CN113909766B - Intersecting line weld joint welding equipment and method - Google Patents

Intersecting line weld joint welding equipment and method Download PDF

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Publication number
CN113909766B
CN113909766B CN202111325205.3A CN202111325205A CN113909766B CN 113909766 B CN113909766 B CN 113909766B CN 202111325205 A CN202111325205 A CN 202111325205A CN 113909766 B CN113909766 B CN 113909766B
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China
Prior art keywords
fixedly connected
electric cylinder
fixed
side wall
sensor
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CN202111325205.3A
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CN113909766A (en
Inventor
杜茂华
徐世祥
孙振邦
张世全
童嘉晖
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Inner Mongolia University of Technology
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Inner Mongolia University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • 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
    • B23K10/00—Welding or cutting by means of a plasma
    • 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
    • B23K28/00—Welding or cutting not covered by any of the preceding groups, e.g. electrolytic welding
    • B23K28/02—Combined welding or cutting procedures or apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0247—Driving means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
    • 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
    • B23K7/00—Cutting, scarfing, or desurfacing by applying flames
    • 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
    • B23K7/00—Cutting, scarfing, or desurfacing by applying flames
    • B23K7/10—Auxiliary devices, e.g. for guiding or supporting the torch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/06—Tubes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

Abstract

The invention discloses intersecting line weld welding equipment which comprises a main pipe, a branch pipe, a clamping table and an inner rotation measuring mechanism, wherein the end part of the branch pipe is overlapped with the side wall of the main pipe, the main pipe is fixed through the clamping table, the middle part of the outer side wall of the branch pipe is sleeved with the fixed rotation mechanism, the outer side wall of the fixed rotation mechanism is fixedly connected with the upper part of the clamping table, and the inner wall of the branch pipe is fixedly connected with the inner rotation measuring mechanism. According to the invention, through setting the first distance measuring component and the second distance measuring component, intersecting line data with smaller errors can be obtained through calculation, and as the measuring, cutting and welding processes are carried out, the fixed slewing mechanism is not required to be disassembled and assembled, the intersecting line data, the cutting branch pipe and the welding are all completed on the same equipment, the manual positioning and welding spot starting are not required, the relative positions of the fixed sleeve of the fixed slewing mechanism and the branch pipe are always unchanged, so that the running track of the cutting and welding and the intersecting line data can be completely overlapped, and the precision after the welding is improved.

Description

Intersecting line weld joint welding equipment and method
Technical Field
The invention relates to the technical field of intersecting line welding. In particular to an intersecting line weld joint welding device and a method.
Background
In welding, the intersecting line welding is very common, wherein two pipelines are used for intersecting welding, intersecting line cutting or manual scribing cutting is generally carried out on the pipelines through a numerical control machine in the center of the prior art, the numerical control machine cutting is high in precision, but the equipment is expensive, certain factory installation is needed, the use flexibility is not high, the manual scribing cutting precision is poor, and particularly when the diameter of the pipelines is large, repeated correction is needed for many times, so that the efficiency is low; in addition, during intersecting line welding, more inconvenience still exists, the intersecting line is a complex three-dimensional curve, welding spot starting positioning is needed during welding by a welding robot, deviation is easy to occur in a welding path, welding path correction is difficult, and welding quality is reduced.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to provide the intersecting line weld welding equipment and the intersecting line weld welding method which are flexible to use and integrate automatic measurement, cutting and welding.
In order to solve the technical problems, the invention provides the following technical scheme: the intersecting line weld welding equipment comprises a main pipe and a branch pipe, wherein the end part of the branch pipe is overlapped with the side wall of the main pipe, the intersecting line weld welding equipment further comprises a clamping table, the main pipe is fixed through the clamping table, the middle part of the outer side wall of the branch pipe is sleeved with a fixed rotation mechanism, the outer side wall of the fixed rotation mechanism is fixedly connected with the upper part of the clamping table, the inner wall of the branch pipe is fixedly connected with an inner rotation measurement mechanism, the bottom of the fixed rotation mechanism is fixedly connected with a first driving assembly, and the bottom of the first driving assembly is provided with a second ranging assembly; the second distance measuring component measures the vertical distance between the current position of the second distance measuring component and the outer side wall of the main pipe, and the inner rotation measuring mechanism measures the vertical distance between the current position of the second distance measuring component and the outer side wall of the main pipe.
Above-mentioned intersecting line weld joint welding equipment, fixed slewing mechanism include fixed cover, three or more first electronic jar, and with fixed cover coaxial arrangement has the gyration cover, first electronic jar along the radial setting of fixed cover in the fixed cover, the first end of first electronic jar with the inside wall fixed connection of fixed cover, three or more first electronic jar along the inside wall circumference evenly distributed of fixed cover, the second end of first electronic jar is all fixedly connected with first backup pad, first backup pad is close to the lateral wall of fixed cover centre of a circle is provided with first pressure sensor, the top and the bottom of first backup pad are all fixedly connected with first correlation sensor, pressure detection end of first pressure sensor with the lateral wall overlap joint of branch pipe, the lateral wall lower part of fixed cover has cup jointed the slewing bearing, the slewing sleeve cup joints the surface of slewing bearing, the ring gear has been cup jointed on the lateral wall upper portion of slewing sleeve, the lateral wall of fixed cover is provided with the first backup pad, the output shaft of fixed cover is close to the lateral wall of fixed cover is provided with first pressure sensor, first pressure sensor is connected with through the gear with the drive gear.
According to the intersecting line welding equipment, the axis of the first correlation sensor at the top of the first support plate is overlapped with the axis of the first correlation sensor at the bottom of the first support plate and is parallel to the axis of the fixed sleeve, and the detection directions of the first correlation sensor at the top of the first support plate and the first correlation sensor at the bottom of the first support plate are opposite.
The inner rotation measuring mechanism comprises a middle sleeve, three or more than three second electric cylinders and a double-shaft motor, wherein the three or more than three second electric cylinders are uniformly distributed along the circumferential direction of the middle sleeve, the axis of any one second electric cylinder is coincident with the radial direction of the middle sleeve, the first end of the second electric cylinder is fixedly connected with the outer side wall of the middle sleeve, the second end of the second electric cylinder is sequentially and fixedly connected with a second supporting plate, a second pressure sensor and a top plate along the axial direction of the second electric cylinder, the double-shaft motor is coaxially fixed in the middle sleeve, the first output shaft end of the double-shaft motor is fixedly connected with an upper electric cylinder along the axial direction of the first electric cylinder, the telescopic rod end of the upper electric cylinder is fixedly connected with a second correlation sensor, the axial direction of the second correlation sensor is perpendicular to the axial direction of the upper electric cylinder, the second output shaft end of the double-shaft motor is fixedly connected with a lower electric cylinder, the second output shaft end of the double-shaft motor is fixedly connected with a first supporting plate, the second electric cylinder is fixedly connected with a first electric component, the lower electric motor is coaxially fixed in the middle sleeve, and the bottom of the upper electric cylinder is fixedly connected with the upper side wall of the double-shaft motor is fixedly connected with the middle sleeve; the second correlation sensor is in a pair with the first correlation sensor at the top of the first supporting plate of the fixed rotation mechanism and mutually correlation.
