WO2022262052A1 - 一种基于机器人的升降式管道焊接装置及其焊接方法 - Google Patents

一种基于机器人的升降式管道焊接装置及其焊接方法 Download PDF

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Publication number
WO2022262052A1
WO2022262052A1 PCT/CN2021/107148 CN2021107148W WO2022262052A1 WO 2022262052 A1 WO2022262052 A1 WO 2022262052A1 CN 2021107148 W CN2021107148 W CN 2021107148W WO 2022262052 A1 WO2022262052 A1 WO 2022262052A1
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WO
WIPO (PCT)
Prior art keywords
welding
robot
box
welded pipe
clamping
Prior art date
Application number
PCT/CN2021/107148
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English (en)
French (fr)
Inventor
刘敏
彭明花
刘俊
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南京昱晟机器人科技有限公司
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Publication of WO2022262052A1 publication Critical patent/WO2022262052A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
    • B23K37/0531—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor internal pipe alignment clamps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • B23K31/027—Making tubes with soldering or welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0247—Driving means

Definitions

  • the invention relates to the field of welding technology, in particular to a robot-based lifting type pipeline welding device and a welding method thereof.
  • Welding technology is very important for pipeline containers, and the requirements for welding technology are becoming more and more stringent.
  • the development of welding technology has been extremely rapid in recent years.
  • the welding operation environment of pressure pipelines is poor, and sometimes it involves high-altitude operations.
  • the quality of welding has a direct impact on whether the pipeline can run safely. If the operation is out of control and the welding process cannot be effectively controlled, it will cause welding quality
  • the above problem occurs.
  • welding is an important job, and its quality and efficiency have an important impact on the construction period and safety of the project.
  • a robot-based lifting pipe welding device and its welding method are provided, which solve the above-mentioned problems in the prior art through automatic lifting transportation and retractable inner hole clamping.
  • a robot-based elevating pipe welding device including three parts: a welding assembly, a clamping assembly, and an elevating assembly;
  • the welding assembly is rotatably connected to both sides of the first box body
  • the clamping assembly includes an adjusting screw, a clamping piece evenly distributed around the adjusting screw, and an elastic piece fixedly connected with the clamping piece; the clamping force of the clamping piece on the inside of the welded pipe can be evenly distributed to prevent
  • the welded pipe fittings are deformed and play the role of self-centering.
  • the adjusting screw can control the distance between the clamping parts, thereby controlling the clamping of the clamping parts to the welded pipe.
  • the threaded connection between the adjusting screw and the first box plays a locking role.
  • the lifting assembly includes a shaft coupling used for lifting transmission, a base plate that engages with the coupling and moves, and a support seat that is relatively fixed on the base plate.
  • the supporting seat is made of elastic material, which can buffer the welded pipe fittings when they fall downward when the clamping parts are loose, and play a supporting role in the lifting process of the welded pipe fittings.
  • a through groove extending laterally inside the first box body is threadedly connected with the adjusting screw, and a semi-closed hole is vertically arranged around the through groove for placing an elastic member. While the round platform exerts pressure on the clamping part, the elastic part exerts a counter pressure on the clamping part to balance the clamping part, prevent the clamping part from colliding with the first box, and play a buffering role on the clamping part.
  • one end of the adjusting screw is provided with a circular platform that slides relative to the clamping member.
  • the adjusting screw moves relative to the first box, and the clamping part shrinks under the elastic action of the elastic part.
  • the round table set at the front end of the adjusting screw has a predetermined taper, so as to control the shrinkage range of the clamping part, so that the clamping part can be adjusted arbitrarily for butt welding
  • the clamping force of the inner diameter of the pipe fittings can effectively ensure the clamping of the welded pipe fittings and realize the welding of pipe fittings with different inner diameters.
  • the clamping piece is longer than the depth of the groove inside the first box, one side of the clamping piece is provided with cylindrical protrusions along both sides of the first box to form a buckle, and the other side Gather and extend along the inside of the first box to form conical protrusions.
  • the point contact between the conical protrusion and the round platform can quickly move the clamping part, quickly clamp the welded pipe fittings, and improve work efficiency.
  • the welding assembly includes a positioning block fixedly connected above the connecting frame, a guide rod screwed to the positioning block, and a welding head fixedly connected to one end of the guide rod, the welding assembly Symmetrical staggered arrangement on both sides of the first box body.
  • the screw is driven by the cylinder to drive the connecting frame to move, the positioning block fixed on the connecting frame is screwed with the guide rod, and the end of the guide rod is connected with the welding head, so that the welding head can be controlled to move along the axial direction of the welded pipe by rotating the guide rod , because the welding assembly is rotatably connected to the first box body, the welding head can rotate along the circumferential direction at the same time, thereby effectively reducing the rotation of the welded pipe fittings and avoiding affecting the coaxiality of the two welded pipe fittings.
  • the bottom plate is slidably connected with a second box body, and one side of the second box body is vertically staggered with a plurality of guide rails for controlling the moving direction of the welded pipe fittings, one of the guide rails is The predetermined distance from the ground passes through the second box along the transverse direction.
  • the guide rail can control the lifting movement direction of the welded pipe fittings, effectively ensuring that the welded pipe fittings run smoothly along the predetermined direction during transportation.
  • the inner lower end of the second box is fixedly connected with a coupling along the longitudinal direction
  • the coupling includes fixed disks fixed at both ends of the second box through a connecting shaft, and along the fixed
  • the disc is a moving disc distributed axially, and the moving disc is rotated through a plurality of connecting rods evenly distributed on the rotating disc.
