Automatic welding device for metal pipe intersecting structure

Abstract

The present invention relates to the technical field of welding equipment, and in particular to an automatic welding device for metal pipe intersecting structures, comprising a support frame, a rotating platform, a tooling table arranged at the front end of the rotating platform, a three-axis slide, a connecting block arranged at the bottom of the three-axis slide, a robotic arm arranged at the bottom of the connecting block, a welding head arranged at the bottom of the robotic arm, and a camera arranged above the welding head, wherein the rotating platform rotates 180 degrees, and then the three-axis slide moves the welding head to a place close to the welding position, and then the robotic arm controls the welding head to move to the welding position. As the rotating platform continues to rotate 360 ​​degrees, the three-axis slide and the robotic arm control the welding head to always move on the set welding trajectory, thereby completing the welding of the welded parts without manual welding, improving the welding accuracy of large welded pipes, and solving the technical problem that large multi-way pipes are usually welded and spliced ​​manually, the manual welding error is large, and the welding accuracy of large multi-way pipes is low.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, in particular to an automatic welding device for metal pipe intersecting structures. Background Art

[0002] At present, Chinese patent application number: CN201120005411.1 discloses a Y-type tee pipe, which includes a straight main pipe, two straight branch pipes are connected to one end of the straight main pipe, and the straight branch pipes and the straight main pipe are parallel to each other. This discloses a multi-way pipe of existing general structure, but large multi-way pipes are usually welded and spliced ​​manually, and manual welding has large errors, resulting in low welding accuracy of large multi-way pipes. Summary of the Invention

[0003] Therefore, in response to the above problems, the present invention proposes an automatic welding device for metal tube intersecting structures, which solves the technical problem that large multi-way tubes are usually welded and spliced ​​manually, with large manual welding errors and resulting in low welding accuracy for large multi-way tubes.

[0004] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: an automatic welding device for metal pipe intersecting structures, comprising a support frame, a rotating platform arranged in the middle of the support frame, a tooling table arranged at the front end of the rotating platform, a three-axis slide arranged at the top of the support frame, a connecting block arranged at the bottom of the three-axis slide, a robotic arm arranged at the bottom of the connecting block, a welding head arranged at the bottom of the robotic arm, and a camera arranged above the welding head; the tooling table comprises a connecting plate, moving blocks slidingly arranged on both sides of the connecting plate, a first driving device for driving each moving block to move, a turntable rotatably arranged on the side of the moving block away from the connecting plate, a second driving device for driving the turntable to rotate, and a claw chuck arranged on the side of the turntable away from the second driving device.

[0005] Furthermore, the first driving device includes a screw rod rotatably arranged on the connecting plate, a first motor for driving the screw rod to rotate, a slider threadedly arranged on the outside of the screw rod, a slide rail arranged on the connecting plate, and a mounting block slidably connected to the slide rail, the moving block is connected to the mounting block, and the moving block is connected to the slider.

[0006] Furthermore, the second driving device includes a first driven tooth rotatably arranged in the moving block, a first driving tooth arranged in the moving block and connected to the first driven tooth, a first flange hole arranged on the first driven tooth, and a second motor for driving the first driving tooth to rotate, and the first flange hole on the first driven tooth is connected to the turntable and the claw chuck through bolts.

[0007] Furthermore, the rotating platform includes a frame, a second driven tooth rotatably arranged on the top of the frame, a second driving tooth arranged on the top of the frame and meshing with the second driven tooth, a second flange hole arranged on the second driven tooth, and a third motor for driving the second driving tooth to rotate, and the second flange hole on the second driven tooth is connected to the connecting plate by bolts.

[0008] Furthermore, the jaw chuck is a three-jaw chuck or a four-jaw chuck.

[0009] Furthermore, a laminating machine is provided in front of the support frame.

