A manifold welding system

Abstract

The present invention discloses a manifold welding system, comprising a supporting and positioning device and a welding device with a walking mechanism; wherein the supporting and positioning device comprises a first positioner, a second positioner and a plurality of supporting roller frames located between the first positioner and the second positioner, and also comprises a guide rail laid on the ground, and the bottom of the second positioner and each supporting roller frame is provided with a slider that cooperates with the guide rail; the welding device comprises a walking track and a base plate laid on the walking track, and the walking track comprises a linear guide rail laid in a horizontal direction and a rack arranged on the inner side wall of the track; a welding robot and a handling robot are fixed on the base plate; a welding gun and a laser tracker are fixedly connected to the sixth axis of the welding robot, and a robot gripper is fixedly connected to the sixth axis of the handling robot; a material frame positioning component and a secondary positioning device are also provided on the base plate.

Description

Technical Field

[0001] The present invention relates to a manifold welding system. Background Art

[0002] In the prior art, when welding manifolds on pipelines, a support frame fixed on the ground is used to support the pipelines at fixed points. This support device cannot be applied to welding pipelines of various sizes and lengths. In addition, there is currently no overall welding solution for welding manifolds on pipelines. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a manifold welding system, which can be suitable for welding manifolds on pipelines of various lengths and sizes.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A manifold welding system includes a supporting and positioning device and a welding device with a walking mechanism; wherein the supporting and positioning device includes a first positioner, a second positioner and a plurality of supporting roller frames located between the first positioner and the second positioner, and also includes a guide rail laid on the ground, and the bottom of the second positioner and each supporting roller frame is provided with a slider that cooperates with the guide rail; the welding device includes a walking track and a base plate laid on the walking track, and the walking track includes a linear guide rail laid horizontally and a rack arranged on the inner side wall of the track; a welding robot and a handling robot are fixed on the base plate; a welding gun and a laser tracker are fixedly connected to the sixth axis of the welding robot, and a robot gripper is fixedly connected to the sixth axis of the handling robot; a material frame positioning component and a secondary positioning device are also provided on the base plate.

[0006] Wherein, the supporting roller frame includes an active supporting roller frame and a driven supporting roller frame.

[0007] Wherein, the supporting roller frame includes at least two active supporting roller frames.

[0008] In which, the driven support roller frame includes a first frame and a second frame, wherein the first frame is provided with a first support frame, a second support frame and a transverse moving mechanism, and the first support frame and the second support frame are driven by the transverse moving mechanism to move closer to each other or away from each other; the second frame is provided with a longitudinal moving mechanism, the driving end of the longitudinal moving mechanism is connected to the first frame, and the first frame moves up and down in the longitudinal direction under the drive of the longitudinal moving mechanism; the second frame is fixed to the base plate, the base plate is fixedly connected to the adapter plate, and a slider is provided at the bottom of the adapter plate, and the slider is cooperated and connected with a guide rail laid on the ground; the first support frame includes a support frame I mounted on the first frame and a roller I located in the support frame I and rotatably connected to the support frame I through a rotating shaft or a bearing; the second support frame includes a support frame II mounted on the first frame and a roller II located in the support frame II and rotatably connected to the support frame II through a rotating shaft or a bearing.

[0009] In which, the active support roller frame includes a first frame and a second frame, wherein the first frame is provided with a first support frame, a second support frame and a transverse moving mechanism, and the first support frame and the second support frame are driven by the transverse moving mechanism to move closer to each other or move away from each other; the second frame is provided with a longitudinal moving mechanism, and the driving end of the longitudinal moving mechanism is connected to the first frame, and the first frame moves up and down in the longitudinal direction under the drive of the longitudinal moving mechanism; the second frame is fixed to the bottom plate, the bottom plate is fixedly connected to the adapter plate, and a slider is provided at the bottom of the adapter plate, and the slider is cooperated and connected with a guide rail laid on the ground; the first support frame includes a support frame I mounted on the first frame and a support frame I located in the support frame I through a rotating shaft or a bearing Roller I is rotatably connected to support frame I; the second support frame includes a support frame II mounted on the first frame and a roller II located in support frame II and rotatably connected to support frame II through a rotating shaft or a bearing; it also includes a rotating mechanism that drives the roller to rotate; the rotating mechanism includes a motor and a reducer that is transmission-connected to the motor, the motor housing is fixedly connected to the reducer housing through a flange, the reducer is fixed on the support frame, and the driving end of the reducer is fixedly connected to the rotating shaft of the roller; it also includes a driving mechanism, the driving mechanism includes a driving motor and a gear that is transmission-connected to the driving motor, and the driving motor is fixed on the extension plate; the extension plate is fixedly connected to the adapter plate, and a rack that cooperates with the gear is provided on the inner side wall of the guide rail.

[0010] Among them, the lateral movement mechanism includes a rotating handle and a screw rod fixedly connected to the rotating handle, the screw rod crosses the first frame, the end of the screw rod is fixedly connected to the first frame through a bearing, the starting end of the screw rod is connected to the rotating handle, and the rotating handle is fixedly connected to the first frame through a bearing; one side of the screw rod is provided with a forward thread, and the other side of the screw rod is provided with a reverse thread, the forward thread end and the reverse thread end of the screw rod are both provided with nuts, and the support frame I and the support frame II are respectively fixedly connected to the corresponding nuts; the middle part of the screw rod is fixedly connected to the first frame through a bearing.

