CN216680802U - Chemical equipment modularization manufacturing process pipeline prefabrication welding set - Google Patents
Chemical equipment modularization manufacturing process pipeline prefabrication welding set Download PDFInfo
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- CN216680802U CN216680802U CN202123036808.XU CN202123036808U CN216680802U CN 216680802 U CN216680802 U CN 216680802U CN 202123036808 U CN202123036808 U CN 202123036808U CN 216680802 U CN216680802 U CN 216680802U
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Abstract
The utility model discloses a pipe prefabrication welding device for a chemical equipment modular manufacturing process, which comprises a horizontal base, wherein a rectangular frame is fixed on the horizontal base, a vertical middle beam is arranged in the middle of the rectangular frame, a lifting seat driven by a lifting power device is slidably mounted on the vertical middle beam, a rotating seat driven by a rotating power device is mounted on the lifting seat, a telescopic arm is mounted on the rotating seat and driven by a telescopic power device, two clamping jaws driven by a clamping power device to clamp a pipe are mounted at the free end of the telescopic arm, an autorotation driving device for driving the pipe to autorotate around a clamping center line of the clamping jaws is mounted on the clamping jaws, a plurality of welding robots for welding pipe welding seams are mounted on the rectangular frame, and a welding seam identification camera for identifying the pipe welding seams is arranged at the terminal of each welding robot. This prefabricated welding set of pipeline can adjust the position of prefabricated pipeline, makes the welding seam be in the downhand position, makes things convenient for the manipulator welding.
Description
Technical Field
The utility model relates to a welding device, in particular to a pipe prefabrication welding device for a chemical equipment modular manufacturing process.
Background
The main flow of the modularized manufacturing of the chemical equipment is that pipe sections with various shapes and trends are welded in advance in a workshop, then a plurality of pipe sections are assembled and welded with the pipe sections and equipment or containers to form a plurality of chemical sub-modules with certain process characteristics, and finally the sub-modules are transported to a production site to be assembled, assembled and welded to form a complete production line of the chemical equipment. The main welding operation of the process is completed in a workshop, so that the welding quality can be well ensured. The process pipeline generally needs to be prefabricated and welded into a pipe section by the straight pipeline and the pipe fitting, so that the subsequent sub-module process pipeline is convenient to assemble and weld. The existing pipe section prefabrication welding mainly adopts manual welding by welders, the specification and the size of a straight pipe are different, different clamping devices are required for clamping during welding, and the welders perform manual welding, so that the spatial position of a welding seam cannot be too high, and some welding seams cannot be well adjusted to a flat welding position or a transverse welding position of 2G based on the limitation, so that the welders can only select other welding positions, such as 5G and 6G vertical all-position welding, the difficulty of welding seam welding is increased, the requirement on the welding skill level of the welders is high, and the welding quality risk is large. In addition, the labor intensity is high due to manual welding of welders.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the utility model is as follows: the utility model provides a prefabricated welding set of chemical industry equipment modularization manufacturing process pipeline, this prefabricated welding set of pipeline can adjust the position of prefabricated pipeline, makes the welding seam be in the flat welding position, makes things convenient for the manipulator welding.
In order to solve the technical problems, the technical scheme of the utility model is as follows: a prefabricated pipe welding device for a modular manufacturing process of chemical equipment comprises a horizontal base, a rectangular frame is fixed on the horizontal base, a vertical middle beam is arranged in the middle of one side of the rectangular frame, a lifting seat driven by a lifting power device is slidably arranged on the vertical middle beam along the Z axis, a rotating seat driven by a rotating power device is rotatably arranged on the lifting seat around the X axis, a telescopic arm telescopic along the X axis direction is arranged on the rotating seat, the telescopic arm is driven by a telescopic power device, two clamping jaws which are driven by a clamping power device to clamp the pipeline are arranged at the free end of the telescopic arm, the clamping jaw is provided with a self-rotation driving device for driving the pipeline to rotate around the clamping center line of the clamping jaw, the welding robot is characterized in that a plurality of welding robots for welding pipeline welding seams are installed on the rectangular frame, and a welding seam identification camera for identifying the pipeline welding seams is arranged at the terminal of each welding robot.
Preferably, the rotation driving device comprises a plurality of rollers rotatably mounted on each clamping jaw, one of the rollers is a driving roller and is driven by a self-rotation force device, and the roller is partially exposed from the clamping jaw of the clamping jaw.
As a preferable scheme, the number of the rollers is a plurality of rollers and is divided into two groups, each group of rollers is rotatably installed on one clamping jaw, one clamping jaw is provided with the self-rotating force device, and an output shaft of the self-rotating force device is in belt transmission with the nearest roller.
