CN214815593U

CN214815593U - Intelligent welding system for prefabrication of pipelines

Info

Publication number: CN214815593U
Application number: CN202023142509.XU
Authority: CN
Inventors: 戚觊; 许志辉; 张斌杰; 周祥
Original assignee: Shanghai Qianshan Piping Technology Co ltd
Current assignee: Shanghai Qianshan Piping Technology Co ltd
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2021-11-23
Anticipated expiration: 2030-12-23

Abstract

The utility model discloses a prefabricated intelligent welding system of pipeline, including the track subassembly, set up at least one welding head on the track subassembly, this welding head can install the standardized pipe fitting module that holds and remain the processing pipe fitting, and through first removal subassembly, the second removes the horizontal of subassembly regulation pipe fitting module, fore-and-aft position, make it match with the pipe of treating processing of installing on supporting the dolly, and through gyration subassembly, the welding subassembly and install the detection subassembly on the welding subassembly, realize treating the automation of processing pipe fitting and treating the processing pipe, the welding of bottoming of intellectuality, fill the capping welding. The utility model discloses a system need not artifical the participation in welding process, and whole journey realizes automation, intellectuality, and through standardized pipe fitting module, can be applicable to the pipe fitting of different grade type and specification.

Description

Intelligent welding system for prefabrication of pipelines

Technical Field

The utility model relates to a pipeline prefabrication processing field especially relates to a prefabricated intelligent welding system of pipeline.

Background

In the field of pipe prefabrication processing, welding between a pipe fitting and a pipe always stays at a semi-automatic stage, namely, a workpiece to be processed is clamped by manpower, then a welding gun is manually aligned to the workpiece to be processed, and the whole welding process needs to be attended by people.

With the multiplied improvement of labor cost, the number of skilled workers is less and less, and the automation and the intellectualization of pipe section welding are urgently needed to be realized.

However, in the prior art, the pipe fittings have a variety of types, such as flanges, elbows, reducer, tees, etc. These pipes have various shapes, including circular, curved, conical, and T-shaped ones. Further, the diameters of these pipes are also inconsistent, and the pipes have various sizes such as DN50, 80, 100, 150, 200, 250, and 300, and the pipe has various wall thicknesses, and have various specifications such as SCH20, SCH30, SCH40, SCH60, SCH80, and SCH 100. The machine is difficult to adapt to semi-finished pipe sections formed by butt welding of pipe fittings and pipe groups with different shapes and different sizes, so that the automatic and intelligent welding is difficult.

Accordingly, those skilled in the art have endeavored to develop a pipe prefabrication intelligent welding system designed based on standard pipe modules. Before welding, when the clamping pipe fitting and the pipe assembly are matched with the spot-welded semi-finished pipe section, the clamping work is very simple because a standard pipe fitting module is sleeved outside the pipe fitting; and because the position of the welding line and the standard pipe fitting module is relatively fixed, the position searching work of the welding line is very convenient, and the automation and the intellectualization of the welding process are favorably realized.

SUMMERY OF THE UTILITY MODEL

In order to achieve the above object, the utility model provides a prefabricated intelligent welding system of pipeline, include:

the track assembly is arranged on the ground;

at least one welding head disposed on the rail assembly and configured to be movable along a length of the rail assembly, the welding head configured to be capable of mounting a standardized tubular module; the pipe fitting module is a module which is provided with a pipe fitting to be processed and has a uniform hoisting hole, a reference surface and a positioning hole;

the supporting trolley is arranged on one side of the welding head along the length direction of the rail assembly or is directly installed on the rail assembly, and the supporting trolley is configured to be capable of supporting a pipe to be processed;

the welding head is configured to be able to adjust the position of the tube module such that the tube module matches the position of the tube to be processed;

wherein the welding head comprises:

a frame disposed on the track assembly;

the first moving assembly, the second moving assembly, the rotating assembly, the detecting assembly and the welding assembly are arranged on the rack;

the first movement assembly is configured to enable movement of the tubular module along a length of the track assembly;

the second movement assembly is configured to drive the tubular module to move in a vertical direction perpendicular to a length direction of the track assembly;

the swivel assembly is configured to drive the pipe module to rotate along a central axis parallel to a length direction of the track assembly; the swivel assembly includes a U-shaped clamp configured to clamp the pipe module;

the welding assembly is arranged at the end part of a longitudinal arm telescopic assembly connected to the side surface of the frame, and the welding assembly is configured to weld the pipe fitting to be processed and the pipe to be processed together;

the detection assembly is arranged on the welding assembly and can move along with the welding assembly, and a detection part of the detection assembly and a welding gun head of the welding assembly are positioned in the same plane vertical to the pipe to be processed.