[0011] Among them, the longitudinal moving mechanism includes a motor and a screw lift connected to the motor in a transmission manner, the motor and the screw lift are fixed on the second frame, and the top end of the screw of the screw lift is fixedly connected to the connecting end of the first frame through a bearing; the longitudinal moving mechanism also includes a guide mechanism, which is arranged in pairs on both sides of the screw lift; the guide mechanism includes a guide shaft and a guide shaft bearing seat sleeved outside the guide shaft, the guide shaft bearing seat is fixed on the second frame, one end of the guide shaft is fixedly connected to the lower base plate of the first frame, and the other end of the guide shaft passes through the guide shaft bearing seat and moves longitudinally along the guide shaft bearing seat.

[0012] Among them, the robot gripper includes a mounting plate fixedly connected to the sixth axis of the handling robot, a first adapter plate, a visual system, a gripper cylinder, a gripper fixedly connected to the driving end of the gripper cylinder, and an electromagnet fixed to the lower end of the gripper through a connecting member I; wherein the mounting plate is fixed to the first adapter plate through a connecting member II, the visual system is fixed to the first adapter plate through a second adapter plate, and the fixed end of the gripper cylinder is fixed to the first adapter plate.

[0013] Among them, the material frame positioning assembly is composed of four positioning frames, which are arranged in a quadrilateral on the base, and the four positioning frames are respectively located at the four vertex corners of the quadrilateral; each positioning frame includes a square cavity with an opening at the top, wherein two adjacent sides of the square cavity extend upward, and the top end of the extended part is turned outward toward the outside of the cavity; the two adjacent sides with the extended part of each positioning frame are located at the periphery of the quadrilateral, and the angle between the turned-out part of the top end of the extended part turned outward toward the outside of the cavity and the horizontal plane is 45 to 60 degrees.

[0014] Among them, the secondary positioning device includes a bracket, a plurality of support frames fixed on the bracket, and a placement area fixed on the support frames, the placement area is provided with a hollow first grasping area and a second grasping area, one end of the placement area is provided with a baffle, and a through hole is opened on the baffle; it also includes an in-place sensor, which is fixed to the outer side of the baffle relative to the placement area through a connecting piece, and the probe of the in-place sensor is placed at the through hole position of the baffle.

[0015] Beneficial effects: The welding system of the present invention can be applied to the welding of manifolds on pipelines of various lengths and sizes. On the one hand, it utilizes a supporting and positioning device to support and position pipelines of different lengths. At the same time, the supporting and positioning device can also adjust the vertical height of the central axis of the pipeline to the ground and the placement angle of the central axis on the supporting roller frame according to the different sizes of the pipeline, thereby effectively improving the applicability of the supporting and positioning device. On the other hand, the welding device can simultaneously grasp and weld the manifold, and the welding device can also walk on a walking track, thereby realizing the movement of the welding device relative to the pipeline to be welded, and realizing the welding of manifolds at different positions on the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a driven support roller frame;

[0017] Figure 2 It is a front view of the driven support roller frame;

[0018] Figure 3 It is a schematic diagram of the structure of the driven support roller frame laid on the track;

[0019] Figure 4 It is a schematic diagram of the structure of the active support roller frame laid on the track;

[0020] Figure 5 It is a partial schematic diagram of the active support roller;

[0021] Figure 6 Schematic diagram of the structure of the movable positioner I;

[0022] Figure 7 Schematic diagram of the structure of the movable positioner II;

[0023] Figure 8 Structural diagram of fixed positioner;

[0024] Fig. 9 A schematic diagram of a structure for fixing a pipe to be welded on a supporting and positioning device;

[0025] Fig.10 It is a schematic diagram of the structure of the supporting positioning device;

[0026] Fig.11 It is a structural schematic diagram of the manifold welding system of the present invention;

[0027] Fig.12 It is a structural schematic diagram of a welding device;

[0028] Fig.13 This is a schematic diagram of the structure of the welding device with a protective fence;

[0029] Fig.14 It is a schematic diagram of the structure of the sixth axis of the welding robot connected to the welding gun assembly;

[0030] Fig.15 It is a schematic diagram of the structure of the welding device laid on the walking track;

[0031] Fig.16 This is a schematic diagram of the structure of the robot gripper;

[0032] Fig.17 Schematic diagram of the structure of the robot gripper connected to the sixth axis of the handling robot;

[0033] Fig.18A schematic diagram of the structure of a robot gripper grabbing a workpiece to be welded on a secondary positioning device;

[0034] Fig.19 It is a structural schematic diagram of the secondary positioning device I;

[0035] Fig. 20 It is the structural schematic diagram II of the secondary positioning device;

[0036] Fig.21 It is the structural schematic diagram of the secondary positioning device III;

[0037] Fig. 22 It is a structural schematic diagram of a secondary positioning device for placing workpieces to be welded;

[0038] Fig.23 It is a structural schematic diagram of the material frame positioning component;

[0039] Fig.24 is a structural schematic diagram of a positioning frame;

[0040] Fig.25 It is a structural schematic diagram of a material frame being placed on a material frame positioning assembly;

[0041] Fig.26 A top view showing a material frame placed on a material frame positioning assembly;

[0042] Fig. 27 This is the structural principle diagram of the walking drive mechanism;

[0043] Fig.28 It is a structural schematic diagram of a manifold welding device with a walking mechanism of the present invention in which a bottom plate is laid on a walking track;

[0044] Fig.29 Schematic diagram of the structure with the uninstalled base plate laid on the walking track. DETAILED DESCRIPTION

[0045] The present invention can be better understood according to the following examples. However, it is easy for those skilled in the art to understand that the contents described in the examples are only used to illustrate the present invention, and should not and will not limit the present invention described in detail in the claims.

