Rib plate feeding device of pipe section flange rib plate welding machine

Abstract

The rib plate feeding device of the pipe section flange rib plate welding machine comprises a strip-shaped groove which can be adjusted and fixed in the extending direction of a strip-shaped base, the extending direction of the strip-shaped groove is perpendicular to the strip-shaped base, the top of the strip-shaped groove is open, and a rib plate containing frame is placed at the top of the strip-shaped groove; the rib plate containing frame moves in the extending direction of the strip-shaped groove through a transmission wheel arranged on the edge of the top of the strip-shaped groove, a rib plate feeding motor in transmission connection with the transmission wheel is fixedly arranged in the strip-shaped groove, and a feeding groove moving up and down is formed in the position, corresponding to the position under the straight line where the axis of the conical connector A is located, in the range of the strip-shaped groove. According to the rib plate feeding device of the pipe section flange rib plate welding machine, through the vertical groove structure arranged on the rib plate feeding device and the correspondingly matched rib plate placing frame, a rib plate to be welded, which is placed on the rib plate placing frame in advance, can be automatically fed to the bottom of a flange joint of a pipe section; and automatic spot welding fixation of the spot welding robot is facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of processing automation of main components of extra-high voltage steel tube power transmission towers, and particularly relates to a gusset plate feeding device of a tube segment flange gusset plate welding machine. BACKGROUND

[0002] Extra-high voltage power transmission refers to a power transmission line with an alternating voltage level exceeding 1000 kV or a power transmission line with a direct current voltage level exceeding ±800 kV. In an extra-high voltage power transmission line, an angle steel tower is generally used in flat terrain, and the main component of the angle steel tower is an angle steel piece. When a large span project (such as crossing the Yangtze River or the Yellow River) is needed, a steel tube is used due to the extremely large span, and the overall size of the extra-high voltage steel tube power transmission tower is very large (for example, the Baihetan-Jiangsu ±800 kV extra-high voltage direct current power transmission project in Ma'anshan, Anhui, which is located on the bank of the Yangtze River, and the height of the steel tube tower for power transmission is nearly 280 meters). Therefore, the use of steel tube segment components is extremely large, and the connection between adjacent two tube segment components is achieved by connecting and fixing the flanges at the ends of the tube segments through bolts. The flanges are connected along the tube segment component in a uniform distribution, and the flanges are equivalent to the flanging of the tube segment end. Therefore, the connection strength is even higher than that of the direct welding of the tube segment end, and the fixing efficiency through the bolt connection is higher than that of the complete welding of a circle. In addition, through the flange connection, the connection between tube segment components with different diameters, the connection between conical tube segment components, and the connection between columnar tube segment components and conical tube segment components can be effectively achieved.

[0003] Due to the very large overall size of the power transmission tower, the strength requirement of the support is very high for the strength requirement of the connection between adjacent two tube segment components. In addition, after the power transmission tower is built, it needs to withstand the action force of the transverse wind for a long time, which requires higher connection strength between adjacent two tube segment components. Since the flange is equivalent to the flanging of the tube segment end, it not only increases the contact area, but also improves the bending resistance of the force arm. Therefore, in order to ensure the connection strength between adjacent two tube segments, multiple gusset plates are uniformly distributed and fixed at the connection between the tube segment end and the flange, so as to avoid the deformation between the flange and the tube segment component and effectively improve the strength between the flange and the tube segment component.

[0004] Since both ends of each pipe segment component have flanges, and multiple (usually no less than 6) gussets are fixed at the connection between each flange and the pipe segment, the welding workload of the gussets at the flange connection of the end of the pipe segment component is extremely large in production, and the gusset welding effect is also very high, and full welding of the gusset on both sides of the contact surface between the gusset and the pipe segment and the flange is required. If the gusset is welded by manual work, the production efficiency is extremely low, and this process becomes the bottleneck of production efficiency.

[0005] Therefore, the applicant needs to develop a device that can automatically and quickly and effectively weld gussets to solve the above technical problems, and one of the core technologies of the welding device is to develop a gusset feeding device that can automatically and continuously feed gussets for welding. SUMMARY

[0006] The purpose of the present application is to overcome the shortcomings of the prior art and provide a gusset feeding device for a pipe segment flange gusset welding machine. The gusset feeding device is provided with a vertical groove structure and a corresponding gusset placing rack, so that the gussets to be welded placed on the gusset placing rack can be automatically fed to the bottom of the flange connection of the pipe segment, and the spot welding robot can be automatically spot welded and fixed.

[0007] The technical scheme adopted by the present application is: The gusset plate feeding device of the gusset plate flange rib plate welding machine comprises a strip-shaped groove which is adjustable and fixed along the extension direction of the strip-shaped base, the extension direction of the strip-shaped groove is perpendicular to the strip-shaped base, the top of the strip-shaped groove is open, a gusset plate placing rack is placed at the top of the strip-shaped groove, the gusset plate placing rack moves along the extension direction of the strip-shaped groove through the transmission wheel arranged at the top edge of the strip-shaped groove, a gusset plate feeding motor is fixedly arranged in the strip-shaped groove and is in transmission connection with the transmission wheel, a feeding groove which moves up and down is arranged below the straight line where the shaft center of the conical connector A is located in the range of the strip-shaped groove, a lifting cylinder which drives the feeding groove to move up and down is fixedly arranged in the strip-shaped groove, the extension rod A of the lifting cylinder drives the feeding groove to move up to the top of the gusset plate at the corresponding position of the gusset plate placing rack and the side wall facing the conical connector A and the flange connection part of the pipe segment side wall bottom are respectively in corresponding limiting contact, or the extension rod A of the lifting cylinder drives the feeding groove to move down to the top of the feeding groove being lower than the bottom of the gusset plate placing rack, the distance between the two side walls B of the feeding groove is matched with the thickness of the gusset plate, the gusset plates placed in the gusset plate placing rack are sequentially placed at equal intervals along the extension direction of the strip-shaped groove, the thickness of the side wall B is equal to the distance between the adjacent two gusset plates placed in the gusset plate placing rack, when the gusset plate placing rack is placed at the starting end of the strip-shaped groove transmission, the gusset plate which is far away from the starting end of the strip-shaped groove transmission among the gusset plates placed by the gusset plate placing rack is located between the starting end of the strip-shaped groove transmission and the feeding groove, an optical sensor B is further fixed on one side of the strip-shaped groove, the optical sensor B receives the optical signal emitted by the optical sensor B after the optical signal is reflected by the gusset plate placing rack or the gusset plate placed in the gusset plate placing rack, and then controls the gusset plate feeding motor to stop rotating, at this time, the corresponding part of the gusset plate placing rack or the gusset plate which emits the optical signal of the reflecting optical sensor B is located directly above the feeding groove.

[0008] The further improved scheme of the present application is that the cross section of the feeding groove is a U-shaped structure, the top of the feeding groove, the end facing the conical connector A and the end facing the conical connector B are all open; the lower part in the feeding groove, the end facing the conical connector A and the end facing the conical connector B are respectively fixed with a gusset plate contact rod A and a gusset plate contact rod B, when the feeding groove moves up under the driving action of the lifting cylinder to the position where the gusset plate contact rod A and the gusset plate contact rod B are in contact with the bottom of the corresponding gusset plate in the gusset plate placing rack, the top of the gusset plate is parallel to the bottom of the outer side wall at the position corresponding to the shaft center of the pipe segment, and the end surface of the gusset plate facing the conical connector A is parallel to the end surface of the flange on the side of the conical connector A away from the conical connector A.

[0009] The further improved scheme of the present application is that the gusset plate contact rod A and the gusset plate contact rod B respectively comprise a core rod A which is fixedly connected with the side wall of the feeding groove at both ends, the length of the core rod A is less than or equal to the distance between the outer side walls of the two opposite side walls B of the feeding groove, and a ceramic sleeve A is sleeved on the outer side wall of the core rod A in the feeding groove.

[0010] The further improved scheme of the present application is that the output shaft of the rib plate feeding motor is coaxially fixed with a driving wheel, the driving wheel is in transmission connection with a driven wheel A coaxially fixed on a wheel shaft A through a transmission belt, the transmission wheel is a gear, the rib plate placing rack is provided with a matched rack corresponding to the gear at the bottom, and the wheel shaft A is in rotational connection with the groove wall A of the strip-shaped groove; a plurality of wheel shafts A are provided in parallel, at least one wheel shaft A is provided on each side of the feeding groove, the distance between the transmission wheels fixed on the adjacent two wheel shafts A is smaller than the length of the rib plate placing rack along the extension direction of the strip-shaped groove, and the distance between the transmission wheel fixed on the wheel shaft A closest to the end of the strip-shaped groove and the end of the strip-shaped groove is smaller than the length of the rib plate placing rack along the extension direction of the strip-shaped groove.

[0011] The further improved scheme of the present application is that the outer side wall top edges of the groove wall A of the strip-shaped groove are respectively provided with two rows of rollers A along the extension direction of the strip-shaped groove, the wheel rim edges of the rollers A away from the side groove wall A are respectively coaxially provided with wheel rim convex rings A, the rollers A are arranged at equal intervals, the bottom of the rib plate placing rack in transmission connection with the transmission wheel through the rack is in contact with the wheel rim top of the roller A, and the edge bottom edges of the side groove walls A on both sides of the rib plate placing rack are respectively in limiting contact with the wheel rim convex rings A of the contacted rollers A.

[0012] The further improved scheme of the present application is that the bottom of the strip-shaped groove is adjustably and movably fixedly connected with the slide base A, the strip-shaped groove is up and down movably connected with the slide base A through the hydraulic piston cylinder A, the strip-shaped groove is fixedly provided with the hydraulic oil tank A, the hydraulic oil tank A is further fixedly provided with the oil pump motor A, the output shaft of the oil pump motor A extends into the hydraulic oil tank A and drives the hydraulic pump A fixed in the hydraulic oil tank A, the hydraulic oil pumped out of the hydraulic pump A is communicated with the hydraulic piston cylinder A through the pressure oil pipe A, the hydraulic piston cylinder A is communicated with the hydraulic oil tank A through the oil return pipe A, and the top of the oil pump motor A, the top of the hydraulic oil tank A and the top of the hydraulic piston cylinder A are all lower than the top edges of the groove walls A of the strip-shaped groove; the slide base A is provided with the sliding groove A matched with the strip-shaped track for corresponding connection; the slide base A or the sliding groove A is provided with the locking bolt A for locking and fixing with the strip-shaped track.

[0013] The further improved scheme of the present application is that the hydraulic piston cylinders A are symmetrically distributed on the groove bottom of the strip-shaped groove, the telescopic rods B of the hydraulic piston cylinders A extend downward, the bottom ends of the telescopic rods B are fixedly connected with the slide base A, the pressure oil pipes A of the hydraulic piston cylinders A are arranged in parallel with each other and then communicated with the hydraulic pump A, and the oil return pipes A of the hydraulic piston cylinders A are arranged in parallel with each other and then communicated with the hydraulic oil tank A; the hydraulic piston cylinders A are fixedly connected with the outer sides of the side walls A of the strip-shaped groove through the connecting plates.

