CN218284287U

CN218284287U - Automatic butt joint leveling large-scale workstation of tube sheet

Info

Publication number: CN218284287U
Application number: CN202222015731.6U
Authority: CN
Inventors: 吕跃罡; 吕航; 王月阳; 罗如祥
Original assignee: Nanjing Lichuang Intelligent Equipment Co ltd
Current assignee: Nanjing Lichuang Intelligent Equipment Co ltd
Priority date: 2022-08-01
Filing date: 2022-08-01
Publication date: 2023-01-13
Anticipated expiration: 2032-08-01

Abstract

The utility model discloses a large-scale workstation of automatic butt joint levelling of tube sheet, including the welding truss, six manipulators, place platform and workstation, be equipped with the X axle truss that can remove about on the welding truss, be equipped with the Y axle truss that can move back and forth for the X axle truss on the X axle truss, six manipulators are installed in Y axle truss, it is used for putting the semi-manufactured goods pipe fitting of treating welding to place the platform, the vertical installation plate of treating welding of placing in one side of workstation, the workstation is located the bottom plate of welding truss, six manipulators are equipped with the manipulator clamping jaw, the manipulator clamping jaw is used for snatching semi-manufactured goods pipe fitting, and remove semi-manufactured goods pipe fitting and make semi-manufactured goods pipe fitting aim at with the installation plate, this workstation can dispose image acquisition device, in order to acquire the positional information of semi-manufactured goods pipe fitting and installation plate. The utility model discloses an use and reduce manual intervention, reduce complicated frock clamp, realized the automatic butt joint of installation plate with semi-manufactured goods pipe fitting to position stability after keeping the butt joint is applicable to batch production.

Description

Automatic butt joint leveling large-scale workstation of tube sheet

Technical Field

The utility model relates to a welding technology equipment field, more specifically relates to an automatic butt joint of tube sheet is transferred and is leveled large-scale workstation.

Background

The metal tube is widely applied to the industries of chemical production, food and drug manufacturing, waste gas treatment, boiler equipment and the like. To install the metal pipe, the metal pipe is generally welded to the installation plate in advance, and then the metal pipe is welded to the installation plate so as to be assembled quickly at a later stage.

During welding, the semi-finished pipe fitting to be welded and the mounting plate fitting need to be aligned in position and adjusted in horizontal height to be in butt joint, and the positions are fixed and maintained in the welding process. The traditional butt joint is manual hoisting, the level is adjusted by utilizing a tool clamp to match with a level ruler and a gasket, the butt joint time is long, the labor intensity of workers is high, and the difficulty of batch production is high. And the work fixture for positioning the semi-finished pipe fittings is complex in structure and is easy to cause the position of the pipe fittings to move.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model provides an automatic butt joint of tube sheet is transferred and is leveled large-scale workstation, the manual intervention is few, reduces complicated frock clamp, has realized the automatic butt joint of installation plate with semi-manufactured goods pipe fitting to keep the butt joint back position stable, be applicable to batch production.

According to the utility model discloses an aspect provides a large-scale workstation of automatic butt joint levelling of tube sheet, it includes the welding truss, six manipulators, place platform and workstation, be equipped with the X axle truss that can control about removing on the welding truss, be equipped with the Y axle truss for X axle truss back-and-forth movement on the X axle truss, six manipulators are installed in Y axle truss, it is used for putting the semi-manufactured goods pipe fitting of treating welding to place the platform, the vertical installation plate of treating welding of placing in one side of workstation, the workstation is located the bottom plate of welding truss, six manipulators are equipped with the manipulator clamping jaw, the manipulator clamping jaw is used for snatching semi-manufactured goods pipe fitting, and remove semi-manufactured goods pipe fitting and make semi-manufactured goods pipe fitting and installation plate aim at. Therefore, the position of the six-axis manipulator and the manipulator clamping jaws is moved through the X-axis travelling frame and the Y-axis travelling frame, the six-axis manipulator can assist the manipulator clamping jaws to grab semi-finished pipe fittings at any angle, the manipulator clamping jaws grab the semi-finished pipe fittings to be welded from the placing table and move to the side of the working table, the six-axis manipulator can automatically adjust the angle and the horizontal height of the semi-finished pipe fittings as required, the manipulator clamping jaws grab the semi-finished pipe fittings to align with the mounting plates to be welded to complete butt joint, after the semi-finished pipe fittings and the mounting plates to be welded are in butt joint, the manipulator clamping jaws grab the semi-finished pipe fittings all the time until the mounting plates and the semi-finished pipe fittings are welded, the large automatic butt joint and leveling working station for the pipe plates does not need to be provided with complex pipe fitting positioning tool fixtures, and the positions of the mounting plates and the semi-finished pipe fittings are stable in the welding process.