[0046] like Figures 1 to 29As shown, the manifold welding system of the present invention includes a supporting positioning device 161 and a welding device 162 with a walking mechanism; wherein the supporting positioning device 161 includes a first positioner (fixed positioner 111), a second positioner (movable positioner 112) and a plurality of supporting roller frames 200 located between the first positioner 111 and the second positioner 112; further comprising a track 114 laid on the ground, a guide rail 104 laid on the track 114, and a slider (116, 103) mutually connected to the guide rail 104 is provided at the bottom of the second positioner 112 and the supporting roller frame 200; wherein the supporting roller frame 200 includes an active supporting roller frame 109 (supporting roller frame II109) and a driven supporting roller frame 101 (supporting roller frame II101), or the supporting roller frame 200 includes at least two active supporting roller frames 109; the welding device 162 includes a walking track 142 and a plurality of supporting roller frames 200 laid on the walking track 142 The base plate 128 on the bottom plate 128, the walking track 142 includes a linear guide rail 153 laid in the horizontal direction and a rack 155 arranged on the inner side wall of the track 142; the welding robot 122 and the handling robot 124 are fixed on the base plate 128, and the welding robot 122 and the handling robot 124 are respectively fixed on the base plate 128 through the lifting seats (130, 129) (the base plate 128 is provided with a plurality of bolt holes 160 for installation); the sixth axis 130 of the welding robot 122 2 is fixedly connected with a welding gun assembly 123, wherein the welding gun assembly 123 includes a welding gun 133 and a laser tracker 135, the welding gun 133 is fixedly connected to the sixth axis 132 of the welding robot 122, and the laser tracker 135 is fixedly connected to the sixth axis 132 of the welding robot 122 through an adapter plate 134; a robot gripper 125 is fixedly connected to the sixth axis 20 of the handling robot 124; a material frame positioning assembly 127 and a secondary positioning device 126 are also provided on the bottom plate 128.

[0047] Among them, the driven support roller frame 101 includes a first frame 64 and a second frame 71, wherein the first frame 64 is provided with a first support frame 81, a second support frame 81 and a transverse moving mechanism, and the first support frame 81 and the second support frame 82 are driven by the transverse moving mechanism to move closer to each other or move away from each other; the second frame 71 is provided with a longitudinal moving mechanism, and the driving end of the longitudinal moving mechanism is connected to the first frame 64, and the first frame 64 moves up and down in the longitudinal direction under the drive of the longitudinal moving mechanism; the second frame 71 is fixed on the bottom plate 75, and the bottom plate 75 is fixedly connected to the adapter plate 102, and a slider 103 is provided at the bottom of the adapter plate 102, and the slider 103 is mutually connected with the guide rail 104 laid on the ground.

[0048] Among them, the first support frame 81 includes a support frame I62 mounted on the first frame 64 and a roller I83 located in the support frame I62 and rotatably connected to the support frame I62 through a bearing 61 (the rotating shaft of the roller I83 is fixedly connected to the support frame I62 through the bearing 61); the second support frame 82 includes a support frame II85 mounted on the first frame 64 and a roller II84 located in the support frame II85 and rotatably connected to the support frame II85 through a bearing; the lateral movement mechanism of the driven support roller frame 101 includes a rotating handle 65 and a screw 66 fixedly connected to the rotating handle 65, the screw 66 crosses the first frame 64, the end of the screw 66 is fixedly connected to the first frame 64 through a bearing 86, the starting end of the screw 66 is connected to the rotating handle 65, and the rotating handle 65 is fixedly connected to the first frame 64 through a bearing 87. A forward thread 67 is provided on one side of the screw rod 66, and a reverse thread 69 is provided on the other side of the screw rod 66, so that when the rotary handle 65 is rotated, the first support frame 81 and the second support frame 82 move closer to or away from each other; the forward thread end and the reverse thread end of the screw rod 66 are both sleeved with nuts (70, 68), the support frame I62 is fixedly connected to the nut I68, and the support frame II85 is fixedly connected to the nut II70; a bearing 79 is also provided in the middle of the screw rod 66, and the screw rod 66 is fixedly connected to the first frame 64 through the bearing 79, and connecting shafts 80 are respectively provided on both sides of the bearing 79.

[0049] Among them, a slider I63 is provided at the bottom of the support frame I62, and the support frame I62 is mounted on the first frame 64. When driven by the transverse moving mechanism, the slider I62 moves transversely relative to the first frame 64 along the side of the first frame 64; a slider II88 is provided at the bottom of the support frame II85, and the support frame II85 is mounted on the first frame 64. When driven by the transverse moving mechanism, the slider II88 moves transversely relative to the first frame 64 along the side of the first frame 64.