[0014] The further improved scheme of the present application is that the rib plate placing rack comprises two parallel strip-shaped bottom plates arranged along the extension direction of the strip-shaped groove, the corresponding ends of the two strip-shaped bottom plates are fixedly connected through end vertical plates, the spacing between the two strip-shaped bottom plates is greater than the groove length of the strip-shaped groove, and the two strip-shaped bottom plates are located on the two opposite sides of the photoelectric sensor B, the top surfaces of the two strip-shaped bottom plates are equidistantly distributed along the extension direction and are correspondingly provided with an equal number of multiple partition vertical plates, the thickness of the partition vertical plate is equal to the thickness of the groove wall B of the strip-shaped groove, the rib plate placing groove with a groove width matching the thickness of the rib plate is formed between the adjacent two partition vertical plates of the same strip-shaped bottom plate, the positions of the rib plate placing grooves of the two strip-shaped bottom plates correspond to each other, the bottom of the strip-shaped bottom plate is provided with a rack for driving connection with the strip-shaped groove, the edge of the top surface of one of the strip-shaped bottom plates away from the other strip-shaped bottom plate is fixedly provided with a limiting vertical plate, the limiting vertical plate is fixedly connected with the end vertical plate and the partition vertical plate of the strip-shaped bottom plate, and the rib plate placing groove of the other strip-shaped bottom plate is open at the end away from the limiting vertical plate, the spacing between the limiting vertical plate and the end of the rib plate placing groove of the other strip-shaped bottom plate facing the limiting vertical plate is less than the bottom length of the rib plate, and the bottom of the end vertical plate between the two strip-shaped bottom plates is provided with a reflecting sheet B; a transition groove is formed between the end vertical plate and the partition vertical plate closest to the end vertical plate, and the groove width of the transition groove is less than the thickness of the rib plate.

[0015] The present application has the following advantages: Firstly, the vertical groove structure of the rib plate feeding device and the corresponding rib plate placing rack can automatically feed the rib plate placed on the rib plate placing rack to the bottom of the flange connection of the pipe section, which facilitates the automatic spot welding of the spot welding robot.

[0016] Secondly, the hydraulic piston cylinder A of the rib plate feeding device can also adjust the rib plate feeding height according to the different radial sizes of the pipe section and the different number and positions of the rib plates welded at the flange connection of the pipe section, thereby further improving the applicability of the welding machine.

[0017] Thirdly, the feeding groove structure of the rib plate feeding device can not only ensure that the rib plate placed on the rib plate placing rack is kept in a vertical state and is lifted upward to the bottom of the flange connection of the pipe section, but also can make the rib plate always fit the corresponding flange end face during the lifting process.

[0018] Fourthly, the rib plate contact rod A and the rib plate contact rod B of the feeding groove can make the top wall of the lifted rib plate always parallel to the bottom of the pipe section side wall.

[0019] Fifthly, the rib plate contact rod B can be fixed to the feeding groove and adjusted up and down, which is suitable for different shapes of rib plates required to be fixed at the flange connection of different models of pipe sections, thereby further improving the applicability of the rib plate feeding device.

[0020] Sixth, through the action of the photoelectric sensor B, so that the specific position of the rib plate placing frame moved under the action of the transmission wheel arranged in the vertical groove can be judged according to the received reflected light signal intensity, and the subsequent automatic operation is correspondingly performed.

[0021] Seventh, through the action of the roller and the rim convex ring A arranged in the vertical groove, the rib plate placing frame can be more conveniently moved along the extension direction of the vertical groove, and the limit in the two side directions of the rib plate placing frame is formed, so that the vertical rib to be spot welded can be accurately corresponded to the position of the feeding groove, and then the rib plate can be smoothly fed.

[0022] Eighth, through the structural design of the rib plate placing frame, a plurality of rib plates to be welded and fixed are sequentially arranged on the rib plate placing frame, so that the feeding groove can sequentially feed the rib plates placed on the rib plate placing frame from the position between the adjacent two strip-shaped bottom plates from bottom to top, thereby saving the rib plate feeding time and ensuring the accuracy of the rib plate feeding position.

[0023] Ninth, through the action of the rib plate contact rod C arranged in the rib plate placing frame, the side wall surface A of the rib plate placed in the rib plate placing frame can always be attached to the limiting vertical plate and keep the rib plate in the vertical state.

[0024] Tenth, the rib plate placing groove formed by the strip-shaped bottom plate on one side of the rib plate placing frame is open at both ends, so that it can be applied to rib plates of different lengths and sizes.

[0025] Eleventh, the lifting hole and the lifting rod formed by the end vertical plate of the rib plate placing frame, so as to facilitate the turnover taking and placing operation of the rib plate placing frame.

[0026] Twelfth, the strip-shaped counterbore arranged on the outer side wall of the two opposite side walls B of the feeding groove, the axial length of the nut on one end of the internal corner bolt and the axial length of the matching nut A are less than or equal to the hole depth of the strip-shaped counterbore, and the total length of the internal corner bolt is equal to the distance between the outer side walls of the two opposite side walls B of the feeding groove, so as to avoid interference of the internal corner bolt and its matching nut when passing through the area between the strip-shaped bottom plates of the rib plate placing frame upward.

[0027] Thirteenth, the transition groove with a groove width less than the thickness of the rib plate is arranged at both ends of the rib plate placing frame, so as to avoid placing the rib plate in the transition groove, and then a transition signal is formed before the rib plate on the rib plate placing frame is fed, and a transition signal is also formed after all the rib plates on the rib plate placing frame are fed and fixed, so as to avoid misoperation and affect the rib plate welding and even damage the equipment. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a top view schematic diagram of the automatic welding machine.

[0029] Figure 2 is a front view schematic diagram of the automatic welding machine.

[0030] Figure 3 is a front view schematic diagram of the automatic welding machine after the pipe segment is installed.

[0031] Figure 4 is a front view enlarged schematic diagram of the rib plate feeding device (the limiting horizontal rod is hidden).

[0032] Figure 5 is a front view enlarged schematic diagram of the welding device.

[0033] Figure 6 is a front view enlarged schematic diagram of the pipe segment lifting device.

[0034] Figure 7 is a left view enlarged schematic diagram of the pipe segment flange of the rib plate ready for welding facing the one end of the pipe segment rotating motor.

[0035] Figure 8 is a right view enlarged schematic diagram of the pipe segment flange of the rib plate ready for welding facing away from the one end of the pipe segment rotating motor.

[0036] Figure 9 is a right view enlarged schematic diagram of the strip-shaped groove.

[0037] Figure 10 is a top view enlarged schematic diagram of the strip-shaped groove.

[0038] Figure 11 is a front view enlarged schematic diagram of the feeding groove.

[0039] Figure 12 is a rear view enlarged schematic diagram of the feeding groove.

[0040] Figure 13 is a front view enlarged schematic diagram of the feeding groove.

[0041] Figure 14 is a top view enlarged schematic diagram of the rib plate placing rack.

[0042] Figure 15 is a bottom view enlarged schematic diagram of the rib plate placing rack.

[0043] Figure 16 is a front view enlarged schematic diagram of the rib plate placing rack.

[0044] Figure 17 is a front view enlarged schematic diagram of the rib plate placing rack.

[0045] Figure 18 is a right view enlarged schematic diagram of the rib plate placing rack.

[0046] Figure 19 An enlarged schematic view of the top view of the rib placement rack with the rib placement rack.

[0047] Figure 20 An enlarged schematic view of the front view of the rib.

[0048] Figure 21 An enlarged schematic view of the rib welding process from the top view of the automatic welding machine.

[0049] Figure 22 An enlarged schematic view of the rib loading process from the top view of the strip slot with the rib placement rack. DETAILED DESCRIPTION