In some embodiments, optionally, the at least one welding head comprises a first welding head and a second welding head, which are respectively disposed at two sides of the pipe to be processed along the length direction thereof.

In some embodiments, optionally, the trailing arm telescopic assembly includes a first servo motor, a first linear guide rail pair, a first rack and pinion mechanism, and a telescopic arm, the telescopic arm is connected to the first linear guide rail pair, the first linear guide rail pair is connected to the frame, the first servo motor is connected to the telescopic arm through the first rack and pinion mechanism, and the welding assembly is disposed on the telescopic arm near an end of the pipe module.

In some embodiments, optionally, the welding assembly further comprises a longitudinal in-line adjuster, a transverse in-line adjuster, and a lifting in-line adjuster, the transverse in-line adjuster being connected to the telescopic arm, the lifting in-line adjuster being connected to the transverse in-line adjuster, the longitudinal in-line adjuster being connected to the lifting in-line adjuster, and the welding torch head being connected to the longitudinal in-line adjuster.

In some embodiments, optionally, the first moving assembly includes a second servo motor, a second linear guide rail pair, and a second rack and pinion mechanism, the second servo motor is mounted on the rack, and the second linear guide rail pair and the second rack and pinion mechanism are mounted on the rail assembly, so that the rotation output by the second servo motor is converted into the linear motion of the rack along the second linear guide rail pair through the first rack and pinion mechanism.

In some embodiments, optionally, the second movement assembly comprises a third servo motor, a third linear guide rail pair, a lead screw lifting device, the third servo motor being connected to the swing assembly through the third linear guide rail pair and the lead screw lifting device such that rotation output by the third servo motor is converted into linear motion of the tubular module along the lead screw lifting device through the lead screw lifting device and the swing assembly.

In some embodiments, optionally, the slewing assembly further comprises a fourth servo motor, a slewing bearing connected with the fourth servo motor, and the U-shaped caliper is disposed on the slewing bearing.

In some embodiments, optionally, the detection component is a laser probe.

In some embodiments, optionally, an electromagnet is disposed on the U-shaped caliper, and the electromagnet is configured to attract the second reference surface of the pipe module

In some embodiments, optionally, the frame is a box-shaped structure formed by assembling and welding steel plates.

The utility model provides a prefabricated intelligent welding system of pipeline has following technological effect:

1. the intelligent welding system for prefabricating the pipeline can conveniently realize the automatic, intelligent bottoming, filling and capping welding of various 1D (one-dimensional) pipe sections so as to replace the manual welding performed by a high-level electric welder and the semi-automatic welding performed by a common automatic welding machine, can furthest reduce the increasing demand on the high-level electric welder, and has greater social benefit.

2. Utilize prefabricated intelligent welding system of pipeline to weld, greatly reduced pipeline prefabrication cost has better economic benefits: the intelligent hoisting of the 1D pipe section can be carried out by using a truss manipulator and the like; the welding work efficiency can be improved to the maximum extent; welding seams at two ends can be simultaneously carried out; partial eccentric weight can be balanced by using the balance weight, the rotating torque is reduced, and the power consumption is reduced.

3. Utilize prefabricated intelligent welding system of pipeline to weld, can improve the safety guarantee degree of the person and device: the intelligent hoisting of the 1D pipe section can be carried out by using a truss manipulator and the like, so that the safety of the prefabrication operation of the pipeline is improved; the welding quality of the pipe section can be greatly improved, and the safety of the petroleum and petrochemical device is improved.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings, so as to fully understand the objects, the features and the effects of the present invention.

