A large diameter steel plate concrete segment welding system

Abstract

The purpose of the present invention is to provide a large-diameter steel plate concrete pipe segment welding system, which is convenient for welding pipe seams and circumferential seams of large pipelines and improves welding efficiency. The system comprises a welding vehicle and a PLC for carrying a robot welding device so that the robot welding device welds the pipe seams. The welding vehicle comprises a vehicle body and a vehicle-carrying mobile device. The input end of the vehicle-carrying mobile device is connected to the output end of the PLC. The robot welding device is arranged on the vehicle body. The output end of the first laser tracking system is connected to the input end of the PLC. The problem that the robot welding device is not convenient to move inside the pipeline is solved by the welding vehicle composed of the vehicle body, the vehicle-carrying mobile device and the vehicle-carrying auxiliary support device. The circumferential seam welding device composed of a circumferential seam servo rotating shaft and a circumferential seam welding gun support arm is arranged on the welding vehicle. The circumferential seam servo rotating shaft gradually rotates one circle to drive the welding gun to weld the annular circumferential seam, thereby solving the problem that the robot welding device is not convenient to weld the circumferential seam.

Description

Technical Field

[0001] The invention belongs to the technical field of pipe segment welding, and in particular relates to a large-diameter steel plate concrete pipe segment welding system. Background Art

[0002] Existing large-diameter steel plate concrete pipes are often welded from multiple sections of pipes, and each section of the pipe is welded from multiple pipe segments. Among them, each pipe segment unit weighs about 5.7 tons, the unit diameter is 4000mm-13000mm, and the width of a pipe segment is 1500mm-2500mm. One section of the pipe used requires 5-7 pipe segments to form a ring, and the gaps at the joints between the pipe segments need to be welded, and the annular seams of each section of the pipe need to be welded. If manual welding is performed, the workload is large and the efficiency is low. If the existing robot welding device composed of a welding robot, a welding gun, a water cooling system, and a laser tracking system is used to weld the pipe seams and the annular seams, the welding efficiency is 500mm / min. The existing solution is to lay tracks inside the pipeline, and a track must be laid for each pipe seam. The robot welding device is loaded on the track to weld the annular seams. At the same time, each track requires manual monitoring, and the efficiency is still very low and it is inconvenient to weld the annular seams. Summary of the invention

[0003] The purpose of the present invention is to provide a large-diameter steel plate concrete pipe segment welding system, which is convenient for welding pipe seams and annular seams of large pipelines and improves the efficiency of welding pipe seams and annular seams of large pipelines.

[0004] The technical solution for solving the technical problem of the present invention is: a large-diameter steel plate concrete pipe segment welding system, including a robot welding device composed of a welding robot, a welding gun, a laser tracking system, and a water cooling system, and also including a welding vehicle and a PLC for carrying the robot welding device so that the robot welding device welds the pipe seam. The welding vehicle includes a vehicle body and a vehicle-carrying mobile device, the input end of the vehicle-carrying mobile device is connected to the output end of the PLC, the robot welding device is arranged on the vehicle body, the output end of the first laser tracking system is connected to the input end of the PLC, and the output end of the PLC is respectively connected to the input ends of the welding robot, the first welding gun, and the first water cooling system.

[0005] In order to make the welding vehicle more stable when welding or moving in the pipeline, it also includes a vehicle auxiliary support device. The vehicle auxiliary support device consists of two sets, which are respectively arranged on the left and right sides of the vehicle body and fixedly connected to the vehicle body.

[0006] In order to make the vehicle-carrying auxiliary support device easy to move while playing a supporting role, the vehicle-carrying auxiliary support device includes a support frame and wheels. The support frame is fixedly connected to the vehicle body, and the wheels are arranged on the support frame and rotatably connected to the support frame. The wheel surface of the wheel is in contact with the welded pipe segment.

[0007] In order to make the vehicle-carrying mobile device less likely to slip and more stable, the vehicle-carrying mobile device is a four-wheel drive system, which includes a power module and an action module. The power module of the four-wheel drive system is arranged inside the vehicle body, and the action module of the four-wheel drive system is arranged under the vehicle body.

[0008] In order to facilitate the storage of electrical equipment of the vehicle or welding equipment, an electrical cabinet for placing the electrical equipment is provided inside the vehicle body.

[0009] In order to store the water tank of the water cooling system and the electrical equipment of the welding device separately, a water and electricity cabinet for placing the water tank is arranged inside the vehicle body.

[0010] In order to load the robot welding device on the vehicle body, a base for loading the robot welding device is provided outside the vehicle body, the robot welding device is arranged on the base, and the distance from the base to the pipe seam closest to the base is smaller than the working distance of the robot welding device.