According to the intersecting line welding equipment, the bottom of the fixed slewing mechanism is fixedly connected with the second driving assembly and the third driving assembly, the first driving assembly, the second driving assembly and the third driving assembly are uniformly distributed along the circumference of the bottom of the fixed sleeve of the fixed slewing mechanism, the first driving assembly, the second driving assembly and the third driving assembly are identical in structure, the first driving assembly comprises a main electric cylinder, a secondary electric cylinder and a positioning electric cylinder, the telescopic rod end part of the main electric cylinder is fixedly connected with the cylinder body side wall of the secondary electric cylinder, the axes of the secondary electric cylinder and the main electric cylinder are mutually perpendicular, the cylinder body end part of the positioning electric cylinder is fixedly connected with the cylinder body side wall of the main electric cylinder, the axis of the positioning electric cylinder is mutually perpendicular to the axis of the main electric cylinder, the telescopic rod end part of the positioning electric cylinder is fixedly connected with a third correlation sensor perpendicular to the axis of the telescopic rod end part of the positioning electric cylinder, and the telescopic rod end part of the secondary electric cylinder is fixedly connected with a second distance measuring assembly; the axis of the main electric cylinder is parallel to the axis of the middle sleeve of the fixed revolving mechanism, the auxiliary electric cylinder and the positioning electric cylinder are radially arranged along the middle sleeve of the fixed revolving mechanism, the third correlation sensor is in a pair with the first correlation sensor at the lower part of the first supporting plate of the fixed revolving mechanism and mutually correlation, and the second ranging component has the same structure as the first ranging component of the inner revolving measuring mechanism; the second ranging component comprises a fixed block, a first ranging sensor and a second ranging sensor, wherein the first ranging sensor is fixedly connected to the top of the fixed block, the second ranging sensor is fixedly connected to the bottom of the fixed block, the axis of the first ranging sensor is perpendicular to the axis of the second ranging sensor, and the axis of the detection end of the first ranging sensor and the axis of the detection end of the second ranging sensor are located in the same plane; the axis of the first ranging sensor of the second ranging assembly is parallel to the axis of the auxiliary electric cylinder, the side wall of the fixed block of the second ranging assembly is fixedly connected with the end part of the telescopic rod of the auxiliary electric cylinder, and the detection end of the first ranging sensor of the second ranging assembly faces the outer side wall of the branch pipe; the fixed block side wall of the first ranging component is fixedly connected with the end part of the lower electric cylinder telescopic rod of the inner rotary measuring mechanism, the axis of the first ranging sensor of the first ranging component is parallel to the axis of the lower electric cylinder of the inner rotary measuring mechanism, and the detection end of the first ranging sensor of the first ranging component faces the inner side wall of the branch pipe.
According to the intersecting line welding equipment, the end part of the telescopic rod of the auxiliary electric cylinder of the second driving assembly is fixedly connected with the cutting assembly, and the end part of the telescopic rod of the auxiliary electric cylinder of the third driving assembly is fixedly connected with the welding assembly; the cutting assembly comprises a third ranging sensor, a first fixing frame and a cutting head, wherein the side wall of the third ranging sensor is fixedly connected with the first end of the first fixing frame, the second end of the first fixing frame is hinged with the side wall of the cutting head, a first worm wheel is coaxially and fixedly connected to a hinge shaft of the side wall of the cutting head, a first worm is meshed with the side wall of the first worm wheel, two ends of the first worm are fixedly connected with the inner side wall of the first fixing frame through a bracket, and one end of the first worm is in transmission connection with a motor; the third distance measuring sensor is coaxially arranged with the auxiliary electric cylinder of the second driving assembly, and one end of the shell of the third distance measuring sensor is fixedly connected with the end part of the telescopic rod of the auxiliary electric cylinder of the second driving assembly; the detection end of the fourth ranging sensor faces the outer side wall of the branch pipe, and the detection end of the third ranging sensor faces the outer side wall of the branch pipe.
The welding assembly comprises a fourth ranging sensor, a second fixing frame and a welding gun, wherein the side wall of the fourth ranging sensor is fixedly connected with one end of the second fixing frame, the second end of the second fixing frame is hinged with the side wall of the welding gun, a second worm wheel is coaxially and fixedly connected to a hinge shaft of the side wall of the welding gun, a second worm is meshed with the side wall of the second worm wheel, two ends of the second worm are fixedly connected with the inner side wall of the second fixing frame through a bracket, and one end of the second worm is in transmission connection with a motor; the fourth distance measuring sensor is coaxially arranged with the auxiliary electric cylinder of the second driving assembly, and one end of the shell of the fourth distance measuring sensor is fixedly connected with the end part of the telescopic rod of the auxiliary electric cylinder of the third driving assembly; and the detection end of the fourth distance measurement sensor faces the outer side wall of the branch pipe.
The intersecting line welding equipment comprises a frame body, a middle bedplate, an adjusting hydraulic cylinder and a supporting table, wherein the bottom of the inner wall of the frame body is fixedly connected with a lifting hydraulic cylinder, the top end of the lifting hydraulic cylinder is fixedly connected with the bottom of the middle bedplate, two sides of the top of the middle bedplate are fixedly connected with hinged plates, two sides of the bottom of the supporting table are fixedly connected with hinged seats, the upper parts of the side walls of the hinged plates are hinged with the hinged seats through pin shafts, one end of the adjusting hydraulic cylinder is hinged with one side of the bottom of the supporting table, the other end of the adjusting hydraulic cylinder is hinged with the middle of the top of the middle bedplate, the outer side wall of the hinged plates is fixedly connected with an angle gauge, the side wall edge line of the length direction of the supporting table is aligned with the zero-degree line of the angle gauge, the two sides of the top of the middle bedplate are provided with guide grooves and sliding grooves, the guide grooves and the sliding grooves are all arranged along the width direction of the supporting table, two sliding grooves are arranged on two sides of one guide groove, shaft holes are formed in two ends of the inner wall of the guide groove, a bidirectional screw rod is arranged in the guide groove, two ends of the bidirectional screw rod are respectively and rotatably connected in the shaft holes in two ends of the guide groove, the end parts of the bidirectional screw rod pass through the supporting table, two second ends of the bidirectional screw rod are fixedly connected with a rotary table, one side of the front surface of the rotary table, which is positioned at the center of a circle, is fixedly connected with a rotary shaft, two connecting rods are arranged on the front surfaces of the rotary table, two ends of each connecting rod are respectively and rotatably connected with two rotary shafts on the front surface of the rotary table, nuts are respectively and threadably connected with two ends of the surface of the bidirectional screw rod, clamping blocks are fixedly connected with the tops of the nuts, the bottoms of the clamping blocks are fixedly connected with sliding blocks, the sliding block is connected in the sliding groove in a sliding way; the fixed rotation mechanism is fixedly connected with the top of the support body, the fixed rotation mechanism is positioned above the support table, the axis of the fixed sleeve is parallel to the height direction of the support body, the axis of the fixed sleeve and the central line of the width of the support table are positioned on the same vertical plane, and the side walls of two clamping blocks driven by one bidirectional screw rod are overlapped with the pipe walls of the branch pipes.
