Synchronous four-point welding device for inner and outer fillet welds of straight pipe flange through laser scanning

Abstract

The laser scanning straight pipe flange inner and outer fillet weld synchronous four-point welding device comprises a base, a rail is laid on the base, and a left moving base and a right moving base are arranged at the left end and the right end of the rail correspondingly; the welding structure comprises a welding combination structure body symmetrically fixed to the upper portion of the left moving base and the upper portion of the right moving base, a welding wire storage structure is arranged on one side of the welding combination structure body, a vertical servo motor structure is arranged on the other side of the welding combination structure body, and a pressing structure is arranged below the vertical servo motor structure. The multi-direction adjustable sliding frames are arranged on the welding combination structure body, and the welding gun and the laser tracker structure are arranged on the multiple multi-direction adjustable sliding frames. Roller brackets are respectively arranged at the upper ends of the left moving base and the right moving base, and material receiving mechanisms are also arranged at the upper ends of the left moving base and the right moving base. The welding gun can be controlled for welding, synchronous four-point welding operation of laser scanning of inner and outer fillet welds of the straight pipe flange is achieved, and the welding efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of welding equipment, and more specifically to a laser scanning straight pipe flange inner and outer corner weld synchronous four-point welding device. Background Art

[0002] At present, the domestic automatic and intelligent pipe welding technology is in the stage of research, promotion and application. Some domestic pipe processing companies use traditional manual handheld welding guns for manual welding operations; some companies have begun to use welding robots for pipe welding. The manual welding operation mode results in high labor intensity and low welding efficiency; the welding robot for pipe welding mode can only weld one weld at a time, and the welding efficiency is not very high.

[0003] In order to improve welding efficiency, it is necessary to design a processing equipment that can automatically detect the position of the straight pipe flange corner weld, automatically adjust the position of the welding gun, and automatically and simultaneously perform four-point welding of the inner and outer corner welds of the straight pipe flange. Summary of the invention

[0004] Aiming at the problem of low welding efficiency in the prior art, the present invention provides a laser scanning straight pipe flange inner and outer corner weld four-point welding device.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device, comprising a base, the base having a fixed side and a movable side facing the fixed side, the base located on the movable side is installed with two mutually parallel first slide rails, the first slide rails are perpendicular to the fixed side, the fixed side and the movable side are respectively provided with a first slide plate, one of the first slide plates is slidably connected to the two first slide rails, and the other first slide plate is fixed to the base of the fixed side; welding mechanisms, roller brackets and material receiving mechanisms are symmetrically arranged in sequence on the two first slide plates along the direction from the fixed side and the fixed side moving away from each other to the fixed side and the fixed side moving toward each other;

[0006] The welding mechanism comprises a first box body, a first support frame and a rotary head are installed on the first box body, a second slide is installed on the upstream side of the first support frame close to the material receiving mechanism perpendicular to the ground, a multi-directional adjustable slide is installed on the rotary head and the second slide respectively; the multi-directional adjustable slide comprises a first servo slide, a second servo slide and a third servo slide arranged in sequence from bottom to top, the second servo slide is fixed to the first servo slide, a slide connecting bracket is installed on the second servo slide, the third servo slide is fixed to the side wall of the slide connecting bracket, and the sliding directions of the first servo slide, the second servo slide and the third servo slide are perpendicular to each other in three-dimensional space; the two multi-directional adjustable slides are respectively connected with a first connecting shaft, the first connecting shaft is fixed to the third servo slide, the first connecting shaft is parallel to the ground, the first connecting shaft is rotatably connected to the laser tracker through a laser tracker fixing clamp, and the first connecting shaft is rotatably connected to the welding gun through a welding gun fixing clamp;

[0007] A first cylinder is installed upstream on one side of the second slide, the first cylinder has a first telescopic end, the first telescopic end is located at the bottom, the first telescopic end is bent toward the multi-directional adjustable slide on the second slide and is fixedly connected to the first servo slide; two second slide rails parallel to each other are laid perpendicular to the ground on the second slide, a third slide is slidably connected to the second slide rail, the sliding direction of the first servo slide on the second slide is perpendicular to the ground and is fixed to the third slide; a vertical servo motor is provided in the second slide, and the vertical servo motor is connected to the first cylinder; two welding wire storage mechanisms are provided on the welding mechanism, one of the welding wire storage mechanisms is located on the first support frame, and the other welding wire storage mechanism is on the first box body;

[0008] The roller bracket comprises a second box, the second box is rotatably connected to two first rollers via a flange support shaft on one side upstream of the welding mechanism, the two first rollers are arranged side by side at the same horizontal height, and the top heights of the two first rollers are higher than the top height of the second box;