Drawings

Fig. 1 is a schematic structural view of a standardized pipe module used in the present invention;

FIG. 2 is a schematic structural view of a frame of a pipe module;

fig. 3 is a schematic structural diagram of the intelligent pairing system for prefabricating pipelines of the utility model;

FIG. 4 is a schematic view of a left side welding head;

fig. 5 is a schematic view of the right-hand side welding head.

Wherein, 10-pipe module, 11-frame, 12-pipe fixing component, 13-pipe positioning component, 14-L type part, 111-first datum plane, 112-second datum plane, 113-hoisting hole, 114-locating hole, 20-track component, 300-welding head, 310-frame, 320-first moving component, 330-second moving component, 350-revolving component, 351-revolving support, 352-U type caliper, 353-first jaw, 354-second jaw, 360-detection component, 361-laser probe, 370-longitudinal arm telescopic component, 371-telescopic arm, 380-welding component, 381-welding gun head, 382-lifting linear regulator, 383-horizontal linear regulator, 384-longitudinal linear regulator, 400-pipe fitting, 500-pipe section to be processed, 510-supporting trolley.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. The present invention can also be implemented or applied through other different specific embodiments, and various details in the present specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the form, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.

Some exemplary embodiments of the invention have been described for illustrative purposes, and it is to be understood that the invention may be practiced otherwise than as specifically described.

Figure 1 shows a standardized pipe module 10. The pipe module 10 includes a frame 11, a pipe fixing part 12, and a pipe positioning part 13. The faces of the frame 11 enclose a receiving space for receiving the pipe 400. The pipe fixing part 12 is disposed in the accommodating space and detachably connected to the frame 11. The pipe fixing part 12 serves to fix the pipe 400 in the accommodating space. The pipe positioning part 13 is detachably connected with the pipe fixing part 12 or the frame 11, and can be positioned at a proper position on the frame 11 or the pipe fixing part according to the size of the pipe 400, so as to adjust the position of the pipe 400, for example, adjust the height of the pipe 400 or the relative position of the pipe 400 and the frame 11, so that when different pipes 400 are installed in the frame 11, the pipes 400 have a relatively uniform or matched pose, which is beneficial for subsequent processes such as grinding, assembling, welding and the like.

The pipe 400 may be a tee, elbow, reducer, flange, etc. that are commonly used in pipe prefabrication. For different types of pipes, the pipe fixing part 12 and the pipe positioning part 13 corresponding to the pipes are used for positioning and fixing various types of pipes 400, so that the pipes have matched poses and relatively uniform heights. For example, as shown in fig. 1, the pipe fixing component 12 includes a fixing baffle, the pipe positioning component 13 includes a positioning clamp plate, and the pipe positioning component 13 may further include a positioning V-shaped plate and a positioning screw. The retainer plate is connected to the frame 11 by an L-shaped member 14, and the retainer plate is connected to the retainer plate and can slide relative to the retainer plate in a direction perpendicular to the retainer plate, thereby adjusting the position of the retainer plate to properly position and fix the pipe 400. A positioning V-plate and a positioning screw may be provided on the frame 11 for supporting the tube 400 to be better held in place. It should be understood that other devices that enable the tube 400 to be positioned and secured within the receiving space can be used in the standardized device.

As shown in fig. 2, the frame 11 includes a reference surface and a positioning hole 114 for positioning, and a uniform lifting hole 113 for lifting. Although different types of pipes and pipes with different dimensions can be arranged in the frame 11, the pipe module 10 formed after the pipe 400 is installed in the frame 11 is standardized, that is, for the machines of the procedures of grinding, assembling, welding, hoisting, transporting, storing and the like of the pipe prefabrication, when positioning and hoisting are carried out, the directly operated object is the frame 11, and the frames 11 of different pipe modules 10 are standardized, so that the machines can be adapted to various pipes as long as the standardized frames 11 can be applied. For example, the frame 11 may be provided in a rectangular parallelepiped or a square shape, and has a first reference surface 111 for vertical positioning, a second reference surface 112 for front-rear positioning, a positioning hole 114 for clamping positioning, and a lifting hole 113.