  • the coupling controls the lifting movement of the welded pipe fittings. In order to ensure the stability during the lifting process of the bottom plate driven by the coupling, the number of moving discs can be adjusted according to the length required for the welded pipe fittings.
  • a third box is slidably connected to the second box, the third box is symmetrical to the first box, and the internal structure of the third box is the same as that of the first box.
  • the coaxial and opposite clamping parts can more effectively ensure the coaxiality of the welded pipe fittings and avoid misalignment during welding.
  • the sliding connection of the third box can ensure that the welded pipe fittings can be removed smoothly after the welding of the welded pipe fittings is completed.
  • a telescopic rod is rotatably connected to the bracket, and one end of the telescopic rod is connected to the outside of the first box.
  • the welding assembly can be rotated from 90° to 180°.
  • the telescopic rod can follow the rotation of the welding assembly, Provide support for welded assemblies.
  • a welding method based on a robot-based lifting type pipeline welding device the working process is as follows:
  • the robot places the welded pipe fittings on the support seat, which is located at the starting position of the conveyor belt and one side of the second box; after the conveyor belt is powered on, the timing belt rotates, and the bottom of the support seat is connected with a bottom plate to drive the welded pipe fittings to move to the second box.
  • the sensor senses the welded pipe fittings, the coupling starts to rotate, the fixed disc remains still, and the connecting rod drives the rotating disc to rotate from the lowest position to the highest position, thereby driving the welded pipes to rise along the guide rail in the second box
  • the clamping assembly senses the welded pipe, adjusts the screw to rotate, and the front end round table withstands the elastic piece to expand the elastic piece in the circumferential direction, thereby clamping the welded pipe; welding After the pipe fittings are clamped, when the screw thread is locked, the clamping assembly will always clamp the welded pipe fittings, the symmetrically arranged welding head starts to rotate in the opposite direction, and the cylinder drives the screw to rotate, and the welding head moves to the weld to start welding ; After the welding head rotates to a predetermined angle, the welding head moves to the initial position.
  • the motor rotates in the opposite direction, the adjusting screw rotates in the opposite direction, and the round table is far away from the welding position, so that the clamping piece returns to the relaxed state, so that Loosen the welded pipe fittings, and at the same time the third box moves, so that the clamping piece is separated from the end of the welded pipe fittings, the welded pipe fittings return to the support seat, and the top end of the rotating disc starts to move, so that the bottom plate and the inner side of the second box body
  • the guide rails correspond and move to the end through the conveyor belt.
  • the welded pipe fittings at the starting position of the conveyor belt run synchronously with the finished product, and the robot picks up the finished product and sends it to the finished product area; and so on, repeat the above work in turn until the welding work is completed.
  • the invention relates to a robot-based lifting pipe welding device and its welding method.
  • the lifting transmission mechanism effectively reduces the transmission structure through the robot, and the lifting structure is simple and easy to operate through the shaft coupling.
  • the box effectively ensures the stability of the transmission process, and the symmetrically arranged welding components effectively improve the welding efficiency, and the welding components are rotated and welded, which reduces the rotation frequency of the welded pipe itself, thereby reducing the welding error.
  • the clamp assembly can not only clamp welded pipe fittings with any inner diameter, but also automatically center and disperse the pressure exerted by the clamping parts on the inside of the pipe through uniformly distributed clamping parts, reducing the bending deformation of the pipe wall, and the screw guide rod is locked to ensure
  • the welded pipe fittings are coaxial to ensure the welding quality, and the distance of the weld seam can be controlled by the movement of the clamping assembly.
  • the lifting transmission mechanism of the present invention cooperates with the movable clamping assembly to make the pipeline welding It is easy and convenient to disassemble and transport after completion.
  • Figure 1 is a top view of the present invention.
  • Fig. 2 is a front view of the present invention.
  • Fig. 3 is a partial sectional view of the clamping assembly in the present invention.
  • Fig. 4 is a structural schematic diagram of the coupling in the present invention.
  • Fig. 5 is a schematic structural view of the second box in the present invention.
  • the reference signs in the figure are: lead screw 1, bracket 2, welding head 3, cylinder 4, clamping assembly 5, adjusting screw 501, clamping member 502, round table 503, elastic member 504, first box body 6, bottom plate 7.
  • Support seat 8 second box body 9, guide rail 901, sensor 902, positioning block 10, telescopic rod 11, product conveyor belt 12, slide rail 13, connecting frame 14, third box body 15, guide rod 16 , motor 17, welding pipe fitting 18, connecting shaft 19, rotating disk 20, fixed disk 21, connecting rod 22.
  • the applicant believes that the traditional pipe welding device is used to automatically rotate the welded pipe fitting 18 through welding.
  • the traditional pipe fitting is fixed by an outer circular chuck or an end face positioning piece when the welded pipe fitting 18 is clamped, and the welding cannot be controlled during the rotation of the welded pipe fitting 18.
  • the concentricity of the pipe is easy to misalign during the welding process, resulting in the pressure of the pipe being concentrated at one point, affecting the strength of the pipe, and causing a safety accident in severe cases, and the control of the groove gap by the 18 rotating device of the welded pipe fitting is difficult to grasp, and the weld seam
  • the lifting type transmission mechanism effectively reduces the transmission structure through the use of robots, and the lifting structure is simple and easy to operate through the shaft coupling.
  • the box body with guide rails effectively ensures the stability of the transmission process, and the symmetrically arranged welding components effectively improve the welding efficiency, and the welding components are rotated and welded to reduce the rotation frequency of the welded pipe fitting 18 itself, thereby reducing the welding error.