[0050] The longitudinal movement mechanism of the driven support roller frame 101 includes a motor 72 and a screw lift 73 connected to the motor 72. The fixing parts of the motor 72 and the screw lift 73 are fixed to the second frame 71. The top of the screw 89 of the screw lift 73 is connected to the center of the bottom plate 90 of the first frame 64. The connection between the top of the screw 89 and the first frame 64 (the connection is located in the center area of ​​the bottom of the first frame) is fixedly connected through a bearing 74. The screw lift 73 is fixed to the bottom plate 75 of the second frame 71 through a connecting plate 91. The bottom plate 75 of the second frame 71 is provided with a through hole 78, and the screw 89 of the screw lift 73 extends out of the through hole 78. Among them, the longitudinal moving mechanism also includes a guide mechanism 92, which is arranged in pairs on both sides of the screw lift 73; the guide mechanism 92 includes a guide shaft 76 and a guide shaft bearing seat 77 sleeved outside the guide shaft 76, the guide shaft bearing seat 77 is fixed on the second frame 71, one end of the guide shaft 76 is fixedly connected to the lower base plate 90 of the first frame 64, and the other end of the guide shaft 76 passes through the guide shaft bearing seat 77 and moves longitudinally along the guide shaft bearing seat 77.

[0051] The distance between the two rollers 60 (the distance between the center points of the two rollers 60 ) is manually adjusted by rotating the handle 65 , the rollers 60 are in contact with the workpiece, and the driven support roller frame 101 is moved on the guide rail 104 by manual pushing.

[0052] The active support roller frame 109 includes a first frame 64 and a second frame 71, wherein the first frame 64 is provided with a first support frame 81, a second support frame 81 and a transverse moving mechanism, and the first support frame 81 and the second support frame 82 are driven by the transverse moving mechanism to move closer to each other or move away from each other; the second frame 71 is provided with a longitudinal moving mechanism, and the driving end of the longitudinal moving mechanism is connected to the first frame 64, and the first frame 64 moves up and down in the longitudinal direction under the drive of the longitudinal moving mechanism; the second frame 71 is fixed at The bottom plate 75 is fixedly connected to the adapter plate 102, a slider 103 is provided at the bottom of the adapter plate 102, and the slider 103 is connected to the guide rail 104 laid on the ground; the first support frame 81 includes a support frame 162 mounted on the first frame 64 and a roller 183 located in the support frame 162 and rotatably connected to the support frame 162 through the bearing 61 (the rotating shaft of the roller 183 is fixedly connected to the support frame 162 through the bearing 61); the second support frame 82 includes a support frame mounted on the first frame 64 1I85 and a roller II84 located in the support frame II85 and rotatably connected to the support frame II85 through a bearing; the active support roller frame 109 also includes a rotating mechanism 93 for driving the roller 60 to rotate; the rotating mechanism 93 includes a motor 94 and a reducer 95 connected to the motor 94 in a transmission manner, the housing of the motor 94 is fixedly connected to the housing of the reducer 95 through a flange 96, the reducer 95 is fixed on the support frame 98, and the driving end of the reducer 95 is fixedly connected to the rotating shaft of the roller 60; the active support roller frame 109 also includes The drive mechanism includes a drive motor 97 and a gear 99 drivingly connected to the drive motor 97, the drive motor 97 is fixed on the extension plate 105; the second frame 71 is fixed on the base plate 75, the base plate 75 is fixedly connected to the adapter plate 102, a slider 103 is provided at the bottom of the adapter plate 102, the slider 103 is mutually matched and connected with a guide rail 104 laid on the ground; the extension plate 105 is fixedly connected to the adapter plate 102, and a rack 100 mutually matched and connected with the gear 99 is provided on the inner side wall of the guide rail 104.

[0053] The lateral movement mechanism of the active supporting roller frame 109 includes a rotating handle 65 and a screw 66 fixedly connected to the rotating handle 65, the screw 66 crosses the first frame 64, the end of the screw 66 is fixedly connected to the first frame 64 through a bearing 86, the beginning of the screw 66 is connected to the rotating handle 65, and the rotating handle 65 is fixedly connected to the first frame 64 through a bearing 87. One side of the screw 66 is provided with a positive thread 67, and the other side of the screw 66 is provided with a reverse thread 69, so that when the rotating handle 65 is rotated, the first support frame 81 and the second support frame 82 move closer to each other or move away from each other; the positive thread end and the reverse thread end of the screw 66 are both sleeved with nuts (70, 68), the support frame I62 is fixedly connected to the nut I68, and the support frame II85 is fixedly connected to the nut II70; the middle part of the screw 66 is also provided with a bearing 79, the screw 66 is fixedly connected to the first frame 64 through the bearing 79, and the two sides of the bearing 79 are also provided with connecting shafts 80.

[0054] Among them, a slider I63 is provided at the bottom of the support frame I62, and the support frame I62 is mounted on the first frame 64. When driven by the transverse moving mechanism, the slider I62 moves transversely relative to the first frame 64 along the side of the first frame 64; a slider II88 is provided at the bottom of the support frame II85, and the support frame II85 is mounted on the first frame 64. When driven by the transverse moving mechanism, the slider II88 moves transversely relative to the first frame 64 along the side of the first frame 64.