Based on the standardized fitting module 10, the fitting 400 and pipe can be automatically mated and welded using an automated intelligent mating system. Generally, the welding process between the pipe and the tube includes: spot welding, backing welding, fill welding and cover welding. Although the four types of welding can be completed on the automatic intelligent pairing system, the welding processes are completed on the intelligent pairing system at one time due to different operation difficulties and different operation efficiencies of each welding process, so that the complexity of the intelligent pairing system is increased, and the efficiency of the whole process flow is not improved. For this reason, can accomplish the automatic group of pipe fitting-pipe to be right on intelligence group is to the system to and carry out spot welding for pipe fitting and pipe connect into a semi-manufactured goods pipeline section, then can the utility model discloses a prefabricated intelligent welding system of pipeline continues to accomplish subsequent welding process to semi-manufactured goods pipeline section.

As shown in fig. 3, the utility model provides a pair of prefabricated intelligent welding system of pipeline can accomplish automation, intelligent welding process who treats processing pipeline section 500 with the help of foretell standardized pipe fitting module 10, promptly the utility model discloses a prefabricated intelligent welding system of pipeline only need fix a position, press from both sides tightly, operation such as rotation to the frame 11 of above-mentioned standardized pipe fitting module 10, has just adapted to the pipe fitting 400 of different shapes, different dimensions to can treat processing pipeline section 500 and carry out automation, intelligent bottoming, packing and capping welding process.

This prefabricated intelligent welding system of pipeline includes:

the track assembly 20 is laid on the ground and plays a role in guiding the movement direction;

at least one welding head 300 is disposed on the rail assembly 20 and is movable along the length direction (X direction in fig. 3, also referred to as longitudinal direction) of the rail assembly 20. The hand piece 300 is used to position and clamp a standardized tubular module 10 such that the tubular module 10 can have at least three degrees of freedom of movement. That is, the tube module 10 can be driven to move along the X direction, and can also be driven to move along the Y direction perpendicular to the X direction (i.e. relative to the track assembly 20 and in a direction away from the track assembly 20 or close to the track assembly 20, which can also be referred to as a vertical direction), and can also be driven to rotate (i.e. rotate along a center line parallel to the X direction) the tube module 10. After the location of the tube module 10 is determined, the head 300 performs an automated welding operation on the tube 400 of the tube module 10 to weld the tube 400 and the pipe together.

Two support carts 510 for supporting the pipe section 500 to be processed. The support trolley 510 may be disposed on the track assembly 20 or may be disposed near the end of the track assembly 20 along its length.

The number of the welding heads 300 may also be two, and the two welding heads are respectively located at two sides of the pipe segment 500 to be processed, so that the welding seams at the two sides of the pipe segment 500 to be processed can be welded at the same time. At this time, the rail assembly 20 may simultaneously support two welding heads 300 and two support carriages 510. It is also possible to use the rail assembly 20 to support only the welding heads 300, i.e., the rail assemblies 20 are oppositely disposed, one welding head 300 is disposed on each rail assembly 20, and then the support cart 510 is disposed between the two rail assemblies 20.

As shown in fig. 4 and 5, the welding head 300 includes a frame 310. The frame 310 serves as a support and is disposed on the rail assembly 20 such that the welding head 300 can slide along the rail assembly 20. The frame 310 is a box-shaped structure formed by assembling and welding steel plates, a single door is installed on the back, and an installation hole is formed in the side. The various components of the welder head 300 are integrated on the frame 310.

