A manifold welding device with a walking mechanism

Abstract

The present invention discloses a manifold welding device with a walking mechanism, comprising a walking track and a bottom plate laid on the walking track, wherein the walking track comprises a linear guide rail laid in the horizontal direction and a rack provided on the inner side wall of the track; 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. When the welding device of the present invention welds a manifold on a pipeline, the manifold can be grasped and welded at the same time, and the welding device can also walk on the 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.

Description

Technical Field

[0001] The invention relates to a manifold welding device with a traveling mechanism. Background Art

[0002] In the prior art, there is currently no overall welding solution for welding a manifold to a pipeline. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a manifold welding device with a walking mechanism, which can simultaneously grab and weld the manifold when welding the manifold on the pipeline, and the welding device can also walk on a walking track (move left and right), so as to realize its movement relative to the pipeline and weld the manifold at different positions on the pipeline.

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

[0005] A manifold welding device with a walking mechanism comprises a walking track and a base plate laid on the walking track, the walking track comprises a linear guide rail laid horizontally and a rack arranged on the inner 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] 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.

[0007] 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 open top, wherein two adjacent sides of the square cavity extend upward, and the top of the extended part is turned outward from the cavity.

[0008] The two adjacent sides of each positioning frame with the extended portion are located at the periphery of the quadrilateral, and the angle between the top end of the extended portion turned outward from the cavity and the horizontal plane is 45-60°.

[0009] Wherein, a bolt hole is arranged at the bottom of the positioning frame, and the positioning frame is fixed on the base by bolts.

[0010] 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.

[0011] Among them, the heights of the multiple support frames increase successively from left to right.

[0012] The cross section of the placement area is V-shaped or U-shaped, and the angle between the hypotenuse of the placement area and the horizontal plane is 20 to 30 degrees.

[0013] Among them, it also includes a walking drive mechanism, which includes a driving motor I and a gear I that is transmission-connected to the output shaft of the driving motor I, and the gear I and the rack are transmission-connected to each other; wherein, the driving motor I is fixed on a mounting base plate, the mounting base plate is fixedly connected to a base plate, and a slider structure is also provided at the bottom of the base plate, and the slider structure is cooperatively connected to a linear guide rail.

[0014] Beneficial effects: When the welding device of the present invention welds a manifold on a pipeline, it can simultaneously grasp and weld the manifold, and the welding device can also walk on a walking track (move left and right); thereby the welding device can be moved relative to the pipeline to be welded, and welding of manifolds at different positions on the pipeline can be achieved.

[0015] The robot gripper in the device first magnetically absorbs the workpiece to be welded (manifold) in the material frame through the electromagnet located under the gripper. After the workpiece to be welded is secondary positioned by the secondary positioning device, the robot gripper grabs the workpiece to be welded with two pairs of grippers of the robot gripper and places it at the position to be welded.

[0016] The secondary positioning device enables the gripping position of the robot gripper on the workpiece to be welded on the gripping device to be fixed, rather than at any arbitrary position on the workpiece;

[0017] The material frame positioning component extends the adjacent outer edges of the positioning frame upward and designs an outward-turned edge at the top of the extension, so that the material frame placed on the positioning component can automatically slide to the corresponding position according to its own weight, thereby placing the material frame in the required placement position without the need for additional positioning or angle adjustment of the placement point of the material frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the welding device of the present invention;

[0019] Figure 2This is a schematic diagram of the structure with protective fence;

[0020] Figure 3 A schematic diagram of the structure of a welding gun assembly connected to the sixth axis of the welding robot in the device;

[0021] Figure 4 This is a schematic diagram of the structure of the welding device of the present invention laid on the travel track;

[0022] Figure 5 This is a schematic diagram of the structure of the robot gripper;

[0023] Figure 6 Schematic diagram of the structure of the robot gripper connected to the sixth axis of the handling robot;

[0024] Figure 7 A schematic diagram of the structure of a robot gripper grabbing a workpiece to be welded on a secondary positioning device;

[0025] Figure 8 It is a structural schematic diagram of the secondary positioning device I;

[0026] Fig. 9 It is the structural schematic diagram II of the secondary positioning device;

[0027] Fig.10 It is the structural schematic diagram of the secondary positioning device III;

[0028] Fig.11 It is a structural schematic diagram of a secondary positioning device for placing workpieces to be welded;

[0029] Fig.12 It is a structural schematic diagram of the material frame positioning component;

[0030] Fig.13 is a structural schematic diagram of a positioning frame;

[0031] Fig.14 It is a structural schematic diagram of a material frame being placed on a material frame positioning assembly;

[0032] Fig.15 A top view showing a material frame placed on a material frame positioning assembly;

[0033] Fig.16 This is the structural principle diagram of the walking drive mechanism;

[0034] Fig.17 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;

[0035] Fig.18 Schematic diagram of the structure with the uninstalled base plate laid on the walking track. DETAILED DESCRIPTION

[0036] 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.

