CN115488551A - A large-diameter steel pipe automatic assembly production line and its use method - Google Patents

Abstract

The invention provides an automatic assembling production line for large-diameter steel pipes and a use method thereof, and relates to the technical field of production of large-diameter steel pipes. The production line includes assembling, rounding, and welding systems. The tire frame adjustment in the assembly system includes a base. The positioning shaft on the machine frame is equipped with two sets of circle calibration mechanisms. The welding system includes a sliding door frame. There are multiple mechanical arms on the door frame. Laser scanners and welding torches are installed on the mechanical arms. The second walking unit includes a rotating rolling body, and the circle adjustment mechanism includes a plurality of hydraulic jacks and laser distance measuring probes arranged on the positioning shaft. The use method of the production line includes: arranging the assembly system, after the steel pipe is positioned on the assembly system, the circle calibration system is introduced into the steel pipe for circle calibration, after the laser scanner of the welding system scans the weld seam area, the mechanical arm drives the welding torch to perform welding operations on the weld seam .

Description

A large-caliber steel pipe automatic assembly production line and its application method

technical field

The invention relates to the technical field of production of large-diameter steel pipes, in particular to an automatic assembly line for large-diameter steel pipes and a method for using the same.

Background technique

Large-diameter steel pipe structures are often used in industrial manufacturing or construction engineering fields such as large chemical containers, large-scale transmission pipelines, bridge steel pipe arches or steel pipe lattice columns. Due to the limitation of the width of the steel plate and the processing capacity of the coiling equipment, the production of a single tube cannot be too long. Since it is difficult for a single pipe to meet the required length, it can only be butt-welded with multi-section short steel pipes. Common steel pipe splicing is divided into two types: straight steel pipe splicing and curved steel pipe splicing. After the single short steel pipe is prefabricated, the steel pipe splicing operation is carried out. The conventional production process of single short steel pipe prefabrication: steel plate blanking-steel coil pipe-steel pipe longitudinal seam welding. Conventional production process of steel pipe splicing: steel pipe pair assembly—steel pipe round calibration—group pair circular seam welding.

In the prior art, the equipment and methods used in each process in the steel pipe splicing operation are as follows:

Steel pipe pairing assembly: use the assembly platform or section steel to build and assemble the tire frame, place the steel pipe on the tire frame and use a manual jack or wedge iron to adjust the coaxiality of the steel pipes participating in the pairing, and use the crane to rotate the steel pipe to realize longitudinal weld misalignment adjustment .

Steel pipe round correction: use manual jacks or code boards to correct the misaligned parts of the steel pipe joints, and use steel supports to shape them, and then fix the joints by segmental welding.

Group-to-circumferential seam welding: transfer the assembled steel pipe group to the welding station. For the circular seam of the straight steel pipe group, it can be welded with a cantilever type submerged arc welding or a portal support submerged arc welding trolley, while for the curved steel pipe group Only manual welding is used for circular seam welding.

The main problems in the steel pipe splicing operation are as follows:

Each process is scattered in different locations, the site occupies a large area, the workload of transfer between processes is large, the transfer time is long, and the production rhythm is slow, resulting in low production efficiency;

The operation of each process is basically manual operation, supplemented by mechanical equipment, the operator has high labor intensity, low work efficiency, and unstable work quality leads to unstable product quality;

There are many operators and a large amount of auxiliary tooling materials, resulting in high production costs.

Contents of the invention

The purpose of the present invention is to develop an automatic assembling production line for large-diameter steel pipes and a method for using the large-diameter steel pipes that reduce the large area occupied by the site and improve the efficiency of production operations.

The present invention realizes through following technical scheme:

An automatic large-diameter steel pipe assembly production line, including:

The assembly system has a plurality of adjustment tire frames supporting and positioning steel pipes, and the adjustment tire frames include:

base;

The first walking unit is slid on the base;

Two second walking units, slidingly arranged on the first walking unit;

Calibration system for steel pipe calibration, including:

frame;

The positioning shaft is arranged on the frame;

Two sets of circle adjustment mechanisms are set on the positioning shaft;

Welding system, for welding steel pipes, including:

Mast, slide set;

A plurality of mechanical arms are arranged on the door frame;

A laser scanner, located on the robotic arm;

Welding torch is located on the mechanical arm;

Wherein, the second walking unit includes at least one rolling body that is rotated, the rotation axis of the rolling body and the sliding direction of the first walking unit are perpendicular to the sliding direction of the second walking unit, and the circle adjustment mechanism includes multiple A hydraulic jack and a laser ranging probe arranged on the positioning shaft, and a plurality of said mechanical arms drive the laser scanner and the working range of the welding torch to cover the entire outer circumference of the welded steel pipe.