The welding head 300 includes a welding assembly 360 for completing the welding of the weld of the pipe segment 500 to be processed. In order to be able to adapt the welding head 300 to different pipe pieces 400, it is necessary to be able to adjust the position of the welding assembly. In some embodiments, the welder head 300 further includes a trailing arm telescoping assembly 370 disposed on a side of the frame 310 having a telescoping arm 371 slidable in the X-direction relative to the frame 310. The welding subassembly sets up the tip at flexible arm 371, can move along with flexible arm 371 to realize the motion of welding subassembly along the X direction, make the welding subassembly can be located suitable welding position in the X direction. In order to drive the telescopic arm 371 to move, the trailing arm telescopic assembly 370 includes a driving part and a connection mechanism, the driving part outputs power, and the power is transmitted to the telescopic arm 371 through the connection mechanism, so that the power is converted into linear motion of the telescopic arm 371. In some embodiments, the drive component comprises a first servo motor and the linkage comprises a first pair of linear rails and a first rack and pinion mechanism. The first servo motor is fixed on the frame 310 and is connected to the telescopic arm 371 through a first gear and rack mechanism; the first linear guide pair is disposed on the frame 310, and the telescopic arm 371 is disposed on the first linear guide pair. The rotation of first servo motor output is converted into the linear motion of flexible arm 371 through first rack and pinion mechanism, and first linear guide rail pair plays the limited effect to flexible arm 371 simultaneously for flexible arm 371 is linear motion along first linear guide rail pair. It should be understood that the drive member and the connection mechanism may be other structures, such as a hydraulic cylinder or an air cylinder, and a matching connection mechanism may be used to accomplish the linear movement of the telescopic arm 371.

As shown in fig. 5, the welding assembly 380 includes a welding gun head 381, and the welding gun head 381 may be implemented with a MIG or SAW welding gun system. What kind of welder system is specifically selected for use to welding rifle head 381, selects according to actual technological requirement, does not constitute right the utility model discloses a restriction. As described above, movement of welding tip head 381 in the X direction may be achieved by the trailing arm telescoping assembly 370, although control of the movement of trailing arm telescoping assembly 370 may not necessarily meet the positional accuracy requirements of welding tip head 381. In order to more accurately determine the position of the welding torch head, it may also be necessary to finely adjust the welding torch head in the X-direction, and at the same time, it may be necessary to adjust the position of the welding torch head in the Z-direction (i.e. the Z-direction is perpendicular to both the X-direction and the Y-direction, which may also be referred to as the transverse direction) and/or the Y-direction (the vertical direction). In some embodiments, the welding assembly 381 further includes a lift in-line adjuster 382, a longitudinal in-line adjuster 384, and a lateral in-line adjuster 383; the horizontal line adjuster 383 is provided at an end of the telescopic arm 371 through a mounting plate, the elevation line adjuster 382 is provided on the horizontal line adjuster 383, and the vertical line adjuster 384 is provided on the elevation line adjuster. Through the three linear regulators, the motion of the welding gun head in X, Y, Z three directions can be realized respectively. It should be understood that the connection modes of the elevation-alignment regulator 382, the longitudinal-alignment regulator 384 and the transverse-alignment regulator 383 are not limited to the connection modes, and can be set according to actual requirements.

The detection assembly 360 is mounted on the welding assembly 380, and the detection assembly 360 can detect the groove position of the weld and feed back the groove position to the control system so as to control the welding gun head to be positioned at the appropriate weld of the pipe section 500 to be processed. The detection assembly 360 and the welding gun head 381 are longitudinally moved in the same plane perpendicular to the pipe section 500 to be machined by the longitudinal linear adjuster 384 of the welding assembly 380, that is, the detection assembly 360 moves together with the welding assembly 380, so that the groove position of the pipe section 500 to be machined can be conveniently found. The probe assembly 360 includes a laser probe 361, the laser probe 361 and the welding torch head 381 being located in the same plane perpendicular to the tube.

The welding head 300 includes a frame 310 and a plurality of moving components. The frame 310 serves as a support and is disposed on the rail assembly 20 such that the welding head 300 can slide along the rail assembly 20. The movement assembly is disposed on the frame 310 and is capable of moving or driving the pipe 500 to be processed to rotate in one direction toward the pipe module 10, i.e., the pipe 500 to be processed can have a corresponding degree of freedom by a movement assembly. The plurality of moving assemblies includes a first moving assembly 320, a second moving assembly 330, and a pivoting assembly 350.