[0010] By adopting the above technical solution, the beneficial effects of the present invention are:

[0011] The automatic welding device for the intersecting structure of metal tubes is provided with a welding device, wherein the welding part is first lifted between the moving blocks, and then the first driving device drives the moving block to move toward the middle to clamp and fix the left and right sides of the welding part, and then the three-axis slide drives the robot arm to move to the welding position of the welding part, and then the robot arm rotates to drive the camera and the welding head to be placed at the weld of the welding part, and then the second driving device drives the welding part to move the welding position toward the welding head position, and at the same time, the three-axis slide and the robot arm cooperate to drive the welding head to move around the welding position for welding. After completion, when the horizontally placed welding part is not conducive to welding, the rotating platform rotates 180 degrees, and then the three-axis slide moves the welding head to the welding position close to the welding part. The welding position is placed at the place where the welding head is connected, and then the robotic arm controls the welding head to move to the welding position. As the rotating platform continues to rotate 360 ​​degrees, the three-axis slide and the robotic arm control the welding head to always move on the set welding trajectory, thereby completing the welding of the welded parts. The camera faces the welding head and can scan the welding path of the welding head and send it to the external control center. When an offset occurs, a signal is sent to the external control center to remind it to correct the offset and improve the welding accuracy. This welding method uses mechanical welding and does not require manual welding, which improves the welding accuracy of large welded pipes and solves the technical problem that large multi-channel pipes are usually welded and spliced ​​manually, and the manual welding error is large, resulting in low welding accuracy of large multi-channel pipes. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural schematic diagram of the present invention;

[0013] Figure 2 This is a schematic diagram of the structure of the present invention in use;

[0014] Figure 3 It is a schematic left view of the mechanical arm structure of the present invention;

[0015] Figure 4 It is a partial structural schematic diagram of the present invention;

[0016] Figure 5It is a schematic diagram of the partial structure of the rotating platform and the tooling table of the present invention;

[0017] Figure 6 It is a schematic left view of the structure of the present invention;

[0018] Figure 7 This is a schematic diagram of the structure of the adjustment mechanism of the present invention from a partial left-side perspective;

[0019] Figure 8 This is a schematic diagram of the structure of the adjustment mechanism of the present invention from a partial right side perspective;

[0020] Figure 9 It is a schematic top view of the local structure of the adjustment mechanism of the present invention;

[0021] Figure 10 It is a schematic diagram of the AA cross-sectional structure of the present invention. DETAILED DESCRIPTION

[0022] The present invention will now be further described with reference to the accompanying drawings and specific embodiments.

[0023] refer to Figures 1 to 10 This embodiment provides an automatic welding device for metal pipe intersecting structures, comprising a support frame 1, a rotating platform 2 provided in the middle of the support frame 1, a tooling table 3 provided at the front end of the rotating platform 2, a three-axis slide 4 provided at the top of the support frame 1, a connecting block 5 provided at the bottom of the three-axis slide 4, a robotic arm 6 provided at the bottom of the connecting block 5, a welding head 7 provided at the bottom of the robotic arm 6, and a camera 8 provided above the welding head 7;

[0024] The workbench 3 includes a connecting plate 31, moving blocks 32 slidingly arranged on both sides of the connecting plate 31, a first driving device 33 for driving each moving block 32 to move, a turntable 34 rotatably arranged on the side of the moving block 32 away from the connecting plate 31, a second driving device 35 for driving the turntable 34 to rotate, and a claw chuck 36 arranged on the side of the turntable 34 away from the second driving device 35. The robotic arm is an existing conventional technology and will not be described in detail here. The weldment has a Y-shaped tube c that protrudes outward.

[0025] Through the setting of the welding device, the weldment is first lifted between the moving blocks, and then the first drive device drives the moving block to move toward the middle, clamping the left and right sides of the weldment, and then the three-axis slide drives the robotic arm to move to the welding position of the weldment, and then the robotic arm rotates to drive the camera and welding head to be placed at the weld of the weldment, and then the second drive device drives the weldment to move the welding position toward the welding head position, and at the same time, the three-axis slide and the robotic arm cooperate to drive the welding head to move around the welding position for welding. After completion, when the horizontally placed weldment is not conducive to welding, the rotating platform rotates 180 degrees, and then the three-axis slide moves the welding head to a place close to the welding position, and then the robotic arm controls the welding head to move to the welding position. As the rotating platform continues to rotate 360 ​​degrees, the three-axis slide and the robotic arm control the welding head to always move on the set welding trajectory, thereby completing the welding of the weldment. The camera faces the welding head and can scan the welding path of the welding head and send it to the external control center. When an offset occurs, a signal is sent to the external control center to remind, correct the deviation, adjust the moving trajectory of the robotic arm, and improve the welding accuracy.