[0050] In conjunction with Figure 4 , Figures 9-19The flange gusset plate feeding device of the gusset plate welding machine for pipe sections comprises a strip-shaped groove 4 which is adjustable and fixed along the extension direction of the strip-shaped base 1, the extension direction of the strip-shaped groove 4 is perpendicular to the strip-shaped base 1, the top of the strip-shaped groove 4 is open, the gusset plate placing rack 5 is placed on the top of the strip-shaped groove 4, the gusset plate placing rack 5 moves along the extension direction of the strip-shaped groove 4 through the transmission wheel 47 arranged on the top edge of the strip-shaped groove 4, the gusset plate feeding motor 30 is fixedly arranged in the strip-shaped groove 4 and is in transmission connection with the transmission wheel 47, the feeding groove 6 which moves up and down is arranged below the straight line where the shaft of the conical connector A2 is located in the range of the strip-shaped groove 4, the lifting cylinder 45 which drives the feeding groove 6 to move up and down is fixedly arranged in the strip-shaped groove 4, the extension rod A56 of the lifting cylinder 45 drives the feeding groove 6 to move up to the top of the gusset plate 110 and the side wall which faces the conical connector A2 at the corresponding position of the gusset plate placing rack 5 and the bottom of the outer side wall of the pipe section 102 and the flange 103 are respectively in corresponding limiting contact, or the feeding groove 6 is driven to move down to the top of the feeding groove 6 which is lower than the bottom of the gusset plate placing rack 5, the distance between the two groove walls B of the feeding groove 6 matches the thickness of the gusset plate 110, the gusset plates 110 placed on the gusset plate placing rack 5 are placed at equal intervals along the extension direction of the strip-shaped groove 4, the thickness of the groove wall B is equal to the distance between the two adjacent gusset plates 110 placed on the gusset plate placing rack 5, when the gusset plate placing rack 5 is placed at the starting end of the strip-shaped groove 4, the gusset plate 110 which is far away from the starting end of the strip-shaped groove 4 among the gusset plates 110 placed by the gusset plate placing rack 5 is located between the starting end of the strip-shaped groove 4 and the feeding groove 6, the photoelectric sensor B49 is further fixed on one side of the strip-shaped groove 4, the photoelectric sensor B49 receives the light signal emitted by the photoelectric sensor B49 which is reflected by the gusset plate placing rack 5 or the gusset plate 110 placed on the gusset plate placing rack 5, and then controls the gusset plate feeding motor 30 to stop rotating, at this time, the corresponding part of the gusset plate placing rack 5 or the gusset plate 110 which reflects the light signal emitted by the photoelectric sensor B49 is located directly above the feeding groove 6. The cross section of the feeding groove 6 is a "U" type structure, the top of the feeding groove 6, the end which faces the conical connector A2 and the conical connector B3 are all open; the gusset plate contact rod A57 and the gusset plate contact rod B58 are respectively fixed on the lower part of the feeding groove 6, one end which faces the conical connector A2 and one end which faces the conical connector B3, when the feeding groove 6 moves up under the driving action of the lifting cylinder 45 until the gusset plate contact rod A57 and the gusset plate contact rod B58 are both in contact with the bottom of the corresponding gusset plate 110 in the gusset plate placing rack 5, the top of the gusset plate 110 is parallel to the bottom of the outer side wall at the corresponding shaft position of the pipe section 102, the end surface of the gusset plate 110 which faces the conical connector A2 is parallel to the end surface of the flange 103 which faces away from the conical connector A2 at the end of the conical connector A2.The rib plate contact rod A57 and the rib plate contact rod B58 respectively include a core rod A59 fixedly connected with the side wall of the feeding groove 6 at both ends, the length of the core rod A59 is less than or equal to the distance between the outer side walls of the two opposite side groove walls B of the feeding groove 6, and the outer side walls of the part of the core rod A59 located in the feeding groove 6 are respectively covered and sleeved with a ceramic sleeve A65. The output shaft of the rib plate feeding motor 30 is coaxially fixed with a driving wheel 51, the driving wheel 51 is in driving connection with a driven wheel A52 coaxially fixed to a wheel shaft A53 through a transmission belt 50, the transmission wheel 47 is a gear, the bottom of the rib plate placing rack 5 is provided with a matching rack 75 corresponding to the gear, and the wheel shaft A53 is in rotational connection with the groove wall A71 of the strip-shaped groove 4. A plurality of wheel shafts A53 are parallelly arranged, at least one wheel shaft A53 is arranged on each side of the feeding groove 6, the distance between the transmission wheels 47 fixed by the adjacent two wheel shafts A53 is less than the length of the rib plate placing rack 5 in the extension direction of the strip-shaped groove 4, and the distance between the transmission wheel 47 fixed by the wheel shaft A53 closest to the end of the strip-shaped groove 4 and the end where the strip-shaped groove 4 is located is less than the length of the rib plate placing rack 5 in the extension direction of the strip-shaped groove 4. The outer side wall top edges of the groove wall A71 of the strip-shaped groove 4 are respectively provided with two rows of rollers A46 in the extension direction of the strip-shaped groove 4, the wheel rim edges of the rollers A46 away from the side groove wall A71 where the strip-shaped groove 4 is located are respectively coaxially provided with wheel rim convex rings A48, the rollers A46 are arranged at equal intervals, the bottom of the rib plate placing rack 5 in driving connection with the transmission wheel 47 is in contact with the wheel rim top of the roller A46, and the edge bottom edges of the side groove wall A71 on both sides of the rib plate placing rack 5 are respectively in limiting contact with the wheel rim convex ring A48 of the roller A46 in contact. The bottom of the strip-shaped groove 4 is adjustably and movably fixedly connected with the strip-shaped track 22 through a sliding seat A28, the strip-shaped groove 4 is in up-down activity adjusting connection with the sliding seat A28 through a hydraulic piston cylinder A42, the strip-shaped groove 4 is fixedly provided with a hydraulic oil tank A70, the hydraulic oil tank A70 is further fixedly provided with an oil pump motor A69, the output shaft of the oil pump motor A69 extends into the hydraulic oil tank A70 and drives a hydraulic pump A fixed in the hydraulic oil tank A70, the hydraulic oil pumped out of the hydraulic pump A is communicated with the hydraulic piston cylinder A42 through a pressure oil pipe A, the hydraulic piston cylinder A42 is communicated with the hydraulic oil tank A70 through a return oil pipe A, and the top of the oil pump motor A69, the top of the hydraulic oil tank A70 and the top of the hydraulic piston cylinder A42 are all lower than the top edges of the groove wall A71 of the strip-shaped groove 4. The sliding seat A28 is provided with a sliding groove A29 matched with the strip-shaped track 22 for corresponding connection, and the sliding seat A28 or the sliding groove A29 is provided with a locking bolt A for locking and fixing with the strip-shaped track 22.The hydraulic piston cylinder A42 is symmetrically distributed on the groove bottom of the strip-shaped groove 4, the telescopic rod B66 of the hydraulic piston cylinder A42 extends downward, the bottom end of the telescopic rod B66 is fixedly connected with the sliding base A28, the pressure oil pipes A of each hydraulic piston cylinder A42 are respectively arranged in parallel with each other and then communicated with the hydraulic pump A, the oil return pipes A of each hydraulic piston cylinder A42 are respectively arranged in parallel with each other and then communicated with the hydraulic oil tank A70; the hydraulic piston cylinder A42 is fixedly connected with the outer side of the side wall A71 of the strip-shaped groove 4 through the connecting plate 43. The rib plate placing frame 5 comprises two strip-shaped bottom plates 73 arranged in parallel, the strip-shaped bottom plates 73 are respectively arranged along the extension direction of the strip-shaped groove 4, the corresponding ends of the two strip-shaped bottom plates 73 are fixedly connected through the end stand plate 74, the spacing between the two strip-shaped bottom plates 73 is greater than the groove length of the strip-shaped groove 6 arranged in the strip-shaped groove 4, and the two strip-shaped bottom plates 73 are respectively located on the two opposite sides of the photoelectric sensor B49, the top surfaces of the two strip-shaped bottom plates 73 are respectively distributed with equal intervals along the extension direction and are respectively provided with a plurality of separation stand plates 76 corresponding in number, the thickness of the separation stand plate 76 is equal to the thickness of the groove wall B of the strip-shaped groove 6, the spacing between the adjacent two separation stand plates 76 of the same strip-shaped bottom plate 73 forms a rib plate placing groove 77 with a groove width matching the thickness of the rib plate 110, the positions of the rib plate placing grooves 77 of the two strip-shaped bottom plates 73 are one-to-one corresponding, the bottom portions of the strip-shaped bottom plates 73 are respectively provided with the rack 75 for driving connection with the strip-shaped groove 4, the top surface of one of the strip-shaped bottom plates 73 is fixedly provided with the limiting stand plate 78 away from the edge of the other strip-shaped bottom plate 73, the limiting stand plate 78 is fixedly connected with the end stand plate 74 and the separation stand plate 76 arranged on the strip-shaped bottom plate 73, one end of the rib plate placing groove 77 of the other strip-shaped bottom plate 73 away from the limiting stand plate 78 is open, the spacing between the limiting stand plate 78 and the end of the rib plate placing groove 77 of the other strip-shaped bottom plate 73 facing the limiting stand plate 78 is less than the bottom length of the rib plate 110, the end stand plate 74 is provided with the reflecting sheet B on the bottom portion between the strip-shaped bottom plates 73; the transition groove 86 is formed between the end stand plate 74 and the separation stand plate 76 closest to the end stand plate 74, and the groove width of the transition groove 86 is less than the thickness of the rib plate 110.The end stand 74 away from the limiting stand 78 one end, between the corresponding to the partition stand 76 position is also up and down adjustable fixed with along the strip-shaped bottom plate 73 extension direction horizontal setting of the web plate contact rod C79, the two ends of the web plate contact rod C79 respectively through the partition stand 76 set up stand groove A80 after respectively with the end stand 74 set up stand groove B84 after detachable fixed connection, placed in the web plate placement groove 77 web plate 110 bottom respectively with the web plate placement groove 77 groove bottom and web plate contact rod C79 contact, face to the end of the limiting stand 78 and the limiting stand 78 contact, when the web plate placement frame 5 placed with web plate 110 and strip-shaped groove 4 transmission connection, web plate 110 and limiting stand 78 contact end face with the flange 103 of the end of the taper connector A2 side end face of the plane located in the same plane, and the top of the web plate 110 and the outer side wall bottom corresponding to the axial position of the pipe segment 102 parallel, when the web plate 110 of the web plate placement frame 5 is transmitted to the pipe segment 102 corresponding to the axial position directly below, the web plate 110 and the limiting stand 78 contact end face top and the flange 103 of the end of the taper connector A2 side end face bottom contact. The web plate contact rod C79 includes two ends respectively with the corresponding end of the end stand 74 fixed connection of the core rod B82, the length of the core rod B82 is greater than the distance between the end stand 74 of the two ends of the web plate placement frame 5 opposite side end face, the outer side wall of the part of the core rod B82 between the end stand 74 is respectively covered with a ceramic sleeve B83, the groove width of the stand groove A80 matches the diameter of the ceramic sleeve B83, the groove width of the stand groove B84 matches the diameter of the core rod B82, the stand groove A80 upward through the top of the partition stand 76.

[0051] In combination Figures 1-19The flange rib automatic welding machine of the pipe section of the extra-high voltage steel pipe transmission tower, comprising a strip-shaped base 1, a tapered connecting head A2 for connecting with the inner wall of the end of the pipe section 102, a rib feeding device, a welding device and a tapered connecting head B3 for connecting with the inner wall of the end of the pipe section 102 are sequentially arranged on the strip-shaped base 1 along the direction from one end to the other end, the tapered connecting head A2 and the tapered connecting head B3 are coaxially arranged, the tapered connecting head A2 is coaxially fixed to the output shaft 15 of the pipe section rotating motor 11, the pipe section rotating motor 11 is fixedly connected with the end of the strip-shaped base 1, the tapered connecting head B3 is coaxially fixed to the rotating shaft 41 of the extension bearing seat 21, the rib feeding device, the welding device and the bearing seat 21 of the tapered connecting head B3 are adjustably fixedly connected with the strip-shaped base 1 along the strip-shaped track 22 arranged on the strip-shaped base 1 in the extension direction, the diameter of the tapered connecting head A2 and the diameter of the tapered connecting head B3 decrease along the backward direction, the welding device comprises a spot welding robot 8, a full welding robot A9 and a full welding robot B10, the spot welding robot 8 is located at the bottom of the pipe section 102 fixed between the tapered connecting head A2 and the tapered connecting head B3, the full welding robot A9 and the full welding robot B10 are respectively located at the two sides of the pipe section 102 fixed between the tapered connecting head A2 and the tapered connecting head B3, when the pipe section rotating motor 11 rotates the pipe section 102 to the rib fixing position at the bottom of the pipe section 102, the rib feeding device places the ribs 110 of the rib placing rack 5 in sequence to be fixedly contacted with the outer side wall at the bottom of the end of the pipe section 102 connected with the tapered connecting head A2, the spot welding robot 8 spot-welds the ribs 110 fed by the rib feeding device to be fixedly contacted with the two side edges of the pipe section 102 and the flange 103, when the pipe section rotating motor 11 rotates the pipe section 102 to the spot-welded ribs 110 corresponding to the positions of the full welding robot A9 and the full welding robot B10 in sequence, the full welding robot A9 full-welds one side edge of the spot-welded ribs 110 fixedly contacted with the pipe section 102 and the flange 103, and the full welding robot B10 full-welds the other side edge of the spot-welded ribs 110 fixedly contacted with the pipe section 102 and the flange 103.

[0052] The pipe segment rotating motor 11 is fixed with a photoelectric sensor A17 on one side of the extending end of the output shaft 15. The pipe segment 102 fixed between the conical connector A2 and the conical connector B3 is detachably fixed with a positioning pin 105 through the mounting hole 104 evenly arranged on the edge of the flange 103 at the end of the conical connector A2. The end surface of the positioning pin 105 away from the conical connector B3 is fixed with a reflecting sheet A107. The distance between the photoelectric sensor A17 and the output shaft 15 is equal to the distance between the reflecting sheet A107 and the rotating shaft of the pipe segment 102. When the pipe segment 102 rotates to the position corresponding to the photoelectric sensor A17, the photoelectric sensor A17 receives the light signal emitted by the photoelectric sensor A17 reflected by the reflecting sheet A107, and controls the pipe segment rotating motor 11 to stop rotating. At this time, the bottom of the pipe segment 102 at the end of the conical connector A2 is fixed with a rib at the connection with the flange 103.

[0053] The side wall of the extending end of the output shaft 15 of the pipe segment rotating motor 11 is fixed with an oscillation adjusting rod 19 which can be oscillated and adjusted.

[0054] The middle part of the oscillation adjusting rod 19 is provided with a strip-shaped hole along the extension direction of the oscillation adjusting rod 19. The photoelectric sensor A17 is adjustably fixed in the strip-shaped hole through an adjusting slider.

[0055] The oscillation adjusting rod 19 is provided with an arc-shaped strip 18 which is matched and connected with the circular boss 16 coaxially arranged at the end surface of the output shaft 15 of the pipe segment rotating motor 11. The arc-shaped strip 18 is fixedly connected with the circular boss 16 through a locking bolt D20.

[0056] The photoelectric sensor A17 is provided with a spacing between the photoelectric sensor A17 and the positioning pin 105 fixed to the flange 103.

[0057] The end surface of the photoelectric sensor A17 facing the pipe segment 102 is respectively provided with a light signal emitter A and a light signal receiver A.

[0058] The outer side wall of the positioning pin 105 is provided with a limiting convex ring 106 coaxially arranged at the end facing the photoelectric sensor A17. The diameter of the limiting convex ring 106 is greater than the inner diameter of the mounting hole 104. The axial length of the limiting convex ring 106 of all the positioning pins 105 is equal.

[0059] The reflecting sheet A107 is arranged at the axial center of the end surface of the positioning pin 105 facing the photoelectric sensor A17. The reflecting sheet A107 is provided with a center groove 108 matched with the reflecting sheet A107. The reflecting sheet A107 is located at the groove bottom of the center groove 108. The distance between the reflecting sheet A107 of all the positioning pins 105 and the end surface of the positioning pin 105 provided with the center groove 108 is equal.

[0060] The positioning pin 105 is provided with anti-skid lines 109 on the surface.

[0061] The axial length of the positioning pin 105 extending into the mounting hole 104 is less than or equal to the axial length of the mounting hole 104.