The first moving assembly 320 is disposed under the frame 310 or on the rail assembly 20 and can move toward the pipe module 10 along the X direction, specifically, by driving the welding head 300 to move along the X direction, so as to move toward the pipe module 10 along the X direction. The first movement assembly 320 includes a drive member for providing power and a linkage mechanism by which it is translated into linear motion to the pipe module 10. Any means known in the art for imparting linear motion to the pipe module 10 may be used, for example, in some embodiments, the driving member is a motor, preferably a second servo motor, the connecting mechanism includes a second linear rail pair and a second rack and pinion mechanism, the second servo motor is mounted on the frame 310, and the second linear rail pair and the second rack and pinion mechanism are mounted on the track assembly 20 and connected to the frame 310, so as to convert the rotation of the second servo motor into linear motion, so that the frame 310 slides along the second linear rail pair. In some embodiments, a hydraulic cylinder and linear guide pair may be selected, and the linear motion is output by the hydraulic cylinder, so that the frame 310 moves along the linear guide pair. In some embodiments, a second speed reducer connected to the servo motor may be further provided for adjusting the output speed of the servo motor.

The second movement assembly 330 is disposed on the frame 310 and is movable in the Y direction toward the pipe module 10. Similar to the first moving assembly 320, the second moving assembly 330 includes a driving part and a connecting mechanism. For example, a third servo motor is connected to the swing assembly 350 through a connection mechanism, a third linear guide pair and a lead screw lifting device are used as the connection mechanism, and the rotation output by the third servo motor is converted into linear motion along the lead screw lifting device towards the pipe fitting module 10 through the lead screw lifting device and the swing assembly. A third speed reducer connected with the servo motor may also be provided.

The revolving assembly 350 is disposed on the second moving assembly 330, and particularly may be disposed on a driving plate of the second moving assembly 330, and may drive the pipe segment 500 to be processed to rotate. Slewing assembly 350 includes fourth servo motor, fourth reduction gear, slewing bearing 351, U-shaped calliper 352. The fourth servo motor is used for providing rotary power and is connected to the rotary support 351 through a fourth speed reducer. It should be appreciated that the fourth speed reducer may be eliminated according to actual requirements. The U-shaped caliper 352 is disposed on the rotary support 351, the U-shaped caliper 352 is internally provided with a first jaw 353 and a second jaw 354 which are respectively clamped at two sides of the pipe module 10, the two sides of the pipe module 10 are respectively provided with the positioning holes 114, and the first jaw 353 and the second jaw 354 are respectively provided with positioning pins corresponding to the positioning holes 114, so that when the positioning pins are aligned with the positioning holes 114, the pipe module 10 can be well positioned, and the pipe module 10 is clamped at a proper position by the U-shaped caliper 352. In order to stabilize the rotation of the pipe module 10, a weight may be further provided for adjusting the rotation center of the pipe module 10 on the rotation axis. The jaws of the U-shaped calipers 352 may be actuated with a pneumatic cylinder to clamp the pipe module 10. .

The utility model discloses a prefabricated intelligent welding system of pipeline, its working process as follows:

according to the characteristics of engineering projects (the diameter and the wall thickness of a pipe section), quickly adjusting the weight of the balance weight to a proper position at one time;

the left welding head 300 moves to the leftmost reference position, and the right welding head 300 moves to the rightmost reference position, which is generally suitable for the requirement of the longest pipe section;

the second moving assembly 330 of the left hand welding head 300 and the right hand welding head 300 lowers the U-clamp 352 to the lowest reference position (suitable for minimum pipe diameter requirements);

firstly, the assembled pipe sections 500 to be processed are hoisted on 2 supporting trolleys by using a truss manipulator or other hoisting machinery; the pipe section 500 to be processed is a semi-finished product obtained by assembling and spot welding a pipe fitting and a pipe through an intelligent assembling system; the pipe section 500 to be processed can be directly hoisted and conveyed to the intelligent welding device for the pipe prefabrication of the utility model from the intelligent assembly system;

moving the welding head 300 longitudinally forward to enable the pipe fitting modules 10 at two ends of the pipe section 500 to be processed to enter the U-shaped calipers 352, and lifting the U-shaped calipers 352 to a proper height by using the second moving assembly 330;