  • the telescopic clamping assembly 5 can not only clamp welded pipes 18 with any inner diameter, but also automatically center and disperse the pressure exerted by the clamping parts 502 on the inside of the pipe through the uniformly distributed clamping parts 502, reducing the pressure on the pipe wall.
  • the screw guide rod 16 is locked to ensure that the welded pipe fittings 18 are coaxial, thereby ensuring the welding quality, and the distance of the weld seam can be controlled by the movement of the clamping assembly 5.
  • the present invention has an improved lifting transmission mechanism Cooperating with the movable clamping assembly 5, the disassembly and transportation of the pipeline after welding are simple and convenient.
  • the present invention discloses a robot-based lifting pipe welding device, which includes three parts: a welding assembly, a clamping assembly 5, and a lifting assembly;
  • the welding assembly is rotatably connected to both sides of the first box body 6; the traditional welding head 3 is fixed, and the welding is realized by rotating the welding pipe fitting 18, so the quality of the weld cannot be guaranteed.
  • the welding assembly is centered on the first box 6 and symmetrically arranged on both sides of the first box 6.
  • the welding assembly includes a welding head 3 fixed vertically to the guide rod 16, and the longitudinal movement of the welding head 3 can be adjusted by the rotation of the guide rod 16.
  • the first box 6 connected by the welding head 3 rotates, and the welding head 3 can rotate in the circumferential direction, thereby reducing the rotation of the welded pipe fittings 18, effectively avoiding the influence of the coaxiality of the two welded pipe fittings 18, relative setting
  • the adjustable welding head 3 can simultaneously realize the welding of weld seams with different trajectories, and is easy to operate.
  • the welding head 3 is threaded on the positioning block 10 through the guide rod 16.
  • the lower part of the positioning block 10 is slidably connected with the bracket 2 through the slide rail 13, and the screw 1 is driven to rotate by the cylinder 4.
  • the connecting frame 14 fixedly connected to one end of the screw 1 is connected to the positioning block 10, and the screw 1 rotates to drive the transverse direction of the welding head 3. move.
  • the rotation of the welding head 3 effectively improves the welding efficiency, and realizes the welding seam of various trajectories, but since the welding assembly can be rotated from 90° to 180°, in the moving process, in order to avoid the whole welding assembly being subjected to its own gravity during the rotation Influence, cause the welding head 3 to move unstable in the welding process, affect the welding accuracy of the welding head 3, install the telescopic rod 11 on the bracket 2, the two ends of the telescopic rod 11 rotate respectively to connect the bracket 2 and the first box 6, and the telescopic rod 11 It can support the welding assembly with the rotation of the welding assembly.
  • a telescopic rod 11 is rotatably connected to the bracket 2 , and one end of the telescopic rod 11 is connected to the outside of the first box body 6 .
  • the welded pipe fittings 18 are moved into the second box body 9 through the product conveyor belt 12.
  • the traditional welded pipe fittings 18 need to be clamped from the ground and placed on the conveyor belt for transmission before welding, and manual lifting is very laborious.
  • the second The inner side of the box body 9 is provided with guide rails 901 along the periphery of the box body, and one of the guide rails 901 passes through the second box body 9 horizontally at a predetermined distance from the ground, so as to cooperate with the product conveyor belt to make the bottom plate 7 and the second box body 9
  • the guide rails cooperate with each other to realize the guiding function for the welded pipe fittings 18.
  • the guide rails 901 and the bottom plate 7 are provided with slide rails 13, which move in relative cooperation, so that the guide rails 901 can control the lifting movement direction of the welded pipe fittings 18, and the guide rails 901 cooperate with the lifting components. Use, make the transportation of welded pipe fittings 18 more stable.
  • the lifting assembly includes a shaft coupling for lifting transmission, a bottom plate 7 that engages with the coupling, and a support base 8 relatively fixed on the bottom plate 7 .
  • the coupling is fixedly connected to the inner lower end of the second box body 9 through the connecting shaft 19, so as to ensure that the coupling plays a guiding role on the bottom plate 7 when the bottom plate 7 is lifted, so that the welded pipe fittings 18 move along the Move in a predetermined direction to prevent the bottom plate 7 from deviating from the motion track, and the guide rail 901 cooperates with the coupling to effectively ensure that the welded pipe fittings 18 run smoothly along the predetermined direction during transportation, and the bottom of the second box 9 is provided with a device for detecting the welded pipe fittings 18 The sensor 902, thereby controlling the driving time of the coupling.
  • the shaft coupling includes a fixed disc 21 fixedly connected to the inner side of the second box body 9, and a rotating disc 20 axially distributed along the fixed disc 21, and the rotating disc 20 is formed by a plurality of uniformly distributed rotating discs.
  • the connecting rod 22 on the disc 20 realizes the rotation.
  • the number of rotating discs 20 can be adjusted according to the required length of the welded pipe fitting 18.
  • the rotating disc 20 since the rotating disc 20 is not coaxial with the fixed disc 21 and is connected by a connecting rod 22, the rotating disc 20 can be rotated at a predetermined Rotating within the range, the bottom plate 7 and the coupling move in mesh, driving the welded pipe fitting 18 to realize the lifting function, thereby ensuring the smoothness of the transmission.
  • the bottom of the second box body 9 is provided with an inductor 902.
  • the sensor 902 sends a signal to the system so that when the welded pipe fitting 18 moves to the upper surface of the second box body 9, the installed Clamp assembly 5 immediately begins to carry out clamping.
  • the first box body 6 is provided with a through slot and a vertical hole for placing the clamping assembly 5 .