[0062] The rib plate feeding device comprises a strip-shaped groove 4 which is adjustably fixed along the extension direction of the strip-shaped base 1, the extension direction of the strip-shaped groove 4 is perpendicular to the strip-shaped base 1, the top of the strip-shaped groove 4 is open, a rib plate placing rack 5 is placed on the top of the strip-shaped groove 4, the rib plate placing rack 5 moves along the extension direction of the strip-shaped groove 4 through a transmission wheel 47 provided on the top edge of the strip-shaped groove 4, a rib plate feeding motor 30 is fixedly arranged in the strip-shaped groove 4 and is in transmission connection with the transmission wheel 47, a feeding groove 6 which moves up and down is arranged below the straight line where the shaft center of the conical connecting head A2 is located in the range of the strip-shaped groove 4, a lifting cylinder 45 which drives the feeding groove 6 to move up and down is fixedly arranged in the strip-shaped groove 4, the extension rod A56 of the lifting cylinder 45 drives the feeding groove 6 to move upwards to the top of the rib plate 110 and the side wall which faces the conical connecting head A2 at the corresponding position of the rib plate placing rack 5 and the bottom of the side wall of the pipe segment 102 and the connecting position of the flange 103 to be respectively limited and contacted, or drives the feeding groove 6 to move downwards to the top of the feeding groove 6 being lower than the bottom of the rib plate placing rack 5, the distance between the two groove walls B of the feeding groove 6 matches the thickness of the rib plate 110, the rib plates 110 placed on the rib plate placing rack 5 are sequentially placed at equal intervals along the extension direction of the strip-shaped groove 4, the thickness of the groove wall B is equal to the distance between the adjacent two rib plates 110 placed on the rib plate placing rack 5, when the rib plate placing rack 5 is placed at the starting end of the strip-shaped groove 4, the rib plate 110 which is far away from the starting end of the strip-shaped groove 4 among the rib plates 110 placed by the rib plate placing rack 5 is located between the starting end of the strip-shaped groove 4 and the feeding groove 6, an optical sensor B49 is further fixed on one side of the lifting cylinder 45 in the strip-shaped groove 4, the optical sensor B49 receives the optical signal emitted by the optical sensor B49 reflected by the rib plate placing rack 5 or the rib plate 110 placed on the rib plate placing rack 5 to control the rib plate feeding motor 30 to stop rotating, at this time, the corresponding part of the rib plate placing rack 5 or the rib plate 110 which reflects the optical signal emitted by the optical sensor B49 is located directly above the feeding groove 6.

[0063] The top surface of the optical sensor B49 is respectively provided with an optical signal emitter B67 and an optical signal receiver B68.

[0064] The cross section of the feeding groove 6 is a “U” type structure, the top of the feeding groove 6, the end which faces the conical connecting head A2 and the conical connecting head B3 are all open.

[0065] The lower part of the feeding groove 6, the end facing the tapered connector A2 and the end facing the tapered connector B3 are respectively fixed with the rib contact rod A57 and the rib contact rod B58. When the feeding groove 6 moves upward under the driving action of the lifting cylinder 45 to the point that the rib contact rod A57 and the rib contact rod B58 are in contact with the bottom of the corresponding rib 110 in the rib placing rack 5, the top of the rib 110 is parallel to the bottom of the outer side wall of the pipe section 102 at the corresponding axial position, and the end surface of the rib 110 facing the tapered connector A2 is parallel to the end surface of the flange 103 on the side away from the tapered connector A2.

[0066] The rib contact rod A57 and the rib contact rod B58 respectively include a core rod A59 fixedly connected at both ends with the side wall of the feeding groove 6. The length of the core rod A59 is less than or equal to the distance between the outer side walls of the two opposite side walls B of the feeding groove 6. The outer side walls of the part of the core rod A59 located in the feeding groove 6 are respectively covered with a ceramic sleeve A65.

[0067] The core rod A59 of the rib contact rod A57 is fixedly connected at both ends in the corresponding fixed connection hole 63 provided in the feeding groove 6. The core rod A59 of the rib contact rod B58 is fixedly connected at both ends in the strip-shaped connection hole 60 in an up-down adjustable manner. The hole width of the strip-shaped connection hole 60 is equal to the diameter of the core rod A59. The core rod A59 of the rib contact rod B58 is an internal angle bolt. The outer side walls of the two opposite side walls B of the feeding groove 6 are provided with matching strip-shaped counterbores 62 corresponding to the strip-shaped connection hole 60. The outer diameter of the nut 64 at one end of the internal angle bolt and the distance between the opposite sides of the nut A61 threadedly connected at the other end of the internal angle bolt are both equal to the hole width of the strip-shaped counterbores 62. The axial length of the nut 64 and the axial length of the nut A61 are both less than or equal to the hole depth of the strip-shaped counterbores 62, and the total length of the internal angle bolt is equal to the distance between the outer side walls of the two opposite side walls B of the feeding groove 6.

[0068] The output shaft of the rib feeding motor 30 is coaxially fixed with a driving wheel 51. The driving wheel 51 is in transmission connection with a driven wheel A52 coaxially fixed to a wheel shaft A53 through a transmission belt 50. The transmission wheel 47 is a gear. The bottom of the rib placing rack 5 is provided with a matching rack 75 corresponding to the gear. The wheel shaft A53 is in rotational connection with the groove wall A71 of the strip-shaped groove 4.

[0069] A plurality of wheel shafts A53 are provided in parallel. At least one wheel shaft A53 is provided on each side of the feeding groove 6. The distance between the transmission wheels 47 fixed by the adjacent two wheel shafts A53 is less than the length of the rib placing rack 5 in the extension direction of the strip-shaped groove 4, and the distance between the transmission wheel 47 fixed by the wheel shaft A53 closest to the end of the strip-shaped groove 4 and the end of the strip-shaped groove 4 is less than the length of the rib placing rack 5 in the extension direction of the strip-shaped groove 4.

[0070] The wheel shaft A53 is coaxially fixed with a transmission wheel 47 at each end.

[0071] The groove wall A71 of the strip-shaped groove 4 is further connected with a driven wheel B54 through a wheel shaft B55, and the driven wheel B54 is respectively connected with the transmission belt 50.

[0072] The outer side wall top edge of the groove wall A71 of the strip-shaped groove 4 is respectively provided with two rows of rollers A46 along the extension direction of the strip-shaped groove 4, and the roller A46 is coaxially provided with a flange convex ring A48 away from the flange edge of the groove wall A71 on the side of the strip-shaped groove 4, the rollers A46 are arranged at equal intervals, and the bottom of the gusset plate placement rack 5 connected with the transmission wheel 47 through the rack 75 is in contact with the flange top of the roller A46, and the edge bottom edge of the side groove wall A71 on both sides of the gusset plate placement rack 5 is respectively in limiting contact with the flange convex ring A48 of the contacted roller A46.

[0073] The two ends between the groove walls A71 of the strip-shaped groove 4 are respectively fixed with limiting cross bars 72, and the top edge of the limiting cross bar 72 is higher than the bottom edge of the gusset plate placement rack 5 connected with the transmission wheel 47.

[0074] The bottom of the strip-shaped groove 4 is adjustably fixedly connected with the strip-shaped track 22 through the sliding seat A28, the strip-shaped groove 4 is up and down movably connected with the sliding seat A28 through the hydraulic piston cylinder A42, the strip-shaped groove 4 is fixed with a hydraulic oil tank A70, the hydraulic oil tank A70 is further fixed with a pump oil motor A69, the output shaft of the pump oil motor A69 extends into the hydraulic oil tank A70 and drives a hydraulic pump A fixed in the hydraulic oil tank A70, the hydraulic oil pumped out of the hydraulic pump A is communicated with the hydraulic piston cylinder A42 through a pressure oil pipe A, the hydraulic piston cylinder A42 is communicated with the hydraulic oil tank A70 through a return oil pipe A, and the top of the oil pump motor A69, the top of the hydraulic oil tank A70 and the top of the hydraulic piston cylinder A42 are all lower than the top edge of the groove wall A71 of the strip-shaped groove 4.

[0075] The hydraulic piston cylinders A42 are symmetrically distributed at the groove bottom of the strip-shaped groove 4, the telescopic rods B66 of the hydraulic piston cylinders A42 extend downward, the bottom ends of the telescopic rods B66 are fixedly connected with the sliding seat A28, the pressure oil pipes A of the hydraulic piston cylinders A42 are respectively arranged in parallel with each other and then communicated with the hydraulic pump A, and the return oil pipes A of the hydraulic piston cylinders A42 are respectively arranged in parallel with each other and then communicated with the hydraulic oil tank A70.

[0076] The hydraulic piston cylinders A42 are respectively fixedly connected with the outer sides of the side walls A71 of the strip-shaped groove 4 through the connecting plates 43.

[0077] The sliding seat A28 is provided with a sliding groove A29 corresponding to and matched with the strip-shaped track 22.

[0078] The sliding seat A28 or the sliding groove A29 is provided with locking bolts A for locking and fixing with the strip-shaped track 22.

[0079] The rib plate placing frame 5 includes two parallel strip-shaped bottom plates 73 respectively arranged along the extension direction of the strip-shaped groove 4, the corresponding ends of the two strip-shaped bottom plates 73 are fixedly connected through end vertical plates 74, the spacing between the two strip-shaped bottom plates 73 is greater than the groove length of the strip-shaped groove 6 arranged in the strip-shaped groove 4, and the two strip-shaped bottom plates 73 are respectively located on the two opposite sides of the photoelectric sensor B49, the top surfaces of the two strip-shaped bottom plates 73 are respectively distributed with equal spacing along the extension direction and are correspondingly provided with an equal number of partition vertical plates 76, the thickness of the partition vertical plate 76 is equal to the thickness of the groove wall B of the strip-shaped groove 6, the rib plate placing groove 77 with a groove width matching the thickness of the rib plate 110 is formed between the adjacent two partition vertical plates 76 of the same strip-shaped bottom plate 73, the positions of the rib plate placing grooves 77 of the two strip-shaped bottom plates 73 are one-to-one corresponding, the bottoms of the strip-shaped bottom plates 73 are respectively provided with racks 75 for driving connection with the strip-shaped groove 4, the top surface of one of the strip-shaped bottom plates 73 is fixedly provided with a limiting vertical plate 78 away from the edge of the other strip-shaped bottom plate 73, the limiting vertical plate 78 is fixedly connected with the end vertical plate 74 and the partition vertical plate 76 of the strip-shaped bottom plate 73 where the limiting vertical plate 78 is located, one end of the rib plate placing groove 77 of the other strip-shaped bottom plate 73 away from the limiting vertical plate 78 is open, the spacing between the limiting vertical plate 78 and the end of the rib plate placing groove 77 of the other strip-shaped bottom plate 73 facing the limiting vertical plate 78 is less than the bottom length of the rib plate 110, and the end vertical plate 74 is provided with a reflecting sheet B at the bottom between the strip-shaped bottom plates 73.

[0080] The transition groove 86 is formed between the end vertical plate 74 and the partition vertical plate 76 closest to the end vertical plate 74, and the groove width of the transition groove 86 is less than the thickness of the rib plate 110.

[0081] The end stand 74 away from the limiting stand 78 one end between the corresponding position of the partition stand 76 is also fixed with the horizontal setting of the contact rod C79 along the extension direction of the strip-shaped bottom plate 73, the two ends of the contact rod C79 are respectively penetrated through the stand groove A80 of the partition stand 76, and then detachably fixed and connected with the stand groove B84 of the end stand 74. The bottom of the rib plate 110 placed in the rib plate placing groove 77 is respectively contacted with the groove bottom of the rib plate placing groove 77 and the contact rod C79, and the end of the rib plate 110 facing the limiting stand 78 is contacted with the limiting stand 78. When the rib plate placing rack 5 with the rib plate 110 is in transmission connection with the strip-shaped groove 4, the end face of the rib plate 110 contacted with the limiting stand 78 is in the same plane with the plane where the flange 103 of the end of the taper connection head A2 is located on the side away from the taper connection head A2, and the top of the rib plate 110 is parallel to the bottom of the outer side wall corresponding to the axial position of the pipe segment 102. When the rib plate 110 of the rib plate placing rack 5 is transmitted to the position directly below the pipe segment 102 corresponding to the axial position by the strip-shaped groove 4, the top of the end face of the rib plate 110 contacted with the limiting stand 78 is in contact with the bottom of the flange 103 of the end of the taper connection head A2.

