Automatic welding device for steel pipe

Abstract

Provided is a steel pipe automatic welding device, the device comprises a base, a travel assembly and a welding gun assembly, the base comprises a hollow cavity, a fixing part and a track layer, the track layer comprises an outer ring guide rail and an inner ring guide rail, the fixing part is used to fix the steel pipe passing through the hollow cavity; the travel assembly comprises a clamping part, an outer drive roller and an inner drive roller, the clamping part is movably clamped on the base, the outer drive roller and the inner drive roller are respectively used to engage with the outer ring guide rail and the inner ring guide rail; the welding gun assembly is arranged on the travel assembly, and comprises a welding gun; wherein the outer drive roller and the inner drive roller are respectively driven by independent drive sources, and when the welding gun is welding at a corner, the outer drive roller and the inner drive roller are set to different rotation speeds. The above steel pipe automatic welding device can make the welding at the corner smooth and accurate.

Description

Technical Field

[0001] The invention relates to the field of welding, in particular to the field of automatic welding devices. Background Art

[0002] Compared with traditional manual arc welding, the most prominent advantage of gas metal arc welding (GMAW) is that it has flexibility and a wide range of heat input options, while increasing welding productivity by multiples, so it is widely used in welding of various materials. The present invention is an automated welding equipment for realizing the welding of elevation angle and flat angle welds of square steel tube plates, and the automated welding of the equipment is completed by integrating welding equipment and designing corresponding process parameters.

[0003] At present, the elevation and flat angle welding of square steel tube plates are all manual welding, which has high labor intensity, high personnel input and relatively low efficiency. At present, some automated welding equipment for square steel angle welds has appeared, but they are all in the laboratory stage, cannot be well applied to welding at nuclear power sites, and cannot guarantee welding quality. For example, China's public patent CN113102865A provides an automated solution. Since the equipment adopts a single motor drive mode and realizes the turning of the welding equipment through a circular track, there is a problem of untimely turning, resulting in the weld quality not being able to reach the quality of the weld at the nuclear power site. If only relying on pure contouring tracks to achieve passive turning and straight running, this method is not adaptable during the vertical welding process and when the R angle size of the square steel tube changes. In the process of welding equipment welding upward and downward, the welding gun lags or deflects in advance, resulting in welding quality problems. Summary of the invention

[0004] An object of the present invention is to provide an automatic steel pipe welding device, which can make the welding at the corners stable and accurate.

[0005] To achieve the above-mentioned purpose, an automatic steel pipe welding device is used for welding steel pipes with corners. The device includes a base, a traveling assembly and a welding gun assembly. The base includes a hollow cavity, a fixing part and a track layer. The track layer includes an outer ring guide rail and an inner ring guide rail. The fixing part is used to fix the steel pipe passing through the hollow cavity; the traveling assembly includes a clamping part, an outer drive roller and an inner drive roller. The clamping part is movably clamped on the base, and the outer drive roller and the inner drive roller are respectively used to engage with the outer ring guide rail and the inner ring guide rail; the welding gun assembly is arranged on the traveling assembly, including a welding gun; wherein the outer drive roller and the inner drive roller are respectively driven by independent drive sources, and when the welding gun welds the corner, the outer drive roller and the inner drive roller are set to different rotation speeds.

[0006] In one or more embodiments, the track layer includes a straight section and a corner section, and the device also includes a photoelectric component arranged on the walking component and a shading plate arranged on the straight section, the photoelectric component includes a transmitting end, a receiving end and a groove located between the transmitting end and the receiving end, and the shading plate is located on the moving path of the groove.

[0007] In one or more embodiments, the device further comprises a control component, wherein the control component is connected to the photoelectric component and the driving source signal of the outer driving roller and the inner driving roller.

[0008] In one or more embodiments, the outer drive roller and the inner drive roller are configured to rotate at the same speed in the straight section, and the speed of the outer drive roller is greater than the speed of the inner drive roller in the corner section.

[0009] In one or more embodiments, the driving sources for driving the outer driving roller and the inner driving roller are respectively an outer driving motor and an inner driving motor fixed on the walking assembly.

[0010] In one or more embodiments, the base includes two opening and closing bases symmetrically arranged along a diagonal line, one end of the two opening and closing bases is connected by a rotating shaft, and the other end of the two opening and closing bases is connected by a locking member.