An intersecting line weld welding method, comprising the steps of:
step A: fixing the main pipe through the clamping table, putting the branch pipe into the fixed rotating mechanism, fixing, adjusting the main pipe to a required angle and butting the main pipe with the branch pipe;
and (B) step (B): measuring intersecting line data by a fixed slewing mechanism and an inner slewing measuring mechanism;
step C: according to the measured intersecting line data, the second driving assembly is driven to rotate through the fixed slewing mechanism, and the cutting head is driven to cut the branch pipe through the second driving assembly;
step D: and (3) moving the branch pipe to enable the cut branch pipe to be attached to the main pipe, driving the third driving assembly to rotate through the fixed slewing mechanism according to the intersecting line data obtained through measurement, and driving the cutting welding gun to weld the branch pipe and the main pipe through the third driving assembly.
The technical scheme of the invention has the following beneficial technical effects:
1. according to the invention, the first distance measuring component and the second distance measuring component are arranged and driven by the corresponding driving structures to rotate along the axis of the branch pipe, two groups of data are obtained by measuring the axial displacement of the inner wall and the outer wall of the branch pipe relative to the main pipe respectively, intersecting line data with smaller error can be obtained through calculation, and the measuring is carried out on the main pipe directly by the distance measuring sensor, so that the measuring is convenient and the data accuracy is higher; when the fixed rotation mechanism and the inner rotation measurement mechanism rotate, initial point position information can be obtained through the second correlation sensor and the third correlation sensor, so that internal and external measurement can be synchronously performed, intersecting line data precision is further improved, and a plurality of third correlation sensors can provide repeated positioning reference points for subsequent cutting and welding, so that tracks of multiple operations can be located at the same initial point.
2. According to the invention, the cutting assembly and the welding assembly driven by the driving assembly are arranged, after intersecting line data are measured, the cutting assembly is used for cutting the pipeline, and then the main pipe and the branch pipe are welded through the welding assembly.
3. According to the invention, the fixed slewing mechanism is not required to be disassembled and assembled when the measuring, cutting and welding processes are carried out, the traditional process of calculating intersecting lines, cutting intersecting lines and welding is usually three separate processes, after cutting, the pipeline is spliced and welded, intersecting line data is required to be input into a welding robot control system, a welding starting point is positioned, the accuracy of the positioning point directly influences the welding quality, the measuring of the intersecting line data, the cutting branch pipe and the welding are all completed on the same equipment, the manual positioning of the welding point is not required, the relative positions of the fixed sleeve and the branch pipe of the fixed slewing mechanism are always unchanged, namely, the initial coordinate point of the intersecting line is unchanged, so that the running track of cutting and welding can be completely overlapped with the intersecting line data, and the accuracy after welding is greatly improved.
4. According to the invention, the pressure value of each supporting point is detected by arranging the first pressure sensor and the second pressure sensor, so that whether the positions of the fixed slewing mechanism and the inner slewing measuring mechanism relative to the branch pipes are deviated or not is judged, and the installation error is reduced; through setting up the detection lamp, can be after cutting the branch pipe and dock it with being responsible for, utilize light detection butt joint gap, be convenient for carry out intersecting line and detect.
5. According to the invention, the clamping speed of the main pipe and the branch pipe can be improved by arranging the clamping table, the axes of the branch pipe and the main pipe are positioned in the same plane, the accuracy of butt joint of the main pipe and the branch pipe is improved, the deflection is avoided, and the corresponding adjustment can be performed according to the required butt joint angle.
Drawings
FIG. 1 is a schematic elevational cross-sectional view of the present invention;
FIG. 2 is a schematic perspective view of a fixed slewing mechanism in the present invention;
FIG. 3 is a schematic perspective view of an inner rotary measuring mechanism according to the present invention;
FIG. 4 is a schematic side view of a first drive assembly and a second distance measuring assembly of the present invention;
FIG. 5 is a schematic side view of a cutting assembly of the present invention;
FIG. 6 is a schematic side view of a welding assembly of the present invention;
FIG. 7 is a schematic perspective view of a chuck table according to the present invention;
FIG. 8 is a schematic elevational view of the connecting rod of the present invention;
fig. 9 is a schematic perspective view of a clamp block according to the present invention.
The reference numerals in the drawings are as follows: 1-a main pipe; 2-branch pipes; 3-clamping table; 301-a frame body; 302-lifting hydraulic cylinders; 303—a middle platen; 304-a hinged plate; 305-hinge base; 306-angle ruler; 307-support table; 308-guide grooves; 309-chute; 310-a bidirectional screw rod; 311-clamping blocks; 312-sliders; 313-nut; 314-connecting rods; 315-adjusting a hydraulic cylinder; 4-a fixed slewing mechanism; 401-fixing sleeve; 402-driving a motor; 403-a slewing bearing; 404-turning sleeve; 405-gear ring; 406—a first electric cylinder; 407-a first support plate; 408-a first pressure sensor; 409-a first correlation sensor; 5-an inner rotation measuring mechanism; 501-middle sleeve; 502-a biaxial motor; 503-a second electric cylinder; 504-a second support plate; 505-a second pressure sensor; 506-top plate; 507-loading an electric cylinder; 508-a second correlation sensor; 509-lower electric cylinders; 510-a first ranging component; 6-a first drive assembly; 61-a second drive assembly; 62-a third drive assembly; 601-a main electric cylinder; 602-a secondary electric cylinder; 603-positioning an electric cylinder; 604-a third correlation sensor; 605-a second ranging component; 606-a first ranging sensor; 607-a fixed block; 608-a second ranging sensor; 7-a cutting assembly; 701-a third ranging sensor; 702-a first mount; 703-a cutting head; 704-a first worm gear; 705-first worm; 8-welding the assembly; 801-fourth ranging sensor; 802-a second fixing frame; 803-welding gun; 804-a second worm gear; 805-a second worm; 9-detection lamp.
Detailed Description
Referring to fig. 1, an intersecting line welding device comprises a main pipe 1 and a branch pipe 2, wherein the end part of the branch pipe 2 is overlapped with the side wall of the main pipe 1, the intersecting line welding device further comprises a clamping table 3, the main pipe 1 is fixed through the clamping table 3, a fixed rotation mechanism 4 is sleeved in the middle of the outer side wall of the branch pipe 2, the outer side wall of the fixed rotation mechanism 4 is fixedly connected with the upper part of the clamping table 3, an inner rotation measuring mechanism 5 is fixedly connected with the inner wall of the branch pipe 2, a first driving component 6 is fixedly connected with the bottom of the fixed rotation mechanism 4, and a second distance measuring component 605 is arranged at the bottom of the first driving component 6; as shown in fig. 2, the fixed revolving mechanism 4 includes a fixed sleeve 401, three or more first electric cylinders 406, and a revolving sleeve 404 coaxially disposed with the fixed sleeve 401, wherein the first electric cylinders 406 are disposed in the fixed sleeve 401 along a radial direction of the fixed sleeve 401, a first end of each first electric cylinder 406 is fixedly connected with an inner side wall of the fixed sleeve 401, the three or more first electric cylinders 406 are uniformly distributed along a circumferential direction of the inner side wall of the fixed sleeve 401, a second end of each first electric cylinder 406 is fixedly connected with a first supporting plate 407, a side wall of each first supporting plate 407 close to a center of the fixed sleeve 401 is provided with a first pressure sensor 408, a top and a bottom of each first supporting plate 407 are fixedly connected with a first correlation sensor 409, a pressure detection end of each first pressure sensor 408 is overlapped with an outer side wall of the corresponding branch pipe 2, a lower portion of the outer side wall of the fixed sleeve 401 is sleeved with a revolving bearing 403, each revolving sleeve 404 is sleeved on a surface of the revolving bearing 403, an upper side wall of the revolving sleeve is fixedly connected with a driving gear 405 of the revolving motor 402, and a driving gear 405 is sleeved on the outer side wall of the revolving sleeve 402; the axis of the first correlation sensor 409 at the top of the first support plate 407 and the axis of the first correlation sensor 409 at the bottom of the first support plate 407 are overlapped and parallel to the axis of the fixed sleeve 401, and the detection directions of the first correlation sensor 409 at the top of the first support plate 407 and the first correlation sensor 409 at the bottom of the first support plate 407 are opposite; because the measuring, cutting and welding processes are carried out without disassembling the fixed slewing mechanism 4, the traditional process of calculating intersecting lines, cutting intersecting lines and welding is usually three separate processes, after cutting, splicing and re-welding pipelines, the intersecting line data are required to be input into a welding robot control system and the welding starting point is positioned, the accuracy of the positioning point directly influences the welding quality, the measuring of the intersecting line data, the cutting branch pipe 2 and the welding are all completed on the same equipment without manually positioning the welding point, the relative positions of the fixed sleeve 401 and the branch pipe 2 of the fixed slewing mechanism 4 are always unchanged, namely the initial coordinate point of the intersecting line is unchanged, so that the running track of cutting and welding can be completely overlapped with the intersecting line data, and the accuracy after welding is greatly improved.