As a preferable scheme, the rollers on each clamping jaw are driven step by step through a belt transmission device.
As a preferred scheme, the pipeline is provided with identifiable labels comprising an axis measurement diagram number, a pipeline number, a pipe section number and a welding port number, and the rectangular frame is further provided with a plurality of label identification cameras for identifying the identifiable labels on the pipeline.
As a preferable scheme, a plurality of outer photoelectric sensors are mounted on four sides of the rectangular frame, a central detection photoelectric sensor is arranged on a symmetrical center of the rectangular frame, the outer photoelectric sensors form a welding area detection grating, and the central detection photoelectric sensor is used for detecting whether the pipeline is in a central position.
As a preferable scheme, the number of the welding robots is eight, four of the welding robots are installed on the horizontal base and are arranged in pairs, and the remaining four welding robots are installed at the top of the rectangular frame and are arranged in pairs.
As a preferred scheme, the telescopic power device, the lifting power device, the rotary power device and the self-rotation power device are all servo motors, and the clamping power device is a hydraulic cylinder.
As a preferable scheme, the rectangular frame is further provided with a posture detection camera for detecting an initial posture of the pipeline.
After the technical scheme is adopted, the utility model has the effects that: because the prefabricated welding set of this process pipe, welding set includes horizontal base, be fixed with rectangular frame on the horizontal base, one side middle part of rectangular frame is provided with vertical centre sill, along Z axle slidable mounting has by the lift seat of lift power device drive on the vertical centre sill, it is rotatory around X axle and installs the roating seat by the drive of rotary power device to go up and down on the lift seat, install the flexible arm that stretches out and draws back along X axle direction on the roating seat, this flexible arm is driven by flexible power device, two clamping jaws of centre gripping power device drive centre gripping pipeline are installed to the free end of flexible arm, install the rotation drive arrangement of the centre gripping line rotation of drive pipe around the clamping jaw on the clamping jaw, install a plurality of welding robot that are used for carrying out the welding to the pipeline welding seam on the rectangular frame, the terminal of every welding robot is provided with the welding seam discernment camera that is used for discerning the pipeline welding seam, therefore, at first put into between two clamping jaws with the pipeline after spot welding and press from both sides tightly by it, because contained pipeline section and pipe fitting on the pipeline, both after spot welding each other, the welding seam is still more obvious, then utilize rotation drive arrangement can drive the pipeline rotatory around the centre gripping central line, the pipeline is whole can also be rotatory around the X axle simultaneously, just so can adjust the welding seam to the flat welding position, utilize horizontal position and height that lift seat and flexible arm just can effectual control welding seam simultaneously, finally make the pipeline of flat welding position be in welding robot's welding range, utilize the welding seam to discern the camera and can accurately discern the welding seam position, welding robot can be fine at the flat welding position automatic weld, this welding set can change the welding seam position and automatic weld, the efficiency and the quality of welding have been improved.
And the autorotation driving device comprises a plurality of rollers which are rotatably arranged on each clamping jaw, one roller is a driving roller and is driven by the autorotation force device, and the roller is partially exposed out of the jaw of the clamping jaw, so that the autorotation driving device can accurately drive the pipeline to rotate to a specified angle.
And because the number of the rollers is a plurality of rollers and is divided into two groups, each group of rollers is rotatably arranged on one clamping jaw, one clamping jaw is provided with the self-rotating power device, the output shaft of the self-rotating power device and the nearest roller are in belt transmission, and the rollers on each clamping jaw are in step-by-step transmission through the belt transmission device. Like this, the clamping jaw when drawing close the centre gripping pipeline each other running roller and pipeline contact and mention the clamping-force, simultaneously because the transmission step by step between the running roller on every clamping jaw, drive power is bigger like this, and the rotation is more smooth and easy.
And because the pipeline is provided with the identifiable labels comprising the shaft measurement drawing number, the pipeline section number and the welding port number, the rectangular frame is also provided with a plurality of label identification cameras for identifying the identifiable labels on the pipeline, and the label identification cameras can identify the information on the pipeline, so that the welding robot can conveniently take the corresponding parameters for welding.
And because a plurality of external photoelectric sensors are arranged on four sides of the rectangular frame, a central detection photoelectric sensor is arranged on the symmetrical center of the rectangular frame, the external photoelectric sensors form a welding area detection grating, the central detection photoelectric sensor is used for detecting whether the pipeline is in the central position, the pipeline can be effectively ensured to be in the welding area by using the external photoelectric sensors, and once a certain part of the pipeline exceeds the welding area, the pipeline can be detected by the grating, so that an alarm prompt can be sent out, meanwhile, the central detection photoelectric sensor can detect whether the pipeline is in the central position of the rectangular frame, and the pipeline can be better adjusted to be in the central position, so that the pipeline is not easy to exceed the welding area when the posture is changed, and the welding work is more reliable.