[0011] In one or more embodiments, the base further includes a protective plate layer located above the track layer, the fixing member is a claw disposed on the protective plate layer, and the protective plate layer includes a guide groove for accommodating the claw.

[0012] In one or more embodiments, the clamping jaws include a plurality of bull's eye bearings to achieve point contact with the surface of the steel pipe.

[0013] In one or more embodiments, the welding gun assembly further includes a steering adjustment mechanism for fixing the welding gun.

[0014] In one or more embodiments, the walking assembly further comprises a pulley assembly for engaging with the track layer.

[0015] The above-mentioned automatic welding device for steel pipes is specially designed with equipment structure for the welds of square steel pipe plates. The precise adjustment of the angle of the welding gun at the turning position is achieved through the synchronization and speed change of the internal and external drive mechanisms, which solves the problem of timely turning at the turning position when the automatic welding equipment welds steel pipes with corners. The rotation speed of the internal and external drive gear motors is continuously adjusted to achieve precise movement along the outer wall of the square steel pipe, so that the walking trajectory of the welding gun forms a trajectory identical to the shape of the square steel pipe. At the same time, the real-time adjustment of the speed ensures that the welding route is always accurate, so that the weld at the transition between the straight line and the circular arc corner of the square steel is evenly formed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other features, properties and advantages of the present invention will become more apparent through the following description in conjunction with the accompanying drawings and embodiments, in which:

[0017] Figure 1 It is a schematic diagram of an embodiment of a steel pipe automatic welding device;

[0018] Figure 2 It is a schematic diagram of the location of the base and welding gun assembly;

[0019] Figure 3 It is a schematic diagram of the base and the walking assembly in a coordinated state;

[0020] Figure 4 It is a top view of an embodiment of a steel pipe automatic welding device;

[0021] Figure 5 It is a cross-sectional top view of the track layer and the travel assembly in a mating state;

[0022] Figure 6 It is a schematic diagram of the position of the sunshade;

[0023] Fig. 7A , 7B is a schematic diagram of an embodiment of a sunshade;

[0024] Figure 8 is a schematic diagram of one embodiment of an optoelectronic assembly;

[0025] Fig. 9 It is a schematic diagram of the outer ring to the guide rail;

[0026] Fig.10 is a schematic diagram of a pulley assembly;

[0027] Fig.11 It is a schematic diagram of the welding gun assembly and the travel assembly in a mating state;

[0028] Fig.12 It is a side view of the welding gun assembly and the travel assembly in the mating state;

[0029] Fig.13 This is a bottom view of the welding gun assembly and the travel assembly in the mating state. DETAILED DESCRIPTION

[0030] The present invention is further described below in conjunction with specific embodiments and drawings. More details are elaborated in the following description to facilitate a full understanding of the present invention. However, the present invention can obviously be implemented in a variety of other ways different from the description herein. Those skilled in the art can make similar generalizations and deductions based on actual application situations without violating the connotation of the present invention. Therefore, the protection scope of the present invention should not be limited by the content of this specific embodiment.

[0031] It should be noted that these and other subsequent drawings are only examples and are not drawn to scale, and should not be used to limit the actual scope of protection required by the present invention.

[0032] For the installation of steel pipes with corners, there are currently contoured track designs, but contoured tracks rely on tracks to achieve passive turning and straight travel, and are not very adaptable during vertical welding and when the R angle size of square steel pipes changes, especially when Figure 3 When the welding direction of the steel pipe shown in the figure changes, there is a gravity problem in the process of welding upward and downward with the welding gun. It is easy for the welding gun to lag behind or deflect in advance at the corner, resulting in welding quality problems.

[0033] The steel pipe automatic welding device disclosed in the present invention can make the welding at the bend stable and accurate under different working conditions. Figures 1 to 3 It is understood that for welding the steel pipe 5 with the corner 51, N represents the welding position.

[0034] The device comprises a base 10, a travel assembly 20 and a welding gun assembly 30. The base 10 comprises a hollow cavity 11, a fixing member 12 and a track layer 13, the track layer 13 comprises an outer ring guide rail 14 and an inner ring guide rail 15, and the fixing member 12 is used to fix the steel pipe 5 passing through the hollow cavity 11.