In some embodiments, at least two pairs of robot gripping jaws are provided, the two pairs of robot gripping jaws being arranged one behind the other on a six-axis robot. Therefore, the front and rear pairs of manipulator clamping jaws grasp a semi-finished pipe with a certain length, and the stability after grasping can be improved; if the semi-finished pipe fitting is provided with a special-shaped structure, and a space is reserved between the front pair of manipulator clamping jaws and the rear pair of manipulator clamping jaws, the special-shaped structure can be accommodated in the space.

In some embodiments, driving mechanisms are arranged between the X-axis travelling frame and the welding travelling frame and between the Y-axis travelling frame and the X-axis travelling frame, each driving mechanism comprises a rack rail, a gear, a motor and a base plate, rotatable guide wheels are mounted at two ends of the base plate, the base plate is provided with a through hole, the guide wheels can run on the rails of the rack rails, the gear is meshed with the rack of the rack rails, the gear is connected with an output shaft of the motor, and the motor is mounted on the base plate. Therefore, when the motor is started, the gear rotates and is meshed with the rack, the front guide wheel and the rear guide wheel can move along the top of the track of the rack rail, the X-axis traveling frame moves relative to the welding traveling frame, the Y-axis traveling frame moves relative to the X-axis traveling frame, and the guide wheel structures arranged in the front and the rear can enable the X-axis traveling frame to move more smoothly.

In some embodiments, the base plate is provided with a guide rail, the guide rail is provided with a slide block, the slide block is provided with a carrier plate, and the motor is mounted on the carrier plate. Therefore, the installation position of the gear can be finely adjusted through the guide rail and the sliding block, and the tube plate can be conveniently and automatically assembled in a large workstation in a butt joint and leveling mode.

In some embodiments, the placing table is of a hollow frame structure, a plurality of arc grooves distributed at intervals are formed in two ends of the placing table, and the semi-finished pipe fitting is placed in the arc grooves. From this, the place position of semi-manufactured goods pipe fitting can be injectd to the circular arc groove, and semi-manufactured goods pipe fitting interval is put on hollow frame structure, also is convenient for the manipulator clamping jaw to snatch.

In some embodiments, the large automatic tube sheet butting and leveling workstation further comprises a tool table, and the tool table is used for placing mechanical arm clamping jaws with different specifications. Therefore, the clamping jaw of the manipulator can be replaced according to the size specification of the semi-finished pipe fitting, and the application range of the large-scale workstation for automatically butting and leveling the pipe plate is widened.

In some embodiments, the large workstation for automatically butting and leveling tube plates further comprises an image acquisition device, wherein the image acquisition device is arranged on the clamping jaw of the mechanical arm, and can acquire the position information of the semi-finished tube pieces to be welded and the mounting plate. Therefore, some semi-finished pipe fittings are also provided with other special-shaped structures such as branch pipes, if the semi-finished pipe fittings are placed on the placing platform at random, the angles and the like of the semi-finished pipe fittings are not strictly limited, and can be further adjusted during later butt joint.

Compared with the prior art, the utility model has the advantages that: the utility model provides a pair of large-scale workstation of automatic butt joint leveling of tube sheet is applicable to tube sheet welded batch production, the manual work is intervened fewly, reduce staff's intensity of labour, six manipulators of this workstation configuration and manipulator clamping jaw have replaced the frock clamp that traditional technology is complicated, realize snatching and angle, the position adjustment of level of arbitrary angle to semi-manufactured goods pipe fitting, realized the quick automatic butt joint of installation plate and semi-manufactured goods pipe fitting, and can keep the position stable after the butt joint, prepare for follow-up welding.