[0011] In order to adjust the robot welding device along the pipeline direction, the base is a high-precision transmission guide rail, and the robot welding device is fixedly arranged on the sliding mechanism of the high-precision transmission guide rail. The input end of the high-precision transmission guide rail is connected to the output end of the PLC.

[0012] In order to facilitate welding of pipe seams, a circumferential seam welding device for welding circumferential seams is arranged on the outside of the vehicle body, and the circumferential seam welding device includes a circumferential seam servo rotating shaft and a circumferential seam welding gun support arm. The circumferential seam welding gun support arm is arranged along the radial direction of the circumferential seam servo rotating shaft, one end of which is fixedly connected to the side wall of the circumferential seam servo rotating shaft, and the other end of the circumferential seam welding equipment composed of a second welding gun, a second laser tracking system, and a second water cooling system is arranged. The input ends of the circumferential seam servo rotating shaft, the second welding gun, and the second water cooling system are connected to the output end of the PLC, and the output end of the second laser tracking system is connected to the input end of the PLC.

[0013] In order to enable the circumferential seam welding equipment to be adjusted during welding, it also includes a guide rail and a rotating shaft. The guide rail is arranged on the side wall of one end of the circumferential seam welding gun support arm close to the circumferential seam welding equipment. The rotating shaft is arranged on the moving mechanism of the guide rail. The plane where the rotation direction of the rotating shaft is located is perpendicular to the plane where the rotation direction of the circumferential seam servo rotating shaft is located. The circumferential seam welding equipment composed of the second welding gun, the second laser tracking system, and the second water cooling system is arranged on the rotating shaft.

[0014] The beneficial effects of the present invention are as follows: by providing a welding vehicle composed of a vehicle body, a vehicle-carrying moving device, and a vehicle-carrying auxiliary supporting device, the problem that the robot welding device is inconvenient to move inside the pipeline is solved; by providing a circumferential seam welding device composed of a circumferential seam servo rotating shaft and a circumferential seam welding gun support arm on the welding vehicle, the circumferential seam welding gun support arm is arranged along the radial direction of the circumferential seam servo rotating shaft, one end is fixedly connected to the side wall of the circumferential seam servo rotating shaft, and the other end is connected to the welding gun, the circumferential seam welding gun support arm gradually rotates one circle under the drive of the circumferential seam servo rotating shaft, and drives the welding gun to weld the annular circumferential seam, thereby solving the problem that the robot welding device is inconvenient to weld the circumferential seam. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention.

[0016] Figure 2 yes Figure 1 Enlarged view of a.

[0017] Figure 3 It is a schematic diagram of electrical connection of the present invention. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] like Figure 1 As shown, the present invention includes a robot welding device 9 composed of a welding robot, a first welding gun 21, a first laser tracking system 23, and a first water cooling system 22, and also includes a welding vehicle and a PLC for carrying the robot welding device so that the robot welding device welds the pipe seam. The welding vehicle includes a vehicle body 1 and a vehicle-carrying mobile device. The input end of the vehicle-carrying mobile device is connected to the output end of the PLC. The robot welding device 9 is arranged on the vehicle body 1. The output end of the first laser tracking system 23 is connected to the input end of the PLC. The output end of the PLC is respectively connected to the input end of the welding robot, the first welding gun 21, and the first water cooling system 22.

[0020] In order to make the welding vehicle more stable when welding or moving in the pipeline, it also includes a vehicle auxiliary support device. The vehicle auxiliary support device consists of two sets, which are respectively arranged on the left and right sides of the vehicle body 1 and fixedly connected to the vehicle body 1.

[0021] In order to make the vehicle-carrying auxiliary support device easy to move while playing a supporting role, the vehicle-carrying auxiliary support device includes a support frame 3 and wheels 4. The support frame 3 is fixedly connected to the vehicle body 1, and the wheels 4 are arranged on the support frame 3 and are rotatably connected to the support frame 3. The wheel surface of the wheel 4 is in contact with the welded pipe segment 14.

[0022] In order to make the vehicle-carrying mobile device less likely to slip and more stable, the vehicle-carrying mobile device is a four-wheel drive system, which includes a power module 5 and an action module 2. The power module 5 of the four-wheel drive system is arranged inside the vehicle body 1, and the action module 2 of the four-wheel drive system is arranged below the vehicle body 1.

[0023] In order to facilitate the storage of electrical equipment of the vehicle or welding equipment, an electrical cabinet 6 for placing the electrical equipment is provided inside the vehicle body 1.

[0024] In order to store the water tank of the water cooling system separately from the electrical equipment of the welding device, a water and electricity cabinet 7 for placing the water tank is arranged inside the vehicle body 1 to prevent water leakage from the water tank from damaging the electrical equipment. The water tank and the electrical equipment of the welding device are stored separately.