[0035] The walking assembly 20 includes a clamping portion 21, an outer driving roller 22 and an inner driving roller 23. The clamping portion 21 is movably clamped on the base 10. The outer driving roller 22 and the inner driving roller 23 are respectively used to engage with the outer annular guide rail 14 and the inner annular guide rail 15. Figure 5 The welding gun assembly 30 is arranged on the traveling assembly 20 and includes a welding gun 31 .

[0036] The outer drive roller 22 and the inner drive roller 23 are driven by independent drive sources, respectively, and the outer drive roller 22 and the inner drive roller 23 are set to different rotation speeds when the welding gun is at the welding corner 51. Preferably, the outer drive roller 22 and the inner drive roller 23 are set to have the same rotation speed in the straight section, and the speed of the outer drive roller 22 is greater than the speed of the inner drive roller 23 in the corner section.

[0037] Specifically, if Figures 4 to 6 As shown, the track layer 13 includes a straight section 131 corresponding to the non-corner section of the steel pipe and a corner section 132 corresponding to the corner 51 of the steel pipe. The walking component 20 is provided with Figure 8 The optoelectronic component 26 shown in the figure includes a transmitting end, a receiving end and a groove 261 located between the transmitting end and the receiving end. A light shielding plate 17 is provided on the straight section 131. Figure 7A-7BAs shown, a protruding baffle 171 is provided on the shading plate 17 . The shading plate 17 is located on the moving path of the groove 261 . The baffle 171 can pass through the groove 261 of the optoelectronic component 26 .

[0038] When the photoelectric component 26 moves along the track layer 13 with the walking component 20, when the shading plate 17 on the straight section 131 passes through the groove 261, it blocks the signal transmission between the transmitting end and the receiving end. At this time, the photoelectric component 26 can judge that the walking component 20 is in the straight section 131. The outer drive roller 22 and the inner drive roller 23 in the straight section 131 have the same rotation speed, and the walking component 20 can achieve straight walking, thereby making the welding gun weld at a uniform speed. The length of the shading plate 17 is consistent with the straight section 131. When the transmitting end and the receiving end are not affected by the shading plate 17, the photoelectric component 26 can judge that the walking component 20 is in the corner section 132. In the corner section 132, the outer drive roller 22 cooperates with the outer ring guide rail 14, and the rotation speed is greater than that of the inner drive roller 23, thereby ensuring that the welding gun 31 is still in a stable welding state at the steel pipe corner 51, avoiding the situation that the welding is uneven and the weld does not meet the standard when welding in the turning section of the steel pipe.

[0039] like Figure 3 As shown, the driving sources for driving the outer drive roller and the inner drive roller are the outer drive motor 29 and the inner drive motor 28 fixed on the walking assembly 20, respectively. The rotation speeds of the inner and outer drive gear motors are continuously adjusted to achieve precise walking along the outer wall of the square steel pipe, so that the walking trajectory of the welding gun forms a trajectory that is the same as the shape of the square steel pipe. At the same time, the speed is adjusted in real time to meet the requirements of the welding process. By adopting dual drive of the inner and outer motors, the equipment can be advanced or delayed actively turning angles during the equipment debugging stage through the different speeds of the inner and outer motors, and it has a certain active correction function; if the rotation speed of the outer drive motor is increased, additional driving force can be provided for the walking and turning of the welding gun; when the square steel pipes of the same specification have different R angles, it can better adapt to the precise control of the straight sections and the turning sections, so that the welding gun can be accurately turned, thereby improving the welding quality. Especially in such as Figure 3 In the vertical welding condition shown, the welding gun angle can also be actively adjusted by the different rotation speeds of the two rollers, and the welding gun angle can be corrected even under the influence of gravity.

[0040] The device also includes a control component, which is connected to the photoelectric component 26 and the driving source of the outer drive roller 22 and the inner drive roller 23, that is, the outer drive motor 29 and the inner drive motor 28. When the photoelectric component 26 determines the position of the walking component 20, the outer drive motor 29 and the inner drive motor 28 are promptly controlled to accurately adjust the speed of the outer drive roller 22 and the inner drive roller 23. On the basis of adopting the contour guide rail, the inner and outer dual drive systems and control components are adopted to make the whole equipment more accurately fit the outer dimensions of the steel pipe with a corner, facilitate the output of the welding parameters, and at the same time, the dual motor drive system increases the driving power, so that the whole equipment increases in terms of resistance to adverse external factors, which is conducive to the improvement of the welding quality of the equipment. By adjusting the speed of the inner and outer dual drive motors at different positions of the square steel pipe, the accuracy of the welding gun welding in and out of the bend is achieved, and the welding quality is further improved.