[0082] The contact rod C79 includes a core rod B82 fixedly connected with the end stand 74 at both ends, the length of the core rod B82 is greater than the distance between the opposite side end faces of the end stand 74 at both ends of the rib plate placing rack 5, and the outer side wall of the part of the core rod B82 between the end stands 74 is respectively covered with a ceramic sleeve B83. The groove width of the stand groove A80 matches the diameter of the ceramic sleeve B83, the groove width of the stand groove B84 matches the diameter of the core rod B82, and the stand groove A80 penetrates through the top of the partition stand 76 upwardly.

[0083] The side wall of the core rod B82 extending out of both ends of the ceramic sleeve B83 is provided with external threads, and the part of the core rod B82 extending out of the end stand 74 is fixedly connected with the end stand 74 through the external thread connection nut B81.

[0084] The middle part of the end stand 74 between the strip-shaped bottom plate 73 is respectively provided with a lifting hole 87, and the end stand 74 forms a lifting rod 85 above and below the lifting hole 87.

[0085] The welding device includes a sliding seat B7 adjustably and fixedly connected with the strip-shaped track 22, side seats 31 are respectively fixedly connected with the sliding seat B7 through side frames 96 corresponding to both sides of the strip-shaped track 22, the side seats 31 are respectively higher than the sliding seat B7, the spot welding robot 8 is fixedly connected to the top surface of the sliding seat B7, the full welding robot A9 and the full welding robot B10 are respectively fixedly connected to the top surface of the side seat 31 on the corresponding side, and the bottom surface of the sliding seat B7 is provided with a sliding groove B32 corresponding to and matched with the strip-shaped track 22.

[0086] The spot welding robot 8, the full welding robot A 9 and the full welding robot B 10 are all the same structure, all including a robot mounting seat 88, a revolution driving motor 89 is fixed at the center of the top surface of the robot mounting seat 88, the revolution output shaft of the revolution driving motor 89 extends upward and is fixedly connected with one end of a revolution swing rod 90, the other end of the revolution swing rod 90 is fixedly connected with a rotation driving motor 91 at the bottom, the rotation output shaft of the rotation driving motor 91 extends upward and is rotationally connected with the revolution swing rod 90, and after extending upward out of the revolution swing rod 90, the rotation output shaft is fixedly connected with the bottom rod of a robot hand 94 at the bottom, the bottom rod of the robot hand 94 is rotationally connected with the revolution swing rod 90 around the axis of the rotation output shaft, and the clamping end of the clamping arm of the robot hand 94 is fixedly connected with a welding gun 95.

[0087] The bottom of the rotation driving motor 91 is fixedly connected with a sliding block 92, the top surface of the robot mounting seat 88 is fixedly provided with an annular guide rail 93 at the position corresponding to the sliding track of the sliding block 92, the annular guide rail 93 is coaxially arranged with the revolution output shaft of the revolution driving motor 89, the bottom of the sliding block 92 is provided with a matching arc-shaped groove corresponding to the annular guide rail 93, and the bottom surface of the sliding block 92 is in contact with the top surface of the base 88.

[0088] The sliding seat B7 or the sliding groove B32 is provided with a locking bolt B for locking and fixing with the strip-shaped track 22.

[0089] The pipe segment rotating motor 11 is fixed on the support base frame 13 through a support frame A12, and the support base frame 13 is detachably fixedly connected with one end of the strip-shaped base 1 through a sliding limiting frame A14.

[0090] The bearing seat 21 is fixed on the sliding seat C24 through a support frame B23, the bottom surface of the sliding seat C24 is provided with a sliding groove C26 matched and connected with the strip-shaped track 22, and the sliding seat C24 or the sliding groove C26 is provided with a locking bolt C27 for locking and fixing with the strip-shaped track 22.

[0091] The strip-shaped base 1 is further detachably fixedly connected with a sliding limiting frame B25 away from the pipe segment rotating motor 11.

[0092] The strip-shaped base 1 is further provided with a pipe segment lifting device between the welding device and the conical connecting head B3 for connecting with the inner wall of the end of the pipe segment 102, and the pipe segment lifting device is adjustably fixedly connected with the strip-shaped base 1 along the strip-shaped track 22 arranged along the extension direction of the strip-shaped base 1.

[0093] The pipe section lifting device comprises a sliding seat D33, a horizontally arranged lifting base plate 34 movably connected above the sliding seat D33, a supporting wheel 35 with a wheel surface taper matched with the side wall of the pipe section 102 arranged at the top surface of the lifting base plate 34, an axle rod 39 coaxially extending from the two ends of the supporting wheel 35, and a supporting bracket 36 rotatably connected to the axle rod 39 and fixedly connected to the top surface of the lifting base plate 34.

[0094] The lifting base plate 34 is movably adjusted and connected to the sliding seat D33 through a hydraulic piston cylinder B37, the hydraulic oil tank B100 is fixed on the sliding seat D34, the pump oil motor B38 is also fixed on the hydraulic oil tank B100, the output shaft of the pump oil motor B38 extends into the hydraulic oil tank B100 and drives the hydraulic pump B fixed in the hydraulic oil tank B100, the hydraulic oil pumped by the hydraulic pump B is communicated with the hydraulic piston cylinder B37 through the pressure oil pipe B, and the hydraulic piston cylinder B37 is communicated with the hydraulic oil tank B100 through the oil return pipe B.

[0095] The hydraulic piston cylinders B37 are symmetrically arranged at the four corners of the top surface of the sliding seat D33, the telescopic rod C101 of the hydraulic piston cylinder B37 extends upward, the top end of the telescopic rod C101 is fixedly connected to the bottom surface of the lifting base plate 34, the pressure oil pipes B of the hydraulic piston cylinders B37 are arranged in parallel with each other and then communicated with the hydraulic pump B, and the oil return pipes B of the hydraulic piston cylinders B37 are arranged in parallel with each other and then communicated with the hydraulic oil tank B100.

[0096] The supporting bracket 36 corresponding to the two end axle rods 39 of the supporting wheel 35 is provided with an axle rod placing groove 40 matched with the axle rod 39 at the top of the facing surface, and the top of the axle rod placing groove 40 penetrates the top of the supporting bracket 36 upward.

[0097] The supporting wheel 35 is axially limited between the supporting brackets 36 connected by the two end axle rods 39.

[0098] A plurality of matched roller B97s are arranged on both sides of the bottom of the sliding seat D33 corresponding to the strip-shaped track 22, a wheel rim protruding ring B99 is coaxially arranged on the side edge corresponding to the wheel rim of the strip-shaped track 22, and the sliding seat D33 is laterally limited by the wheel rim protruding ring B99 and the strip-shaped track 22.

[0099] The sliding seat D33 is fixedly provided with a moving drive motor 98 in transmission connection with at least one group of roller B97s.

[0100] When the pipe section 102 is a cylindrical pipe structure, the wheel surface taper of the supporting wheel 35 is 0.

[0101] As Figure 20It can be known that the rib plate 110 comprises a side wall surface A 112 for connecting the flange 103 side end surface facing the pipe segment 102 and a top wall surface 114 for connecting the side wall of the pipe segment 102, the connection part of the side wall surface A 112 and the top wall surface 114 is provided with a stress release concave wall surface 115, the bottom of the rib plate 110 further comprises a horizontal bottom wall surface 111 connected with the side wall surface A 112, the bottom of the rib plate 110, located at the side of the horizontal bottom wall surface 111 far away from the side wall surface A 112, is provided with an inclined bottom wall surface 113, the inclined bottom wall surface 113 is inclined upward along the direction far away from the side wall surface A 112, and the end of the inclined bottom wall surface 113 far away from the side wall surface A 112 is connected with the end of the top wall surface 114 far away from the side wall surface A 112 through a side wall surface B.

[0102] In combination Figures 1-22 It can be known that the specific steps of welding the pipe segment end flange rib plate of the extra-high voltage steel pipe power transmission tower by the automatic welding machine are as follows.

[0103] The preparation work before welding of the automatic welding machine comprises the following steps: The conical connector B3 is first moved away from the conical connector A2 along the strip-shaped track 22 to the farthest position, then the pipe segment lifting device is moved to the middle position between the conical connector A2 and the conical connector B3 along the strip-shaped track 22, and the welding device and the rib plate feeding device are moved away from the conical connector A2 along the strip-shaped track 22, so that there is enough space between the rib plate feeding device and the conical connector A2 to facilitate the adjustment of the pipe segment 102 facing the flange 103 of the conical connector A2 along the strip-shaped track 22; then the pipe segment 102 with the flange 103 welded and fixed at both ends of the to-be-welded rib plate 110 is lifted by the lifting tool and placed on the pipe segment lifting device, so that the flange 103 at one end of the pipe segment 102 facing the conical connector A2 is located between the conical connector A2 and the rib plate feeding device; then the lifting tool is separated from the pipe segment 102 placed on the pipe segment lifting device, and the pipe segment lifting device is adjusted to be coaxial with the conical connector A2 and the conical connector B3 by the up-down movement of the lifting base plate 34 driven by the extension and retraction of the extension rod C101 of the hydraulic piston cylinder B37, and the pipe segment 102 is moved towards the conical connector A2 until the inner wall of the flange 103 of the pipe segment 102 facing the conical connector A2 contacts the conical connector A2, then the conical connector B3 moves towards the pipe segment 102 so that the pipe segment 102 is clamped and fixed by the conical connector A2 and the conical connector B3; the operator inserts the positioning pin 105 into the mounting hole 104 fixed to the flange 103 connected with the conical connector A2, and makes the limiting convex ring 106 of the positioning pin 105 abut against the end face of the flange 103 away from the conical connector B3; since the position to be welded of the rib plate 110 is the middle position between the adjacent two mounting holes 104, the number of rib plates 110 to be welded of the flange 103 and the included angle A between the adjacent two rib plates 110 to be welded are calculated according to the number of mounting holes 104 provided on the flange 103, the included angle B between the swinging adjusting rod 19 and the vertical direction is adjusted to half of the included angle A by the rotation between the arc-shaped strip 18 and the circular boss 16, then the arc-shaped strip 18 and the circular boss 16 are fixed by the locking bolt D20, the photoelectric sensor A17 is adjusted along the swinging adjusting rod 19 until the distance between the photoelectric sensor A17 and the axis of the pipe segment 102 is equal to the distance between the axis of the mounting hole 104 and the axis of the pipe segment 102, and then the photoelectric sensor A17 and the swinging adjusting rod 19 are fixed; then the operator places the rib plates 110 to be welded and fixed in the rib plate placing slots 77 of the rib plate placing rack 5 in sequence, so that the horizontal bottom wall surface 111 of the rib plate 110 contacts the slot bottom of the rib plate placing slot 77 provided with the limiting vertical plate 78, the side wall surface A 112 of the rib plate 110 contacts the limiting vertical plate 78, and the inclined bottom wall surface 113 of the rib plate 110 contacts the rib plate contacting rod C79;Then the rib rack 5 full of the rib 110 is placed in the vertical groove 4 at the end of the same side as the full welding robot A9 relative to the pipe section 102, and the rack 5 bottom rack 75 is in transmission connection with the transmission wheel 47 of the vertical groove 4, the flange convex ring A48 of the roller A46 on both sides of the vertical groove 4 is in contact with the back side of the bottom edge of the strip-shaped bottom plate 73 of the rib rack 5 and is laterally limited, and the side of the limiting vertical plate 78 of the rib rack 5 faces the flange 103 connected with the conical connector A2; then the vertical groove 4 is adjusted along the strip-shaped track 22 to move to the rib rack 5 in the rib rack 5 in the vertical groove 4, and the side wall surface A112 of the rib 110 placed in the rib rack 5 is in the same plane with the end surface of the flange 103 connected with the conical connector B3 connected with the conical connector A2, and then it is locked and fixed with the strip-shaped track 22 through the locking bolt A; and the height of the vertical groove 4 is adjusted up and down by the extension and retraction of the extension rod B66 of the hydraulic piston cylinder A42 to drive the rib 110 to be conveyed to the pipe section 102 below, and the top of the side wall surface A112 of the rib 110 is in contact with the end surface of the flange 103 connected with the conical connector B3 connected with the conical connector A2, and the top height of the rib rack 5 is lower than the bottom height of the flange 103 connected with the conical connector A2; then the welding device is adjusted along the strip-shaped track 22 to move to the point welding robot 8, the full welding robot A9 and the full welding robot B10 can all weld the rib 110 connected with the flange 103 connected with the conical connector A2, and then it is locked and fixed with the strip-shaped track 22 through the locking bolt B; and according to the axial height of the pipe section 102 connected with the conical connector A2 and the conical connector B3 and the number of rib 110 required to be welded and fixed, the position of the full welding robot A9 and the full welding robot B10 for full welding processing rib 110 is set, and the number of rib 110 respectively spaced between the full welding robot A9 and the full welding robot B10 and the point welding robot 8 is calculated, so that the number of times the lifting cylinder 45 needs to be lifted and the number of times the point welding robot 8, the full welding robot A9 and the full welding robot B10 need to be welded respectively can be controlled, the number of times the full welding robot A9 and the full welding robot B10 respectively delay welding compared with the point welding robot 8, and the number of times the full welding robot A9 and the full welding robot B10 still need to be full welded respectively after the point welding robot 8 completes all the point welding of the rib 110 at one end of the pipe section 102; when the height of the axial center of the pipe section 102 connected with the conical connector A2 and the conical connector B3 from the ground is less than or equal to 1.5 meters, the full welding robot A9 and the full welding robot B10 weld the lower side edge of the rib 110 respectively turned to the side; when the height of the axial center of the pipe section 102 connected with the conical connector A2 and the conical connector B3 from the ground is greater than or equal to 1.7 meters, the full welding robot A9 and the full welding robot B10 weld the upper side edge of the rib 110 respectively turned to the side.When the height of the axis of the pipe section 102 connected by the taper joint A2 and the taper joint B3 from the ground is in the range of 1.5 meters to 1.7 meters, the full welding robot A9 and the full welding robot B10 are arranged to weld the upper side edge or the lower side edge of the rib plate 110 rotated to the side according to the actual situation (for example: when there are 6 rib plates evenly distributed between the flange 103 at one end of the pipe section 102 and the pipe section 102, the full welding robot A9 and the full welding robot B10 are arranged to full weld the rib plate 110 rotated to the position above the axis of the pipe section 102 and at an angle of 30 degrees with the horizontal plane of the axis of the pipe section 102. Although the height of the axis of the pipe section 102 from the ground is less than 1.7 meters, the full welding robot A9 and the full welding robot B10 can still choose to weld the upper side edge of the rib plate 110 at the full welding position because the rib plate 110 is inclined upward in the direction away from the axis of the pipe section 102 during full welding. At this time, the full welding robot A9 is arranged to perform the first full welding after the spot welding robot completes the second spot welding, and the full welding robot B10 is arranged to perform the first full welding after the spot welding robot completes the fourth spot welding. The spot welding robot, the full welding robot A9 and the full welding robot B10 all need to perform six welding processes, so as to minimize the damage of arc light generated during full welding to the eyes of the surrounding personnel.