Optionally, the first walking unit includes a first vehicle frame, the bottom of the first vehicle frame is rotated and provided with longitudinal wheels sliding on the base, and the first vehicle frame is also provided with a first motor.

Optionally, the second walking unit includes a second vehicle frame, the bottom of the second vehicle frame is rotated and provided with horizontal wheels sliding on the first walking unit, and the second vehicle frame is also provided with horizontal wheels Drive-connected second motor.

Optionally, the second vehicle frame is provided with two roller brackets, the two roller brackets are arranged in a straight line parallel to the sliding direction of the first walking unit, and the roller brackets are rotated as rolling bodies. The tire roller is also provided with a roller motor connected with the tire roller transmission on the roller bracket.

Optionally, at least two groups of walking roller assemblies are provided on the frame, the distance between the walking roller assemblies and the positioning shaft matches the inner diameter of the steel pipe, the walking roller assemblies include at least two rollers, and the rollers The axis of rotation is perpendicular to the axial direction of the positioning axis.

Optionally, the laser ranging probe is arranged on the side of the hydraulic jack, the hydraulic jack is arranged along the radial direction of the positioning axis, and a plurality of the hydraulic jacks are arranged at equal intervals in the circumferential direction of the positioning axis.

Optionally, the positioning shaft is provided with a calibration bracket, the hydraulic jack and the laser ranging probe are arranged on the calibration bracket, and the positioning shaft is provided with a distance adjustment sleeve matched with the calibration bracket.

Optionally, the door frame includes a horizontal frame and two vertical frames, the two ends of the horizontal frame are respectively connected to the top ends of the two vertical frames, and the mechanical arm is slidably arranged at the bottom of the horizontal frame and the sides where the two vertical frames are close to each other. on the wall.

Optionally, each of the robotic arms drives a laser scanner and a welding torch to cover an operation coverage of not less than 120° in the direction of the outer circumference of the welded steel pipe.

A method for using an automatic assembly line for large-diameter steel pipes, comprising the following steps:

Step 1. Draw the center line of the assembled steel pipe group on the site within the sliding range of the gantry of the welding system, install the assembly system within the sliding coverage of the gantry, and place multiple pipes equivalent to the number of steel pipes in sequence according to the trajectory of the center line. Adjust the tire frame, adjust the proper distance between the tire frame;

Step 2. Pre-adjust the positions and distances of the two second running units on the tire frame to make them fit the steel pipes, and lift multiple steel pipes to be assembled to multiple tire frames for adjustment in sequence;

Step 3. Check the position deviation of the centerlines of the two steel pipes to be assembled, check the deviation of the butt groove gap of the two steel pipes, and check the staggering of the longitudinal butt welds of the two steel pipes;

Step 4. Among the two adjacent steel pipes, keep one set of tire frame adjustment still, start the other set of tire frame adjustment rolling elements, the second walking unit and the first walking unit in any order, and adjust the longitudinal butt welding of the two steel pipes. Stagger the seam distance, complete the alignment of the centerlines of the two steel pipes in the vertical direction and the transverse direction, and adjust the gap between the butt grooves of the two steel pipes, repeat steps 3 and 4, and complete the positioning of the assembled steel pipe group;

Step 5. Import the circle correction system into the assembled steel pipe, move the frame in the steel pipe, move the positioning axis to the joint of the two steel pipes, and make the two circle correction mechanisms respectively in the nozzles of the two steel pipes;

Step 6. The laser distance measuring probes of the two sets of circle calibration mechanisms are activated to measure the distances between them and different parts of the inner surface of the steel pipe nozzle, and the hydraulic jack performs corresponding loading or unloading according to the measurement data. The laser distance measuring probes continue during this process. Check the change of the inner surface of the nozzle and its distance, and stop loading after the misalignment or ellipticity of the nozzle meets the requirements;

Step 7. The manual review team checks the staggered edges of the inner and outer surfaces of the steel pipe joint and the ellipticity of the steel pipe. After passing the test, spot welding is performed on multiple parts in the circumferential groove of the steel pipe joint. During this process, each hydraulic jack is under load maintenance. After fixing, each hydraulic jack is unloaded, and the frame continues to slide into multiple steel pipe joints in turn, repeat steps 5-7 to complete the calibration of the steel pipe joints in the assembled steel pipe group and exit the calibration system;