As shown in fig. 3, the inner revolution measuring mechanism 5 comprises a middle sleeve 501, three or more second electric cylinders 503 and a double-shaft motor 502, wherein the three or more second electric cylinders 503 are uniformly distributed along the circumferential direction of the middle sleeve 501, the axis of any one of the second electric cylinders 503 is coincident with the radial direction of the middle sleeve 501, the first end of the second electric cylinder 503 is fixedly connected with the outer side wall of the middle sleeve 501, the second end of the second electric cylinder 503 is sequentially and fixedly connected with a second supporting plate 504, a second pressure sensor 505 and a top plate 506 along the axial direction of the second electric cylinder 503, the double-shaft motor 502 is coaxially and fixedly connected with an upper electric cylinder 507 along the axial direction of the first output shaft end of the double-shaft motor 502, the telescopic rod end of the upper electric cylinder 507 is fixedly connected with a second correlation sensor 508, the axis of the second correlation sensor 508 is perpendicular to the axis of the upper electric cylinder 507, the second output shaft end of the double-shaft motor 502 is fixedly connected with a lower electric cylinder 509 along the axial direction of the second output shaft end of the double-shaft motor is fixedly connected with a lower electric cylinder 509, the lower electric cylinder 509 is connected with the radial direction of the upper electric cylinder 509 is connected with the bottom plate 509, and the upper side wall of the double-shaft motor is fixedly connected with the upper electric cylinder 507 is provided with the bottom plate of the middle sleeve 510; the second correlation sensor 508 is paired with and correlated with the first correlation sensor 409 on top of the first support plate 407 of the fixed slewing mechanism 4; the pressure values of the supporting points are detected by arranging the first pressure sensor 408 and the second pressure sensor 505, so that whether the positions of the fixed slewing mechanism 4 and the inner slewing measuring mechanism 5 relative to the branch pipe 2 are deviated or not is judged, the installation error is reduced, and the branch pipe 2 can be cut and butted with the main pipe 1 by arranging the detection lamp 9, so that the intersection line detection is facilitated by utilizing light to detect a butt joint gap.
As shown in fig. 4, the bottom of the fixed revolving mechanism 4 is fixedly connected with a second driving assembly 61 and a third driving assembly 62, the first driving assembly 6, the second driving assembly 61 and the third driving assembly 62 are uniformly distributed along the bottom circumference of the fixed sleeve 401 of the fixed revolving mechanism 4, the first driving assembly 6, the second driving assembly 61 and the third driving assembly 62 have the same structure, the first driving assembly 6 comprises a main electric cylinder 601, a secondary electric cylinder 602 and a positioning electric cylinder 603, the telescopic rod end of the main electric cylinder 601 is fixedly connected with the cylinder side wall of the secondary electric cylinder 602, the axes of the secondary electric cylinder 602 and the main electric cylinder 601 are mutually perpendicular, the cylinder end of the positioning electric cylinder 603 is fixedly connected with the cylinder side wall of the main electric cylinder 601, the axis of the positioning electric cylinder 603 is mutually perpendicular with the axis of the main electric cylinder 601, the telescopic rod end of the positioning electric cylinder is fixedly connected with a third pair of distance measuring sensors 604 perpendicular to the axes thereof, and the telescopic rod end of the positioning electric cylinder 603 is fixedly connected with the second telescopic rod end of the secondary electric cylinder 602; the axis of the main electric cylinder 601 is parallel to the axis of the middle sleeve 501 of the fixed revolving mechanism 4, the auxiliary electric cylinder 602 and the positioning electric cylinder 603 are radially arranged along the middle sleeve 501 of the fixed revolving mechanism 4, the third correlation sensor 604 is in a pair with the first correlation sensor 409 at the lower part of the first supporting plate 407 of the fixed revolving mechanism 4 and mutually correlation, and the second distance measuring assembly 605 has the same structure as the first distance measuring assembly 510 of the inner revolving measuring mechanism 5; the second ranging component 605 includes a fixed block 607, a first ranging sensor 606 and a second ranging sensor 608, where the first ranging sensor 606 is fixedly connected to the top of the fixed block 607, the second ranging sensor 608 is fixedly connected to the bottom of the fixed block 607, the axis of the first ranging sensor 606 is perpendicular to the axis of the second ranging sensor 608, and the detection end of the first ranging sensor 606 and the detection end of the second ranging sensor 608 are located in the same plane; the axis of the first ranging sensor 606 of the second ranging assembly 605 is parallel to the axis of the auxiliary electric cylinder 602, the side wall of the fixed block 607 of the second ranging assembly 605 is fixedly connected with the end part of the telescopic rod of the auxiliary electric cylinder 602, and the detection end of the first ranging sensor 606 of the second ranging assembly 605 faces the outer side wall of the branch pipe; the side wall of the fixed block 607 of the first ranging component 510 is fixedly connected with the end of the telescopic rod of the lower electric cylinder 509 of the inner rotary measuring mechanism 5, the axis of the first ranging sensor 606 of the first ranging component 510 is parallel to the axis of the lower electric cylinder 509 of the inner rotary measuring mechanism 5, the detection end of the first ranging sensor 606 of the first ranging component 510 faces the inner side wall of the branch pipe, the first ranging component 510 and the second ranging component 605 are arranged and driven by corresponding driving structures to rotate along the axis of the branch pipe 2, two groups of data are obtained by measuring the axial displacement of the inner wall and the outer wall of the branch pipe 2 relative to the main pipe 1 respectively, intersecting line data with smaller error can be obtained through calculation, and the measurement is convenient and the data accuracy is higher because the measurement is directly performed on the main pipe 1 through the ranging sensor; when the fixed rotation mechanism 4 and the inner rotation measuring mechanism 5 rotate, initial point position information can be obtained through the second correlation sensor 508 and the third correlation sensor, so that internal and external measurement can be synchronously performed, intersecting line data precision is further improved, and the plurality of third correlation sensors 604 can provide repeated positioning reference points for subsequent cutting and welding, so that tracks of multiple operations can be positioned at the same initial point.