[0104] After the preparation before welding is completed, the automatic welding machine of the present application includes the following steps when welding: Firstly, the muscle plate feeding motor 30 starts to drive the muscle plate placing rack 5 to move the placed muscle plate 110 from one end to the other end of the vertical groove 4. When the photoelectric sensor B49 receives the light signal reflected by the reflector B at the bottom of the end vertical plate 74 between the strip-shaped bottom plates 73 of the muscle plate placing rack 5 (the intensity of the light signal reflected by the reflector B is equivalent to the intensity of the light signal emitted by the photoelectric sensor B49, and is much larger than the intensity of the light signal reflected by the bottom of the muscle plate 110 placed in the muscle plate placing rack 5, the bottom of the pipe segment 102, or the bottom of the muscle plate 110 welded to the pipe segment 102, etc.), the muscle plate feeding motor 30 stops rotating. At this time, the end vertical plate 74 reflecting the light signal is just located directly above the feeding groove 6 of the vertical groove 4, and the pipe segment rotating motor 11 starts (if the photoelectric sensor A17 has currently received the light signal reflected by the reflector A107, the pipe segment rotating motor 11 does not start, and directly performs the steps after the photoelectric sensor A17 receives the light signal reflected by the reflector A107). After the pipe segment rotating motor 11 starts to drive the pipe segment 102 to rotate around the axis, the flange 103 and the positioning pin 105 fixed in the mounting hole 104 of the flange 103 also rotate. When the photoelectric sensor A17 receives the light signal reflected by the reflector A107 (the intensity of the light signal reflected by the reflector A107 is equivalent to the intensity of the light signal emitted by the photoelectric sensor A17, and is much larger than the intensity of the light signal reflected by the rest of the positioning pin 105 or the flange 103), the pipe segment rotating motor 11 stops rotating. At this time, the vertical plane where the axis of the flange 103 is located and the symmetry axis of the two adjacent positioning pins 105 at the lowermost part of the flange 103 are located in the same vertical plane, which is the position of the muscle plate 110 to be welded. At the same time, the muscle plate feeding motor 30 starts again. After the muscle plate feeding motor 30 starts again to drive the muscle plate placing rack 5 to continue moving the placed muscle plate 110, when the photoelectric sensor B49 receives the light signal reflected by the bottom of the muscle plate 110 placed in the muscle plate placing rack 5 (the intensity of the light signal reflected by the bottom of the muscle plate 110 is between the intensity of the light signal reflected by the reflector B and the intensity of the light signal reflected by the bottom of the pipe segment 102 or the muscle plate 110 welded to the pipe segment 102, etc.), the muscle plate feeding motor 30 stops rotating. At this time, the muscle plate 110 reflecting the light signal is just located directly above the feeding groove 6 of the vertical groove 4, and the lifting cylinder 45 starts to extend the telescopic rod A56 upwards. The telescopic rod A56 of the lifting cylinder 45 extending upwards drives the feeding groove 6 to move upwards to contact the muscle plate 110 placed in the muscle plate placing rack 5 directly above the feeding groove 6, and lifts the muscle plate 110 upwards so that the muscle plate 110 moves upwards away from the corresponding muscle plate placing groove 77 until the top wall surface 114 and the side wall surface 112 of the muscle plate 110 contact and fix the connection between the pipe segment 102 and the flange 103 fixed to the conical connector A2.Since the side wall surface A112 of the rib plate 110 placed in the rib plate placing rack 5 on the vertical groove 4 is fixed after being adjusted and moved along the horizontal track 22 to be coplanar with the end surface of the flange 103 connected with the conical connecting head B3, the side wall surface A112 of the rib plate 110 brought upward by the feeding groove 6 will always adhere to the end surface of the flange 103 during the upward movement of the rib plate 110 by the feeding groove 6. Even if the side wall surface A112 of the rib plate 110 placed in the rib plate placing rack 5 on the vertical groove 4 is not coplanar with the end surface of the flange 103 connected with the conical connecting head B3 during the adjustment and movement of the vertical groove along the horizontal track 22, but is fixed with a slight gap, the rib plate 110 will move downward and toward the flange 103 during the upward movement of the rib plate 110 by the feeding groove 6, until the side wall surface A112 of the rib plate 110 is in contact with the end surface of the flange 103, and then the rib plate 110 will always adhere to the end surface of the flange 103 and move upward until the top wall surface of the rib plate 110 is in contact with the bottom of the pipe segment 102.

[0105] Then the spot welding robot 8 controls its welding gun 95 to respectively correspondingly spot weld the two side edges of the top wall surface 114 and the side wall surface 112 of the rib plate 110 with the pipe segment 102 and the flange 103, and after the spot welding process, the spot welding robot 8 controls the welding gun 95 to return to the starting position, and then the lifting cylinder 45 is activated to retract the telescopic rod A56 downward, and when the lifting cylinder 45 is activated to retract the telescopic rod A56 downward to the starting position, the pipe segment rotating motor 11 is activated again; after the pipe segment rotating motor 11 is activated again, the pipe segment 102 is driven to rotate around the axis, so that the rib plate 110 at the bottom of the pipe segment 102 which has completed spot welding is rotated from bottom to top to the side of the full welding robot A9, and the flange 103 and the positioning pin 105 fixed in the mounting hole 104 of the flange 103 are also rotated; when the photoelectric sensor A17 receives the light signal reflected by the reflector A107 again, the pipe segment rotating motor 11 is paused again, at this time, the vertical plane where the axis of the flange 103 is located is located in the same vertical plane as the angle between the flange 103 and the two adjacent positioning pins 105 located at the lowermost position, that is, the position of the adjacent rib plate 110 to be welded which has completed spot welding, and at the same time, the rib plate feeding motor 30 is activated again; after the rib plate feeding motor 30 is activated again, the rib plate placing rack 5 is driven to continue to move the placed rib plate 110, and when the photoelectric sensor B49 receives the light signal reflected by the bottom of the rib plate 110 placed in the rib plate placing rack 5 again, the rib plate feeding motor 30 is paused, at this time, the rib plate 110 reflecting the light signal is just located above the feeding groove 6 of the vertical groove 4, and the rib plate 110 is adjacent to the rib plate 110 which has just completed spot welding in the rib plate placing rack 5, and the lifting cylinder 45 is activated to extend the telescopic rod A56 upward; the above steps are repeated until the spot welding of the rib plate 110 is completed; until the rib plate 110 required to be welded at the connection between the pipe segment 102 and the flange 103 has completed spot welding, at this time, the rib plate feeding motor 30, the lifting cylinder 45 and the spot welding robot 8 are not working.

[0106] When the number of times of spot welding completed by the spot welding robot 8 reaches the number of times of delayed welding processing of the full welding robot A 9, while the spot welding robot 8 is performing spot welding processing, the full welding robot A 9 controls the welding gun 95 thereof to perform full welding processing on the gusset 110 at the corresponding position, which has been completed spot welding, and the same side edge of the pipe section 102 and the flange 103; after the spot welding robot 8 completes spot welding processing and the full welding robot A 9 completes full welding processing, each controls the welding gun 95 thereof to return to the starting position, and the previous operations are repeated so as to again perform spot welding on the gusset 110 at the corresponding position by the spot welding robot 8 and full welding on the gusset 110 at the corresponding position by the full welding robot A 9; when the number of times of spot welding completed by the spot welding robot 8 reaches the number of times of delayed welding processing of the full welding robot B 10, while the spot welding robot 8 is performing spot welding processing, the full welding robot A 9 controls the welding gun 95 thereof to perform full welding processing on the gusset 110 at the corresponding position, which has been completed spot welding, and the same side edge of the pipe section 102 and the flange 103, and the full welding robot B 10 controls the welding gun 95 thereof to perform full welding processing on the gusset 110 at the corresponding position, which has been completed full welding on one side edge, and the other side edge of the pipe section 102 and the flange 103; after the spot welding robot 8 completes spot welding processing, the full welding robot A 9 and the full welding robot B 10 complete full welding processing, each controls the welding gun 95 thereof to return to the starting position, and the previous operations are repeated so as to again perform spot welding on the gusset 110 at the corresponding position by the spot welding robot 8, full welding on the gusset 110 at the corresponding position by the full welding robot A 9, and full welding on the gusset 110 at the corresponding position by the full welding robot B 10.