Step 8. The gantry of the welding system slides into the upper part of the steel pipe, keeps the steel pipe fixed, starts the laser scanner, and the three robotic arms drive the laser scanner to scan the weld area to be welded respectively, and process the information fed back by the laser scanner , the mechanical arm drives the welding torch to carry out the welding operation. After the welding is completed, the mast slides to multiple welding seams in sequence, and repeats this step to complete the welding of the assembled steel pipe group;

Wherein, the adjustment tire frame at the bottom of the steel pipe that has been positioned in step 4 remains stationary.

The beneficial effects of the present invention are:

1. The assembly, rounding and welding of steel pipes are set in the same site, which not only reduces the site occupation, avoids long steel pipe transfer time, reduces the turnover cost between processes, and the production process is continuous, which improves production efficiency and is especially suitable for large-scale production. Continuous production operations for mass production of large-diameter steel pipes;

2. The invention has a high degree of machinery and intelligence, reduces the amount of auxiliary materials such as tooling, requires low operator skills and experience, standardizes the operation process, effectively guarantees the manufacturing quality, and reduces the workload of production preparation, finishing, and operation execution. It is greatly reduced, reducing the labor intensity of operators, and greatly reducing the number of operators;

3. The present invention has a wide range of applications. Whether it is a straight steel pipe or a curved steel pipe, it can be automatically assembled, rounded, and multi-gun simultaneous automatic welding, and can even be adapted to the production of other structures.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a structural diagram of the present invention;

Figure 2 is a structural diagram of the assembly system;

Fig. 3 is a side view of Fig. 2;

Fig. 4 is the structural diagram of adjusting the tire frame;

Figure 5 is a structural diagram of the base;

Figure 6 is a side view of Figure 5;

Fig. 7 is a structural diagram of the first walking unit;

Fig. 8 is a side view of Fig. 7;

Fig. 9 is a structural diagram of the second walking unit;

Figure 10 is a side view of Figure 9;

Figure 11 is a structural diagram of the welding system;

Figure 12 is a top view of Figure 11;

Figure 13 is a side view of Figure 11;

Figure 14 is a structural diagram of the calibration system;

Figure 15 is a rack structure diagram;

Fig. 16 is a structural diagram of the circle adjustment mechanism.

detailed description

In the following, only some exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and descriptions are to be regarded as illustrative in nature and not restrictive.

In describing the invention, it is to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial ", "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the invention and simplifying the description, rather than indicating or implying No device or element must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as limiting the invention.

Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

The invention discloses a large-diameter steel pipe automatic assembly production line and its use method. As shown in FIGS. Group pair assembly, steel pipe circle calibration and group pair girth welding.

The assembly system 1 includes a plurality of tire frames for adjustment. The tire frames for adjustment include a base 11 on which a slidable first traveling unit 12 is provided, and two sets of slidable second traveling units 13 are provided on the first traveling unit 12 .

The base 11 includes a longitudinal rail 111 , and a support 112 is provided at the bottom of the longitudinal rail 111 . The support piece 112 is shaped steel, and the support piece 112 is arranged at the bottom of the longitudinal rail 111 along its length direction. A plurality of connectors 113 are also arranged between the supports 112 at the bottom of the two longitudinal rails 111. The connectors 113 are vertically arranged with the longitudinal rails 111. The connectors 113 fix the distance between the two supports 112. Set at equal intervals along the length direction.

The first walking unit 12 includes a first vehicle frame 121, the bottom of the first vehicle frame 121 is rotated and provided with longitudinal wheels 122 matched with the longitudinal rails 111, and the bottom of the first vehicle frame 121 is also provided with a first motor connected to the longitudinal wheels 122 124. The top of the first vehicle frame 121 is provided with a transverse rail 123 , and the transverse rail 123 is perpendicular to the longitudinal rail 111 . The first motor 124 runs to drive the longitudinal wheel 122 to rotate, the longitudinal wheel 122 slides on the longitudinal track 111 , and drives the first vehicle frame 121 and the transverse track 123 to slide on the longitudinal track 111 .

