CN210188874U

CN210188874U - Butt joint pipe laser tracking welding system

Info

Publication number: CN210188874U
Application number: CN201920867689.6U
Authority: CN
Inventors: Ping Zhong; 钟平; Qingqing Zhu; 朱青青; Jinglei Chen; 陈惊雷
Original assignee: DIANDUO ELECTROMECHANICAL ENGINEERING JIANGSU Co Ltd
Current assignee: DIANDUO ELECTROMECHANICAL ENGINEERING JIANGSU Co Ltd
Priority date: 2019-06-11
Filing date: 2019-06-11
Publication date: 2020-03-27
Anticipated expiration: 2029-06-11

Abstract

The utility model discloses a butt joint pipe laser tracking welding system, which comprises a robot, a clamping and rotating device, a lifting supporting device, a gas protection device and a welder; the clamping and rotating device is used for clamping one end of a workpiece and driving the workpiece to rotate; the lifting supporting device comprises a cross-shaped movable mechanism, and a rotary drum which can rotate and support the workpiece is arranged at the top of the cross-shaped movable mechanism; the gas protection device is arranged at one end of the workpiece far away from the clamping rotating device; the robot is arranged on one side of the workpiece along the length direction, and the welding device is connected with the head of the robot during welding. The system is suitable for welding various pipes with different sizes, particularly middle and large pipes, greatly improves the welding efficiency and saves labor.

Description

Butt joint pipe laser tracking welding system

Technical Field

The utility model relates to a welding machine technical field, in particular to butt joint pipe laser tracking welding system.

Background

For the welding of pipes, especially for medium and large pipes, because of their large size and heavy weight, the existing equipment can not meet the welding requirements, and under the condition of no special welding equipment, the welding is usually carried out manually, resulting in very low welding efficiency and labor consumption.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a butt joint pipe laser tracking welding system can weld the work piece with automizing, and is efficient, solves not have special welding equipment and adopts manual welding to lead to the problem that production efficiency is low.

To achieve the purpose, the utility model adopts the following technical proposal:

the butt joint pipe laser tracking welding system comprises a robot, a clamping rotating device, a lifting supporting device, a gas protection device and a welder; the clamping and rotating device is used for clamping one end of a workpiece and driving the workpiece to rotate; the lifting supporting device comprises a cross-shaped movable mechanism, and a rotary drum which can rotate and support the workpiece is arranged at the top of the cross-shaped movable mechanism; the gas protection device is arranged at one end of the workpiece far away from the clamping rotating device; the robot is arranged on one side of the workpiece along the length direction, and the welding device is connected with the head of the robot during welding.

Therefore, the height of the cross movable mechanism can be adjusted according to the size of the workpiece, the supporting of various pipes with different sizes is met, the roller supports the workpiece and rotates along with the rotation of the workpiece, the lifting supporting device bears the weight of the workpiece, the clamping rotating device does not deform due to the weight of the workpiece, the service life of the clamping rotating device is prolonged, the system can automatically weld the workpiece, the production efficiency and the welding quality are improved, and the problem of low efficiency caused by manual welding without patent welding equipment is solved.

In some embodiments, the clamping rotating device comprises a jaw, a rotating disc, a first guide rail, a first sliding block and a rotating mechanism; the first guide rail is arranged along the center of the turntable in an outward radiation mode, and the first sliding block is connected with the first guide rail in a sliding mode; the clamping jaw is connected with the first sliding block; the rotary disc is in driving connection with the rotating mechanism. Therefore, the clamping jaws can move along the first guide rail to adapt to clamping of workpieces with different sizes, and after the clamping jaws clamp the workpieces, the rotating mechanism drives the rotating disc to drive the workpieces to rotate.

In some embodiments, the clamping jaw comprises a clamping post and a limiting plate, and the clamping post is arranged in the middle of the limiting plate and protrudes out of the limiting plate. Therefore, when the clamping jaws clamp the workpiece, the clamping columns of the clamping jaws abut against the inner surface of the workpiece, and the limiting plate abuts against the outer surface of the workpiece to limit the position of the workpiece. The jack catch can block up the outer surface of work piece or internal surface two kinds of modes and press from both sides the work piece tightly.