[0037] like Figures 1 to 18 As shown, the manifold welding device with a walking mechanism of the present invention comprises a walking track 142 and a bottom plate 128 laid on the walking track 142, the walking track 142 comprises a linear guide rail 153 laid in the horizontal direction and a rack 155 arranged on the inner side wall of the track 142; a welding robot 122 and a handling robot 124 are fixed on the bottom plate 128, and the welding robot 122 and the handling robot 124 are respectively fixed on the bottom plate 128 through a lifting seat (130, 129) (a plurality of screws for installation are provided on the bottom plate 128) Bolt hole 160); a welding gun assembly 123 is fixedly connected to the sixth axis 132 of the welding robot 122, 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 base plate 128.

[0038] 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 connecting piece 190; wherein, the mounting plate 8 is fixed to the upper base plate of the first adapter plate 10 through a triangular connecting piece 119, 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 190.

[0039] 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.

[0040] 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.

[0041] The material frame positioning assembly 127 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 vertex corners 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.

[0042] The welding device of the present invention also includes a travel drive mechanism, which includes a drive motor I131 and a gear I154 that is transmission-connected to the output shaft of the drive motor I131, wherein the drive motor I131 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 I153 laid on the travel track 142; the gear I154 is mutually transmission-connected with the rack 155; the drive motor I131 rotates, driving the gear I154 to rotate, thereby realizing that the bottom plate 128 moves left and right relative to the travel track 142 on the travel track 142 through the mutual cooperation between the slider structure 152 and the guide rail I153, and realizing the welding of the manifolds at different positions on the pipeline by the welding device.

[0043] 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 of the present invention, 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, and the drag chain 140 is connected to the welding robot 122 and moves with the welding robot 122.

Claims

1. A manifold welding device with a traveling mechanism, characterized in that: It includes a walking track and a bottom plate laid on the walking track, the walking track includes 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 arranged on the bottom plate; 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 connector I; wherein the mounting plate is fixed to the first adapter plate through a connector 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; 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 of the extended portion is turned outward toward the outside of the cavity; two adjacent sides of each positioning frame with an extended portion are located at the periphery of the quadrilateral, and the angle between the turned-out portion of the top of the extended portion turned outward toward the outside of the cavity and the horizontal plane is 45-60°; The secondary positioning device comprises a bracket, a plurality of support frames fixed on the bracket, and a placement area fixed on the support frames, wherein the placement area is provided with a hollow first grabbing area and a second grabbing area, and one end of the placement area is provided with a baffle plate, and a through hole is opened on the baffle plate; the placement sensor is also included, and the placement sensor is fixed to the outer side of the baffle plate relative to the placement area through a connecting piece, and the probe of the placement sensor is placed at the through hole position of the baffle plate; the heights of the plurality of support frames increase from left to right in sequence; the cross section of the placement area is V-shaped or U-shaped, and the angle between the hypotenuse of the placement area and the horizontal plane is 20-30°; The robot gripper sucks up the manifold workpiece to be welded from the material frame through the powered electromagnet 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. The two pairs of jaws of the robot gripper of the handling robot are respectively placed in the first grasping area and the second grasping area to grasp the manifold workpiece to be welded and place it at the position to be welded.

2. The manifold welding device with a traveling mechanism according to claim 1, characterized in that: Bolt holes are arranged at the bottom of the positioning frame, and the positioning frame is fixed to the bottom plate by bolts.

3. The manifold welding device with a traveling mechanism according to claim 1, characterized in that: It also includes a walking drive mechanism, which includes a driving motor I and a gear I drivingly connected to the output shaft of the driving motor I, and the gear I and the rack are drivingly connected to each other; wherein, the driving motor I is fixed on a mounting base plate, the mounting base plate is fixedly connected to the bottom plate, and a slider structure is also provided at the bottom of the bottom plate, and the slider structure is cooperatively connected to the linear guide rail.

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