The second walking unit 13 includes a second vehicle frame 131, the bottom of the second vehicle frame 131 is rotated to be provided with a transverse wheel 132 that cooperates with the transverse rail 123, and the second vehicle frame 131 is also provided with a second motor connected to the transverse wheel 132 133. The two second walking units 13 are slidably arranged on both sides of the transverse rail 123, and the two second walking units 13 are symmetrical in the middle of the transverse rail 123, and the two second walking units 13 are synchronously and reversely slid, so that the two second walking units 13 are close to each other or stay away.

Both sides of the second vehicle frame 131 are respectively provided with roller brackets 134 , and the two roller brackets 134 are arranged on the second vehicle frame 131 in a straight line parallel to the longitudinal rail 111 . Rotate on the roller bracket 134 and be provided with rolling tire roller 135, also be provided with the roller motor 136 that is connected with rolling tire roller 135 transmissions on the roller bracket 134, the rotational axis of rolling tire roller 135 is parallel with longitudinal track 111.

The first vehicle frame 121 is provided with a control box, and the control box is provided with a button and a speed regulating knob for controlling the forward and reverse rotation of the first motor 124, the second motor 133 and the roller motor 136.

Two adjusting tire frames carry a steel pipe respectively, and four rolling tire rollers 135 of each adjusting tire frame carry steel pipes.

Adjust the first motor 124 operation of tire frame, drive steel pipe to be close to the steel pipe on the adjacent adjustment tire frame along its axis, adjust the gap between two steel pipes butt grooves.

The second motor 133 runs to make two second walking units 13 carry out symmetrical synchronous reverse motion in the middle of the first walking unit 12, so that the steel pipe is always in the middle of the first walking unit 12, and realizes the adjustment of the steel pipe level.

The operation of the second motor 133 can also make the two second traveling units 13 move in the same direction synchronously, so that the two second traveling units 13 can drive the steel pipes to move laterally.

Roller motor 136 runs, drives tire rolling wheel 135 to rotate, makes steel pipe rotation, adjusts the position of steel pipe longitudinal butt weld.

After the steel pipe is assembled and positioned, the circle correction system 3 enters the inner work of the steel pipe joint. The circle calibration system 3 includes a frame 31, the side of the frame 31 is provided with a positioning shaft 34, and when the frame 31 is in the steel pipe, the positioning shaft 34 is coaxial with the steel pipe.

The bottom of the frame 31 is provided with at least two groups of walking roller assemblies 32. The walking roller assemblies 32 include at least two rollers. A plurality of rollers in the walking roller assemblies 32 are arranged in a straight line parallel to the positioning shaft 34. The rotating shaft of the rollers is aligned with the positioning shaft. The axis of 34 is vertical.

The distance between the walking roller assembly 32 and the positioning shaft 34 is matched with the inner diameter of the steel pipe, so that the frame 31 is inside the steel pipe.

The positioning shaft 34 is provided with two sets of circle adjustment mechanisms. The circle adjustment mechanism includes a circle adjustment support 36 sleeved on the positioning shaft 34 .

The school circle support 36 is provided with a plurality of hydraulic jacks 37, and a plurality of hydraulic jacks 37 are equidistantly arranged in the circumferential direction of the positioning shaft 34, and the jacking and retracting directions of the hydraulic jacks 37 are set along the radial direction of the positioning shaft 34.

The frame 31 is provided with a hydraulic station 33 that cooperates with the hydraulic jack 37. The hydraulic station 33 includes a motor, a hydraulic pump, a hydraulic oil tank, and two multi-channel electronically controlled hydraulic distribution valves. Jack 37 cooperates. Each hydraulic jack 37 is configured with a pair of hydraulic pipelines, one end of the hydraulic pipeline is connected with the upper and lower ports of the hydraulic jack 37 respectively, and is used for extending the hydraulic jack 37 for loading and retracting for unloading, and the other end of the hydraulic pipeline is connected with a multi-channel electronically controlled hydraulic distribution valve connected.

The calibration circle support 36 of hydraulic jack 37 side is provided with laser ranging probe 38, and laser ranging probe 38 is connected with the signal acquisition terminal of calibration computer control system that is arranged in frame 31 respectively through signal transmission line, and calibration computer controls The system is connected with the hydraulic station 33 lines. The calibration computer control system can be used to start the laser ranging probe 38, analyze and calculate the detection data of the laser ranging probe 38, and control the loading direction (forward and reverse) and loading force of each hydraulic jack 37.