[0055] The longitudinal movement mechanism of the active support roller frame 109 includes a motor 72 and a screw lift 73 connected to the motor 72. The fixing parts of the motor 72 and the screw lift 73 are fixed to the second frame 71. The top of the screw 89 of the screw lift 73 is connected to the center of the bottom plate 90 of the first frame 64. The connection between the top of the screw 89 and the first frame 64 (the connection is located in the center area of ​​the bottom of the first frame) is fixedly connected through a bearing 74. The screw lift 73 is fixed to the bottom plate 75 of the second frame 71 through a connecting plate 91. The bottom plate 75 of the second frame 71 is provided with a through hole 78, and the screw 89 of the screw lift 73 extends out of the through hole 78. Among them, the longitudinal moving mechanism also includes a guide mechanism 92, which is arranged in pairs on both sides of the screw lift 73; the guide mechanism 92 includes a guide shaft 76 and a guide shaft bearing seat 77 sleeved outside the guide shaft 76, the guide shaft bearing seat 77 is fixed on the second frame 71, one end of the guide shaft 76 is fixedly connected to the lower base plate 90 of the first frame 64, and the other end of the guide shaft 76 passes through the guide shaft bearing seat 77 and moves longitudinally along the guide shaft bearing seat 77.

[0056] The second frame 71 that actively supports the roller frame 109 is fixed on the bottom plate 75, and the bottom plate 75 is fixedly connected to the adapter plate 102. A slider 103 is provided at the bottom of the adapter plate 102, and a guide rail 104 is laid on the ground. The slider 103 and the guide rail 104 are connected in cooperation with each other; the adapter plate 102 also includes an extension plate 105, and a drive motor 97 is provided on the extension plate 105 (the drive motor 97 is arranged in the box body 121), and the driving end of the drive motor 97 is fixedly connected to the gear 99, and a rack 100 that is connected in cooperation with the gear 99 is provided on the inner side wall of the guide rail 104. The drive motor 97 rotates, driving the gear 99 to rotate, thereby causing the slider 103 at the bottom of the adapter plate 102 to move along the guide rail 104.

[0057] The distance between the two rollers 60 (the distance between the center points of the two rollers 60 ) is manually adjusted by rotating the handle 65 , the rollers 60 are in contact with the workpiece, and the active supporting roller frame 109 moves on the guide rail 104 through the driving mechanism.

[0058] The first positioner (fixed positioner 111) in the supporting and positioning device 161 is fixed to one end of the track 114 through a fixed seat 120. The first positioner 111 includes a motor drive mechanism 119 and a three-jaw chuck 107. The three-jaw chuck 107 is fixedly connected to the rotating end of the motor drive mechanism 119. The three-jaw chuck 107 is used to fix the pipe 110 to be welded. The second positioner (movable positioner 112) in the supporting and positioning device 161 is located at the other end of the track 114. A slider structure 116 is provided at the bottom, and the second positioner 112 includes a motor drive mechanism 118 and a three-jaw chuck 113, the three-jaw chuck 113 is fixedly connected to the rotating end of the motor drive mechanism 118, and the three-jaw chuck 113 is used to fix the pipe 110 to be welded, and the second positioner 112 also includes a walking mechanism 115, and the walking mechanism 115 includes a driving motor and a gear 117 connected to the output shaft of the driving motor, and the gear 117 is connected to the rack 100 provided on the inner wall of the track 114. When the driving motor rotates, the gear 117 is driven to rotate, so that the second positioner 112 moves forward and backward along the guide rail 104 through the slider structure 116.

[0059] A plurality of supporting roller frames are laid on the track 114 supporting the positioning device 161 . The driven supporting roller frame 101 and the active supporting roller frame 109 may be laid on the track 114 at the same time; alternatively, only the active supporting roller frame 109 may be laid on the track 114 . When the track 114 is simultaneously provided with the driven support roller frame 101 and the active support roller frame 109, the pipe 110 to be welded is hoisted onto the support roller frame, and the placement angle of the pipe 110 to be welded on the support roller frame is pre-adjusted by the rotating mechanism 93 of the active support roller frame 109, and then the horizontal width of the line connecting the center points of the two rollers 60 of each support roller frame is manually adjusted, so that the pipe 110 to be welded is fixed on the support roller frame, and then, the axial height of the pipe 110 to be welded, that is, the vertical height of the central axis of the pipe 110 to be welded and the ground is adjusted by the longitudinal moving mechanism of the support roller frame, so that the central axis of the pipe 110 to be welded coincides with the central axis of the fixing device (positioner 108) at both ends of the track 114, and at this time, the driving mechanism of the active support roller frame 109 is driven, and the driving mechanism drives the active support roller frame 109 to move on the guide rail 104, thereby driving the pipe to be welded on the active support roller frame 109 The pipe 110 moves together, and the driven supporting roller frame 101 moves with the pipe 110 to be welded under the action of friction force, until one end of the pipe 110 to be welded is clamped into the three-jaw chuck 107 of the fixed positioner 111 at the end of the track 114, and the three-jaw chuck 107 is manually tightened; finally, the movable positioner 112 moves along the guide rail 104 to the other end of the pipe 110 to be welded, and this end of the pipe 110 to be welded is clamped into the three-jaw chuck 113 of the movable positioner 112, and the three-jaw chuck 113 is manually tightened; thereby, the pipe 110 to be welded is fixed in the positioners 108 at both ends of the track 114 (the pipe 110 to be welded is fixedly connected to the rotating end of the motor drive mechanism of the positioner), at this time, the horizontal width of the line connecting the center points of the two rollers 60 of each supporting roller frame is manually adjusted again, so that the supporting roller frame only plays a supporting role for the pipe 110 to be welded, and does not play a fixing role.