In some embodiments, the cross-shaped moving mechanism comprises a first bracket and a second bracket, wherein the first bracket and the second bracket are hinged at a middle position to form a movable cross shape; the tops of the first bracket and the second bracket are respectively provided with a rotatable roller; the crossing movable mechanism is driven by the driving mechanism to change the relative included angle between the first support and the second support, so that the height of the workpiece is adjusted. Therefore, the relative angle between the first support and the second support is increased, the height of the workpiece above the first support is reduced, the relative angle between the first support and the second support is reduced, the height of the workpiece above the first support is increased, the lifting mode is very convenient, and the two supports are uniform in stress, stable and reliable. The rotatable roller is in contact with the workpiece, and the rotatable roller can play a supporting role and simultaneously does not hinder the rotation of the work. The first support and the second support are rectangular frames, the cross rods at the tops of the first support and the second support are cylindrical and serve as an axle center, and the roller is rotatably sleeved on the axle center.

In some embodiments, the drive mechanism comprises a second guide rail, a second slider, a servo motor, a lead screw, and a nut block; the bottoms of the first bracket and the second bracket are respectively connected with a second sliding block in a rotatable way through the connecting seat; the bottom of first support and second support all is equipped with the nut piece, and the nut piece is equipped with the screw hole with lead screw matched with, and the one end of lead screw links with servo motor's output mutually. Therefore, the guide rail sliding block and the lead screw nut are reliable and stable in transmission matching structure, and the lead screw nut has a stepless feeding function and a certain self-locking function, so that the working height is adjusted more accurately. The lead screw pivoted is installed on the lead screw seat, and second guide rail and lead screw seat are all installed on the bottom plate.

In some embodiments, the gas shield apparatus includes a gas tube that is movable up and down and along the length of the workpiece. Therefore, the gas pipe can release protective gas to protect the welding position, and the gas pipe can move along with the welding head and release the protective gas.

In some embodiments, the gas-protecting apparatus further comprises a column and a lift table; the lifting guide rail is arranged on the pillar and is connected with a slidable lifting slide block, and the lifting platform is connected with the lifting slide block and is driven by a lifting motor to realize lifting adjustment; the elevating platform still is provided with translation slider and translation guide rail, and translation guide rail is connected in translation slider along work piece length direction slidable, and the trachea is on a parallel with work piece length direction and connects in translation guide rail, and the trachea can be followed the length direction removal of work piece and adjusted under translation motor's drive. Therefore, the air pipe moves in the vertical and/or horizontal direction through the lifting guide rail sliding block and the translation guide rail sliding block, so that the air pipe can dynamically move along with the welding head, the welding position is protected in real time, and the welding quality is improved.

In some embodiments, the workpiece positioning device further comprises a side pushing mechanism, wherein the side pushing mechanism comprises a telescopic device and a rotating wheel which is rotatably arranged at the output end of the telescopic device, and the rotating wheel is used for limiting the position of the workpiece in the length direction. From this, the expansion bend is cylinder or pneumatic cylinder, is fixed in on the pillar, can drive the runner and remove in the length direction of work piece, and the runner supports and leans on in the tip of work piece to further inject the work piece in the position of length direction, shift when preventing that the work piece from rotating, improve welding accuracy and quality.

In some embodiments, the welder is placed on one side of the robot, and the laser washer is placed on the other side of the robot; the welding device and the laser cleaner are both provided with a connecting piece; the head of the robot is provided with a connecting disc matched with the joint. Therefore, the welding device and the laser cleaning device are connected with the robot through the joint and the connecting disc structure.

In some embodiments, the robot further comprises a base for placing the robot, wherein two sides of the base are respectively provided with an "L" -shaped fixing frame, and the two fixing frames are respectively used for placing the welding device and the laser cleaning device. From this, base and mount are used for placing robot, welding ware and laser cleaner, make spatial arrangement more reasonable.

The utility model has the advantages that: the lifting supporting device is used for supporting the weight of the workpiece, the stress of the clamping rotating device is reduced, and the clamping rotating device cannot deform due to the weight of the workpiece, so that the welding quality and the service life of the device are influenced, the reliability of the device is greatly improved, and the crossed movable mechanism can be suitable for welding various pipes with different specifications, and the adaptability is improved; moreover, the side pushing mechanism is arranged, so that the working position can be further limited, the displacement of the work in the rotating welding process is prevented, and the welding quality is improved; and finally, the robot, the clamping and rotating device, the lifting supporting device, the gas protection device, the welding device, the laser cleaner, the side pushing mechanism and the like are organically combined into an automatic welding system, so that the welding efficiency and quality are greatly improved, and the labor force is saved.