Drawings
The utility model is further illustrated with reference to the following figures and examples.
FIG. 1 is a perspective view of the structure of an embodiment of the present invention;
FIG. 2 is a perspective view of another angle of an embodiment of the present invention;
FIG. 3 is a perspective view with the welding robot and a portion of the rectangular frame hidden;
FIG. 4 is an enlarged perspective view of the jaw portions;
in the drawings: 1. a horizontal base; 2. a rectangular frame; 3. a vertical center sill; 4. a welding robot; 5. an outer photosensor; 6. a barcode recognition camera; 7. a clamping jaw; 8. a pipeline; 9. A self-rotating force device; 10. a roller; 11. a lifting seat; 12. a linear module; 13. a rotary power device; 14. a telescopic arm; 15. a belt drive; 16. a rotating seat.
Detailed Description
The present invention is described in further detail below with reference to specific examples.
As shown in fig. 1 to 4, the welding device for prefabricating the pipeline 8 in the chemical equipment modular manufacturing process comprises a horizontal base 1, a rectangular frame 2 is fixed on the horizontal base 1, a vertical middle beam 3 is arranged in the middle of one side of the rectangular frame 2, the rectangular frame 2 is formed by welding steel structures, the size of the rectangular frame 2 is 12000cm x8000cm x13000cm, and the horizontal base 1 needs to be leveled by a level gauge when being fixed, so that the accurate installation positions of a welding robot 4 and other components are ensured.
The vertical middle beam 3 is provided with a lifting seat 11 driven by a lifting power device along the Z axis in a sliding way, the lifting power device adopts a servo motor, and a linear module 12 taking the servo motor as power can be directly selected.
The lifting seat 11 is provided with a rotating seat 16 driven by a rotating power device 13 in a rotating mode around an X axis, the rotating power device 13 also adopts a servo motor, and the servo motor can accurately control the rotating angle of the rotating seat 16 to guarantee the precision.
The rotating base 16 is provided with a telescopic arm 14 which extends and retracts along the X-axis direction, the telescopic arm 14 is driven by a telescopic power device, the telescopic arm 14 can adopt a currently existing telescopic arm 14, and the telescopic power device is preferably also driven by a servo motor.
Two clamping jaws 7 for driving a clamping pipeline 8 to be clamped by a clamping power device are installed at the free end of the telescopic arm 14, and an autorotation driving device for driving the pipeline 8 to rotate around the clamping center line of the clamping jaws 7 is installed on the clamping jaws 7.
In this embodiment, the rotation driving device includes a plurality of rollers 10 rotatably mounted on each of the jaws 7, one of the rollers 10 is a driving roller and is driven by the self-rotation force device 9, and a part of the roller 10 is exposed from the jaw of the jaw 7. The number of running roller 10 is a plurality of and divide into two sets ofly, and every group running roller 10 number is three and all rotate and install on a clamping jaw 7, install on one of them clamping jaw 7 self-rotation power device 9, belt drive between the output shaft of self-rotation power device 9 and nearest running roller 10. Drive step by step through belt transmission 15 between the running roller 10 on every clamping jaw 7, like this, will drive all running rollers 10 on same clamping jaw 7 all rotatory when the self-rotation power device 9 drive roll is rotatory, and simultaneously, running roller 10 on another clamping jaw 7 is passive roller, the rotatory in-process of pipeline 8, passive roller is synchronous syntropy rotatory all, running roller 10 on such a clamping jaw 7 all has the rotation power, pipeline 8 is rotatory more smoothly, the revolving force is also bigger.
Be provided with the distinguishable label that contains axle survey picture number, pipeline number, pipe section number, weld opening number on the pipeline, rectangular frame 2 is last still to be provided with a plurality of and is used for discerning the label identification camera of distinguishable label on the pipeline 8, and this label identification camera can adopt bar code identification camera 6, and it has distinguishable bar code to paste on the corresponding pipeline section, and the quantity of this label identification camera is a plurality of, can ensure accurate quick discernment like this.
All install a plurality of outside photoelectric sensors 5 on four sides of rectangular frame 2, be provided with central detection photoelectric sensor on rectangular frame 2's the symmetry center, outside photoelectric sensor 5 is used for detecting this photoelectric sensor and has constituted welding zone detection grating, central detection photoelectric sensor is used for detecting whether pipeline 8 is in central point, wherein central detection photoelectric sensor can set up at rectangular frame 2's top and be located pipeline 8's top, and central detection photoelectric sensor's position sets up down, and when pipeline 8 was by the centre gripping back, clamping jaw 7 is along X direction horizontal migration, will be detected by central detection photoelectric sensor when the pipeline section moves center department this moment, helps judging whether tubular product is in welding zone's middle part like this, surpasss welding zone when avoiding upset or rotation angle of adjustment.