[0041] In order to accurately clamp the steel pipe 5 with the corner 51, in some embodiments, the base 10 includes two opening and closing bases 101 symmetrically arranged along the diagonal line A, such as Figure 2 and Figure 4 As shown, one end of the two opening and closing bases 101 is connected by a rotating shaft 103, in which a thrust bearing is installed to reduce friction and avoid the influence of corrosion on the opening and closing of the device, and the other end is connected by a locking member 104. By opening or closing relative to the diagonal line A, it can be closer to the surface of the steel pipe.

[0042] Back to Figure 3 As shown, the base 10 also includes a protective plate layer 16 located above the track layer 13, and the protective plate layer 16 is connected to the track layer 13 through a connector 17. The protective plate layer 16 serves as an upper platform. In addition to installing four claws, it also forms protection on the upper part to prevent splashes from falling on the gears and guide surfaces during the gas shielded welding process and affecting the walking stability. The connector 17 in the middle part is a connecting mechanism, and its main function is to provide space for the upper balance wheel when walking. The lower track layer 13 is mainly composed of a platform, an outer ring guide rail 14 and an inner ring guide rail 15.

[0043] The fixing member 12 on the base is four claws 121 arranged on the protective plate layer 16, and the protective plate layer 16 includes a guide groove 160 for accommodating the claws 121. A plurality of bull's eye bearings are preferably arranged on the claws 121 to achieve point contact with the surface of the steel pipe 5. By adjusting the distance between each claw 121 and the center, the adaptation of different square tube steel sizes is achieved, and the mounting surface has a scale to facilitate the correspondence with different square steel pipe types.

[0044] Continue to refer to Figure 2 and Figure 4As shown, there are four corresponding guide grooves 160 on the base, and there are laser-printed scales on the surface of the guide groove 160. By moving the position of the clamping claw 121 in the guide groove 160 and adjusting the distance between the four claws, the specifications of the clamped square steel can be quickly determined. The four-claw clamping mechanism and the base are equipped with a bull's eye bearing, which can achieve point contact with the surface of the square steel pipe and avoid the installation tilt caused by the uneven surface of the square steel pipe. By adopting the four-claw point clamping mechanism, four clamping claws and the bull's eye bearing on the body, a multi-point contact clamping method is formed, which avoids the problem of equipment installation tilt caused by the uneven surface of the square steel pipe.

[0045] like Figures 10 to 13 As shown, the walking mechanism 20 adopts a contoured guide rail design. The walking mechanism design has two drive systems, an outer drive motor 29 and an inner drive motor 28. The transmission adopts a gapless gear meshing mechanism, that is, the outer drive roller 22 and the inner drive roller 23 are respectively meshed with the outer ring guide rail 14 and the inner ring guide rail 15. The precise adjustment of the welding gun angle at the turning position is achieved through the same speed and speed change of the inner and outer drive mechanisms.

[0046] The walking mechanism 20 also includes a pulley assembly 27 for fitting with the track layer 13. The pulley assembly 27 is arranged on the inner side of the clamping portion 21, and includes an upper roller assembly 271 and a lower roller assembly 272, which are respectively used to fit with the bottom of the protective plate layer 16 and the bottom of the track layer 13. The gears of the pulley assembly 27 are composed of cylindrical teeth without gaps. The pulley assembly 27 is also designed with a clamping wheel 273 to prevent the walking mechanism from shaking due to two-point constraints.

[0047] The welding gun assembly 30 includes a welding gun up and down adjustment mechanism and a welding gun front and back adjustment mechanism, both of which are implemented by a linear module, and also includes a steering adjustment mechanism 32 for fixing the welding gun 31. In order to achieve arc swing of the welding gun during the welding process and achieve the welding penetration process, the welding gun is fixed on the angle rotating table, and the welding gun is driven to swing by the steering adjustment mechanism 32. The welding gun 31 includes a conductive block, an air inlet, a wire guide tube and an insulating component.