Drawings

Fig. 1 is a perspective view of the butt-joint pipe laser tracking welding system of the present invention;

FIG. 2 is a structural diagram of a clamping and rotating device of the butt-joint pipe laser tracking welding system of the present invention;

FIG. 3 is a structural diagram of a lift support device of the butt-joint pipe laser tracking welding system of the present invention;

FIG. 4 is a structural diagram of the gas protection device and the side pushing mechanism of the butt joint pipe laser tracking welding system of the present invention;

FIG. 5 is a schematic diagram of a robot of the butt-joint pipe laser tracking welding system of the present invention;

wherein: 1-a robot; 2-clamping the rotating device; 3-a lifting support device; 4-a gas protection device; 5-a welder; 6-laser cleaner; 7-a control cabinet; 8, protecting the fence; 9-a workbench; 10-a workpiece; 51-a joint; 21-a jaw; 211-chucking post; 212-a limiting plate; 22-a turntable; 23-a first guide rail; 24-a first slider; 25-a rotation mechanism; 31-a roller; 32-a cross-shaped movable mechanism; 321-a first support; 322-a second bracket; 33-a second guide rail; 34-a second slide; 35-a servo motor; 36-a screw rod; 37-nut block; 38-screw seat; 39-a connecting seat; 30-a bottom plate; 41-a pillar; 42-trachea; 43-a lifting platform; 44-a lifting rail; 46-a lifting motor; 47-a translation guide rail; 49-a translation motor; 400-side pushing mechanism; 410-a rotating wheel; 420-a retractor; 91-a base; 911-fixing frame; 92-a hose limiting frame; 921-hook; 11-a chassis; 12-a connecting disc; 13-middle arm; 14-forearm; 15-a head; 16-connecting disc.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 5, the butt-joint pipe laser tracking welding system comprises a robot 1, a clamping and rotating device 2, a lifting and supporting device 3, a gas protection device 4 and a welder 5; the clamping and rotating device 2 is used for clamping one end of the workpiece 10 and driving the workpiece 10 to rotate; the lifting supporting device 3 comprises a cross-shaped movable mechanism 32, and a roller 31 which can rotate and support the workpiece 10 is arranged at the top of the cross-shaped movable mechanism 32; the gas protection device 4 is arranged at one end of the workpiece 10 far away from the clamping and rotating device 2; the robot 1 is disposed on one side of the workpiece 10 in the longitudinal direction, and the welder 5 is connected to a head 15 of the robot 1 during welding.

Further, as shown in fig. 2, the clamping and rotating device 2 includes a jaw 21, a rotating disk 22, a first guide rail 23, a first slider 24, and a rotating mechanism 25; the first guide rail 23 is arranged along the center of the turntable 22 in an outward radiation manner, and the first slider 24 is connected with the first guide rail 23 in a sliding manner; the claw 21 is connected with a first sliding block 24; the turntable 22 is in driving connection with a turning mechanism 25.

Further, the latch 21 includes a locking post 211 and a position-limiting plate 212, and the locking post 211 is disposed in the middle of the position-limiting plate 212 and protrudes out of the position-limiting plate 212.

To explain further, as shown in fig. 3, the cross-shaped moving mechanism 32 includes a first support 321 and a second support 322, and the first support 321 and the second support 322 are hinged at a middle position to form a movable cross shape; the top parts of the first bracket 321 and the second bracket 322 are respectively provided with a rotatable roller 31; the cross-shaped movable mechanism 32 is driven by the driving mechanism to change the relative angle between the first support 321 and the second support 322, so as to adjust the height of the workpiece 10.

Further, the driving mechanism comprises a second guide rail 33, a second sliding block 34, a servo motor 35, a screw rod 36 and a nut block 37; the bottoms of the first bracket 321 and the second bracket 322 are respectively connected with a second sliding block 34 in a rotatable way through a connecting seat 39; the bottoms of the first support 321 and the second support 322 are both provided with nut blocks 37, the nut blocks 37 are provided with threaded holes matched with the screw rod 36, and one end of the screw rod 36 is linked with the output end of the servo motor 35. The screw rod 36 is rotatably mounted on the screw rod 36 seat, and the second guide rail 33 and the screw rod 36 seat are both mounted on the bottom plate 30.

To further illustrate, as shown in FIG. 4, the gas shield apparatus 4 includes a gas pipe 42, and the gas pipe 42 is movable up and down and along the length of the workpiece 10.