As shown in fig. 5, the end of the telescopic rod of the auxiliary electric cylinder 602 of the second driving assembly 61 is fixedly connected with a cutting assembly 7, and the end of the telescopic rod of the auxiliary electric cylinder 602 of the third driving assembly 62 is fixedly connected with a welding assembly 8; the cutting assembly 7 comprises a third ranging sensor 701, a first fixing frame 702 and a cutting head 703, wherein the side wall of the third ranging sensor 701 is fixedly connected with the first end of the first fixing frame 702, the second end of the first fixing frame 702 is hinged with the side wall of the cutting head 703, a first worm wheel 704 is coaxially and fixedly connected to a hinge shaft of the side wall of the cutting head 703, a first worm 705 is meshed with the side wall of the first worm wheel 704, two ends of the first worm 705 are fixedly connected with the inner side wall of the first fixing frame 702 through brackets, and one end of the first worm 705 is in transmission connection with a motor; the third distance measurement sensor 701 is coaxially arranged with the auxiliary electric cylinder 602 of the second driving assembly 61, and one end of the housing of the third distance measurement sensor 701 is fixedly connected with the end part of the telescopic rod of the auxiliary electric cylinder 602 of the second driving assembly 61; the detection end of the fourth ranging sensor 801 faces the outer side wall of the branch pipe, and the detection end of the third ranging sensor 701 faces the outer side wall of the branch pipe 2; through setting up drive assembly driven cutting assembly 7 and welding assembly 8, can utilize cutting assembly 7 to cut the pipeline after measuring intersecting line data, then weld main pipe 1 and branch pipe 2 through welding assembly 8, and compare in traditional manual calculation, marking off, cutting, welding, the invention has higher automation, realizes that the process is automatic to be accomplished, reduces the error that manual operation brought, improves work efficiency and improves welding precision, can improve the convenience of use simultaneously.
As shown in fig. 6, the welding assembly 8 includes a fourth ranging sensor 801, a second fixing frame 802, and a welding gun 803, where a side wall of the fourth ranging sensor 801 is fixedly connected with one end of the second fixing frame 802, a second end of the second fixing frame 802 is hinged with a side wall of the welding gun 803, a second worm wheel 804 is coaxially and fixedly connected to a hinge shaft of the side wall of the welding gun 803, a second worm 805 is meshed with a side wall of the second worm wheel 804, two ends of the second worm 805 are fixedly connected with an inner side wall of the second fixing frame 802 through brackets, and one end of the second worm 805 is in transmission connection with a motor; the fourth distance measuring sensor 801 is coaxially arranged with the auxiliary electric cylinder 602 of the second driving assembly 61, and one end of the housing of the fourth distance measuring sensor 801 is fixedly connected with the end part of the telescopic rod of the auxiliary electric cylinder 602 of the third driving assembly 62; the detection end of the fourth distance measuring sensor 801 faces the outer side wall of the branch pipe.
As shown in fig. 7, the clamping table 3 comprises a frame 301, a middle table 303, an adjusting hydraulic cylinder 315 and a supporting table 307, wherein a lifting hydraulic cylinder 302 is fixedly connected to the bottom of the inner wall of the frame 301, the top end of the lifting hydraulic cylinder 302 is fixedly connected to the bottom of the middle table 303, hinge plates 304 are fixedly connected to both sides of the top of the middle table 303, hinge bases 305 are fixedly connected to both sides of the bottom of the supporting table 307, the upper parts of the side walls of the hinge plates 304 are hinged to the hinge bases 305 through pins, one end of the adjusting hydraulic cylinder 315 is hinged to one side of the bottom of the supporting table 307, the other end of the adjusting hydraulic cylinder 315 is hinged to the middle of the top of the middle table 303, an angle gauge 306 is fixedly connected to the outer side wall of the hinge plates 304, side wall edges of the length direction of the supporting table 307 are aligned to zero-degree lines of the angle gauge 306, guide grooves 308 and sliding grooves 309 are formed in both sides of the top of the middle table 303, the guide grooves 308 and the sliding grooves 309 are all formed along the width direction of the supporting table 307, two sliding grooves 309 are formed on two sides of one guide groove 308, shaft holes are formed on two ends of the inner wall of the guide groove 308, a bidirectional screw rod 310 is arranged in the guide groove 308, two ends of the bidirectional screw rod 310 are respectively and rotatably connected in the shaft holes on two ends of the guide groove 308, the ends of the bidirectional screw rod 310 pass through the supporting table 307, a turntable is fixedly connected with the second ends of the two bidirectional screw rods 310, a rotating shaft is fixedly connected to one side of the front surface of the turntable, which is positioned at the center of a circle, a connecting rod 314 is arranged on the front surfaces of the two turntable, two ends of the connecting rod 314 are respectively and rotatably connected with the rotating shafts on the front surfaces of the two turntable, nuts 313 are respectively and threadably connected to the two ends of the surface of the bidirectional screw rod 310, the top of the nut 313 is fixedly connected with a clamping block 311, the bottom of the clamping block 311 is fixedly connected with a sliding block 312, and the sliding block 312 is slidably connected in the chute 309; the fixed sleeve 401 of the fixed revolving mechanism 4 is fixedly connected with the top of the frame 301, the fixed revolving mechanism 4 is positioned above the supporting table 307, the axis of the fixed sleeve 401 is parallel to the height direction of the frame 301, the axis of the fixed sleeve 401 and the center line of the width of the supporting table 307 are positioned on the same vertical plane, and the side walls of the two clamping blocks 311 driven by one bidirectional screw 310 are overlapped with the pipe walls of the branch pipes 2; through setting up clamp 3, can improve the clamping speed to being responsible for 1 and branch pipe 2, and can realize that the axis of branch pipe 2 and the axis of being responsible for 1 lie in the coplanar, improve the degree of accuracy of being responsible for 1 and branch pipe 2 butt joint, avoid appearing the skew, and can carry out corresponding regulation according to required butt joint angle.
An intersecting line weld welding method, comprising the steps of:
step A: the main pipe 1 is fixed through the clamping table 3, the branch pipe 2 is placed into the fixed slewing mechanism 4 and fixed, and the main pipe 1 is adjusted to a required angle and is in butt joint with the branch pipe 2;
and (B) step (B): measuring intersecting line data by a fixed slewing mechanism 4 and an inner slewing measuring mechanism 5;
step C: according to the measured intersecting line data, the second driving assembly 61 is driven to rotate by the fixed slewing mechanism 4, and the cutting head 703 is driven by the second driving assembly 61 to cut the branch pipe 2;
step D: the branch pipe 2 is moved, the cut branch pipe 2 is attached to the main pipe 1, the third driving unit 62 is driven to rotate by the fixed slewing mechanism 4 based on the measured intersecting line data, and the cutting torch 803 is driven to weld the branch pipe 2 and the main pipe 1 by the third driving unit 62.