[0107] When the gusset 110 at the connection between the pipe section 102 and the end flange 103, which needs to be welded, has been completed spot welding, the pipe section rotating motor 11 is again started to drive the pipe section 102 to rotate about the axis so that the gusset 110 at the bottom of the pipe section 102, which has been completed spot welding, is rotated from bottom to top toward the side of the full welding robot A 9, when the light sensor A 17 again receives the light signal reflected by the reflective sheet A 107, the pipe section rotating motor 11 is again paused, the full welding robot A 9 controls the welding gun 95 thereof to perform full welding processing on the gusset 110 at the corresponding position, which has been completed spot welding, and the same side edge of the pipe section 102 and the flange 103, and the full welding robot B 10 controls the welding gun 95 thereof to perform full welding processing on the gusset 110 at the corresponding position, which has been completed full welding on one side edge, and the other side edge of the pipe section 102 and the flange 103; after the full welding robot A 9 and the full welding robot B 10 complete full welding processing, each controls the welding gun 95 thereof to return to the starting position, and the previous operations are repeated so as to again perform full welding on the gusset 110 at the corresponding position by the full welding robot A 9 and full welding on the gusset 110 at the corresponding position by the full welding robot B 10.

[0108] When the full welding of the gusset plates 110 required to be welded at the connection between the pipe segment 102 and the end flange 103 has been completed on one side edge, the pipe segment rotating motor 11 is started again to drive the pipe segment 102 to rotate around the axis, so that the gusset plates 110 to be spot welded at the bottom of the pipe segment 102 are rotated from bottom to top to the side of the full welding robot A9. When the photoelectric sensor A17 receives the light signal reflected by the reflector A107 again, the pipe segment rotating motor 11 is stopped again, and the full welding robot B10 controls the welding gun 95 to perform full welding on the gusset plates 110 at the corresponding position, which have been fully welded on one side edge, and the other side edge of the pipe segment 102 and the flange 103. After the full welding is completed, the full welding robot B10 controls the welding gun 95 to return to the starting position, and the previous operation is repeated to perform full welding on the gusset plates 110 at the corresponding position by the full welding robot B10 again.

[0109] When the full welding of the gusset plates 110 required to be welded at the connection between the pipe segment 102 and the end flange 103 has been completed on both side edges, the gusset plates 110 to be welded at the connection between the pipe segment 102 and the other end flange 103 are prepared, and the steps are as follows: First, the locking bolts A and B of the welding device and the gusset plate feeding device are loosened, and the gusset plate feeding device is moved away from the tapered connector A2 along the strip-shaped track 22 to provide enough space between the gusset plate feeding device and the tapered connector A2 for adjusting the flange 103 of the pipe segment 102 facing the tapered connector A2 along the strip-shaped track 22. Then, the locking bolt C27 is loosened, and the tapered connector B3 is moved away from the tapered connector A2 along the strip-shaped track 22 to be in limiting contact with the sliding limiting frame B25 after the pipe segment 102 is separated. Then, the pipe segment lifting device is driven by the moving driving motor 98 to move the pipe segment 102 away from the tapered connector A2 along the strip-shaped track 22 to the position where the pipe segment lifting device is located in the middle of the strip-shaped track 22 after the flange 103 of the pipe segment 102, on which the gusset plates 110 are welded, is separated from the tapered connector A2. Then, the pipe segment 102 is lifted by the lifting device and separated from the pipe segment lifting device, and then the pipe segment 102 is rotated 180 degrees around the vertical axis, so that the flange 103 on which the gusset plates 110 are welded faces the tapered connector B3, and the flange 103 on which the gusset plates 110 are not welded faces the tapered connector A2. Then, the supporting wheels 35 at both ends of the pipe segment lifting device are adjusted, and the adjusted supporting wheels 35 are installed again to match the taper of the wheel surface of the supporting wheels 35 with the side wall of the pipe segment 102. Then, the pipe segment 102 is placed on the pipe segment lifting device, and the lifting device is separated from the pipe segment 102. Then, the previous steps of placing the pipe segment 102 on the pipe segment lifting device and separating the lifting device from the pipe segment 102 are repeated to weld the gusset plates 110 at the connection between the other end of the pipe segment 102 and the flange 103.

[0110] In the normal process of welding the gusset plates 110, when the photoelectric sensor B49 receives the light signal reflected by the reflector B of the gusset plate placing rack 5 movingly connected on the vertical groove 4 and the light signal reflected by the gusset plates 110 placed thereon and again receives the light signal reflected by the reflector B, the gusset plate feeding motor 30 is stopped again, indicating that all the gusset plates 110 on the gusset plate placing rack 5 have been lifted by the feeding groove 6 and welded and fixed at the joint of the pipe section 102 and the flange 103, and there is no gusset plate 110 left. At this time, the gusset plate placing rack 5 needs to be removed from the vertical groove 4, and then the gusset plate placing rack 5 with the required gusset plates 110 is placed on the vertical groove 4 again at the starting end of the same position as before, and the gusset plate feeding motor 30 is started again to move the gusset plate placing rack 5 along the vertical groove 4 to the position where the photoelectric sensor B49 receives the light signal reflected by the reflector B of the newly replaced gusset plate placing rack 5, and then the welding process is continued according to the above-mentioned corresponding steps of normal welding.

[0111] When the gusset plates 110 are welded on both ends of the pipe section 102, the locking bolts A and B of the welding device and the gusset plate feeding device are loosened respectively, and the welding device and the gusset plate feeding device are moved away from the tapered connector A2 along the strip-shaped track 22 to provide enough space between the gusset plate feeding device and the tapered connector A2 for adjusting the flange 103 of the pipe section 102 facing the tapered connector A2 along the strip-shaped track 22. Then, the locking bolt C27 is loosened, and the tapered connector B3 is moved away from the tapered connector A2 along the strip-shaped track 22 to be in contact with the sliding limiting frame B25 after being separated from the pipe section 102. Then, the pipe section lifting device is driven by the moving driving motor 98 to move the pipe section 102 away from the tapered connector A2 along the strip-shaped track 22 to separate the flange 103 of the pipe section 102 after completing the gusset plate 110 welding from the tapered connector A2, and then the pipe section lifting device is located at the middle position of the strip-shaped track 22. Then, the pipe section 102 is lifted by the lifting device and transferred to the pipe section stacking place or the transfer place after completing the gusset plate 110 welding, and the previous steps are repeated to lift another pipe section 102 to be welded by the lifting device and welded by the automatic welding machine.

[0112] The pipe segment lifting device is not necessarily structured, and for a pipe segment 102 with a relatively short axial length, the pipe segment lifting device can be directly removed (first, the sliding limit stop B25 is detached from the strip-shaped base 1, then the tapered connecting head B3 and the pipe segment lifting device are moved along the strip-shaped track 22 to be separated from one end of the tapered connecting head A2 and the strip-shaped base 1, the tapered connecting head B3 is connected to the strip-shaped track 22 of the strip-shaped base 1 again, and finally the sliding limit stop B25 is fixed to the strip-shaped base 1 again, and the tapered connecting head B3 is moved to be in limit contact with the east limit stop B25). The operation different from the above is that after the pipe segment 102 is directly lifted by the lifting device, the flange 103 end of the to-be-welded rib plate 110 is lifted to be connected to the tapered connecting head A2, the lifting device is kept to be in contact with the pipe segment 102, and the tapered connecting head B3 is moved along the strip-shaped track 22 to be connected to the other end flange 103 of the pipe segment 102, and the pipe segment 102 is coaxially clamped and fixed, at this time, the lifting device is separated from the pipe segment 102, and the remaining steps are the same as above; after the rib plate 110 at the connection of one end flange 103 of the pipe segment 102 is welded, the lifting device is connected to the pipe segment 102 and can keep the pipe segment 102 in the existing state, then the tapered connecting head B3 is moved along the strip-shaped track 22 to be in limit contact with the sliding limit stop B25, then the pipe segment 102 is turned to be separated from the tapered connecting head A2, and the pipe segment 102 is turned by 180 degrees around the vertical shaft, so that the other end flange 103 of the pipe segment 102, on which the rib plate 110 to be welded is not fixed, is turned to face the tapered connecting head A2, then the pipe segment 102 is lifted to be connected to the flange 103 and the tapered connecting head A2, the lifting device is kept to be in contact with the pipe segment 102, and the tapered connecting head B3 is moved along the strip-shaped track 22 to be connected to the flange 103 of the pipe segment 102, on which the rib plate 110 is welded, and the pipe segment 102 is coaxially clamped and fixed, at this time, the lifting device is separated from the pipe segment 102, and the remaining steps are the same as above.

[0113] The application is also applicable to the rib plate welding of the flange connection of a cylindrical steel pipe or a conical steel pipe in other technical fields.

[0114] The rib plate automatic welding machine can realize automatic and continuous welding of the rib plate at the flange connection of the pipe segment end, and improve the rib plate welding efficiency and welding effect at the flange connection of the pipe segment end.

[0115] The photoelectric sensor A provided on the swing adjusting rod is adjustably fixed to the pipe segment rotating motor and adjustably fixed to the swing adjusting rod, so that the welding machine can be adjusted and applied according to the flange size of different pipe segment structures and different welding quantities of rib plates, and the applicability of the welding machine is improved.

[0116] The fixed conical connector B, the rib plate feeding device and the welding device along the strip-shaped track can be adjusted, so that the automatic welding of the rib plate can be carried out according to the flange connection of the pipe section with different axial length, and the applicability of the welding machine is improved.

[0117] The welding device is connected by the spot welding robot, the full welding robot A and the full welding robot B respectively, and the welding is carried out by the welding gun of each welding robot, so that the spot welding and the adjustment of the full welding position corresponding to the side edge can be carried out according to the different number and position of the rib plate welded at the flange connection of the pipe section with different radial size, and the applicability of the welding machine is further improved.

[0118] The spot welding robot, the full welding robot A and the full welding robot B are respectively connected with the robot mounting seat fixed to the revolution driving motor through the end of the revolution pendulum rod, and are connected with the revolution pendulum rod through the revolution driving motor, so that the welding range and the welding angle of each welding robot can be effectively improved, and the effect and efficiency of the rib plate welding are improved.

[0119] The ring-shaped guide rail provided on the robot mounting seat is matched with the arc-shaped slot provided on the bottom of the sliding block fixed to the revolution driving motor, so that the stability of the spot welding robot, the full welding robot A and the full welding robot B during the revolution adjustment is ensured.

[0120] The positioning pin connected with the mounting through hole provided on the flange to be welded, so that the reflective sheet A and the mounting through hole of the flange can be coaxially arranged, and the distance between the reflective sheet and the photoelectric sensor A of each positioning pin mounted in the mounting through hole is equal.

[0121] The anti-skid pattern provided on the surface of the positioning pin can improve the fixing effect of the positioning pin and the mounting through hole, and relatively speaking, will not increase the disassembly and assembly difficulty or complexity of the positioning pin and the mounting through hole.

[0122] The stress release concave wall surface provided on the rib plate can release the stress generated at the connection between the pipe section and the flange during the rib plate welding, so that the deformation of the pipe section and the flange connection during the rib plate welding is avoided, and the continuous welding of the rib plate at the flange connection of the pipe section end is facilitated.

[0123] The pipe section lifting device can ensure that the pipe section will not be bent and deformed in the middle due to the action of gravity during welding, thereby reducing the stress between the flanges connected by the conical connector A and the conical connector B and the pipe section and the welded rib plate, improving the rib plate welding effect, and further improving the connection strength between the flange and the pipe section.

[0124] The pipe segment lifting device is capable of adjusting the height of the supporting wheel according to the diameter of the pipe segment through the hydraulic piston cylinder B, thereby improving the applicability of the pipe segment lifting device.

[0125] The shaft rods at both ends of the supporting wheel are respectively placed in the shaft rod placing grooves on the top of the facing surfaces of the corresponding supporting frames, so that the supporting wheel can be replaced according to different cylindrical or conical pipe segments, different tapers of the conical pipe segments, and different end flange connections of the conical pipe segments, thereby improving the applicability of the pipe segment lifting device and the replacement efficiency of the supporting wheel.