Further, the gas protecting device 4 further includes a support column 41 and a lifting table 43; a lifting guide rail 44 is arranged on the pillar 41, the lifting guide rail 44 is connected with a slidable lifting slide block, and a lifting platform 43 is connected with the lifting slide block and driven by a lifting motor 46 to realize lifting regulation; the lifting platform 43 is further provided with a translation slider and a translation guide rail 47, the translation guide rail 47 is slidably connected to the translation slider along the length direction of the workpiece 10, the air pipe 42 is connected to the translation guide rail 47 in parallel with the length direction of the workpiece 10, and the air pipe 42 can be moved and adjusted along the length direction of the workpiece 10 under the driving of a translation motor 49.

To explain further, as shown in fig. 4, the system further includes a side pushing mechanism 400, wherein the side pushing mechanism 400 includes a telescopic device 420 and a rotating wheel 410 rotatably disposed at an output end of the telescopic device 420, and the rotating wheel 410 is used for defining the position of the workpiece 10 in the length direction.

Further explaining, as shown in fig. 5, the welder 5 is placed on one side of the robot 1, and the laser cleaner 6 is placed on the other side of the robot 1; the welder 5 and the laser cleaner 6 are both provided with a joint 51; the head 15 of the robot 1 is provided with a coupling 16 which cooperates with the joint 51.

Further explaining, the system further comprises a base 91 for placing the robot 1, wherein L-shaped fixing frames 911 are arranged on two sides of the base 91, and the two fixing frames 911 are respectively used for placing the welding device 5 and the laser cleaning device 6.

Further, as shown in fig. 1, the system further includes a control cabinet 7, a protective guard 8 and a workbench 9, the robot 1, the clamping and rotating device 2, the lifting and supporting device 3 and the gas protection device 4 are all disposed on the workbench 9, the protective guard 8 is disposed at the edge of the workbench 9, the protective guard 8 is provided with an entrance and an exit, and the control cabinet 7 is disposed at the edge of the workbench 9.

Further, as shown in fig. 5, the robot 1 is provided with a chassis 11, a connecting disc 1612, a middle arm 13, a front arm 14 and a head 15 in sequence from bottom to top, and corresponding motors are arranged among the components for driving. The base 91 is connected to the chassis 11 of the robot 1.

Further, a hose limiting frame 92 is arranged on the rear side of the base 91, and a hook 921 is arranged on the hose limiting frame 92 and used for fixing hoses connected with the welding device 5 and the laser cleaning device 6 respectively.

The working principle is as follows: the method comprises the steps of placing a tubular workpiece 10 on a lifting supporting device 3, adjusting the relative angle of a first support 321 and a second support 322 to enable the workpiece 10 to be adjusted in the vertical direction, adjusting the position of a clamping jaw 21 to enable a clamping column 211 to clamp the inner surface of the workpiece 10 after the workpiece 10 is adjusted to the position, namely the rotation center line of the workpiece 10 is overlapped with the rotation center of a turntable 22, adjusting the position of the clamping jaw 21 to enable the clamping jaw 21 to clamp the inner surface of the workpiece 10, locking the clamping jaw 21 to complete clamping of the workpiece 10, driving a lifting table 43 to move up and down along with a lifting motor 46 to enable an air pipe 42 to move to a proper position, driving a translation guide rail 47 to drive the air pipe 42 to extend into a space formed by the inner surface of the workpiece 10 by a translation motor 49, and finally enabling a rotating wheel 410 of a side pushing mechanism.

The rotating mechanism 25 drives the rotating disc 22 to rotate so as to drive the workpiece 10 to rotate, and the outer surface of the workpiece 10 rubs against the rollers and drives the rollers 31 to rotate.

Finally, the robot 1 is driven, the head 15 of the robot 1 is connected to the laser cleaner 6 to perform pre-welding cleaning of the workpiece 10, the head 15 of the rear robot 1 is connected to the welder 5 to perform welding operation on the workpiece 10, and the gas pipe 42 discharges shielding gas during welding.

The number of the elevating supporting means 3 is 2 in the present embodiment, the number of the jaw 21 and the first guide rail 23 is 3, and the number of the robot 1 is 1, and the above numbers are only examples, and a plurality of pieces can be appropriately provided as needed to meet various needs and improve efficiency.

What has been described above are only some embodiments of the invention. For those skilled in the art, without departing from the inventive concept, several modifications and improvements can be made, which are within the scope of the invention.