The working flow is as follows: when the clamping device is used, the main pipe 1 is placed between two opposite clamping blocks 311, one bidirectional screw rod 310 is rotated, the bidirectional screw rod 310 drives nuts 313 to mutually approach, the two clamping blocks 311 are driven to mutually approach, the main pipe 1 is clamped, meanwhile, after one bidirectional screw rod 310 rotates, the connecting rod 314 can transmit the rotation moment of the connecting rod, the other bidirectional screw rod 310 is driven to synchronously rotate, and the purposes of synchronously rotating the two bidirectional screw rods 310 and synchronously clamping two sides of the main pipe 1 are achieved; the branch pipe 2 is placed into the fixed revolving mechanism 4, the inner revolving measuring mechanism 5 is placed into the branch pipe 2, the upper electric cylinder 507 is positioned outside the branch pipe 2, when the angle of the main pipe 1 is regulated, the extension or contraction of the regulating hydraulic cylinder 315 is controlled by the hydraulic station, the supporting table 307 is pulled to rotate to a required angle along the axis of the hinging seat 305, the end part of the branch pipe 2 is butted with the side wall of the main pipe 1, at the moment, the branch pipe 2 is not cut, the cutting head 703 can be cut by adopting a plasma cutting or cutting torch and is connected with a corresponding cutting system, the welding gun 803 adopts an automatic welding system, electric equipment is connected with a computer numerical control system, the whole equipment is controlled by utilizing the numerical control system, and the cutting point of the cutting head 703 of the cutting assembly 7, the welding point of the welding gun 803 and the measuring starting end point of the second ranging sensor 608 of the second ranging assembly 605 are positioned in the same horizontal plane, and the horizontal plane is vertical to the axis of the fixed sleeve 401;
The lowest position of the fixed slewing mechanism 4 and the main pipe 1 need to keep a safe distance, collision is avoided when the fixed slewing mechanism is in slewing, a plurality of first electric cylinders 406 of the fixed slewing mechanism 4 are controlled to extend at the same speed through an operation numerical control system, the branch pipe 2 is clamped, whether the fixed slewing mechanism 4 and the branch pipe 2 are deflected or not is judged according to pressure values fed back by the first pressure sensors 408, corresponding adjustment is made according to the requirement, the fixed sleeve 401 and the branch pipe 2 are coaxial, and the installation of the branch pipe 2 is completed; then, a plurality of second electric cylinders 503 of the inner rotary measuring mechanism 5 are controlled to extend at the same speed through the numerical control system, so that the inner rotary measuring mechanism 5 is fixed on the inner wall of the branch pipe 2, and meanwhile, whether the inner rotary measuring mechanism 5 deflects or not is judged according to the pressure value fed back to the numerical control system by the second pressure sensor 505, and adjustment is carried out, so that the inner rotary measuring mechanism 5 is installed;
after the installation is finished, positioning is performed firstly, as the top and the bottom of the first supporting plate 407 are fixedly connected with the first correlation sensor 409, and after the first electric cylinder 406 is extended, the distance between the first supporting plate 407 and the outer wall of the branch pipe 2 is fixed, the distance between the first correlation sensor 409 and the outer wall of the branch pipe 2 is fixed, the driving motor 402 is controlled to rotate through a numerical control system, the gear ring 405 is driven to rotate, the rotary sleeve 404 and the first driving assembly 6, the second driving assembly 61 and the third driving assembly 62 are driven to rotate, the electric cylinder 603 is positioned through the numerical control system, the relative positions of the third correlation sensor 604 and the first correlation sensor 409 at the lower part of the first supporting plate 407 are observed, the correlation between the third correlation sensor 604 and the first correlation sensor 409 at the lower part of one first supporting plate 407 is finished, the initial angle point A1 of the fixed rotary mechanism 4 is determined, the current first supporting plate 407 is recorded as B1, the biaxial motor 502 is controlled to rotate through the numerical control system, the upper electric cylinder 507 and the lower electric cylinder 509 are driven to rotate synchronously, the upper electric cylinder 507 is controlled to rotate, the upper electric cylinder 508 is controlled to measure the distance between the upper electric cylinder 508 and the first correlation sensor 409 at the same time, and the initial angle point A of the first correlation sensor 605 at the first supporting plate 5 is positioned at the initial point of the first position of the first correlation sensor 605, and the initial angle point of the first correlation sensor 605 is determined to be positioned at the initial angle point of the initial position of the first measurement point 5; the lower electric cylinder 509 is controlled to extend, the first ranging sensor 606 of the first ranging component 510 measures the radial distance from the inner wall of the branch pipe 2, when the preset distance is reached, the current distance L1 is recorded, the lower electric cylinder 509 stops running, meanwhile, the auxiliary electric cylinder 602 of the first driving component 6 extends to drive the second ranging component 605 to be close to the outer wall of the branch pipe 2, when the first ranging sensor 606 of the second ranging component 605 detects that the preset distance is reached, the current distance L2 is recorded, the auxiliary electric cylinder 602 stops running, the second ranging sensor 608 of the first ranging component 510 and the second ranging sensor 608 of the second ranging component 605 simultaneously send down ranging light rays to perform ranging, meanwhile, the biaxial motor 502 and the driving motor 402 simultaneously work to drive the first ranging component 510 and the second ranging component 605 to rotate at the same angular speed, the distance from the outer wall of the main pipe 1 is detected and recorded in real time, and the initial detection positions of the relative main pipe 1 are changed along with the rotation to different angular points, and the measured data of the first ranging component 510 and the second ranging component 605 are different; when the second correlation sensor 508 rotates for one circle to return to the angle point A2 and the third correlation sensor 604 rotates for one circle to return to the angle point A1, comparing the distance between the first distance measuring component 510 and the main pipe 1 at any angle with the initial distance or comparing the distance between the second distance measuring component 605 and the main pipe 1 at any angle with the initial distance by the calculation of a numerical control system to obtain the axial displacement relative to the distance between the main pipe 1, and combining the complete axial displacement for one circle, namely the intersecting line data of the outer wall of the branch pipe 2 and the inner wall of the branch pipe 2 relative to the main pipe 1 can be obtained, calculating two groups of data by using the numerical control system to obtain the intersecting line data, and reducing the error range;
After the numerical control system obtains intersecting line data, the driving motor 402 is controlled to rotate to drive the second driving assembly 61 to rotate, the third correlation sensor 604 of the second driving assembly 61 is enabled to rotate to an angle A1, the cutting assembly 7 is enabled to be positioned at the angle A1, the axial position of the cutting head 703 is adjusted according to the requirement and is positioned at the branch pipe 2, the point is recorded as a point C, the positioning point of the point C is the cutting center point of the cutting head 703, then the numerical control system controls the second driving assembly 61 to move to enable the cutting head 703 to reach the cutting distance, the motor at the end part of the first worm 705 is controlled to rotate, and the first worm 705 is meshed with the first worm wheel 704, so that the purpose of controlling the angle of the cutting head 703 is achieved; the driving motor 402 rotates to drive the cutting head 703 to cut the side wall of the branch pipe 2, the second driving component 61 drives the cutting head 703 to move along the axial direction of the branch pipe 2 according to the intersecting line data, after the intersecting line cutting is completed, the waste material is taken down, the main pipe 1 is moved for butt joint, the detection lamp 9 is started, and the detection personnel detects the fitting degree of the intersecting line and the main pipe 1 by observing the light passing through the gap;
the welding is started through a numerical control system, the driving motor 402 rotates to drive the third driving assembly 62 to rotate to an A1 angle point, the third correlation sensor 604 of the third driving assembly 62 and the first correlation sensor 409 of the A1 angle point finish correlation, an initial point is determined, the third driving assembly 62 is controlled to drive the center point of the welding gun 803 to reach a point C to finish positioning, the numerical control system controls the third driving assembly 62 to move and controls the motor at the end part of the second worm 805 to rotate, the position and the gesture of the welding gun 803 are adjusted to enable the welding gun 803 to move to a welding initial point for welding, the driving motor 402 works to drive the welding gun 803 to rotate, and meanwhile the third driving assembly 62 drives the welding gun 803 to move according to intersecting line data to drive the welding gun 803 to perform intersecting line welding on the main pipe 1 and the branch pipe 2.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While the obvious variations or modifications which are extended therefrom remain within the scope of the claims of this patent application.