  • the adjusting screw 501 in the clamping assembly 5 is threadedly connected with the through groove in the first box body 6, and the movement of the round table 503 at the front section of the adjusting screw 501 can be adjusted by rotating the adjusting screw 501.
  • the clamping part 502 around the adjusting screw 501 slides relative to each other, and the tapered circular platform 503 can control the distance in front of the clamping part 502, so as to achieve clamping of the welded pipes 18 with different internal forces.
  • the clamping piece 502 is longer than the depth of the groove inside the box, one side of the clamping piece 502 extends along both sides of the box with cylindrical protrusions to form a buckle, and the other side gathers and extends along the inside of the box to form a conical protrusion.
  • the point contact between the conical protrusion and the round table 503 can quickly move the clamping part 502 to quickly clamp the welded pipe fitting 18 to improve work efficiency.
  • One side of the clamping piece 502 is fixedly connected with an elastic piece 504, and the clamping piece 502 shrinks under the elastic action of the elastic piece 504, thereby controlling the shrinkage range of the clamping piece 502, so that the welding pipe fittings of the clamping piece 502 can be adjusted arbitrarily 18 inner diameter range, expanding the inner diameter range of the welded pipe fitting 18, and effectively ensuring the clamping of the welded pipe fitting 18.
  • the round platform 503 exerts pressure on the clamping part 502
  • the elastic part 504 exerts a counter pressure on the clamping part 502 to play a balancing role, and can prevent the clamping part 502 from colliding with the first box body 6, and play a role in clamping the clamping part 502. buffering effect.
  • the evenly distributed clamping parts 502 make the clamping force on the inside of the welded pipe fitting 18 uniform, and play the role of self-centering, thereby controlling the clamping of the clamping part 502 to the welded pipe fitting 18, in order to prevent the clamping part 502 from Loose during the clamping process, the threaded connection between the adjusting screw 501 and the first box body 6 also plays a locking role, ensuring the stability of the welded pipe fitting 18 during the clamping process, and further ensuring its coaxiality
  • the second box body 9 is slidingly connected to the third box body 15, and the second box body 9 is symmetrical to the first box body 6 and has the same structure, so that the automatic centering of the clamping member 502 during the clamping process can effectively ensure the welded pipe fittings