Positioning shaft 34 is also provided with distance-adjusting cover 35, and distance-adjusting cover 35 is located between the school circle brackets 36 of two groups of circle-calibrating mechanisms, and distance-adjusting cover 35 can also be located at the school circle support 36 of school circle mechanism and machine. Between the frames 31, the distance adjusting sleeve 35 can be set to adjust and fix the position of the calibration circle support 36 on the positioning shaft 34.

After the two pairs of steel pipes are positioned and fixed on the two adjustment tire frames, the alignment system 3 is introduced into the steel pipes, the frame 31 enters the steel pipes, and the frame 31 slides in the steel pipes through the walking roller assembly 32 to make the positioning shaft 34 move To the butt joint of the two steel pipes, make the two circle adjustment mechanisms respectively in the nozzles of the two steel pipes. The laser ranging probe 38 is started, and the laser ranging probes 38 of the two groups of circle-calibrating mechanisms measure the distances between them and different parts of the inner surface of the steel pipe mouth respectively, and the measurement data will be displayed and stored on the circle-calibrating computer. After analyzing and processing the measurement data, the circle calibration computer control system controls each hydraulic jack 37 to protrude and contact the inner surface of the nozzle. The school circle computer control system automatically controls the multi-channel electronically controlled hydraulic distribution valve to load the hydraulic jack 37 that needs to be pressed continuously, and synchronously controls the unloading of the hydraulic jack 37 that needs to be returned. The laser ranging probe 38 continuously checks the distance between the inner surface of the nozzle and its distance (to avoid new misalignment and ellipticity error caused by excessive loading), and stops loading after the nozzle misalignment or ellipticity meets the requirements. The manual review team checks the misalignment of the inner and outer surfaces of the steel pipe joints and the ellipticity of the steel pipes. After passing the inspection, spot welding fixes multiple parts in the circumferential groove of the steel pipe joints (each hydraulic jack 37 is under load maintenance). After the spot welding is fixed, each hydraulic jack 37 is unloaded, and the calibration system 3 exits or enters the next pair of interfaces to repeat work.

The welding system 2 enters the joint gap of the steel pipe to carry out the welding operation after the steel pipe has been calibrated. The welding system 2 includes a gantry 22 , the gantry 22 includes a horizontal frame 222 and two vertical frames 221 , and the two ends of the horizontal frame 222 are respectively connected to the tops of the two vertical frames 221 .

The bottoms of the two vertical frames 221 rotate respectively to be provided with walking pulleys 223, and the bottoms of the two vertical frames 221 are respectively provided with walking tracks 21 that cooperate with the walking pulleys 223. There is the travel motor that is connected with travel pulley 223 transmissions. The travel motor drives the travel pulley 223 to rotate, and the travel pulley 223 rolls on the travel track 21 to drive the door frame 22 to slide on the travel track 21 .

The bottom of the horizontal frame 222 and the side walls where the two vertical frames 221 are close to each other are respectively provided with a mechanical arm 23, and the corresponding position at the bottom of the horizontal frame 222 is also provided with a horizontal moving track horizontally arranged along its length direction and slidingly connected with the mechanical arm 23. The corresponding position on the side wall of the frame 221 is also provided with a vertical moving track vertically arranged along its length direction and slidably connected with the mechanical arm 23 . The moving track can be a linear slide table, and by setting the moving track to make the mechanical arm 23 slide, the working coverage of the mechanical arm 23 is expanded.

The mechanical arm 23 is provided with a laser scanner and a welding torch. When performing welding operations, the three mechanical arms 23 respectively drive the laser scanner and the welding torch. A mechanical arm 23 drives the working range of the laser scanner and the welding torch to cover the outer circumference of the entire steel pipe.

The door frame 22 is provided with a power supply welding wire supply unit matched with the welding torch. The power supply welding wire supply unit includes three welding wire buckets 24 and three welding power sources 25 matched with the welding torch. The mechanical arm 23 is provided with a wire feeding hose. The tube is connected with the welding torch and the welding wire bucket 24.

Three welding wire barrels 24 are respectively arranged on the top of the horizontal frame 222 and the corresponding positions at the bottom of the two vertical frames 221. Two welding power sources 25 are arranged at the bottom of one of the vertical frames 221, and one welding power source 25 and the welding of the workstation are arranged at the bottom of the other vertical frame 221. Computer control cabinet 26.