[0060] When only active support roller frames 109 are laid on the track 114, the pipe 110 to be welded is hoisted onto the support roller frames, and the placement angle of the pipe 110 to be welded on the support roller frames is pre-adjusted by the rotating mechanism 93 of one of the active support roller frames 109, and then the horizontal width of the line connecting the center points of the two rollers 60 of each support roller frame is manually adjusted, so that the pipe 110 to be welded is fixed on the support roller frame, and then the axial height of the pipe 110 to be welded, that is, the vertical height of the central axis of the pipe 110 to be welded and the ground is adjusted by the longitudinal moving mechanism of the support roller frame, so that the central axis of the pipe 110 to be welded coincides with the central axis of the fixing device (positioner 108) at both ends of the track 114, and at this time, the driving mechanisms of all active support roller frames 109 are driven, and the driving mechanisms drive the active support roller frames 109 to move on the guide rail 104, thereby driving the active support roller frames 109 to move. The pipe 110 to be welded on the supporting roller frame 109 moves together until one end of the pipe 110 to be welded is clamped into the three-jaw chuck 107 of the fixed positioner 111 at the end of the track 114, and the three-jaw chuck 107 is manually tightened; finally, the movable positioner 112 moves along the guide rail 104 to the other end of the pipe 110 to be welded, and this end of the pipe 110 to be welded is clamped into the three-jaw chuck 113 of the movable positioner 112, and the three-jaw chuck 113 is manually tightened; thereby, the pipe 110 to be welded is fixed in the positioners 108 at both ends of the track 114 (the pipe 110 to be welded is fixedly connected to the rotating end of the motor drive mechanism of the positioner), and at this time, the horizontal width of the line connecting the center points of the two rollers 60 of each supporting roller frame is manually adjusted again, so that the supporting roller frame only plays a supporting role for the pipe 110 to be welded, and does not play a fixing role.

[0061] The robot gripper 125 includes a mounting plate 8 fixedly connected to the sixth axis 20 of the transport robot 124, a first adapter plate 10, a visual system 11, a gripper cylinder (13, 14), a gripper (17, 15) fixedly connected to the driving end of the gripper cylinder (13, 14), and an electromagnet 16 fixed to the lower end of the gripper through a connector I90; wherein, the mounting plate 8 is fixed to the upper base plate of the first adapter plate 10 through a triangular connector II9, the visual system 11 is fixed to the side of the first adapter plate 10 through a second adapter plate 12, and the fixed end of the gripper cylinder (13, 14) is fixed to the lower base plate of the first adapter plate 10. There are two clamping cylinders (13, 14), namely, clamping cylinder 13 and clamping cylinder 14, which are arranged side by side in the horizontal direction; the clamping cylinder 13 is correspondingly connected to the clamping jaw pair 15, and the clamping jaw cylinder 14 is correspondingly connected to the clamping jaw pair 17, wherein the electromagnet 16 is fixedly connected to the lower part of the clamping jaw pair 17 through a connecting piece I90.

[0062] The secondary positioning device 126 includes a bracket 22 fixed on a base plate 128, a plurality of support frames 21 fixed on the bracket 22, and a placement area 25 fixed on the support frame 21, wherein the plurality of support frames 21 are fixed on the bracket 22 by a positioning plate 29; a hollow first grabbing area 23 and a second grabbing area 24 are provided on the placement area 25, and a baffle 30 is provided at one end (lower end) of the placement area 25, and a through hole 26 is opened on the baffle 30; the secondary positioning device 126 also includes an in-position sensor 27, which is fixed to the outer side of the baffle 30 relative to the placement area 25 by a connecting member 28, and the probe of the in-position sensor 27 faces the through hole 26 of the baffle 30, and the in-position sensor 27 can be a laser ranging sensor; wherein the heights of the plurality of support frames 21 increase successively from left to right, so that the angle A between the hypotenuse of the placement area 25 and the horizontal plane is 20 to 30°, and the cross section of the placement area 25 is V-shaped or U-shaped, and the workpiece 19 to be welded is placed on the placement area 25.

[0063] The robot gripper 125 sucks up the workpiece 19 (manifold) to be welded in the material frame 5 through the electromagnet 16 (powered on) below it (the suction position is random, that is, the position sucked by the electromagnet is an arbitrary position on the workpiece) and places it on the placement area 25 of the secondary positioning device 126. After the electromagnet 16 is powered off, the in-place sensor 27 of the secondary positioning device 126 detects that the workpiece 19 to be welded has been placed in the placement area 25 and slides to the lower end of the placement area 25. The two pairs of jaws (15, 17) of the robot gripper 125 of the transport robot 124 are respectively placed in the first grasping area 23 and the second grasping area 24 to grasp the workpiece 19 to be welded, thereby achieving that the grasping position of the robot gripper 125 on the workpiece when grasping the workpiece 19 to be welded is fixed, rather than at an arbitrary position on the workpiece.