[0026] The first driving device 33 includes a screw rod 331 rotatably provided on the connecting plate 31, a first motor 332 for driving the screw rod 331 to rotate, a slider 333 threadedly provided on the outside of the screw rod 331, a slide rail 334 provided on the connecting plate 31, and a mounting block 335 slidably connected to the slide rail 334, the moving block 32 is connected to the mounting block 335, and the moving block 32 is connected to the slider 333.

[0027] Through the setting of the first driving device, the first motor drives the screw to rotate, the rotation of the screw drives the outer slider to move, the movement drives the outer mounting block to move, and the mounting block drives the moving block to move laterally when it moves on the slide rail. This control method has high precision and can independently control the left and right movement of the two moving blocks. When the moving block moves toward the middle to position the two sides of the welding machine laterally, the two moving blocks can be controlled to move laterally at the same time to adjust the left and right position of the welding machine. It can not only clamp the welded parts, but also fine-tune the position of the welded parts during welding.

[0028] The second driving device 35 includes a first driven tooth 351 rotatably provided in the moving block 32, a first driving tooth 352 provided in the moving block 32 and connected to the first driven tooth 351, a first flange hole 353 provided on the first driven tooth 351, and a second motor 354 for driving the first driving tooth 352 to rotate. The first flange hole 353 on the first driven tooth 351 is connected to the turntable 34 and the claw chuck 36 by bolts.

[0029] Through the setting of the second driving device, when the welding machine needs to be rotated, the second motor drives the first active tooth to rotate, the rotation of the first active tooth drives the first driven tooth to rotate, the first driven tooth drives the turntable to rotate, the turntable drives the claw chuck to rotate, and the rotation of the claw chuck drives the weldment to rotate. This rotation method has high rotation accuracy and can accurately control the rotation angle of the welding machine.

[0030] The rotating platform 2 includes a frame, a second driven tooth 21 rotatably arranged on the top of the frame, a second driving tooth 22 arranged on the top of the frame and meshing with the second driven tooth 21, a second flange hole 23 provided on the second driven tooth 21, and a third motor 24 for driving the second driving tooth 22 to rotate. The second flange hole 23 on the second driven tooth 21 is connected to the connecting plate 31 by bolts.

[0031] The setting of the rotating platform, in which the third motor drives the second driving tooth to rotate, the rotation of the second driving tooth drives the second driven tooth to rotate, the rotation of the second driven tooth drives the connecting plate to rotate, and the connecting plate can drive the connecting plate to rotate 360 ​​degrees, which is conducive to adjusting the rotation angle of the welding workpiece.

[0032] The jaw chuck 36 is a three-jaw chuck or a four-jaw chuck. The three-jaw chuck or the four-jaw chuck can clamp and fix the weldment on both sides horizontally, and adjust the clamping size, which is conducive to clamping and fixing weldments of different sizes. The three-jaw chuck or the four-jaw chuck is an existing conventional technology and will not be described here.

[0033] A laminating machine 9 is provided in front of the support frame 1, and a material discharging tray 9a is provided on the outside of the laminating machine. An adjustment mechanism 10 is provided at the bottom of the support frame, and a transverse axis moving platform 11 for driving the adjustment mechanism to move laterally is provided at the bottom of the adjustment mechanism. The adjustment mechanism 10 includes an adjustment frame 101, a first rod 102 rotatably provided on the adjustment frame 101, a driving motor 103 for driving the first rod 102 to rotate, a second rod 104 rotatably provided on the adjustment frame 101 and spaced apart from the first rod 102, a third rod 105 hinged between the first rod 102 and the second rod 104, a first driving shaft 106 provided on a lateral side of the second rod 104, a fourth rod 107 fixed on the outside of the first driving shaft 106, and a convex cylinder 108 provided on one side of the fourth rod 107.

[0034] An intermittent wheel 109 is arranged on the outside of the first drive shaft 106, a second drive shaft 110 is rotatably arranged on the adjustment frame 101 and spaced apart from the first drive shaft 106, an arc block 111 is arranged on the outside of the second drive shaft 110 and fits with the intermittent wheel 109, a U-shaped block 112 is arranged on the outside of the second drive shaft 110, a first drive rod 113 is arranged on the side of the second drive shaft 110 away from the arc block 111, an adjustment block 114 is slidably arranged on both sides of the top of the adjustment frame 101, a second drive rod 115 is hinged between the slider 333 and the first drive rod 113, and a U-shaped block 112 is arranged on the outside of the second drive shaft 110. A guide roller 116 is provided between the guide rollers 116, a first spiral groove 117 is provided on the outside of the guide roller 116, a second spiral groove 118 is provided on the outside of the guide roller 116, a transmission block 119 is slidably provided in the first spiral groove 117 and the second spiral groove 118, a support frame 120 is provided on a lateral side of the transmission block 119, and an adjustment rod 121 is provided on the top of the transmission block 119, the transmission block 119 is slidably provided in the support frame 120, a driving gear 122 is provided on the lateral side of the guide roller 116, and a driving rack 123 is provided on the top of the adjustment frame 101, and the first spiral groove and the second spiral groove are in opposite directions.