[0048] The above device is suitable for the automated welding device of nuclear power square steel supports. By adopting the internal and external gear drive method, the problem of timely turning of square steel automatic welding equipment at the turning point is solved, thereby achieving better welding quality control; the use of automated welding equipment improves welding efficiency, reduces welding cost investment, and reduces the labor intensity of welders.

[0049] The equipment also adjusts the position of the four claws on the fuselage to a gap suitable for the square steel pipe, generally 4-5mm. After the adjustment is completed, open the quick locking device, open the equipment base, and put the device base on the square steel pipe to be welded. By adjusting the height, the welding gun stays at the position of the fillet weld between the square steel pipe and the flat plate. Close the equipment base and close the locking device at the same time, and the equipment installation is completed.

[0050] After the device base is installed, adjust the welding gun up and down adjustment mechanism, the welding gun front and back adjustment mechanism and the welding gun steering adjustment mechanism to make the welding gun stay at a suitable arc starting position for the weld, observe that the welding position of the welding gun and the fillet weld in a circle meets the welding conditions, and start welding to complete the fillet weld.

[0051] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0052] Although the present invention is disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, any modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope defined by the claims of the present invention.

Claims

1. An automatic steel pipe welding device for welding a steel pipe (5) with a corner (51), characterized in that: The device includes: A base (10) comprises a hollow cavity (11), a fixing member (12) and a track layer (13), wherein the track layer comprises an outer ring guide rail (14) and an inner ring guide rail (15), and the fixing member (12) is used to fix the steel pipe (5) passing through the hollow cavity (11); a walking assembly (20), comprising a clamping portion (21), an outer driving roller (22) and an inner driving roller (23), wherein the clamping portion (21) is movably clamped on the base (10), and the outer driving roller (22) and the inner driving roller (23) are respectively used to engage with the outer annular guide rail (14) and the inner annular guide rail (15); and A welding gun assembly (30), arranged on the travel assembly (20), comprising a welding gun (31); The outer drive roller (22) and the inner drive roller (23) are driven by independent drive sources respectively, and when the welding gun welds at the corner (51), the outer drive roller (22) and the inner drive roller (23) are set to different rotation speeds; The track layer (13) comprises a straight section (131) and a corner section (132); the outer drive roller (22) and the inner drive roller (23) are arranged to have the same rotation speed in the straight section (131); and the speed of the outer drive roller (22) is greater than the speed of the inner drive roller (23) in the corner section (132); The walking assembly (20) further comprises a pulley assembly (27) for fitting with the track layer (13).

2. The automatic steel pipe welding device according to claim 1, characterized in that: The device further comprises a photoelectric component (26) arranged on the walking component and a shading plate (17) arranged on the straight section (131); the photoelectric component comprises a transmitting end, a receiving end and a groove (261) located between the transmitting end and the receiving end; the shading plate (17) is further arranged to be located on the moving path of the groove (261).

3. The automatic steel pipe welding device according to claim 2, characterized in that: The device also includes a control component, which is connected to the photoelectric component (26) and the drive source signal of the outer drive roller (22) and the inner drive roller (23).

4. The automatic steel pipe welding device according to claim 1, characterized in that: The driving sources for driving the outer driving roller (22) and the inner driving roller (23) are respectively an outer driving motor (29) and an inner driving motor (28) fixed on the walking assembly (20).

5. The automatic steel pipe welding device according to claim 1, characterized in that: The base (10) comprises two opening and closing bases (101) symmetrically arranged along a diagonal line, one end of the two opening and closing bases (101) being connected via a rotating shaft (103) and the other end being connected via a locking member (104).

6. The automatic steel pipe welding device according to claim 1 or 5, characterized in that: The base (10) further comprises a protective plate layer (16) located above the track layer (13); the fixing member (12) is a claw (121) arranged on the protective plate layer; and the protective plate layer (16) comprises a guide groove (160) for accommodating the claw (121).

7. The automatic steel pipe welding device according to claim 6, characterized in that: The clamping claw (121) comprises a plurality of bull's eye bearings to achieve point contact with the surface of the steel pipe (5).

8. The automatic steel pipe welding device according to claim 1, characterized in that: The welding gun assembly (30) further comprises a steering adjustment mechanism (32) for fixing the welding gun (31).

Images