Claims (5)

1. The intersecting line welding equipment comprises a main pipe (1) and a branch pipe (2), wherein the end part of the branch pipe (2) is overlapped with the side wall of the main pipe (1), the intersecting line welding equipment is characterized by further comprising a clamping table (3), the main pipe (1) is fixed through the clamping table (3), a fixed slewing mechanism (4) is sleeved in the middle of the outer side wall of the branch pipe (2), the outer side wall of the fixed slewing mechanism (4) is fixedly connected with the upper part of the clamping table (3), an inner slewing measuring mechanism (5) is fixedly connected with the inner wall of the branch pipe (2), a first driving component (6) is fixedly connected with the bottom of the fixed slewing mechanism (4), and a second ranging component (605) is arranged at the bottom of the first driving component (6); the second distance measuring component (605) measures the vertical distance between the current position of the second distance measuring component and the outer side wall of the main pipe (1), and the inner rotation measuring mechanism (5) measures the vertical distance between the current position of the second distance measuring component and the outer side wall of the main pipe (1);
The fixed slewing mechanism (4) comprises a fixed sleeve (401), three or more first electric cylinders (406) and a first supporting plate (407) which is coaxially arranged with the fixed sleeve (401), wherein the first electric cylinders (406) are arranged in the fixed sleeve (401) along the radial direction of the fixed sleeve (401), the first ends of the first electric cylinders (406) are fixedly connected with the inner side walls of the fixed sleeve (401), the three or more first electric cylinders (406) are uniformly distributed along the circumferential direction of the inner side walls of the fixed sleeve (401), the second ends of the first electric cylinders (406) are fixedly connected with a first supporting plate (407), the side walls of the first supporting plate (407) close to the center of the fixed sleeve (401) are fixedly connected with a first correlation sensor (409), the pressure detection ends of the first supporting plate (408) are fixedly connected with the outer side walls of the fixed sleeve (401), the outer side walls of the fixed sleeve (403) are fixedly connected with a first pressure sensor (409), the outer side walls of the fixed sleeve (401) are sleeved with a slewing bearing (404), the output shaft of the driving motor (402) is in transmission connection with the gear ring (405) through a gear, the axis of a first correlation sensor (409) at the top of the first supporting plate (407) is overlapped with the axis of a first correlation sensor (409) at the bottom of the first supporting plate (407) and is parallel to the axis of the fixed sleeve (401), and the detection directions of the first correlation sensor (409) at the top of the first supporting plate (407) and the first correlation sensor (409) at the bottom of the first supporting plate (407) are opposite;
The inner rotation measuring mechanism (5) comprises a middle sleeve (501), three or more than three second electric cylinders (503) and a double-shaft motor (502), wherein the three or more than three second electric cylinders (503) are uniformly distributed along the circumference of the middle sleeve (501), the axial line of any second electric cylinder (503) is in radial coincidence with the middle sleeve (501), the first end of the second electric cylinder (503) is fixedly connected with the outer side wall of the middle sleeve (501), the second end of the second electric cylinder (503) is sequentially and fixedly connected with a second supporting plate (504), a second pressure sensor (505) and a top plate (506) along the axial direction of the second electric cylinder, the double-shaft motor (502) is coaxially fixed in the middle sleeve (501), the end part of a first output shaft of the double-shaft motor (502) is fixedly connected with an upper electric cylinder (507) perpendicular to the axial line of the first output shaft, the end part of a telescopic rod of the upper electric cylinder (507) is fixedly connected with a second pair of sensors (508), the second end part of the second electric cylinder (507) is fixedly connected with the upper electric cylinder (509) perpendicular to the lower end part of the second electric cylinder (509), the end part of the electric cylinder (509) is fixedly connected with a lower electric cylinder (509) is fixedly connected with a lamp (9), the upper electric cylinder (507) and the lower electric cylinder (509) are arranged along the radial direction of the middle sleeve (501), and the side wall of the top plate (506) is overlapped with the inner side wall of the branch pipe (2); the second correlation sensor (508) and the first correlation sensor (409) at the top of the first supporting plate (407) of the fixed slewing mechanism (4) are in a pair and mutually correlation;
The first driving assembly (6) comprises a main electric cylinder (601), a secondary electric cylinder (602) and a positioning electric cylinder (603), wherein the end part of a telescopic rod of the main electric cylinder (601) is fixedly connected with the side wall of a cylinder body of the secondary electric cylinder (602), the axes of the secondary electric cylinder (602) and the main electric cylinder (601) are mutually perpendicular, the end part of the cylinder body of the positioning electric cylinder (603) is fixedly connected with the side wall of the cylinder body of the main electric cylinder (601), the axis of the positioning electric cylinder (603) is mutually perpendicular to the axis of the main electric cylinder (601), a third correlation sensor (604) is fixedly connected with the end part of the telescopic rod of the positioning electric cylinder (603), and a second ranging assembly (605) is fixedly connected with the end part of the telescopic rod of the secondary electric cylinder (602); the axis of the main electric cylinder (601) is parallel to the axis of the middle sleeve (501) of the fixed revolving mechanism (4), the auxiliary electric cylinder (602) and the positioning electric cylinder (603) are radially arranged along the middle sleeve (501) of the fixed revolving mechanism (4), the third correlation sensor (604) is in a pair with the first correlation sensor (409) at the lower part of the first supporting plate (407) of the fixed revolving mechanism (4) and are mutually correlation, and the second ranging component (605) and the first ranging component (510) of the inner revolving measuring mechanism (5) are identical in structure; the second ranging component (605) comprises a fixed block (607), a first ranging sensor (606) and a second ranging sensor (608), wherein the first ranging sensor (606) is fixedly connected to the top of the fixed block (607), the second ranging sensor (608) is fixedly connected to the bottom of the fixed block (607), the axis of the first ranging sensor (606) is perpendicular to the axis of the second ranging sensor (608), and the axis of the detection end of the first ranging sensor (606) and the axis of the detection end of the second ranging sensor (608) are located in the same plane; the axis of a first ranging sensor (606) of the second ranging assembly (605) is parallel to the axis of the auxiliary electric cylinder (602), the side wall of a fixed block (607) of the second ranging assembly (605) is fixedly connected with the end part of a telescopic rod of the auxiliary electric cylinder (602), and the detection end of the first ranging sensor (606) of the second ranging assembly (605) faces the outer side wall of a branch pipe; the side wall of a fixed block (607) of the first ranging assembly (510) is fixedly connected with the end part of a telescopic rod of a lower electric cylinder (509) of the inner rotary measuring mechanism (5), the axis of a first ranging sensor (606) of the first ranging assembly (510) is parallel to the axis of the lower electric cylinder (509) of the inner rotary measuring mechanism (5), and the detection end of the first ranging sensor (606) of the first ranging assembly (510) faces the inner side wall of a branch pipe;