the pipe module 10 is quickly clamped and positioned in the U-clamp 352 using the air cylinders simultaneously. The centre of the pipe fitting can be ensured to be consistent with the rotation centre of the welding head after clamping and positioning due to the following reasons: (1) the outer side of the pipe module 10 is machined to ensure accurate external dimensions (for example, a pipe with specification DN300 adopts a frame with specification of 450 × 450 × 450 mm; a pipe with specification DN600 adopts a frame with specification of 750 × 750 × 750 mm); (2) before the pipe fitting 400 is installed in the pipe fitting module 10, when the molding machine is used for molding the posture, the central height of the pipe fitting 400 is the central height of the pipe fitting module 10; (3) after the pipe 400 is installed in the pipe module 10, when the posture of the pipe 400 is fixed in the pipe module 10, the center of the pipe 400 is coincident with the center of the pipe module 10; (4) the shape and size of the U-shaped calipers 352 are exactly the same as the shape and size of the pipe module 10 as designed and tested;

the left detection assembly 360 moves to the right (the right detection assembly 360 moves to the left) by using the longitudinal arm telescopic assembly 370 until the laser probe 361 stops searching after detecting a welding seam;

by using the welding assembly 380, the lifting, longitudinal and transverse linear regulators are regulated to proper positions, so that the welding gun head 381 is aligned with the crater and keeps proper height with the crater;

starting arc striking from a spot welding point, controlling welding parameters by using a welding control system, swinging a welding gun by using a longitudinal linear regulator, rotating a pipe section by using a rotary assembly, and carrying out MIG backing welding on a welding seam;

and after backing welding is finished, MIG filling cover surface welding is carried out, or SAW filling cover surface welding is carried out by switching gun heads.

The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. The utility model provides a prefabricated intelligent welding system of pipeline which characterized in that includes:

the track assembly is arranged on the ground;

wherein the welding head comprises:

a frame disposed on the track assembly;

2. A pipe prefabrication intelligent welding system as set forth in claim 1, wherein said at least one welding head includes a first welding head and a second welding head, said first welding head and said second welding head being respectively disposed on both sides of said pipe to be processed along a length direction thereof.

3. The intelligent welding system for prefabrication of pipes according to claim 1, wherein the trailing arm telescoping assembly includes a first servo motor, a first linear rail set, a first rack and pinion mechanism, and a telescoping arm, the telescoping arm is connected to the first linear rail set, the first linear rail set is connected to the frame, the first servo motor is connected with the telescoping arm through the first rack and pinion mechanism, and the welding assembly is disposed on the telescoping arm near an end of the pipe module.

4. The intelligent welding system for prefabrication of pipes according to claim 3, wherein the welding assembly further includes a longitudinal in-line adjuster, a transverse in-line adjuster, and a lifting in-line adjuster, the transverse in-line adjuster being connected to the telescopic arm, the lifting in-line adjuster being connected to the transverse in-line adjuster, the longitudinal in-line adjuster being connected to the lifting in-line adjuster, the welding torch head being connected to the longitudinal in-line adjuster.

5. The intelligent welding system for pipe prefabrication of claim 1, wherein the first moving assembly includes a second servo motor, a second linear rail pair, a second rack and pinion mechanism, the second servo motor is mounted on the rack, and the second linear rail pair and the second rack and pinion mechanism are mounted on the track assembly such that rotation output by the second servo motor is converted into linear motion of the rack along the second linear rail pair by the second rack and pinion mechanism.

6. The system of claim 1, wherein the second movement assembly comprises a third servo motor, a third linear guide rail pair, a lead screw lifting device, the third servo motor being connected to the swing assembly through the third linear guide rail pair and the lead screw lifting device such that rotation output by the third servo motor is converted into linear motion of the pipe module along the lead screw lifting device through the lead screw lifting device and the swing assembly.

7. The system of claim 1, wherein the slewing assembly further comprises a fourth servo motor, a slewing bearing, the slewing bearing coupled to the fourth servo motor, the U-clamp disposed on the slewing bearing.

8. The system of claim 1, wherein the probe is a laser probe.

9. The intelligent welding system for pipe prefabrication of claim 1, wherein an electromagnet is disposed on the U-shaped caliper and is configured to attract the second datum surface of the pipe module.

10. The intelligent welding system for prefabrication of pipes according to claim 1, wherein the frame is a box-type structure assembled and welded from steel plates.