[0064] The material frame positioning assembly is composed of four positioning frames 1, which are arranged in a quadrilateral on the base 6. Bolt holes are provided at the bottom of the positioning frames 1, and the positioning frames 1 are fixed to the base 128 by bolts; the four positioning frames 1 are respectively located at the four vertices of the quadrilateral; each positioning frame 1 includes a square cavity 7 with an opening at the top, wherein two adjacent sides of the square cavity 7 extend upward, and the top of the extension part 2 turns outward from the cavity 7; each positioning frame 1 has two adjacent sides of the extension part 2 located at the periphery of the quadrilateral, and the angle between the turning-out part 3 of the top of the extension part 2 turning outward from the cavity and the horizontal plane is 45 to 60 degrees. The positioning frame 1 is a steel positioning frame. When the material frame 5 is hoisted above the material frame positioning assembly 127, there is no need to perform additional positioning or angle adjustment on the placement point of the material frame 5, and the material frame 5 automatically slides into the material frame positioning assembly 127 by its own weight.

[0065] The welding device 162 also includes a travel drive mechanism, which includes a drive motor 1131 and a gear 1154 that is transmission-connected to the output shaft of the drive motor 1131, wherein the drive motor 1131 is fixed on the mounting base plate 141, the mounting base plate 141 is fixedly connected to the bottom plate 128, and the bottom of the bottom plate 128 is also connected to a slider structure 152 through an adapter block 151. The slider structure 152 is mutually connected with a guide rail 1153 laid on the travel track 142; the gear 1154 is mutually transmission-connected with the rack 155; the drive motor 1131 rotates, driving the gear 1154 to rotate, thereby realizing that the bottom plate 128 moves left and right relative to the travel track 142 through the mutual cooperation between the slider structure 152 and the guide rail 1153, and realizing that the welding device 162 welds the manifolds at different positions on the pipeline 110 to be welded.

[0066] A welding power source 138, a protective gas cylinder 137 and a dust suction device 139 are also provided on the base plate 128 of the welding device 162, wherein a guardrail 136 is also provided on the periphery of the base plate 128, and also includes a drag chain 140 with wires and air pipes that need to be moved placed inside. The drag chain 140 is connected to the welding robot 122 and moves with the welding robot 122.

[0067] The robot gripper 125 in the welding device 162 first magnetically absorbs the manifold in the material frame 5 through the electromagnet 16 located under the clamp, and after the manifold is secondary positioned by the secondary positioning device 126, the robot gripper 125 uses the two pairs of clamps of the robot gripper 125 to grab the manifold and place it at the position to be welded on the pipeline 110; the secondary positioning device 126 can ensure that when the robot gripper 125 grabs the manifold on the secondary positioning device 126, the grabbing position on the workpiece (manifold) is fixed, rather than at any position on the workpiece; the material frame positioning component 127 extends the outer adjacent edges of the positioning frame 1 upward, and designs an outward-turned edge at the top of the extension, so that the material frame 5 placed on the positioning component 127 can automatically slide to the corresponding position according to its own weight, so that the material frame 5 can be placed in the required placement position without additional positioning or angle adjustment of the placement point of the material frame 5.

[0068] The pipe 110 to be welded is fixed on the supporting and positioning device 161, and the manifold is placed on the pipe 110 to be welded by the handling robot 124. A groove is provided at the corresponding welding position on the pipe 110 to be welded, so as to facilitate the placement of the manifold. The welding gun assembly 123 welds the manifold. The pipe 110 to be welded is rotated under the drive of the positioner 108, so as to realize the welding of various points on the circumference of the pipe 110. The welding device 162 moves along the walking track 142 under the drive of the walking drive mechanism, so as to realize the welding of various points on the axial direction of the pipe 110.

Claims

1. A manifold welding system, characterized in that: It comprises a supporting positioning device and a welding device with a walking mechanism; wherein the supporting positioning device comprises a first positioner, a second positioner and a plurality of supporting roller frames located between the first positioner and the second positioner, and also comprises a guide rail laid on the ground, and the bottom of the second positioner and each supporting roller frame is provided with a slider mutually connected with the guide rail; the welding device comprises a walking track and a bottom plate laid on the walking track, and the walking track comprises a linear guide rail laid in the horizontal direction and a rack arranged on the inner side wall of the linear guide rail; a welding robot and a handling robot are fixed on the bottom plate; a welding gun and a laser tracker are fixedly connected to the sixth axis of the welding robot, and a robot gripper is fixedly connected to the sixth axis of the handling robot; a material frame positioning component and a secondary positioning device are also provided on the bottom plate; Wherein, the robot gripper includes a mounting plate fixedly connected to the sixth axis of the handling robot, a first adapter plate, a vision system, a gripper cylinder, a gripper fixedly connected to the driving end of the gripper cylinder, and an electromagnet fixed to the lower end of the gripper through a connector I; wherein, the mounting plate is fixed to the first adapter plate through a connector II, the vision system is fixed to the first adapter plate through a second adapter plate, and the fixed end of the gripper cylinder is fixed to the first adapter plate; the material frame positioning assembly is composed of four positioning frames, which are arranged in a quadrilateral on the bottom plate, and the four positioning frames are respectively located at the four vertex corners of the quadrilateral; each positioning frame includes a square cavity with an opening at the top, wherein two adjacent sides of the square cavity extend upward, and the top end of the extension part turns outward toward the outside of the cavity; the two adjacent sides of each positioning frame with an extension part are located at the periphery of the quadrilateral, and the angle between the turned-out part of the top end of the extension part turning outward toward the outside of the cavity and the horizontal plane is 45~60°; the secondary positioning device includes a bracket, a bracket fixed to the bracket There are multiple support frames on the support frames and a placement area fixed on the support frames, the placement area is provided with a hollow first grabbing area and a second grabbing area, one end of the placement area is provided with a baffle, and a through hole is opened on the baffle; the heights of the multiple support frames increase from left to right, the angle A between the hypotenuse of the placement area and the horizontal plane is 20~30°, and the cross-section of the placement area is V-shaped or U-shaped; it also includes an in-place sensor, which is fixed to the outer side of the baffle relative to the placement area through a connecting piece, and the probe of the in-place sensor is placed at the through hole position of the baffle; the robot gripper sucks the manifold workpiece to be welded of the material frame through the electromagnet powered on below it and places it on the placement area of ​​the secondary positioning device, after the electromagnet is powered off, the in-place sensor of the secondary positioning device detects that the workpiece to be welded has been placed in the placement area and slides to the lower end of the placement area, and the two pairs of jaws of the robot gripper of the handling robot are respectively placed in the first grabbing area and the second grabbing area to grab the manifold workpiece to be welded and place it at the position to be welded.