  • the coaxiality of 18 can avoid quality problems such as misalignment during welding. To remove the welded pipe fitting 18, you only need to move the third box 15 at one end, and the welded pipe fitting 18 will automatically fall into the support seat 8.
  • the support seat 8 is made of elastic material, and when the clamping part 502 is loose, it plays a buffering role when the welded pipe fitting 18 falls downward, and plays a supporting role in the lifting process of the welded pipe fitting 18 .
  • the present invention provides a welding method of a robot-based lifting type pipeline welding device, the specific work is as follows: the robot places the welding pipe fitting 18 on the support base 8, and is located at the starting position of the product conveyor belt 12 1.
  • the coupling starts to rotate, the fixed disc 21 remains stationary, and the connecting rod 22 drives the rotating disc 20 to rotate from the lowest position to the highest position, thereby driving the welded pipe fitting 18 to rise along the guide rail 901 in the second box body 9 to the position where it is clamped Components 5 face each other, reciprocating in this way to place the product in the corresponding position; clamping component 5 senses the welded pipe 18, the adjustment screw 501 rotates, and the front end round table 503 withstands the elastic

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  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

本发明涉及一种基于机器人的升降式管道焊接装置及其焊接方法，通过机器人搬用，升降式传送机构有效减小了传输结构，通过联轴器实现升降结构简单，操作方便，并且带有导轨的箱体有效保证传输过程的稳定性，对称设置的焊接组件，有效提高了焊接效率，并且焊接组件转动焊接，减小了焊接管件自身转动频率，从而减小了焊接误差，通过可伸缩式的装夹组件，不仅可以装夹任意内径的焊接管件，并且通过均匀分布的夹紧件自动定心并且分散夹紧件对管道内部施加的压力，减小管壁的弯曲变形，螺导杆锁紧保证焊接管件同轴，从而保证焊接质量，装夹组件移动便可控制焊缝距离。

Description

一种基于机器人的升降式管道焊接装置及其焊接方法 技术领域
本发明涉及焊接技术领域，具体涉及一种基于机器人的升降式管道焊接装置及其焊接方法。
 背景技术
焊接技术对于管道容器而言非常重要，对于焊接技术的要求也越来越严格，焊接技术的发展近年极为迅速。压力管道的焊接作业环境较差，有时还会涉及到高空作业，焊接的质量对管道能否安全运行有着直接的影响，一旦对质量的控制环节出现误差，就会直接导致在安装过程中对焊接作业的失控，不能有效的控制焊接过程，就会造成焊接质量 上的问题出现。对于压力管道而言，焊接是一个重要的工作，它的质量和效率对工程的工期及安全性有着重要的影响。
传统用于管道焊接装置，通过焊接管件自动旋转，传统管件在焊接管件装夹时采用外圆卡盘或者端面定位件进行固定，在焊接管件转动过程中无法控制焊接管道的同心度，焊接过程中容易错边，致使管道的承压集中于一点，影响管道的强度，严重时会造成安全事故，以及焊接管件旋转装置对于坡口间隙的控制难以把握，焊缝金属与母材或与相邻焊道间及焊缝层间的局部残留有间隙，是焊缝的焊接强度下降，并且卡盘对薄壁管件的夹持力会导致管件发生形变，并且在焊接完成后取下焊接管件程序要为复杂，影响工作效率。
 技术问题
提供种基于机器人的升降式管道焊接装置及其焊接方法，通过自动升降式运输方式，以及可伸缩的内孔装夹，从而解决了现有技术存在的上述问题。
 技术解决方案
一种基于机器人的升降式管道焊接装置，包括焊接组件、装夹组件以及升降组件三部分；
其中，焊接组件，转动连接在第一箱体的两侧；
装夹组件，包括调节螺杆，均匀分布在所述调节螺杆四周的夹紧件，以及与所述夹紧件固定连接的弹性件；夹紧件对焊接管件内部的夹持力能够均匀分散，防止焊接管件变形，并起到自动定心的作用。调节螺杆能够控制夹紧件之间的距离，从而控制夹紧件对焊接管件的夹持，为防止在夹持过程中松动，调节螺杆与第一箱体的螺纹连接起到锁紧的作用。
升降组件，包括用于升降传动的联轴器，与所述联轴器啮合运动的底板，以及相对固定在所述底板上的支撑座。支撑座采用弹性材质，在夹紧件松动时，对焊接管件向下掉落时起到缓冲作用，在焊接管件升降过程中起到支撑作用。