[0009] The material receiving mechanism includes a supporting frame, one side of the supporting frame is connected to a feeding frame via a rotating shaft, a second cylinder is provided below the other side of the supporting frame, the second cylinder has a second telescopic end, a dummy shaft is installed on the top of the second telescopic end, an axle pin toggle plate is provided at the bottom of the supporting frame away from the feeding frame, the dummy shaft is connected to the axle pin toggle plate via a cylinder axle pin, a first connecting plate is provided at the bottom of the second cylinder, a second connecting plate is provided on the first slide, the second connecting plate is located below the second cylinder, and the first connecting plate and the second connecting plate are connected via a rotating shaft; a material receiving frame is provided on the side of the supporting frame away from the feeding frame, the feeding frame, the supporting frame and the material receiving frame are arranged side by side from the feeding side to the discharging side, and a part of the supporting frame is located on the material receiving frame;

[0010] A first driving motor is fixedly connected to the first slide, and the first driving motor is located on the welding mechanism close to the discharge side.

[0011] Under the preferred embodiment, the welding mechanism is movably connected to the first slide through a first moving mechanism, the first moving mechanism includes two third slide rails, the two third slide rails are parallel to the first slide rails and fixed to the first slide, a moving base is slidably connected to the two third slide rails, a third cylinder is installed on the moving base, the third cylinder is parallel to the third slide rails, the third cylinder has a third telescopic end, the third telescopic end is located away from the material receiving mechanism, the top of the third telescopic end extends out of the moving base, a mounting seat is provided on the first slide below the top of the third telescopic end, the top of the third telescopic end is fixed to the mounting seat, and the first box cover is provided on the third cylinder and fixedly connected to the moving base.

[0012] In the preferred embodiment, a second drive motor is fixedly installed on one side of the mobile base close to the discharge side, and a first valve group is also provided on the mobile base. The first valve group is located on the side of the third cylinder away from the point telescopic end, and the second drive motor is connected to the third cylinder through the first valve group.

[0013] According to the preferred embodiment, a material baffle plate is connected to the material support rack via a rotating shaft, the material baffle plate is L-shaped, and the opening of the material baffle plate faces the discharge side; a fourth cylinder is installed on the material support rack near the bottom of the feeding rack, the fourth cylinder has a fourth telescopic end, and the fourth telescopic end is connected to the material baffle plate via a rotating shaft.

[0014] According to the preferred embodiment, a support plate axle pin is provided at the bottom of the support rack close to the feeding rack, and the fourth cylinder is connected to the support plate toggle plate through the support plate axle pin.

[0015] In a preferred embodiment, welding power sources are respectively installed on the two first slides close to the base.

[0016] In a preferred embodiment, an operating table is provided on the fixed side close to the feeding side.

[0017] In a preferred embodiment, the first support frame is L-shaped.

[0018] According to the preferred embodiment, a rotary cylinder is provided inside the material receiving rack near the side of the supporting rack, a rotary shaft is rotatably connected above the rotary cylinder, the top of the rotary shaft extends out of the upper surface of the material receiving rack, and the supporting rack is partially located on the rotary shaft.

[0019] In the preferred embodiment, a clamping mechanism is provided on the third slide, and the clamping mechanism includes a supporting mold bracket and a supporting wheel. The supporting mold bracket is L-shaped, and the bottom of the supporting mold bracket has a first connecting bottom surface parallel to the ground, and a supporting wheel is installed at the bottom of the first connecting bottom surface.

[0020] Beneficial effects of the present invention:

[0021] The four multi-directional adjustable slides set in the device are adjusted according to the preset positions so that the four welding guns can reach the welding position. At the same time, the laser tracker structure is started to scan the positions of the four corner welds. At the same time, the program controls the four welding guns to perform welding, realizing the laser scanning straight pipe flange internal and external corner welds synchronous four-point welding operation, thereby improving welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is the front view of the laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding equipment;

[0023] Figure 2 It is a top view of the laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding equipment;

[0024] Figure 3 This is a view of the left / right welding mechanism of the laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding equipment;

[0025] Figure 4 It is a laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding equipment Figure 1 The AA section view shown;

[0026] Figure 5 It is a three-dimensional diagram of the lower half of the welding mechanism;

[0027] Figure 6 It is a top view of the lower half of the welding mechanism;

[0028] Figure 7 It is a schematic diagram of the upper part of the welding mechanism;

[0029] Figure 8 It is a top view of the upper part of the welding mechanism;

[0030] Fig. 9 It is a three-dimensional diagram of the roller bracket;

[0031] Fig.10 It is a cross-sectional view of the material receiving mechanism;

[0032] Fig.11 It is the overall schematic diagram of the material receiving mechanism;

[0033] Fig.12 is a schematic diagram of the combination of the first moving mechanism and the first slide;

[0034] Fig.13 This is the layout diagram of the first slide and the first drive motor.