[0126] The side seats higher than the sliding seat B are fixed on both sides of the strip-shaped track corresponding to the sliding seat B, the spot welding robot is fixed on the sliding seat B, and the full welding robots A and B are respectively fixed on the side seats on the corresponding sides, so that when the area for spot welding the gusset plates on the bottom of the pipe segment is adjusted to the welding range of the spot welding robot along the strip-shaped track, the gusset plates after spot welding can also be simultaneously rotated to the corresponding positions and then in the welding range of the full welding robots A and B.

Claims

1. A stiffener plate feeding device for a pipe section flange stiffener plate welding machine, characterized in that: Includes an adjustable and fixed strip groove (4) extending along the strip base (1), the extension direction of the strip groove (4) being perpendicular to the strip base (1), the top of the strip groove (4) being open, and a rib plate placement frame (5) being placed on the top of the strip groove (4), the rib plate placement frame (5) being moved along the extension direction of the strip groove (4) via a drive wheel (47) provided at the top edge of the strip groove (4), a rib plate feeding motor (30) being fixedly installed inside the strip groove (4) and being connected to the drive wheel (47), and a conical connector being located within the range of the strip groove (4). A (2) is located directly below the axis of the straight line where it moves up and down. A lifting cylinder (45) is fixed in the strip groove (4) to drive the feeding trough (6) to move up and down. The telescopic rod A (56) of the lifting cylinder (45) drives the feeding trough (6) to move upward until the top of the rib plate (110) at the corresponding position of the rib plate placement frame (5) and the side wall facing the tapered connector A (2) and the bottom of the side wall of the pipe section (102) and the flange (103) are respectively in corresponding limiting contact. Or it drives the feeding trough (6) to move downward until the top of the feeding trough (6) is lower than the rib plate placement frame. At the bottom of the frame (5), the distance between the two side walls B of the feeding trough (6) matches the thickness of the stiffening plate (110). The stiffening plates (110) placed on the stiffening plate placement frame (5) are placed at equal intervals along the extension direction of the strip groove (4). The thickness of the trough wall B is equal to the distance between two adjacent stiffening plates (110) placed on the stiffening plate placement frame (5). When the stiffening plate placement frame (5) is placed at the starting end of the conveying of the strip groove (4), the stiffening plates (110) placed on the stiffening plate placement frame (5) that are far from the starting end of the conveying of the strip groove (4) are located in the strip groove. (4) Between the starting end of the conveyor and the feeding trough (6), a photoelectric sensor B (49) is fixed on one side of the lifting cylinder (45) in the strip groove (4). After receiving the light signal emitted by the photoelectric sensor B (49) reflected by the rib plate placement frame (5) or the rib plate (110) placed on the rib plate placement frame (5), the photoelectric sensor B (49) controls the rib plate feeding motor (30) to stop rotating. At this time, the corresponding part of the rib plate placement frame (5) or the rib plate (110) that reflects the light signal emitted by the photoelectric sensor B (49) is located directly above the feeding trough (6).

2. The stiffener plate feeding device of the pipe section flange stiffener plate welding machine as described in claim 1, characterized in that: The cross-section of the feeding trough (6) is a "U" shaped structure, and the top of the feeding trough (6) and the end facing the conical connector A (2) and the conical connector B (3) are open; The lower part of the feeding trough (6), the end facing the conical connector A (2) and the end facing the conical connector B (3) are respectively fixed with rib contact rod A (57) and rib contact rod B (58). When the feeding trough (6) moves upward under the driving action of the lifting cylinder (45) until the rib contact rod A (57) and rib contact rod B (58) are in contact with the bottom of the corresponding rib (110) in the rib placement frame (5), the top of the rib (110) is parallel to the bottom of the outer wall of the pipe section (102) at the axial position, and the end face of the rib (110) facing the conical connector A (2) is parallel to the end face of the flange (103) at the end of the conical connector A (2) facing away from the conical connector A (2).

3. The stiffener plate feeding device of the pipe section flange stiffener plate welding machine as described in claim 2, characterized in that: The rib contact rod A (57) and rib contact rod B (58) respectively include a core rod A (59) whose two ends are fixedly connected to the side wall of the feeding trough (6). The length of the core rod A (59) is less than or equal to the distance between the outer walls of the two opposite side walls B of the feeding trough (6). The outer wall of the part of the core rod A (59) located inside the feeding trough (6) is covered with a ceramic sleeve A (65).

4. The stiffener plate feeding device of the pipe section flange stiffener plate welding machine as described in claim 1, characterized in that: The output shaft of the rib feeding motor (30) is coaxially fixed with a drive wheel (51). The drive wheel (51) is connected to the driven wheel A (52) of the axle A (53) coaxially fixed to the transmission wheel (47) via a transmission belt (50). The transmission wheel (47) is a gear. The bottom of the rib placement frame (5) is provided with a matching rack (75) corresponding to the gear. The axle A (53) is rotatably connected to the groove wall A (71) of the strip groove (4). Multiple axles A (53) are provided in parallel. At least one axle A (53) is provided on each side of the feeding trough (6). The distance between the transmission wheels (47) fixed by two adjacent axles A (53) is less than the length of the rib plate placement frame (5) along the extension direction of the strip groove (4). The distance between the transmission wheel (47) fixed by the axle A (53) closest to the end of the strip groove (4) and the end of the strip groove (4) is less than the length of the rib plate placement frame (5) along the extension direction of the strip groove (4).

5. The stiffener plate feeding device of the pipe section flange stiffener plate welding machine as described in claim 4, characterized in that: The top edge of the outer side wall of the groove wall A (71) of the strip groove (4) is provided with two rows of rollers A (46) along the extension direction of the strip groove (4). The rim edge of the side groove wall A (71) away from the strip groove (4) of the rollers A (46) is provided with a rim protrusion A (48) coaxially. The rollers A (46) are evenly spaced and the bottom of the rib plate placement frame (5) connected to the transmission wheel (47) by the rack (75) is in contact with the top of the rim of the rollers A (46). The bottom edge of the side groove wall A (71) on both sides of the rib plate placement frame (5) is in limited contact with the rim protrusion A (48) of the contacted rollers A (46).

6. The stiffener plate feeding device of the pipe section flange stiffener plate welding machine as described in claim 1, characterized in that: The bottom of the strip groove (4) is fixedly and movably connected to the strip track (22) via the slide A (28). The strip groove (4) is movably and flexibly connected to the slide A (28) via the hydraulic piston cylinder A (42). A hydraulic oil tank A (70) is fixed inside the strip groove (4). A pump motor A (69) is also fixed inside the hydraulic oil tank A (70). The output shaft of the pump motor A (69) extends into the hydraulic oil tank A (70) and drives the hydraulic pump A fixed inside the hydraulic oil tank A (70). The hydraulic oil pumped out by the hydraulic pump A is connected to the hydraulic piston cylinder A (42) via the pressure oil pipe A. The hydraulic piston cylinder A (42) is connected to the hydraulic oil tank A (70) via the return oil pipe A. The top of the pump motor A (69), the top of the hydraulic oil tank A (70), and the top of the hydraulic piston cylinder A (42) are all lower than the top edge of the groove wall A (71) of the strip groove (4). The bottom surface of the slide block A (28) is provided with a slide groove A (29) that is matched and connected to the strip track (22); The slide block A (28) or slide groove A (29) is provided with a locking bolt A for locking and fixing with the strip track (22).

7. The stiffener plate feeding device of the pipe section flange stiffener plate welding machine as described in claim 6, characterized in that: The hydraulic piston cylinders A (42) are symmetrically distributed at the bottom of the strip groove (4). The telescopic rod B (66) of the hydraulic piston cylinder A (42) extends downward. The bottom end of the telescopic rod B (66) is fixedly connected to the slide A (28). The pressure oil pipes A of each hydraulic piston cylinder A (42) are connected in parallel to each other and then connected to the hydraulic pump A. The return oil pipes A of each hydraulic piston cylinder A (42) are connected in parallel to each other and then connected to the hydraulic oil tank A (70). The hydraulic piston cylinders A (42) are fixedly connected to the outside of the side wall A (71) of the strip groove (4) through the connecting plate (43).

8. The stiffener plate feeding device of the pipe section flange stiffener plate welding machine as described in claim 1, characterized in that: The rib plate placement rack (5) includes two parallel strip base plates (73), which are respectively arranged along the extension direction of the strip groove (4). The corresponding ends of the two strip base plates (73) are respectively fixedly connected by end plates (74). The distance between the two strip base plates (73) is greater than the length of the strip groove (6) provided in the strip groove (4). The two strip base plates (73) are respectively located on two opposite sides of the photoelectric sensor B (49). The top surfaces of the two strip base plates (73) are respectively provided with an equal number of partition plates (76) at equal intervals along the extension direction. The thickness of the partition plates (76) is equal to the thickness of the groove wall B of the strip groove (6). Adjacent partition plates (76) of the same strip base plate (73) form a rib plate placement groove (77) with a groove width matching the thickness of the rib plate (110). The positions of the rib placement grooves (77) of the base plate (73) correspond one to one. The bottom of the strip base plate (73) is provided with a rack (75) for transmission connection with the strip groove (4). The top surface of one strip base plate (73) is fixedly provided with a limiting plate (78) away from the edge of the other strip base plate (73). The limiting plate (78) is fixedly connected with the end plate (74) and the partition plate (76) provided on the strip base plate (73). The end of the rib placement groove (77) of the other strip base plate (73) away from the limiting plate (78) is open. The distance between the limiting plate (78) and the end of the rib placement groove (77) of the other strip base plate (73) facing the limiting plate (78) is less than the bottom length of the rib (110). The end plate (74) located between the strip base plates (73) is provided with a reflector B. The transition groove (86) formed between the end plate (74) and the partition plate (76) closest to the end plate (74) has a width smaller than the thickness of the stiffener (110).

9. The stiffener plate feeding device of the pipe section flange stiffener plate welding machine as described in claim 8, characterized in that: Between the end plates (74) away from the limiting plate (78), at a position corresponding to the partition plate (76), there is a horizontally arranged rib contact rod C (79) that extends along the strip base plate (73). The two ends of the rib contact rod C (79) pass through the vertical groove A (80) provided in the partition plate (76) and are detachably fixed to the vertical groove B (84) provided in the end plate (74). The bottom of the rib (110) placed in the rib placement groove (77) contacts the bottom of the groove (77) and the rib contact rod C (79), and the end facing the limiting plate (78) contacts the limiting plate (78). When the rib (110) is placed, the rib placement groove (78) is in contact with the bottom of the groove (77) and the rib contact rod C (79). When the frame (5) is connected to the strip groove (4), the end face of the stiffener (110) that contacts the limiting plate (78) is on the same plane as the end face of the flange (103) of the tapered connector A (2) facing away from the tapered connector A (2), and the top of the stiffener (110) is parallel to the bottom of the outer wall of the pipe section (102) at the axis position. When the stiffener (110) of the stiffener placement frame (5) is conveyed by the strip groove (4) to the position directly below the axis position of the pipe section (102), the top of the end face of the stiffener (110) that contacts the limiting plate (78) is in close contact with the bottom of the end face of the flange (103) of the tapered connector A (2) facing away from the tapered connector A (2).

10. The stiffener plate feeding device of the pipe section flange stiffener plate welding machine as described in claim 9, characterized in that: The rib contact rod C (79) includes a core rod B (82) whose two ends are fixedly connected to the corresponding end plates (74). The length of the core rod B (82) is greater than the distance between the opposite end faces of the end plates (74) at both ends of the rib placement frame (5). The outer side wall of the part of the core rod B (82) located between the end plates (74) is covered with a ceramic sleeve B (83). The groove width of the vertical groove A (80) matches the diameter of the ceramic sleeve B (83). The groove width of the vertical groove B (84) matches the diameter of the core rod B (82). The vertical groove A (80) extends upward through the top of the partition plate (76).

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