在进一步的实施例中，所述第一箱体内部沿横向延伸设置有通槽，与调节螺杆螺纹连接，所述通槽周边沿竖向设置有半封闭孔，用于放置弹性件。圆台对夹紧件施加压力的同时，弹性件予以夹紧件反向压力起到平衡作用，并可防止夹紧件与第一箱体碰撞，对夹紧件起到缓冲作用。
在进一步的实施例中，所述调节螺杆的一端设置有圆台与夹紧件相对滑动。调节螺杆相对第一箱体移动，夹紧件在弹性件的弹性作用下实现收缩，调节螺杆前端设置的圆台具有预定锥度，从而控制夹紧件的收缩范围，从而可任意调节夹紧件对焊接管件内径的夹紧力，有效保证焊接管件的夹紧，并且实现焊接不同内径的管件。
在进一步的实施例中，所述夹紧件长于第一箱体内部凹槽深度，所述夹紧件的一侧沿第一箱体两侧设置有圆柱凸起，形成卡扣，另一侧沿第一箱体内部聚集延伸形成圆锥凸起。圆锥凸起与圆台形成点接触可快速移动夹紧件，对焊接管件快速夹紧，提高工作效率。
在进一步的实施例中，所述焊接组件包括固定连接在连接架上方的定位块，与所述定位块螺纹连接的导杆，以及与所述导杆一端固定连接的焊接头，所述焊接组件对称交错设置在第一箱体两侧。通过气缸带动丝杠，从而带动连接架移动，固定在连接架上的定位块与导杆螺纹连接，导杆末端连接有焊接头，从而转动导杆便可控制焊接头的沿焊接管件轴向移动，由于焊接组件转动连接第一箱体，焊接头同时可沿周向转动，从而有效减少焊接管件转动，避免影响两焊接管件的同轴度。
在进一步的实施例中，所述底板滑动连接有第二箱体，所述第二箱体一侧垂直交错设置有多条用于控制焊接管件移动方向的导向轨，其中一条所述导向轨以与地面预定距离沿横向穿过第二箱体。导向轨可控制焊接管件的的升降运动方向，有效保证焊接管件在运输过程中沿预定方向平稳运行。
在进一步的实施例中，所述第二箱体内侧下端沿纵向固定连接有联轴器，所述联轴器包括通过连接轴固定在第二箱体两端的固定圆盘，以及沿所述固定圆盘轴向分布的移动圆盘，所述移动圆盘通过多个均匀分布在转动圆盘上的连杆实现转动。联轴器控制焊接管件的升降运动，为了使联轴器带动底板升降过程中保证平稳性，移动圆盘可根据焊接管件所需的长度进行调整个数。
在进一步的实施例中，所述第二箱体上滑动连接有第三箱体，所述第三箱体与第一箱体对称，第三箱体内部结构与第一箱体相同。同轴相对的夹持件，更有效保证焊接管件的同轴度，避免焊接时产生错边，第三箱体滑动连接能够在焊接管件焊接完成后，保证焊接管件能够顺利取下。
在进一步的实施例中，所述支架上转动连接有伸缩杆，所述伸缩杆的一端连接第一箱体外侧。焊接组件可由90°转动至180°，为避免整个焊接组件在转动过程中受重力影响，导致焊接过程中焊接头移动不稳定，影响焊接头的焊接精度，伸缩杆可随焊接组件的转动，时刻对焊接组件予以支撑力。
一种基于机器人的升降式管道焊接装置的焊接方法，工作过程如下：
机器人将焊接管件放置在支撑座的上，并位于输送带的起始位置、第二箱体的一侧；输送带通电后，同步带转动，支撑座底部连接有底板从而带动焊接管件移动至第二箱体内，感应器感应到焊接管件，联轴器开始转动，固定圆盘保持不动，连杆带动转动圆盘从最低位置转动至最高位置，从而带动焊接管件沿第二箱体内导向轨上升至与装夹组件相对，如此往复将产品放置在相应位置上；装夹组件感应到焊接管件，调节螺杆转动，前端圆台顶住弹性件使弹性件向圆周方向扩张，从而夹紧焊接管件；焊接管件装夹完毕后，调节螺杆螺纹锁紧的情况下，装夹组件始终夹紧焊接管件，对称设置的焊接头相反方向开始转动，气缸带动丝杆转动，是焊接头移动至焊缝处开始焊接；焊接头转动至预定角度后，焊接头移动至初始位置，焊接头焊接完成后，电机反向转动，调节螺杆反向转动，圆台远离焊接位置，从而使夹紧件恢复至放松状态，如此便松开焊接管件，同时第三箱体移动，使夹紧件脱离至焊接管件端部外，焊接管件回归至支撑座上，转动圆盘有最顶端开始移动，使底板与第二箱体内侧的导向轨相对应，并通过输送带移动至末端，同时传输带起始位置的焊接管件与成品同步运行，机器人夹取成品传送至成品区；如此类推，依次重复上述工作，直至焊接工作完成。
 有益效果
本发明涉及一种基于机器人的升降式管道焊接装置及其焊接方法，通过机器人搬用，升降式传送机构有效减小了传输结构，通过联轴器实现升降结构简单，操作方便，并且带有导轨的箱体有效保证传输过程的稳定性，对称设置的焊接组件，有效提高了焊接效率，并且焊接组件转动焊接，减小了焊接管件自身转动频率，从而减小了焊接误差，通过可伸缩式的装夹组件，不仅可以装夹任意内径的焊接管件，并且通过均匀分布的夹紧件自动定心并且分散夹紧件对管道内部施加的压力，减小管壁的弯曲变形，螺导杆锁紧保证焊接管件同轴，从而保证焊接质量，装夹组件移动便可控制焊缝距离，此外，本发明与传统的管道焊接装置相比，升降式传动机构与可移动的装夹组件配合，使管道焊接完毕后拆卸以及运输简单方便。
 附图说明
图1为本发明的俯视图。
图2为本发明中的主视图。
图3为本发明中装夹组件的局部剖视图。
图4为本发明中联轴器的结构示意图。
图5为本发明中第二箱体的结构示意图。
图中各附图标记为：丝杠1、支架2、焊接头3、气缸4、装夹组件5、调节螺杆501、夹紧件502、圆台503、弹性件504、第一箱体6、底板7、支撑座8、第二箱体9、导向轨901、感应器902、定位块10、伸缩杆11、产品输送带12、滑轨13、连接架14、第三箱体15、导杆16、电机17、焊接管件18、连接轴19、转动圆盘20、固定圆盘21、连杆22。
 本发明的实施方式
在下文的描述中，给出了大量具体的细节以便提供对本发明更为彻底的理解。然而，对于本领域技术人员而言显而易见的是，本发明可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本发明发生混淆，对于本领域公知的一些技术特征未进行描述。
申请人认为，传统用于管道焊接装置，通过焊接焊接管件18自动旋转，传统管件在焊接管件18装夹时采用外圆卡盘或者端面定位件进行固定，在焊接管件18转动过程中无法控制焊接管道的同心度，焊接过程中容易错边，致使管道的承压集中于一点，影响管道的强度，严重时会造成安全事故，以及焊接管件18旋转装置对于坡口间隙的控制难以把握，焊缝金属与母材或与相邻焊道间及焊缝层间的局部残留有间隙，是焊缝的焊接强度下降，并且卡盘对薄壁管件的夹持力会导致管件发生形变，并且在焊接完成后取下焊接管件18程序要为复杂，影响工作效率。