[0035] In the figure, Ⅰ-fixed side; Ⅱ-movable side; Ⅲ-feeding side; Ⅳ-discharging side; 1-base; 2-first slide rail; 3-first slide plate; 4-welding mechanism; 5-roller bracket; 6-material receiving mechanism; 7-welding power supply; 8-welding wire storage mechanism; 9-first moving mechanism; 10-material blocking plate; 11-multi-directional adjustable slide; 12-first cylinder; 13-second slide rail; 14-third slide plate; 15-vertical servo motor ;16-first drive motor;17-fourth cylinder;18-operating table;20-pipe;21-clamping mechanism;22-welding assembly body;23-axle pin toggle plate;24-cylinder axle pin;25-support plate toggle plate;26-support plate axle pin;27-rotating shaft;28-rotating cylinder;29-second valve group;30-impact block;31-impact block mounting seat;32-proximity switch;33-switch mounting bracket;34-stroke switch; 35-slider angle plate; 41-first box; 42-first support frame; 43-second slide; 44-multi-directional adjustable slide; 45-swivel head; 46-first connecting shaft; 47-laser tracker; 48-welding gun; 49-laser tracker fixing clamp; 40-welding gun fixing clamp; 44a-first servo slide; 44b-second servo slide; 44c-third servo slide; 44d-slide connecting bracket ;40a-lower gun clamp;40b-upper cover;51-second box body;52-flange support shaft;53-first roller;61-support rack;62-feeding rack;63-second cylinder;64-receiving rack;81-wire feeder;82-wire feeder bracket;91-third slide rail;92-movable base;93-third cylinder;94-second drive motor;95-first valve group;211-mold support;212-support wheel. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0037] A laser scanning straight pipe flange internal and external corner weld synchronous four-point welding device, comprising a base 1, a first slide rail 2 is laid on the base 1, and a left movable base and a right movable base (two movable bases 92) are respectively provided at the left and right ends of the first slide rail 2; the two movable bases 92 are respectively provided with a welding mechanism 4, and the welding mechanism 4 includes a left welding combination structure and a right welding combination structure with symmetrical structures, wherein a left welding combination structure is provided above the left movable base, and a right welding combination structure 6 is provided above the right movable base.

[0038] The welding mechanism includes a welding assembly structure body 22 symmetrically fixed on the left movable base and the right movable base, the welding assembly structure body includes a first box body 41 and a first support frame 42, a welding wire storage mechanism 8 is arranged on one side of the welding assembly structure body 22, a vertical private service motor 15 is arranged on the other side of the welding assembly structure body 22, a clamping structure 21 is arranged below the vertical private service motor 15, a multi-directional adjustable slide 11 is arranged on the welding assembly structure body 22, and a plurality of the multi-directional adjustable slides 11 are arranged with welding guns 48 and laser tracker structures 47;

[0039] The upper ends of the left movable base and the right movable base are respectively provided with roller brackets 5 , and the roller brackets 5 are rotatably connected with flange support shafts 52 , and the upper part of the flange support shaft 52 is provided with two first rollers 53 arranged side by side.

[0040] The upper ends of the left movable base and the right movable base are also provided with a material receiving mechanism 6, which includes a material receiving frame 64, a second cylinder 63 is provided on one side of the material receiving frame 64, the second cylinder 63 is connected to the shaft pin toggle plate 23 through the cylinder shaft pin 24, one side of the material support frame 61 is welded above the shaft pin toggle plate 23, the other side of the material support frame 61 is connected to the material feeding frame 62 through a rotating shaft, a pallet toggle plate 25 is provided at the bottom of the material support frame 61 near the material feeding frame 62, and the pallet toggle plate 25 is connected to the fourth cylinder 17 through the lower side of the pallet shaft pin 26. The pallet toggle plate 25 is welded on the other side of the material support frame 61, and the pallet toggle plate 25 is fixed to the other side of the pipe support bracket 30 through the pallet shaft pin 26.

[0041] 61-supporting rack; 62-feeding rack; 63-second cylinder; 64-receiving rack;

[0042] 23-axle pin toggle plate; 24-cylinder axle pin; 25-support plate toggle plate; 26-support plate axle pin; 27-rotating shaft; 28-rotating cylinder;

[0043] Welding power sources are respectively arranged on both sides of the left movable base and the right movable base, and the welding power sources include a left welding power source and a right welding power source.