In this embodiment, still be provided with the gesture detection camera that is used for detecting the initial gesture of pipeline on the rectangular frame, the initial gesture when the gesture detection camera can detect 7 centre gripping pipelines of clamping jaw, the position of adjustment pipeline that just so can be more accurate provides accurate basic data for the position adjustment of welding seam.
The above-mentioned embodiments are merely descriptions of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and alterations made to the technical solution of the present invention without departing from the spirit of the present invention are intended to fall within the scope of the present invention defined by the claims.
Claims (9)
1. The utility model provides a prefabricated welding set of chemical industry equipment modularization manufacturing process pipeline which characterized in that: the welding device comprises a horizontal base, a rectangular frame is fixed on the horizontal base, a vertical middle beam is arranged in the middle of one side of the rectangular frame, a lifting seat driven by a lifting power device is slidably arranged on the vertical middle beam along the Z axis, a rotating seat driven by a rotating power device is rotatably arranged on the lifting seat around the X axis, a telescopic arm telescopic along the X axis direction is arranged on the rotating seat, the telescopic arm is driven by a telescopic power device, two clamping jaws which are driven by a clamping power device to clamp the pipeline are arranged at the free end of the telescopic arm, the clamping jaw is provided with a self-rotation driving device for driving the pipeline to rotate around the clamping center line of the clamping jaw, the welding robot is characterized in that a plurality of welding robots for welding pipeline welding seams are installed on the rectangular frame, and a welding seam identification camera for identifying the pipeline welding seams is arranged at the terminal of each welding robot.
2. The chemical equipment modular manufacturing process pipe prefabrication welding device of claim 1, wherein: the rotation driving device comprises a plurality of rollers which are rotatably arranged on each clamping jaw, one of the rollers is a driving roller and is driven by a rotation force device, and the roller part is exposed out of the jaw of the clamping jaw.
3. The chemical equipment modular manufacturing process pipe prefabrication welding device of claim 2, wherein: the number of running roller is a plurality of and divide into two sets ofly, and every group running roller all rotates and installs on a clamping jaw, install on one of them clamping jaw from the power of rotation device, the belt drive between the output shaft of the power of rotation device and nearest running roller.
4. The chemical equipment modular manufacturing process pipe prefabrication welding device of claim 3, wherein: the rollers on each clamping jaw are driven step by step through a belt transmission device.
5. The chemical equipment modular manufacturing process pipe prefabrication welding device of claim 4, wherein: be provided with the distinguishable label that contains axle survey picture number, pipeline number, pipe section number, welding mouth number on the pipeline, still be provided with the label identification camera that a plurality of is used for discerning distinguishable label on the pipeline on the rectangular frame.
6. The chemical equipment modular manufacturing process pipe prefabrication welding device of claim 5, wherein: all install a plurality of outside photoelectric sensors on four sides of rectangular frame, be provided with the central detection photoelectric sensor on rectangular frame's the symmetry center, outside photoelectric sensor has constituted the welding area and has detected the grating, the central detection photoelectric sensor is used for detecting whether the pipeline is in central point and puts.
7. The chemical equipment modular manufacturing process pipe prefabrication welding device of claim 6, wherein: the number of the welding robots is eight, four of the welding robots are arranged on the horizontal base and are arranged oppositely in pairs, and the rest four welding robots are arranged at the top of the rectangular frame and are arranged oppositely in pairs.
8. The chemical equipment modular manufacturing process pipe prefabrication welding set of claim 7, wherein: the telescopic power device, the lifting power device, the rotating power device and the self-rotating power device are all servo motors, and the clamping power device is a hydraulic cylinder.
9. The prefabricated welding set of chemical equipment modular manufacturing process pipeline of claim 8, characterized in that: and the rectangular frame is also provided with a posture detection camera for detecting the initial posture of the pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123036808.XU CN216680802U (en) | 2021-12-06 | 2021-12-06 | Chemical equipment modularization manufacturing process pipeline prefabrication welding set |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123036808.XU CN216680802U (en) | 2021-12-06 | 2021-12-06 | Chemical equipment modularization manufacturing process pipeline prefabrication welding set |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216680802U true CN216680802U (en) | 2022-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123036808.XU Active CN216680802U (en) | 2021-12-06 | 2021-12-06 | Chemical equipment modularization manufacturing process pipeline prefabrication welding set |
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| CN (1) | CN216680802U (en) |
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2021
- 2021-12-06 CN CN202123036808.XU patent/CN216680802U/en active Active
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