The welding computer system of the workstation is located in the computer control cabinet 26. The main functions of the welding computer system include: manual control functions such as door frame 22 movement control, mechanical arm 23 movement and displacement control, welding start and stop, etc.; control the power supply welding wire supply unit to start or stop And the corresponding working parameters; collect and process laser scanner information and automatic modeling, automatically generate the working program of the mechanical arm 23 and the gantry 22; directly run the offline programming program; the database can preset a large number of welding parameters, and automatically select welding parameters in real time; Welds perform automatic arc tracking and are automatically calibrated.

The manipulator 23 is operated by manual control, and after the welding range of each manipulator 23 is taught, the control program compiled in advance offline can be directly run to control the manipulator 23 to weld the respective welding seams.

The horizontal frame 222 on the top of the gantry 22 is provided with a pipeline bridge 27, and the side of the pipeline bridge 27 is provided with a drag chain support and a pipeline drag chain 28. . The top of the horizontal frame 222 and the bottom of the vertical frame 221 are also equipped with auxiliary components such as a working platform, a safety railing and a ladder to facilitate the operator to perform observation operations at different positions and angles, effectively protecting the safety of the operator.

Both the assembly system 1 and the calibration system 3 operate between the two running tracks 21 of the welding system 2. After the steel pipe is assembled and adjusted between the two running tracks 21 of the welding system 2, the welding system 2 directly performs welding operations on the steel tube.

The method of using the large-diameter steel pipe automatic assembly production line includes the following steps:

Step 1. Draw the center line of the assembled steel pipe group on the site between the two running tracks 21 of the welding system 2, install the assembly system 1 between the two running tracks 21, and place the number of steel pipes in sequence according to the track of the center line There are multiple adjustable tire frames, and an appropriate distance between the adjusted tire frames is maintained;

Step 2. Pre-adjust the positions and distances of the two second running units 13 on the tire frame to make them fit the steel pipes, and lift multiple steel pipes to be assembled to multiple tire frames for adjustment in sequence;

Step 3. Check the position deviation of the centerlines of the two steel pipes to be assembled, check the deviation of the butt groove gap of the two steel pipes, and check the staggering of the longitudinal butt welds of the two steel pipes;

Step 4. Among the two adjacent steel pipes, keep one set of tire frame adjustments stationary, start the other set of tire frame adjustment roller motors 136, second motor 133 and first motor 124 in any order, and adjust the vertical connection of the two steel pipes Stagger the distance of the weld seam, complete the alignment of the centerlines of the two steel pipes in the vertical direction and the transverse direction, and adjust the gap between the butt grooves of the two steel pipes, repeat steps 3 and 4, and complete the positioning of the assembled steel pipe group;

Step 5. Import the circle correction system 3 into the aligned steel pipes, and the frame 31 slides through the walking roller assembly 32 in the steel pipes, so that the positioning shaft 34 moves to the joint of the two steel pipes, so that the two circle correction mechanisms are respectively located in the tubes of the two steel pipes. In the mouth;

Step 6. The laser distance measuring probes 38 of the two groups of calibration mechanisms are activated to measure the distances between them and different parts of the inner surface of the steel tube nozzle. The calibration computer controls the hydraulic jack 37 to perform corresponding loading or unloading according to the measurement data, and the laser distance measurement During this process, the probe 38 continuously checks the change of the distance between the inner surface of the nozzle and the nozzle, and stops loading after the amount of misalignment or ellipticity of the nozzle meets the requirements;

Step 7. The manual review team checks the staggered edges of the inner and outer surfaces of the steel pipe joint and the ellipticity of the steel pipe. After passing the inspection, spot welding is performed on multiple parts in the circumferential groove of the steel pipe joint. During this process, each hydraulic jack 37 is under load maintenance. After being welded and fixed, each hydraulic jack 37 is unloaded, and the frame 31 continues to slide into multiple steel pipe joints in sequence, repeating steps 5-7 to complete the calibration of the steel pipe joints in the assembled steel tube group and exit the calibration system 3;

Step 8. The gantry 22 of the welding system 2 slides into the upper part of the steel pipe, keeps the steel pipe fixed, starts the laser scanner, and the three mechanical arms 23 drive the laser scanner to scan the weld area to be welded respectively, and each mechanical arm 23 drives The coverage of the laser scanner and welding torch is about 1/3 of the length of the butt weld (about 120° of the central angle of the steel pipe);