[0035] The setting of the laminating machine, in which after the temperature of the welded part is lowered, the film on the discharge tray is pulled out and covered on the welded part, and then the second driving device drives the welded part to rotate. After the welded part rotates one circle, the driving motor drives the first rod to rotate, and the first rod drives the second rod to rotate through the third rod. The rotation of the second rod will drive the first driving shaft to rotate intermittently forward and reverse. The rotation of the first driving shaft drives the fourth rod and the intermittent wheel to rotate. Before rotation, the intermittent wheel fits the arc block, supports and fixes the arc block to prevent the guide roller from moving down. After the driving motor is started, the intermittent wheel rotates away from the arc block at the same time, and the fourth The convex cylinder of the rod is stuck in the U-shaped block and drives the second drive shaft to rotate at the same time. The rotation of the second drive shaft drives the first drive rod to rotate. The first drive rod causes the adjustment block to move upward through the second drive rod. When the adjustment block moves upward in the adjustment frame, it drives the support frame and the guide roller to move upward. The adjustment rod in the support frame will move upward at the same time to both sides of the Y-shaped tube protruding outward from the welded part. At the same time, because the slider moves upward, it will drive the driving gear on one side of the guide roller to contact the driving rack on the adjustment frame, which will drive the guide roller to rotate. The rotation of the guide roller drives the two transmission blocks to move upward at the same time. When the first drive rod moves downward, the adjusting block will drive the adjusting rod to move toward the middle, so that the film on both sides of the Y-shaped tube protruding outward of the weldment is clamped into the inner layer. As the first drive rod continues to rotate, the adjusting block will move downward, driving the adjusting rod to move downward to avoid the laminating machine from laminating. During the downward movement of the adjusting rod and the guide roller, the driving gear contacts the driving rack, and the driving gear rotates in the opposite direction. When the guide roller rotates in the opposite direction, it drives the transmission block to move horizontally to both sides and return to the initial position. After the laminating machine has laminated the weldment for one circle, the first drive rod pushes the guide roller upward. Repeated operation can The tube is coated for protection to avoid the existing coating mechanism being able to only wrap around the welded parts, and the gaps between the Y-shaped tubes protruding outward of the welded parts are not coated. The film in the gaps is easily damaged during transportation, affecting the sealing of the welded parts during transportation. Moreover, since this position is not coated, it is also subject to deformation and damage due to collisions during transportation. The traditional method requires manual insertion of pads and then coating, and workers need to stay next to the coating machine, which has high labor costs. This method can directly clamp the coating in the gap position, which can save labor, and the coating quality is good, and it has good protection for the welding machine.

[0036] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0037] In the present invention, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; they may refer to direct connection or indirect connection through an intermediate medium; they may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0038] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0039] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0040] Although the present invention has been particularly shown and described in conjunction with preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made to the present invention without departing from the spirit and scope of the invention as defined in the appended claims, and all such changes are within the scope of protection of the present invention.