Drawings

Fig. 1 is a perspective view of an embodiment of a large workstation for automatically docking and leveling tube plates according to the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a side view of FIG. 1;

FIG. 4 is a schematic view of the drive mechanism;

fig. 5 is a schematic view of the drive mechanism from another perspective.

Detailed Description

The present invention will be further described with reference to the following embodiments.

As shown in fig. 1 to 3, an embodiment of the large workstation for automatically butting and leveling tube plates comprises a welding truss 1, a six-axis manipulator 4, a placing table 5 and a workbench 6. The welding travelling frame 1 is welded into a frame structure through square pipes, and a bottom plate 11 is arranged at the bottom of the welding travelling frame 1. An X-axis travelling frame 2 capable of moving left and right is arranged on the top of the welding travelling frame 1 in the longitudinal direction. The X-axis traveling frame 2 includes a pair of moving bodies 21 and a pair of cross frames 22 having both ends fixedly connected to the moving bodies 21. The cross frame 22 of the X-axis travelling frame 2 is provided with a Y-axis travelling frame 3 which can move back and forth relative to the X-axis travelling frame 2. The six-axis manipulator 4 is installed between the two cross frames 22 of the Y-axis traveling frame 3, and the six-axis manipulator 4 can move the manipulator gripping jaws 41 at any angle. The placing table 5 is used for placing the semi-finished pipes 101 to be welded, and if the welded product does not need to be moved to the next process temporarily, the placing table 5 can also be used for temporarily placing the welded product. The worktable 6 is placed on the bottom plate 11 of the welding row frame 1, and a mounting plate 102 to be welded is vertically placed on one side of the worktable 6. The shape of the mounting plate 102 is determined according to actual needs, such as a rectangular structure, a circular structure, etc., and if the shape of the mounting plate 102 adopts a circular structure or other special-shaped structures, the side of the working table 6 may be provided with a corresponding simple tool to clamp the mounting plate 102. The six-axis robot 4 is connected with a robot gripper 41, and the robot gripper 41 is used to grip the semi-finished pipe 101 and move the semi-finished pipe 101 to align the semi-finished pipe 101 with the mounting plate 102.

The six-axis manipulator 4 and the manipulator clamping jaws 41 are moved through the X-axis travelling frame 2 and the Y-axis travelling frame 3, the six-axis manipulator 4 can assist the manipulator clamping jaws 41 in grabbing semi-finished pipe fittings 101 at any angle, the manipulator clamping jaws 41 grab the semi-finished pipe fittings 101 to be welded from the placing table 5 and move to the side of the workbench 6, the six-axis manipulator 4 can automatically adjust the angle and the horizontal height of the semi-finished pipe fittings 101 according to needs, the manipulator clamping jaws 41 grab the semi-finished pipe fittings 101 to be aligned with the installation plate 102 to be welded to complete butt joint, after the butt joint of the semi-finished pipe fittings 101 and the installation plate 102 is completed, the manipulator clamping jaws 41 always grab the semi-finished pipe fittings 101 until the installation plate 102 and the semi-finished pipe fittings 101 are welded, the large automatic butt joint and leveling workstation of the pipe plates does not need to be provided with a complicated pipe fitting positioning tool clamp, and the installation plate 102 and the semi-finished pipe fittings 101 are stable in position in the welding process.

The number of the robot gripping jaws 41 can be increased appropriately according to the length of the semi-finished pipe 101. In this embodiment, there are two pairs of the robot gripping jaws 41, and the two pairs of the robot gripping jaws 41 are distributed back and forth on the six-axis robot 4. Thus, the two pairs of front and rear robot gripping claws 41 grip the semi-finished pipe 101 having a certain length, and the stability after gripping can be improved. In addition, if the semi-finished tube 101 has a special-shaped structure, such as a branch tube, and there is a space between the front and rear pairs of robot jaws 41, the special-shaped structure can be accommodated in the space.

The driving mechanisms between the X-axis travelling frame 2 and the welding travelling frame 1, the driving mechanisms between the Y-axis travelling frame 3 and the X-axis travelling frame 2 and the structures of the driving mechanisms are the same.