为此，申请人设计了一种基于机器人的升降式管道焊接装置及其焊接方法，通过机器人搬用，升降式传送机构有效减小了传输结构，通过联轴器实现升降结构简单，操作方便，并且带有导轨的箱体有效保证传输过程的稳定性，对称设置的焊接组件，有效提高了焊接效率，并且焊接组件转动焊接，减小了焊接管件18自身转动频率，从而减小了焊接误差，通过可伸缩式的装夹组件5，不仅可以装夹任意内径的焊接管件18，并且通过均匀分布的夹紧件502自动定心并且分散夹紧件502对管道内部施加的压力，减小管壁的弯曲变形，螺导杆16锁紧保证焊接管件18同轴，从而保证焊接质量，装夹组件5移动便可控制焊缝距离，此外，本发明与传统的管道焊接装置相比，升降式传动机构与可移动的装夹组件5配合，使管道焊接完毕后拆卸以及运输简单方便。
如图1至图5所示，本发明公开了一种基于机器人的升降式管道焊接装置，包括焊接组件、装夹组件5以及升降组件三部分；
其中，焊接组件，转动连接在第一箱体6的两侧；传统的焊接头3固定，通过转动焊接管件18实现焊接，如此无法保证焊缝质量，为减少焊接管件18转动影响同轴度，焊接组件以第一箱体6为中心，对称设置在第一箱体6两侧，焊接组件包括有与导杆16垂直固定的焊接头3，通过导杆16转动，可调节焊接头3纵向移动行程，从而控制焊接位置，焊接头3连接的第一箱体6转动，焊接头3可沿周向转动，从而减少焊接管件18转动，有效避免了影响两焊接管件18的同轴度，相对设置的可调节焊接头3可同时实现不同轨迹的焊缝的焊接，操作方便，为保证焊接头3稳定移动，焊接头3通过导杆16螺纹连接在定位块10上。定位块10下方通过滑轨13与支架2滑动连接，通过气缸4带动丝杠1转动，丝杠1一端固定连接的连接架14与定位块10连接，丝杠1转动从而带动焊接头3的横向移动。焊接头3的转动有效提高了焊接效率，并且实现焊接多种轨迹的焊缝，但是由于焊接组件可由90°转动至180°，在移动过程中，为避免整个焊接组件在转动过程中受自身重力影响，导致焊接过程中焊接头3移动不稳定，影响焊接头3的焊接精度，在支架2上安装伸缩杆11，伸缩杆11两端分别转动连接支架2与第一箱体6，伸缩杆11可随焊接组件的转动，对焊接组件起到支撑作用。所述支架2上转动连接有伸缩杆11，所述伸缩杆11的一端连接第一箱体6外侧。
焊接管件18通过产品输送带12移动至第二箱体9内，传统焊接管件18在焊接前需要从地面夹取放置在输送带上进行传输，人工向上抬起很费力，本发明中的第二箱体9内侧沿箱体周边设置有导向轨901，其中一条导向轨901以与地面预定距离沿横向穿过第二箱体9，从而配合产品传输带使底板7与第二箱体9内的导轨相互配合，对焊接管件18实现导向功能，导向轨901与底板7均设置有滑轨13，相对配合运动，从而导向轨901可控制焊接管件18的升降运动方向，导向轨901与升降组件配合使用，使焊接管件18的运输更加平稳。
升降组件，包括用于升降传动的联轴器，与所述联轴器啮合运动的底板7，以及相对固定在所述底板7上的支撑座8。为了实现焊接管件18平稳升降，联轴器与第二箱体9内侧下端通过连接轴19固定连接，保证联轴器在顶升底板7时，对底板7起到导向作用，使焊接管件18沿预定方向移动，防止底板7偏离运动轨迹，导向轨901与联轴器配合运动，有效保证焊接管件18在运输过程中沿预定方向平稳运行，并且第二箱体9底部设置有用于检测焊接管件18的感应器902，从而控制联轴器的驱动时间。联轴器包括与第二箱体9内侧固定连接的固定圆盘21，以及沿所述固定圆盘21轴向分布的转动圆盘20，所述转动圆盘20通过多个均匀分布在转动圆盘20上的连杆22实现转动。转动圆盘20可根据焊接管件18所需的长度进行调整个数，传动过程中，由于转动圆盘20与固定圆盘21不同轴并通过连杆22连接，从而使转动圆盘20在预定的范围内转动，底板7与联轴器啮合运动，带动焊接管件18实现升降功能，从而保证传动平稳性。并且第二箱体9底部设置有感应器902，在焊接管件18移动至第二箱体9内，感应器902对系统发送信号，使焊接管件18移动至第二箱体9上表面时，装夹组件5即时开始进行装夹。第一箱体6内设置有通槽以及沿竖向设置有孔，用于放置装夹组件5。装夹组件5内的调节螺杆501与第一箱体6内的通槽螺纹连接，转动调节螺杆501便可调节调节螺杆501前段的圆台503的移动，圆台503设置有预定锥度，与均匀分布在调节螺杆501四周的夹紧件502相对滑动，带有锥度的圆台503可控制夹紧件502之前的距离，从而实现夹紧不同内劲的焊接管件18。，夹紧件502长于箱体内部凹槽深度，夹紧件502的一侧沿箱体两侧延伸设置有圆柱凸起，形成卡扣，另一侧沿箱体内部聚集延伸形成圆锥凸起。圆锥凸起与圆台503形成点接触可快速移动夹紧件502，对焊接管件18快速夹紧，提高工作效率。夹紧件502的一侧固定连接有弹性件504，夹紧件502在弹性件504的弹性作用下实现收缩，从而控制夹紧件502的收缩范围，从而可任意调节夹紧件502对焊接管件18内径的范围，扩大焊接管件18的内径范围，并且有效保证焊接管件18的夹紧。圆台503对夹紧件502施加压力的同时，弹性件504予以夹紧件502反向压力起到平衡作用，并可防止夹紧件502与第一箱体6碰撞，对夹紧件502起到缓冲作用。同时均匀分布的夹紧件502使对焊接管件18内部的夹持力能够均匀，并起到自动定心的作用，从而控制夹紧件502对焊接管件18的夹持，为防止夹紧件502在夹持过程中松动，调节螺杆501与第一箱体6的螺纹连接同时也起到锁紧的作用，保证焊接管件18在夹持过程中的稳定性，并且进一步保证其同轴度
另外，由于传统焊接管件18装置焊接完成后取下焊接管件18程序要为复杂，影响工作效率。第二箱体9与第三箱体15滑动连接，并且第二箱体9与第一箱体6对称，并且结构相同，从而夹紧件502在夹持过程中的自动定心有效保证焊接管件18的同轴度，避免焊接时错边等质量问题，取下焊接管件18仅需移动一端第三箱体15便可，焊接管件18自动落入支撑座8内，如此简单方便，并且支撑座8采用弹性材质，在夹紧件502松动时，对焊接管件18向下掉落时起到缓冲作用，在焊接管件18升降过程中起到支撑作用。