Claims

1. An automatic welding device for metal pipe intersecting structure, characterized in that: It comprises a support frame (1), a rotating platform (2) arranged in the middle of the support frame (1), a tooling table (3) arranged at the front end of the rotating platform (2), a three-axis slide (4) arranged at the top of the support frame (1), a connecting block (5) arranged at the bottom of the three-axis slide (4), a mechanical arm (6) arranged at the bottom of the connecting block (5), a welding head (7) arranged at the bottom of the mechanical arm (6), and a camera (8) arranged above the welding head (7); The tooling table (3) includes a connecting plate (31), moving blocks (32) slidably arranged on both sides of the connecting plate (31), a first driving device (33) for driving each moving block (32) to move, a turntable (34) rotatably arranged on a side of the moving block (32) away from the connecting plate (31), a second driving device (35) for driving the turntable (34) to rotate, and a claw chuck (36) arranged on a side of the turntable (34) away from the second driving device (35); A laminating machine (9) is provided in front of the support frame (1), and a material discharging tray (9a) is provided outside the laminating machine (9). An adjustment mechanism (10) is provided at the bottom of the support frame (1), and a transverse axis moving platform (11) for driving the adjustment mechanism (10) to move transversely is provided at the bottom of the adjustment mechanism (10). The adjustment mechanism (10) includes an adjustment frame (101), a first rod (102) rotatably provided on the adjustment frame (101), a driving motor (103) for driving the first rod (102) to rotate, and a first rod (102) rotatably provided on the adjustment frame (101). A second rod (104) is arranged at intervals, a third rod (105) is hingedly arranged between the first rod (102) and the second rod (104), a first drive shaft (106) is arranged on a lateral side of the second rod (104), a fourth rod (107) is fixedly arranged on the outside of the first drive shaft (106), a convex cylinder (108) is arranged on one side of the fourth rod (107), an intermittent wheel (109) is arranged on the outside of the first drive shaft (106), a second drive shaft (110) is rotatably arranged on the adjustment frame (101) and is spaced apart from the first drive shaft (106), and a convex cylinder (108) is arranged on the outside of the second drive shaft (110). The intermittent wheel (109) is fitted with an arc block (111), a U-shaped block (112) provided on the outside of the second drive shaft (110), a first drive rod (113) provided on the side of the second drive shaft (110) away from the arc block (111), an adjustment block (114) slidably provided on both sides of the top of the adjustment frame (101), a second drive rod (115) hingedly provided between the adjustment block (114) and the first drive rod (113), a guide roller (116) provided between the adjustment blocks (114), a first spiral groove (117) provided on the outside of the guide roller (116), a guide roller (116) provided on the outside of the guide roller (116), a guide roller (116) provided on the outside of the guide roller (116), a guide roller (116) provided on the inside of the guide roller (116) ), a transmission block (119) slidingly arranged in the first spiral groove (117) and the second spiral groove (118), a support frame (120) arranged on a lateral side of the transmission block (119), and an adjustment rod (121) arranged on the top of the transmission block (119), the transmission block (119) being slidably arranged in the support frame (120), a driving gear (122) being provided on a lateral side of the guide roller (116), a driving rack (123) being provided on the top of the adjustment frame (101), and the first spiral groove (117) and the second spiral groove (118) being in opposite directions.

2. The automatic welding device for metal pipe intersecting structures according to claim 1, characterized in that: The first driving device (33) includes a screw rod (331) rotatably arranged on the connecting plate (31), a first motor (332) for driving the screw rod (331) to rotate, a slider (333) threadedly arranged on the outside of the screw rod (331), a slide rail (334) arranged on the connecting plate (31), and a mounting block (335) slidably connected to the slide rail (334), the moving block (32) is connected to the mounting block (335), and the moving block (32) is connected to the slider (333).

3. The automatic welding device for metal tube intersecting structures according to claim 1, characterized in that: The second driving device (35) includes a first driven tooth (351) rotatably arranged in the moving block (32), a first driving tooth (352) arranged in the moving block (32) and connected to the first driven tooth (351), a first flange hole (353) provided on the first driven tooth (351), and a second motor (354) for driving the first driving tooth (352) to rotate, wherein the first flange hole (353) on the first driven tooth (351) is connected to the rotating disk (34) and the claw chuck (36) through bolts.

4. The automatic welding device for metal tube intersecting structures according to claim 1, characterized in that: The rotating platform (2) includes a frame, a second driven tooth (21) rotatably arranged on the top of the frame, a second driving tooth (22) arranged on the top of the frame and meshing with the second driven tooth (21), a second flange hole (23) provided on the second driven tooth (21), and a third motor (24) for driving the second driving tooth (22) to rotate, wherein the second flange hole (23) on the second driven tooth (21) is connected to the connecting plate (31) by a bolt.

5. The automatic welding device for metal pipe intersecting structures according to claim 1, characterized in that: The jaw chuck (36) is a three-jaw chuck or a four-jaw chuck.

6. The automatic welding device for metal pipe intersecting structures according to claim 1, characterized in that: A laminating machine (9) is spaced apart in front of the support frame (1).

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