[0025] In order to load the robot welding device 9 on the vehicle body 1, a base 8 for loading the robot welding device 9 is also included. The base 8 is arranged outside the vehicle body 1 near the pipe seam 13. The distance between the base 8 and the pipe seam 13 closest to the base 8 is less than the working distance of the robot welding device 9. There are multiple bases 8, which are determined by the number of pipe segments 14 required for each section of the pipeline. In this embodiment, one section of the pipeline requires six pipe segments 14. There are six joints between the six pipe segments 14, which are respectively located as follows: Figure 1 Correspondingly, there are six bases 8 at the upper left, upper right, left, left, lower left and lower right of the middle pipe, which are respectively arranged on the outside of the vehicle body 1 near six pipe seams 13. The purpose of this is to facilitate welding and reduce the excessive rotation range of the machine wall of the welding robot. Welding can be carried out within the maximum rotation range of the machine wall of the welding robot.

[0026] In order to adjust the robot welding device 9 along the direction of the pipeline, the base 8 is a high-precision transmission guide rail. The robot welding device 9 is fixedly arranged on the sliding mechanism of the high-precision transmission guide rail. The input end of the high-precision transmission guide rail is connected to the output end of the PLC. Each section of the pipeline has a certain length. The length of the pipe segment 14 along the pipeline direction is generally called the long length. The sliding mechanism of the high-precision transmission guide rail is used to translate the robot welding device 9 in the direction of the pipeline. Combined with the hand wall of the welding robot of the robot welding device 9, the welding of the pipe seam 13 is completed.

[0027] In order to facilitate welding of the pipe seam 13, a girth welding device for welding the girth 12 is arranged outside the vehicle body 1, and the girth welding device includes a girth servo rotating shaft 10 and a girth welding gun support arm 11. The girth welding gun support arm 11 is arranged along the radial direction of the girth servo rotating shaft 10, one end of which is fixedly connected to the side wall of the girth servo rotating shaft 10, and the other end of which is provided with a girth 12 welding device consisting of a second welding gun 18, a second laser tracking system 19, and a second water cooling system 20. 8. The input end of the second water cooling system 20 is connected to the output end of the PLC, and the output end of the second laser tracking system 19 is connected to the input end of the PLC. Pipeline welding not only requires welding at the pipe segment 14, but also welding at the joints of each section of the pipeline, which is called annular seam 12 welding. The annular seam 12 to be welded is annular. The annular seam welding gun support arm 11 arranged along the radial direction of the annular seam servo rotating shaft 10 gradually rotates one circle under the drive of the annular seam servo rotating shaft 10, thereby driving the annular seam welding device to weld the annular annular seam 12.

[0028] In order to make adjustments to the circumferential seam welding device during welding, it also includes a guide rail and a rotating shaft 17. The guide rail includes a track 15 and a moving mechanism 16. The guide rail is arranged on the side wall of one end of the circumferential seam welding gun support arm 11 close to the circumferential seam 12 welding equipment. The rotating shaft 17 is arranged on the moving mechanism 16 of the guide rail. The plane where the rotation direction of the rotating shaft 17 is located is perpendicular to the plane where the rotation direction of the circumferential seam servo rotating shaft 10 is located. The circumferential seam 12 welding equipment composed of the second welding gun 18, the second laser tracking system 19, and the second water cooling system 20 is arranged on the rotating shaft 17. The input ends of the guide rail and the rotating shaft 17 are connected to the output end of the PLC. The guide rail is used to adjust the height of the circumferential seam 12 welding equipment, and the rotating shaft 17 is used to adjust the angle of the circumferential seam 12 welding equipment.

[0029] When in use, the welding vehicle is placed inside the pipeline, and the welding vehicle is placed on the entire pipeline as much as possible, so that the pipe seam is located on both sides of the welding vehicle, and the circumferential seam welding device is located at the circumferential seam, and the robot welding device 9 is started to weld the butt joint of the pipe segment 14. When welding the pipe segment 14, the first laser tracking system 23 of the robot welding device 9 sends a tracking signal to the PLC, and the PLC controls the welding robot, the welding gun, the water cooling system and the high-precision transmission guide rail to collaboratively complete the welding of the pipe segment 14. At the same time, the circumferential seam welding device is started to weld the circumferential seam 12. When welding the circumferential seam 12, the second laser tracking system 19 sends a signal to the PLC, and the PLC controls the circumferential seam servo rotating shaft 10, the guide rail, the rotating shaft 17, the second welding gun 18, and the second water cooling system 20 to collaboratively complete the welding of the pipe seam 13. After welding a section of the pipeline, the PLC can send a command to control the vehicle-carrying moving device to move forward a set distance to weld the next section of the pipeline. The welding efficiency is high, and no personnel monitoring is required, which is convenient and mobile.