基于上述技术方案，本发明提供一种基于机器人的升降式管道焊接装置的焊接方法，具体的工作如下：机器人将焊接管件18放置在支撑座8的上，并位于产品输送带12的起始位置、第二箱体9的一侧；输送带通电后，同步带转动，支撑座8底部连接有底板7从而带动焊接管件18移动至第二箱体9内，感应器902感应到焊接管件18，联轴器开始转动，固定圆盘21保持不动，连杆22带动转动圆盘20从最低位置转动至最高位置，从而带动焊接管件18沿第二箱体9内导向轨901上升至与装夹组件5相对，如此往复将产品放置在相应位置上；装夹组件5感应到焊接管件18，调节螺杆501转动，前端圆台503顶住弹性件504，使弹性件504向圆周方向扩张，从而夹紧焊接管件18；焊接管件18装夹完毕后，调节螺杆501螺纹锁紧的情况下，装夹组件5始终夹紧焊接管件18，对称设置的焊接头3相反方向开始转动，气缸4带动丝杆转动，是焊接头3移动至焊缝处开始焊接；焊接头3转动至预定角度后，焊接头3移动至初始位置，焊接头3焊接完成后，电机17反向转动，调节螺杆501反向转动，圆台503远离焊接位置，从而使夹紧件502恢复至放松状态，如此便松开焊接管件18，同时第三箱体15移动，使夹紧件502脱离至焊接管件18端部外，焊接管件18回归至支撑座8上，转动圆盘20有最顶端开始移动，使底板7与第二箱体9内侧的导向轨901相对应，并通过输送带移动至末端，同时产品输送带12起始位置的焊接管件18与成品同步运行，机器人夹取成品传送至成品区；如此类推，依次重复上述工作，直至焊接工作完成。
如上所述，尽管参照特定的优选实施例已经表示和表述了本发明，但其不得解释为对本发明自身的限制。在不脱离所附权利要求定义的本发明的精神和范围前提下，可对其在形式上和细节上做出各种变化。

Claims (10)

  1. 一种基于机器人的升降式管道焊接装置，其特征在于包括：
    焊接组件，通过支架转动连接在第一箱体的两侧；
    装夹组件，包括调节螺杆，均匀分布在所述调节螺杆四周的夹紧件，以及与所述夹紧件固定连接的弹性件；
    升降组件，包括用于升降传动的联轴器，与所述联轴器啮合运动的底板，以及相对固定在所述底板上的支撑座。
  2. 根据权利要求1所述的一种基于机器人的升降式管道焊接装置，其特征在于：所述第一箱体内部沿横向延伸设置有通槽，与调节螺杆螺纹连接，所述通槽周边沿竖向设置有半封闭孔，用于放置弹性件。
  3. 根据权利要求1所述的一种基于机器人的升降式管道焊接装置，其特征在于：所述调节螺杆的一端设置有圆台与夹紧件相对滑动。
  4. 根据权利要求3所述的一种基于机器人的升降式管道焊接装置，其特征在于：所述夹紧件长于第一箱体内部凹槽深度，所述夹紧件的一侧沿第一箱体两侧设置有圆柱凸起，形成卡扣，另一侧沿第一箱体内部聚集延伸形成圆锥凸起。
  5. 根据权利要求1所述的一种基于机器人的升降式管道焊接装置，其特征在于：所述焊接组件包括固定连接在连接架上方的定位块，与所述定位块螺纹连接的导杆，以及与所述导杆一端固定连接的焊接头，所述焊接组件对称交错设置在第一箱体两侧。
  6. 根据权利要求1所述的一种基于机器人的升降式管道焊接装置，其特征在于：所述底板滑动连接有第二箱体，所述第二箱体一侧垂直交错设置有多条用于控制焊接管件移动方向的导向轨，其中一条所述导向轨以与地面预定距离沿横向穿过第二箱体。
  7. 根据权利要求6所述的一种基于机器人的升降式管道焊接装置，其特征在于：所述第二箱体内侧下端沿纵向固定连接有联轴器，所述联轴器包括通过连接轴固定在第二箱体两端的固定圆盘，以及沿所述固定圆盘轴向分布的移动圆盘，所述移动圆盘通过多个均匀分布在转动圆盘上的连杆实现转动。
  8. 根据权利要求7所述的一种基于机器人的升降式管道焊接装置，其特征在于：所述第二箱体上滑动连接有第三箱体，所述第三箱体与第一箱体对称。
  9. 根据权利要求1所述的一种基于机器人的升降式管道焊接装置，其特征在于：所述支架上转动连接有伸缩杆，所述伸缩杆的一端连接第一箱体外侧。
  10. 根据权利要求1至9中任一项所述的一种基于机器人的升降式管道焊接装置的焊接方法，其特征在于包括以下步骤：
    S1、机器人将焊接管件放置在焊接管件输送带的起始位置、位于第二箱体的一侧；
    S2、输送带通电，同步带转动带动焊接管件移动至第二箱体内，感应器感应到焊接管件，联轴器开始转动，带动焊接管件沿第二箱体内导向轨上升至与装夹组件相对，如此往复将产品放置在相应位置上；
    S3、装夹组件感应到焊接管件并使夹紧件紧贴焊接管件；
    S4、焊接管件装夹完毕后，装夹组件始终夹紧焊接管件，焊接头开始转动并对焊接管件进行焊接；
    S5、焊接头转动至预定角度后机器人启动电机带动装夹组件转动至预定角度；
    S6、焊接完成后，松开焊接管件，焊接管件通过输送带移动至末端，机器人夹取成品传送至成品区；
    S7、如此类推，依次重复S1~S6工作，直至焊接工作完成。
PCT/CN2021/107148 2021-06-15 2021-07-19 一种基于机器人的升降式管道焊接装置及其焊接方法 WO2022262052A1 (zh)

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CN116871762A (zh) * 2023-09-06 2023-10-13 广州善易贸易有限公司 一种机械配件加工用局部焊接装置
CN116921968A (zh) * 2023-09-01 2023-10-24 辛集市科鑫冶金设备有限公司 一种定氧探头生产用焊接设备
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CN118455779A (zh) * 2024-07-12 2024-08-09 溧阳市立源机械配件有限公司 一种锻件切割设备及其切割方法

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CN116921968A (zh) * 2023-09-01 2023-10-24 辛集市科鑫冶金设备有限公司 一种定氧探头生产用焊接设备
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CN118268810A (zh) * 2024-06-03 2024-07-02 江苏澳瑞思液压润滑设备有限公司 一种液压润滑设备组合式加工工装
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