipulator rotary bottom pillar (25), and the rotary manipulator rotary bottom pillar (25) penetrates out from bottom to top and is axially fixed on a bearing arranged on a top plate of the rotary manipulator base box body (21);
a rotary manipulator rotary upright post (26) is vertically fixed on the top surface of the rotary manipulator rotary bottom post (25), a horizontal rotary manipulator beam (27) is connected to the top surface of the rotary manipulator rotary upright post (26), a vertical rotary manipulator lifting mechanism (28) is arranged at one end, far away from the rotary manipulator rotary upright post (26), of the rotary manipulator beam (27), and a downward rotary manipulator clamping jaw (29) is arranged at the bottom end of the rotary manipulator lifting mechanism (28); the rotary manipulator clamping jaw (29) is positioned on the outer side of the rotary manipulator base box body (21) in the horizontal direction;
two swing manipulator stop plates (24) are vertically arranged on the upper surface of a top plate of the swing manipulator base box body (21); the side wall of the rotary manipulator rotary upright post (26) is horizontally fixed with a rotary manipulator upright post baffle (23), and the rotary manipulator baffle (24) limits the rotary manipulator upright post baffle (23) within a rotation range of theta within a rotation angle range.
4. The automatic assembly system for the straight pipe flange for welding before bending according to claim 1, wherein the flange coding machine comprises a coding machine base, a coding machine chuck (31) which is arranged on the coding machine base and faces upwards for clamping the flange, and a coding gun (32) which is arranged on the coding machine base and is used for coding the flange.
5. The automatic welding-before-bending straight pipe flange assembling system according to claim 1, wherein the truss manipulator unit (4) comprises a horizontal truss manipulator first cross beam (43) supported by a truss manipulator strut (41), a truss manipulator first walking support (44) is erected on the side surface of the truss manipulator first cross beam (43) through a guide rail, the truss manipulator first walking support (44) is connected to a horizontal truss manipulator second cross beam (45), and the truss manipulator second cross beam (45) is perpendicular to the truss manipulator first cross beam (43); the first walking bracket (44) of the truss manipulator is connected to a first screw rod, and the first screw rod is connected to a first motor fixed on a first cross beam (43) of the truss manipulator;
a second walking support is erected on the side face of the second cross beam (45) of the truss manipulator through a guide rail and connected to the vertical truss manipulator longitudinal beam (47); the second walking bracket is connected to a second screw rod, and the second screw rod is connected to a second motor fixed on a second cross beam (45) of the truss manipulator;
the bottom of the truss manipulator longitudinal beam (47) is hinged with a chassis through a horizontal truss manipulator hinge rotating shaft (49), a rotating motor is fixed on the chassis, and the rotating motor rotating shaft is connected with an electric clamping jaw positioned below the chassis;
two ends of the truss manipulator hinge rotating shaft (49) are fixed to one side edge of the bottom of the truss manipulator longitudinal beam (47), a truss manipulator support sliding rail (411) is arranged at the side position of the truss manipulator longitudinal beam (47) corresponding to the side edge, a truss manipulator sensor support (412) extending vertically and downwards is erected on the truss manipulator support sliding rail (411), and a truss manipulator laser sensor (413) is fixed at the bottom end of the truss manipulator sensor support (412); the truss manipulator sensor bracket (412) is connected to a third screw rod, and the third screw rod is connected to a third motor fixed on the truss manipulator longitudinal beam (47);
the other side of truss manipulator longeron (47) still connects in the stiff end of truss manipulator pneumatic cylinder (48) through first connecting piece, the flexible end of truss manipulator pneumatic cylinder (48) is vertical to be articulated downwards in truss manipulator second connecting piece (410), truss manipulator second connecting piece (410) are fixed in the chassis.
6. The automatic assembly system of the straight pipe flange for welding before bending according to claim 1, wherein the assembly nail welding unit (5) comprises an assembly nail welding base (51), assembly nail welding movable bases (52) are respectively fixed at two ends of the assembly nail welding base (51), and an assembly nail welding supporting mechanism (53) and an assembly nail welding clamping mechanism (54) are respectively fixed on the two assembly nail welding movable bases (52);
the assembly nail welding supporting mechanism (53) comprises an assembly nail welding supporting box body (55), an assembly nail welding bracket (56) is arranged at the top of the assembly nail welding supporting box body (55), and an assembly nail welding roller (57) for supporting the end part of the pipe fitting is arranged on the assembly nail welding bracket (56);
the assembly nail welding clamping mechanism (54) comprises an assembly nail welding chuck box body (510), and one side of the assembly nail welding chuck box body (510) is connected to an assembly nail welding electric chuck (513) used for clamping the flange through an assembly nail welding connecting column which horizontally extends out;
a rotatable assembly nail welding rotary gear (511) is arranged around the assembly nail welding connecting column, and the teeth of the assembly nail welding rotary gear (511) are meshed with an assembly nail welding driving gear (512); the assembly nail welding driving gear (512) is rotationally arranged on the side wall of the assembly nail welding chuck box body (510) and is driven by motor power;
assembly nail welds slewing gear (511) still fixed connection in curved assembly nail welds rotatory bracket (514), assembly nail welds rotatory bracket (514) one end and is provided with assembly nail and welds sensor (518), assembly nail welds rotatory bracket (514) other end and is provided with assembly nail and welds welder (517).
CN202110720163.7A 2021-06-28 2021-06-28 Automatic assembly system for straight pipe flange for welding before bending Pending CN113414561A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110720163.7A CN113414561A (en) 2021-06-28 2021-06-28 Automatic assembly system for straight pipe flange for welding before bending

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110720163.7A CN113414561A (en) 2021-06-28 2021-06-28 Automatic assembly system for straight pipe flange for welding before bending

Publications (1)

Publication Number Publication Date
CN113414561A true CN113414561A (en) 2021-09-21

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110720163.7A Pending CN113414561A (en) 2021-06-28 2021-06-28 Automatic assembly system for straight pipe flange for welding before bending

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114211245A (en) * 2021-12-16 2022-03-22 恒林家居股份有限公司 Automatic assembly device of seat tray locking mechanism
CN114275511A (en) * 2021-12-16 2022-04-05 恒林家居股份有限公司 Automatic feeding device and method for seat tray torsion spring assembly
CN114770091A (en) * 2022-01-24 2022-07-22 恒林家居股份有限公司 Automatic assembling method for seat tray
CN115625687A (en) * 2022-12-20 2023-01-20 广州汉东工业自动化装备有限公司 A move and carry truss manipulator for cylinder cap

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114211245A (en) * 2021-12-16 2022-03-22 恒林家居股份有限公司 Automatic assembly device of seat tray locking mechanism
CN114275511A (en) * 2021-12-16 2022-04-05 恒林家居股份有限公司 Automatic feeding device and method for seat tray torsion spring assembly
CN114770091A (en) * 2022-01-24 2022-07-22 恒林家居股份有限公司 Automatic assembling method for seat tray
CN115625687A (en) * 2022-12-20 2023-01-20 广州汉东工业自动化装备有限公司 A move and carry truss manipulator for cylinder cap

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