[0030] By setting up a welding vehicle composed of a vehicle body, a vehicle-carrying moving device and a vehicle-carrying auxiliary supporting device, the problem that the robot welding device is inconvenient to move inside the pipeline is solved; by setting up a circumferential seam welding device composed of a circumferential seam servo rotating shaft and a circumferential seam welding gun support arm on the welding vehicle, the circumferential seam welding gun support arm is set along the radial direction of the circumferential seam servo rotating shaft, one end is fixedly connected to the side wall of the circumferential seam servo rotating shaft, and the other end is connected to the welding gun. The circumferential seam welding gun support arm gradually rotates one circle under the drive of the circumferential seam servo rotating shaft, driving the welding gun to weld the annular circumferential seam, thereby solving the problem that the robot welding device is inconvenient to weld the circumferential seam.

Claims

1. A large-diameter steel plate concrete segment welding system, comprising a robot welding device consisting of a welding robot, a welding gun, a first laser tracking system, and a water cooling system, characterized in that: It also includes a welding vehicle and a PLC for carrying a robot welding device so that the robot welding device welds the pipe seam. The welding vehicle includes a vehicle body and a vehicle-carrying mobile device. The input end of the vehicle-carrying mobile device is connected to the output end of the PLC. The robot welding device is arranged on the vehicle body. The output end of the first laser tracking system is connected to the input end of the PLC. The output end of the PLC is respectively connected to the input end of the welding robot, the first welding gun, and the first water cooling system. The vehicle body is provided with a base for loading a robot welding device on the outside, the robot welding device is arranged on the base, and the distance from the base to the pipe seam closest to the base is smaller than the working distance of the robot welding device; the base is a high-precision transmission guide rail, the robot welding device is fixedly arranged on the sliding mechanism of the high-precision transmission guide rail, and the input end of the high-precision transmission guide rail is connected to the output end of the PLC; A circumferential seam welding device for welding circumferential seams is arranged outside the vehicle body, and the circumferential seam welding device includes a circumferential seam servo rotating shaft and a circumferential seam welding gun support arm. The circumferential seam welding gun support arm is arranged along the radial direction of the circumferential seam servo rotating shaft, one end of which is fixedly connected to the side wall of the circumferential seam servo rotating shaft, and the other end of which is provided with a circumferential seam welding device consisting of a second welding gun, a second laser tracking system, and a second water cooling system. The input ends of the circumferential seam servo rotating shaft, the second welding gun, and the second water cooling system are connected to the output end of the PLC, and the output end of the second laser tracking system is connected to the input end of the PLC.

2. A large diameter steel plate concrete segment welding system according to claim 1, characterized in that: It also includes a vehicle-carrying auxiliary support device, which consists of two sets, which are respectively arranged on the left and right sides of the vehicle body and fixedly connected to the vehicle body.

3. A large diameter steel plate concrete segment welding system according to claim 2, characterized in that: The vehicle auxiliary support device comprises a support frame and wheels. The support frame is fixedly connected to the vehicle body. The wheels are arranged on the support frame and rotatably connected to the support frame. The wheel surface of the wheels contacts the welded pipe segment.

4. A large diameter steel plate concrete segment welding system according to claim 1, characterized in that: The vehicle-carrying mobile device is a four-wheel drive system, which includes a power module and an action module. The power module of the four-wheel drive system is arranged inside the vehicle body, and the action module of the four-wheel drive system is arranged below the vehicle body.

5. The large diameter steel plate concrete segment welding system according to claim 1 is characterized by: An electrical cabinet for accommodating electrical equipment is arranged inside the vehicle body.

6. A large diameter steel plate concrete segment welding system according to claim 1, characterized in that: A water and electricity cabinet for accommodating a water tank is arranged inside the vehicle body.

7. The large diameter steel plate concrete segment welding system according to claim 1 is characterized by: It also includes a guide rail and a rotating shaft. The guide rail is arranged on the side wall of one end of the circumferential seam welding gun support arm close to the circumferential seam welding equipment. The rotating shaft is arranged on the moving mechanism of the guide rail. The plane where the rotation direction of the rotating shaft is located is perpendicular to the plane where the rotation direction of the circumferential seam servo rotating shaft is located. The circumferential seam welding equipment composed of the second welding gun, the second laser tracking system, and the second water cooling system is arranged on the rotating shaft. The input ends of the guide rail and the rotating shaft are connected to the output end of the PLC.

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