2. The manifold welding system according to claim 1, characterized in that: The supporting roller frame comprises an active supporting roller frame and a driven supporting roller frame.

3. The manifold welding system according to claim 1, characterized in that: The supporting roller frame includes at least two active supporting roller frames.

4. The manifold welding system according to claim 2, characterized in that: The driven support roller frame includes a first frame and a second frame, wherein the first frame is provided with a first support frame, a second support frame and a transverse moving mechanism, and the first support frame and the second support frame are driven by the transverse moving mechanism to move closer to each other or away from each other; the second frame is provided with a longitudinal moving mechanism, and the driving end of the longitudinal moving mechanism is connected to the first frame, and the first frame moves up and down in the longitudinal direction under the drive of the longitudinal moving mechanism; the second frame is fixed to the base plate, the base plate is fixedly connected to the adapter plate, and a slider is provided at the bottom of the adapter plate, and the slider is cooperated and connected with a guide rail laid on the ground; the first support frame includes a support frame I mounted on the first frame and a roller I located in the support frame I and rotatably connected to the support frame I through a rotating shaft or a bearing; the second support frame includes a support frame II mounted on the first frame and a roller II located in the support frame II and rotatably connected to the support frame II through a rotating shaft or a bearing.

5. The manifold welding system according to claim 2, characterized in that: The active support roller frame comprises a first frame and a second frame, wherein the first frame is provided with a first support frame, a second support frame and a transverse moving mechanism, and the first support frame and the second support frame are driven by the transverse moving mechanism to move closer to each other or move away from each other; a longitudinal moving mechanism is provided on the second frame, and the driving end of the longitudinal moving mechanism is connected to the first frame, and the first frame moves up and down in the longitudinal direction under the drive of the longitudinal moving mechanism; the second frame is fixed to the bottom plate, the bottom plate is fixedly connected to the adapter plate, and a slider is provided at the bottom of the adapter plate, and the slider is cooperated and connected with a guide rail laid on the ground; the first support frame comprises a support frame I mounted on the first frame and a support frame I located in the support frame I and connected to the guide rail through a rotating shaft or a bearing Roller I rotatably connected to support frame I; the second support frame includes a support frame II mounted on the first frame and a roller II located in support frame II and rotatably connected to support frame II through a rotating shaft or a bearing; it also includes a rotating mechanism that drives the roller to rotate; the rotating mechanism includes a motor and a reducer that is transmission-connected to the motor, the motor housing is fixedly connected to the reducer housing through a flange, the reducer is fixed on the support frame, and the driving end of the reducer is fixedly connected to the rotating shaft of the roller; it also includes a driving mechanism, the driving mechanism includes a driving motor and a gear that is transmission-connected to the driving motor, and the driving motor is fixed on the extension plate; the extension plate is fixedly connected to the adapter plate, and a rack that cooperates with the gear is provided on the inner side wall of the guide rail.

6. The manifold welding system according to claim 4 or 5, characterized in that: The lateral movement mechanism includes a rotating handle and a screw rod fixedly connected to the rotating handle, the screw rod crosses the first frame, the end of the screw rod is fixedly connected to the first frame through a bearing, the starting end of the screw rod is connected to the rotating handle, and the rotating handle is fixedly connected to the first frame through a bearing; one side of the screw rod is provided with a forward thread, and the other side of the screw rod is provided with a reverse thread, the forward thread end and the reverse thread end of the screw rod are both provided with nuts, and the support frame I and the support frame II are respectively fixedly connected to the corresponding nuts; the middle part of the screw rod is fixedly connected to the first frame through a bearing.

7. The manifold welding system according to claim 4 or 5, characterized in that: The longitudinal moving mechanism includes a motor and a screw lift connected to the motor in a transmission manner, the motor and the screw lift are fixed on the second frame, and the top end of the screw of the screw lift is fixedly connected to the connecting end of the first frame through a bearing; the longitudinal moving mechanism also includes a guide mechanism, which is arranged in pairs on both sides of the screw lift; the guide mechanism includes a guide shaft and a guide shaft bearing seat sleeved outside the guide shaft, the guide shaft bearing seat is fixed on the second frame, one end of the guide shaft is fixedly connected to the lower bottom plate of the first frame, and the other end of the guide shaft passes through the guide shaft bearing seat and moves longitudinally along the guide shaft bearing seat.

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