As shown in fig. 1, 4 and 5, the driving mechanism specifically includes a rack rail 71, a gear 72, a motor 73, and a base plate 74. The rack rail 71 includes a rail 711 and a rack 712, and the rack 712 is embedded in a side of the rail 711. Two rotatable guide wheels 75 are respectively installed at two ends of the base plate 74, a through hole 741 is formed in the base plate 74, a part of the guide wheel 75 can pass through the through hole 741, and the guide wheel 75 can run on the track 711 of the rack track 71. The gear 72 is engaged with the rack 712 of the rack rail 71, the gear 72 is connected to an output shaft of the motor 73, and the motor 73 is mounted on the base plate 74. To facilitate the adjustment assembly, the base plate 74 may be divided into two parts, and a mounting space for the motor 73 and the gear 72 is formed therebetween. A guide rail 76 is fixed to the base plate 74 by screws, a slider 77 is disposed on the guide rail 76, a carrier plate 78 is fixed to the slider 77, and the motor 73 is mounted on the carrier plate 78. The moving body 21 of the X-axis traveling carriage 2 is covered on the base plate 74 of the driving mechanism and covers the guide wheel 75, the rack rails 71 are distributed and installed on the top of the welding traveling carriage 1 in the longitudinal direction, and the moving body 21 moves along with the movement of the base plate 74. The rack rail 71 of the Y-axis carriage 3 is attached to the top of the cross frame 22 of the X-axis carriage 2, the Y-axis carriage 3 is connected to the base plate 74 of the corresponding drive mechanism, and the Y-axis carriage 3 moves in accordance with the movement of the base plate 74. The motor 73 is started, the gear 72 rotates and is meshed with the rack 712, the front guide wheel 75 and the rear guide wheel 75 can move along the top of the track 711 of the rack track 71, so that the X-axis travelling frame 2 moves relative to the welding travelling frame 1, the Y-axis travelling frame 3 moves relative to the X-axis travelling frame 2, and the guide wheels 75 arranged in the front and the rear can move more smoothly.

As shown in fig. 1 and 2, the placing table 5 is a hollow frame structure, two ends of the placing table 5 are provided with a plurality of arc grooves 51 distributed at intervals, and the semi-finished pipe 101 is placed in the arc grooves 51. Therefore, the circular arc groove 51 can define the placement position of the semi-finished pipe 101, and the semi-finished pipe 101 is placed on the hollowed-out frame structure at intervals, so that the gripping of the manipulator clamping jaws 41 is facilitated.

As shown in FIG. 1, the large automatic tube plate butting and leveling workstation further comprises a tool table 8, and manipulator clamping jaws 41 with different specifications are placed on the tool table 8. Therefore, the manipulator clamping jaws 41 can be replaced according to the size specification of the semi-finished pipe fitting 101, and the application range of the large-scale automatic pipe plate butt-joint leveling workstation is widened.

The large-scale automatic tube plate butting and leveling workstation can also be provided with an image acquisition device 9, and the image acquisition device 9 can acquire the position information of the semi-finished tube 101 and the mounting plate 102 to be welded. The image acquisition device 9 is installed on the manipulator clamping jaw 41, the image acquisition device 9 is the prior art, the image acquisition device 9 can comprise an industrial intelligent camera and a lighting device, the image acquisition device 9 is connected with a control system of a large workstation for automatically butting and leveling tube plates, the image acquisition device 9 acquires image information of the semi-finished tube 101 and the installation plate 102 by photographing and feeds the image information back to the control system, the control system analyzes the image information to obtain position information of the semi-finished tube 101 and the installation plate 102, and then sends an instruction to the six-axis manipulator 4 according to the position information, so that the manipulator clamping jaw 41 can grab the semi-finished tube 101 at a reasonable angle and is butted with the installation plate 102 in an aligning manner. Some of the semi-finished pipes 101 are provided with other special-shaped structures such as branch pipes, and if the semi-finished pipes 101 are placed arbitrarily on the placing table 5, the angles and the like thereof are not strictly limited, and further adjustment is required during later docking, and therefore, the image capturing device 9 can be configured. Before the manipulator clamping jaw 41 grabs the semi-finished pipe fitting 101 to be welded on the placing table 5, the image acquisition device 9 acquires the position information of the semi-finished pipe fitting 101 through photographing, then the manipulator clamping jaw 41 adjusts the angle to grab the semi-finished pipe fitting, and after the grabbing, the manipulator clamping jaw 41 moves to the side of the workbench 6, the image acquisition device 9 acquires the position information of the installation plate 102 through photographing, and then the manipulator clamping jaw 41 aligns the semi-finished pipe fitting 101 to the installation plate 102 according to the position information of the installation plate 102, so that the butt joint of the semi-finished pipe fitting 101 and the installation plate 102 is realized.