Claims

1. The butt joint pipe laser tracking welding system is characterized by comprising a robot (1), a clamping rotating device (2), a lifting supporting device (3), a gas protection device (4) and a welder (5); the clamping and rotating device (2) is used for clamping one end of a workpiece (10) and driving the workpiece (10) to rotate;

the lifting supporting device (3) comprises a cross-shaped moving mechanism (32), and a roller (31) which can rotate and support the workpiece (10) is arranged at the top of the cross-shaped moving mechanism (32); the gas protection device (4) is arranged at one end of the workpiece (10) far away from the clamping rotating device (2);

the robot (1) is arranged on one side of a workpiece (10) along the length direction, and the welding device (5) is connected with the head of the robot (1) during welding.

2. The butt-joint pipe laser tracking welding system according to claim 1, characterized in that the clamping rotating device (2) comprises a jaw (21), a turntable (22), a first guide rail (23), a first slider (24) and a rotating mechanism (25);

the first guide rail (23) is arranged along the center of the rotary table (22) in an outward radiation mode, and the first sliding block (24) is connected with the first guide rail (23) in a sliding mode;

the clamping jaw (21) is connected with a first sliding block (24); the rotary disc (22) is in driving connection with the rotating mechanism (25).

3. The butt joint pipe laser tracking welding system according to claim 2, wherein the clamping jaw (21) comprises a clamping column (211) and a limiting plate (212), and the clamping column (211) is arranged in the middle of the limiting plate (212) and protrudes out of the limiting plate (212).

4. The butt-joint pipe laser tracking welding system of claim 1, characterized in that the cross-shaped moving mechanism (32) comprises a first bracket (321) and a second bracket (322), and the first bracket (321) and the second bracket (322) are hinged at a middle position to form a movable cross shape; the tops of the first bracket (321) and the second bracket (322) are respectively provided with a rotatable roller (31);

the crossing movable mechanism (32) is driven by the driving mechanism to change the relative included angle of the first bracket (321) and the second bracket (322), so that the height of the workpiece (10) is adjusted.

5. The butt-joint pipe laser tracking welding system according to claim 4, wherein the driving mechanism comprises a second guide rail (33), a second slider (34), a servo motor (35), a lead screw (36) and a nut block (37);

the bottoms of the first bracket (321) and the second bracket (322) are respectively connected with a second sliding block (34) in a rotatable way through a connecting seat (39);

first support (321) with the bottom of second support (322) all is equipped with nut piece (37), nut piece (37) be equipped with lead screw (36) matched with screw hole, the one end of lead screw (36) with the output of servo motor (35) links mutually.

6. The butt-joint pipe laser tracking welding system according to claim 1, wherein the gas protection device (4) comprises a gas pipe (42), and the gas pipe (42) can move up and down and move along the length direction of the workpiece (10).

7. The butt-joint pipe laser tracking welding system according to claim 6, wherein the gas protection device (4) further comprises a support column (41) and a lifting table (43); a lifting guide rail (44) is arranged on the support column (41), the lifting guide rail (44) is connected with a slidable lifting slide block, and the lifting platform (43) is connected with the lifting slide block and driven by a lifting motor (46) to realize lifting adjustment;

the lifting platform (43) is further provided with a translation sliding block and a translation guide rail (47), the translation guide rail (47) is connected to the translation sliding block in a sliding mode along the length direction of the workpiece (10), the air pipe (42) is connected to the translation guide rail (47) in a parallel mode along the length direction of the workpiece (10), and the air pipe (42) can move and adjust along the length direction of the workpiece (10) under the driving of a translation motor (49).

8. The butt-joint pipe laser tracking welding system of claim 1, further comprising a side-pushing mechanism (400), wherein the side-pushing mechanism (400) comprises a telescopic device (420) and a rotating wheel (410) rotatably arranged at the output end of the telescopic device (420), and the rotating wheel (410) is used for limiting the position of the workpiece (10) in the length direction.

9. The butt-joint pipe laser tracking welding system according to claim 1, characterized in that the welder (5) is placed on one side of the robot (1), and a laser washer (6) is placed on the other side of the robot (1);

the welding device (5) and the laser cleaning device (6) are both provided with a joint (51); the head of the robot (1) is provided with a connecting disc (16) matched with the joint (51).

10. The butt-joint pipe laser tracking welding system according to claim 9, characterized by further comprising a base (91) for placing the robot (1), wherein two sides of the base (91) are respectively provided with an "L" -shaped fixing frame (911), and the two fixing frames (911) are respectively used for placing the welder (5) and the laser washer (6).