Step 9. The welding computer processes the information data scanned by the laser scanner and generates a three-dimensional data model of the welds within the respective coverage areas. The welding computer recognizes the welding groove of each three-dimensional data model and automatically generates each mechanical arm 23 The control program of the welding motion trajectory, the welding computer automatically selects the starting point and the end point of the respective welding according to the welding seam position parameters covered by each mechanical arm 23, and the welding computer automatically selects the starting point and the ending point of the welding seam according to the depth, width, angle and different positions of the welding seam groove Combined with the welding parameter database, it automatically performs multi-layer and multi-channel welding planning and generates welding parameter control program instructions;

Step 10. Each mechanical arm 23 and power supply welding wire supply unit start to perform welding under the control of the trajectory control program and the welding control program instructions until all the welds are welded. During the welding process, the welding computer performs automatic welding on the welds. The arc is tracked and automatically calibrated to ensure the internal quality and appearance quality of the weld. After the welding is completed, the door frame 22 slides to multiple welds in sequence, and steps 8-10 are repeated to complete the welding of the assembled steel pipe group.

When carrying out the assembly positioning of the assembled steel pipe group, step 3 and step 4 are carried out sequentially from one side of the assembled steel pipe group to the other side.

The invention arranges the assembling, rounding and welding of steel pipes on the same site, which not only reduces the site occupation, avoids the long transfer time of steel pipes, reduces the turnover cost between processes, but also has a continuous production process, which improves production efficiency and is especially suitable for large-scale production. Continuous production operations for mass production of large-diameter steel pipes; the invention has a high degree of machinery and intelligence, reduces the amount of auxiliary materials such as tooling, requires low operator skills and experience, standardizes the operation process, and effectively guarantees manufacturing quality. The workload of work and operation execution work is greatly reduced, the labor intensity of operators is reduced, and the number of operators is greatly reduced; the invention has a wide range of applications, whether it is a straight steel pipe or a curved steel pipe, it can be automatically assembled, calibrated and multi-functional. The gun is automatically welded at the same time, and it can even be adapted to the production of other structures.

The above-described embodiments are only preferred embodiments of the present invention, and are not limitations to the technical solutions of the present invention. As long as they are technical solutions that can be realized on the basis of the above-mentioned embodiments without creative work, they should be regarded as falling into the scope of the patent of the present invention. within the scope of protection of rights.

Claims (10)