The utility model provides a pair of automatic butt joint of tube sheet is transferred and is leveled large-scale workstation is applicable to tube sheet welded batch production, and the manual intervention is few, reduces staff's intensity of labour. The six-axis manipulator 4 and the manipulator clamping jaws 41 are arranged in the workstation to replace a tool clamp which is complex in the traditional process, any angle can be grabbed and the angle and the horizontal height can be adjusted for the semi-finished pipe fitting 101, the mounting plate 102 and the semi-finished pipe fitting 101 can be quickly and automatically butted, the position can be kept stable after the butting, and preparation is made for subsequent welding.

The foregoing is only illustrative of some embodiments of the present invention, and it should be noted that, for those skilled in the art, other variations and modifications can be made without departing from the inventive concept of the present invention, and these all fall into the scope of the present invention.

Claims

1. The utility model provides a large-scale workstation of automatic butt joint leveling of tube sheet, its characterized in that includes welding truss (1), six manipulators (4), places platform (5) and workstation (6), be equipped with X axle truss (2) that can remove about moving on welding truss (1), be equipped with Y axle truss (3) that can move back and forth for X axle truss (2) on X axle truss (2), install in Y axle truss (3) six manipulators (4), it is used for putting semi-manufactured goods pipe fitting (101) of treating welding to place platform (5), vertical the placing of one side of workstation (6) treats welded installation plate (102), workstation (6) are located bottom plate (11) of welding truss (1), six manipulators (4) are equipped with manipulator clamping jaw (41), manipulator clamping jaw (41) are used for snatching semi-manufactured goods pipe fitting (101) and moving semi-manufactured goods pipe fitting (101) and make semi-manufactured goods pipe fitting (101) aim at with installation plate (102).

2. The large pipe plate automatic butt leveling workstation according to claim 1, wherein at least two pairs of manipulator clamping jaws (41) are provided, and the two pairs of manipulator clamping jaws (41) are distributed back and forth on a six-axis manipulator (4).

3. The large-scale automatic pipe plate butt-joint leveling workstation according to claim 2 is characterized in that driving mechanisms are arranged between the X-axis travelling frame (2) and the welding travelling frame (1) and between the Y-axis travelling frame (3) and the X-axis travelling frame (2), each driving mechanism comprises a rack rail (71), a gear (72), a motor (73) and a base plate (74), rotatable guide wheels (75) are mounted at two ends of the base plate (74), the base plate (74) is provided with through holes (741), the guide wheels (75) can run on the rails of the rack rails (71), the gear (72) is meshed with the racks of the rack rails (71), the gear (72) is connected with an output shaft of the motor (73), and the motor (73) is mounted on the base plate (74).

4. The large pipe plate automatic butt leveling workstation according to claim 3, wherein a guide rail (76) is arranged on the base plate (74), a sliding block (77) is configured on the guide rail (76), a carrier plate (78) is arranged on the sliding block (77), and the motor (73) is installed on the carrier plate (78).

5. The large-scale automatic pipe and plate butting and leveling workstation according to claim 4, wherein the placing table (5) is of a hollow frame structure, a plurality of arc grooves (51) are formed in two ends of the placing table (5) and distributed at intervals, and the semi-finished pipe (101) is placed in the arc grooves (51).

6. The large automatic pipe plate butt-joint leveling workstation according to claim 1 is characterized by further comprising a tool table (8), wherein the tool table (8) is provided with manipulator clamping jaws (41) of different specifications.

7. A large pipe and plate automatic butt leveling workstation according to any one of claims 1 to 6, characterized by further comprising an image acquisition device (9), wherein the image acquisition device (9) is arranged on a clamping jaw (41) of the manipulator, and the image acquisition device (9) can acquire the position information of a semi-finished pipe (101) to be welded and a mounting plate (102).