The clamping table (3) comprises a frame body (301), a middle table plate (303), an adjusting hydraulic cylinder (315) and a supporting table (307), wherein the bottom of the inner wall of the frame body (301) is fixedly connected with a lifting hydraulic cylinder (302), the top end of the lifting hydraulic cylinder (302) is fixedly connected with the bottom of the middle table plate (303), hinge plates (304) are fixedly connected to two sides of the top of the middle table plate (303), hinge bases (305) are fixedly connected to two sides of the bottom of the supporting table (307), the upper parts of the side walls of the hinge plates (304) are hinged to the hinge bases (305) through pin shafts, one end of the adjusting hydraulic cylinder (315) is hinged to one side of the bottom of the supporting table (307), the other end of the adjusting hydraulic cylinder (315) is hinged to the middle of the top of the middle table plate (303), an angle ruler (306) is fixedly connected to the outer side wall of the hinge plates (304), side walls of the supporting table (307) in the length direction are aligned with zero-degree lines of the angle ruler (306), guide grooves (308) are formed in the two sides of the top of the middle table plate (303), guide grooves (308) are formed in the two sides of the supporting table (308), the two guide grooves (309) are formed in the two sides of the guide grooves (308) and the two sides (309) are formed in the direction, the two ends of the inner wall of the guide groove (308) are respectively provided with a shaft hole, two ends of the two-way screw rod (310) are respectively connected in the shaft holes at the two ends of the guide groove (308) in a rotating way, the ends of the two-way screw rod (310) are transmitted out of the supporting table (307), the second ends of the two-way screw rod (310) are fixedly connected with rotating discs, the front sides of the rotating discs are fixedly connected with rotating shafts at one sides of circle centers, the front sides of the two rotating discs are provided with a connecting rod (314), the two ends of the connecting rod (314) are respectively connected with the rotating shafts at the front sides of the two rotating discs in a rotating way, nuts (313) are respectively connected at the two ends of the surface of the two-way screw rod (310) in a threaded way, the tops of the nuts (313) are fixedly connected with clamping blocks (311), the bottoms of the clamping blocks (311) are fixedly connected with sliding blocks (312), and the sliding blocks (312) are slidingly connected in the sliding grooves (309); fixed cover (401) of fixed rotation mechanism (4) with the top fixed connection of support body (301), just fixed rotation mechanism (4) are located the top of brace table (307), the axis of fixed cover (401) with the direction of height of support body (301) is parallel, just the axis of fixed cover (401) with the central line of brace table (307) width is located same vertical plane, and two of two-way lead screw (310) drive the lateral wall of clamp splice (311) and the pipe wall overlap joint of branch pipe (2).
2. An intersecting line welding device according to claim 1, characterized in that the bottom of the fixed slewing mechanism (4) is fixedly connected with a second driving assembly (61) and a third driving assembly (62), the first driving assembly (6), the second driving assembly (61) and the third driving assembly (62) are uniformly distributed along the circumferential direction of the bottom of the fixed sleeve (401) of the fixed slewing mechanism (4), and the structures of the first driving assembly (6), the second driving assembly (61) and the third driving assembly (62) are the same.
3. An intersecting line welding apparatus as defined in claim 2, wherein a cutting assembly (7) is fixedly connected to the telescopic rod end of the auxiliary electric cylinder (602) of the second driving assembly (61), and a welding assembly (8) is fixedly connected to the telescopic rod end of the auxiliary electric cylinder (602) of the third driving assembly (62); the cutting assembly (7) comprises a third ranging sensor (701), a first fixing frame (702) and a cutting head (703), wherein the side wall of the third ranging sensor (701) is fixedly connected with the first end of the first fixing frame (702), the second end of the first fixing frame (702) is hinged with the side wall of the cutting head (703), a first worm wheel (704) is coaxially and fixedly connected to a hinge shaft of the side wall of the cutting head (703), a first worm (705) is meshed with the side wall of the first worm wheel (704), two ends of the first worm (705) are fixedly connected with the inner side wall of the first fixing frame (702) through brackets, and one end of the first worm (705) is connected with a motor in a transmission manner; the third distance measurement sensor (701) and the auxiliary electric cylinder (602) of the second driving assembly (61) are coaxially arranged, and one end of a shell of the third distance measurement sensor (701) is fixedly connected with the end part of a telescopic rod of the auxiliary electric cylinder (602) of the second driving assembly (61); the detection end of the fourth distance measuring sensor (801) faces the outer side wall of the branch pipe, and the detection end of the third distance measuring sensor (701) faces the outer side wall of the branch pipe (2).
4. An intersecting line welding device according to claim 3, characterized in that the welding assembly (8) comprises a fourth distance measuring sensor (801), a second fixing frame (802) and a welding gun (803), wherein the side wall of the fourth distance measuring sensor (801) is fixedly connected with one end of the second fixing frame (802), the second end of the second fixing frame (802) is hinged with the side wall of the welding gun (803), a second worm wheel (804) is coaxially and fixedly connected to a hinged shaft of the side wall of the welding gun (803), a second worm (805) is meshed with the side wall of the second worm wheel (804), two ends of the second worm (805) are fixedly connected with the inner side wall of the second fixing frame (802) through brackets, and one end of the second worm (805) is in transmission connection with a motor; the fourth distance measuring sensor (801) and the auxiliary electric cylinder (602) of the second driving assembly (61) are coaxially arranged, and one end of a shell of the fourth distance measuring sensor (801) is fixedly connected with the end part of a telescopic rod of the auxiliary electric cylinder (602) of the third driving assembly (62); the detection end of the fourth distance measurement sensor (801) faces to the outer side wall of the branch pipe.
5. A welding method using the intersecting line weld welding apparatus as defined in any one of claims 1 to 4, characterized by comprising the steps of:
step A: the main pipe (1) is fixed through the clamping table (3), the branch pipe (2) is placed into the fixed rotating mechanism (4) and fixed, and the main pipe (1) is adjusted to a required angle and is in butt joint with the branch pipe (2);
and (B) step (B): intersecting line data are measured through a fixed rotation mechanism (4) and an inner rotation measurement mechanism (5);
step C: according to the measured intersecting line data, the second driving assembly (61) is driven to rotate through the fixed slewing mechanism (4), and the cutting head (703) is driven to cut the branch pipe (2) through the second driving assembly (61);
step D: and (3) moving the branch pipe (2), enabling the cut branch pipe (2) to be attached to the main pipe (1), driving the third driving assembly (62) to rotate through the fixed rotation mechanism (4) according to the intersecting line data obtained through measurement, and driving the cutting welding gun (803) to weld the branch pipe (2) and the main pipe (1) through the third driving assembly (62).
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CN115533376B (en) * 2022-10-08 2023-06-13 山东森峰激光装备有限公司 Multi-angle intersecting line welding seam automatic welding device for large-caliber pipeline
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