1. An automatic assembly line for large-diameter steel pipes, characterized in that it comprises: The assembly system has a plurality of adjustment tire frames supporting and positioning steel pipes, and the adjustment tire frames include: base; The first walking unit is slid on the base; Two second walking units, slidingly arranged on the first walking unit; Calibration system for steel pipe calibration, including: frame; The positioning shaft is arranged on the frame; Two sets of circle adjustment mechanisms are set on the positioning shaft; Welding system, for welding steel pipes, including: Mast, slide set; A plurality of mechanical arms are arranged on the door frame; A laser scanner, located on the robotic arm; Welding torch is located on the mechanical arm; Wherein, the second walking unit includes at least one rolling body that is rotated, the rotation axis of the rolling body and the sliding direction of the first walking unit are perpendicular to the sliding direction of the second walking unit, and the circle adjustment mechanism includes multiple A hydraulic jack and a laser ranging probe arranged on the positioning shaft, and a plurality of said mechanical arms drive the laser scanner and the working range of the welding torch to cover the entire outer circumference of the welded steel pipe. 2. The large-diameter steel pipe automatic assembly production line according to claim 1, wherein the first traveling unit comprises a first vehicle frame, and the bottom of the first vehicle frame is rotatably provided with longitudinal wheels sliding on the base, The first frame is also provided with a first motor connected to the longitudinal wheel in transmission. 3. The large-diameter steel pipe automatic assembly production line according to claim 1, characterized in that, the second traveling unit includes a second vehicle frame, and the bottom of the second vehicle frame is rotated to be provided with sliding parts on the first traveling unit. For the horizontal wheel, the second vehicle frame is also provided with a second motor connected to the horizontal wheel in transmission. 4. The large-diameter steel pipe automatic assembly production line according to claim 3, characterized in that, the second vehicle frame is provided with two roller brackets, and the two roller brackets are parallel to the sliding direction of the first walking unit. It is arranged in a straight line, and the tire rolling wheel as a rolling body is rotated on the roller bracket, and a roller motor connected with the tire rolling wheel is also provided on the roller bracket. 5. The automatic large-diameter steel pipe assembly production line according to claim 1, wherein at least two groups of walking roller assemblies are arranged on the frame, and the distance between the walking roller assembly and the positioning shaft is equal to the inner diameter of the steel pipe. In cooperation, the walking roller assembly includes at least two rollers, and the rotation axis of the rollers is perpendicular to the axial direction of the positioning axis. 6. The large-diameter steel pipe automatic assembly production line according to claim 1, wherein the laser distance measuring probe is arranged on the side of the hydraulic jack, the hydraulic jack is arranged along the radial direction of the positioning axis, and a plurality of the The hydraulic jacks are arranged equidistantly in the circumferential direction of the positioning shaft. 7. The large-diameter steel pipe automatic assembly production line according to claim 1, characterized in that, the positioning shaft is provided with a calibration bracket, the hydraulic jack and the laser ranging probe are arranged on the calibration bracket, and the positioning The shaft is sleeved with a distance-adjusting sleeve matched with the circle-calibration bracket. 8. The large-diameter steel pipe automatic assembly production line according to claim 1, wherein the gantry includes a horizontal frame and two vertical frames, and the two ends of the horizontal frame are respectively connected to the top ends of the two vertical frames, and the The mechanical arm is slidingly arranged on the bottom of the horizontal frame and the side walls of the two vertical frames close to each other. 9. The automatic large-diameter steel pipe assembly production line according to claim 8, characterized in that, each of the mechanical arms drives a laser scanner and a welding torch to cover an operation of not less than 120° in the direction of the outer circumference of the welded steel pipe. 10. A method for using the large-diameter steel pipe automatic assembly production line according to any one of claims 1 to 9, comprising the following steps: Step 1. Draw the center line of the assembled steel pipe group on the site within the sliding range of the gantry of the welding system, install the assembly system within the sliding coverage of the gantry, and place multiple pipes equivalent to the number of steel pipes in sequence according to the trajectory of the center line. Adjust the tire frame, adjust the proper distance between the tire frame; Step 2. Pre-adjust the positions and distances of the two second running units on the tire frame to make them fit the steel pipes, and lift multiple steel pipes to be assembled to multiple tire frames for adjustment in sequence; Step 3. Check the position deviation of the centerlines of the two steel pipes to be assembled, check the deviation of the butt groove gap of the two steel pipes, and check the staggering of the longitudinal butt welds of the two steel pipes; Step 4. Among the two adjacent steel pipes, keep one set of tire frame adjustment still, start the other set of tire frame adjustment rolling elements, the second walking unit and the first walking unit in any order, and adjust the longitudinal butt welding of the two steel pipes. Stagger the seam distance, complete the alignment of the centerlines of the two steel pipes in the vertical direction and the transverse direction, and adjust the gap between the butt grooves of the two steel pipes, repeat steps 3 and 4, and complete the positioning of the assembled steel pipe group; Step 5. Import the circle correction system into the assembled steel pipe, move the frame in the steel pipe, move the positioning axis to the joint of the two steel pipes, and make the two circle correction mechanisms respectively in the nozzles of the two steel pipes; Step 6. The laser distance measuring probes of the two sets of circle calibration mechanisms are activated to measure the distances between them and different parts of the inner surface of the steel pipe nozzle, and the hydraulic jack performs corresponding loading or unloading according to the measurement data. The laser distance measuring probes continue during this process. Check the change of the inner surface of the nozzle and its distance, and stop loading after the misalignment or ellipticity of the nozzle meets the requirements; Step 7. The manual review team checks the staggered edges of the inner and outer surfaces of the steel pipe joint and the ellipticity of the steel pipe. After passing the test, spot welding is performed on multiple parts in the circumferential groove of the steel pipe joint. During this process, each hydraulic jack is under load maintenance. After fixing, each hydraulic jack is unloaded, and the frame continues to slide into multiple steel pipe joints in turn, repeat steps 5-7 to complete the calibration of the steel pipe joints in the assembled steel pipe group and exit the calibration system; Step 8. The gantry of the welding system slides into the upper part of the steel pipe, keeps the steel pipe fixed, starts the laser scanner, and the three robotic arms drive the laser scanner to scan the weld area to be welded respectively, and process the information fed back by the laser scanner , the mechanical arm drives the welding torch to carry out the welding operation. After the welding is completed, the mast slides to multiple welding seams in sequence, and repeats this step to complete the welding of the assembled steel pipe group; Wherein, the adjustment tire frame at the bottom of the steel pipe that has been positioned in step 4 remains stationary.

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