[0044] The welded assembly body 22 is L-shaped.

[0045] The number of the multi-directionally adjustable slides 11 is four, and they are respectively arranged at the upper ends of the welding assembly body 22 .

[0046] An operating platform 18 is arranged on the right movable base.

[0047] A second driving motor 94 is disposed inside the left movable base and the right movable base.

[0048] Example 1

[0049] like Figures 1 to 13 As shown, a laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device comprises a base 1, the base 1 has a fixed side I and a movable side II facing the fixed side I, the base 1 located on the movable side II is installed with two mutually parallel first slide rails 2, the first slide rails 2 are perpendicular to the fixed side I, the fixed side I and the movable side II are respectively provided with a first slide plate 3, one of the first slide plates 3 is slidably connected to the two first slide rails 2, and the other first slide plate 3 is fixed to the base 1 of the fixed side I; welding mechanisms 4, roller brackets 5 and material receiving mechanisms 6 are symmetrically arranged in sequence on the two first slide plates 3 along the direction from the fixed side I and the fixed side I to the direction from the fixed side I and the fixed side I to the fixed side I and the fixed side I to the fixed side I;

[0050] The welding mechanism 4 includes a first box body 41, on which a first support frame 42 and a rotary head 45 are installed, and a second slide 43 is installed perpendicular to the ground on the upstream side of the first support frame 42 close to the material receiving mechanism 6, and a multi-directional adjustable slide 44 is installed on the rotary head 45 and the second slide 43 respectively; the multi-directional adjustable slide 44 includes a first servo slide 44a, a second servo slide 44b and a third servo slide 44c arranged in sequence from bottom to top, the second servo slide 44b is fixed on the first servo slide 44a, and a slide connecting The bracket 44d, the third servo slide 44c is fixed on the side wall of the slide connecting bracket 44d, and the sliding directions of the first servo slide 44a, the second servo slide 44b and the third servo slide 44c are perpendicular to each other in three-dimensional space; the two multi-directional adjustable slides 44 are respectively connected with a first connecting shaft 46, the first connecting shaft 46 is fixed on the third servo slide 44c, the first connecting shaft 46 is parallel to the ground, the first connecting shaft 46 is rotatably connected to the laser tracker 47 through the laser tracker fixing clamp 49, and the first connecting shaft 46 is rotatably connected to the welding gun 48 through the welding gun fixing clamp 40;

[0051] A first cylinder 12 is installed upstream on one side of the second slide 43, and the first cylinder 12 has a first telescopic end, which is located at the bottom, and the first telescopic end is bent toward the multi-directional adjustable slide 44 located on the second slide 43 and fixedly connected to the first servo slide 44a; two second slide rails 13 parallel to each other are laid on the second slide 43 perpendicular to the ground, and a third slide 14 is slidably connected to the second slide rail 13, and the sliding direction of the first servo slide 44a located on the second slide 43 is perpendicular to the ground and fixed to the third slide 14; a vertical servo motor 15 is provided in the second slide 43, and the vertical servo motor 15 is connected to the first cylinder 12; two welding wire storage mechanisms 8 are provided on the welding mechanism 4, one of the welding wire storage mechanisms 8 is located on the first support frame 42, and the other welding wire storage mechanism 8 is located on the first box body 41;

[0052] The roller bracket 5 includes a second box 51, and the second box 51 is rotatably connected to two first rollers 53 via a flange support shaft 52 on the upstream side near the welding mechanism 4. The two first rollers 53 are arranged side by side at the same horizontal height, and the top height of the two first rollers 53 is higher than the top height of the second box 51;

[0053] The material receiving mechanism 6 includes a support frame 61, one side of the support frame 61 is connected to a feeding frame 62 through a rotating shaft, a second cylinder 63 is provided below the other side of the support frame 61, the second cylinder 63 has a second telescopic end, a dummy shaft is installed on the top of the second telescopic end, a shaft pin toggle plate 23 is provided at the bottom of the support frame 61 away from the feeding frame 62, the dummy shaft is connected to the shaft pin toggle plate 23 through a cylinder shaft pin 24, a first connecting plate is provided at the bottom of the second cylinder 63, a second connecting plate is provided on the first slide 3, the second connecting plate is located below the second cylinder 63, and the first connecting plate and the second connecting plate are connected through a rotating shaft; a receiving frame 64 is provided on the side of the support frame 61 away from the feeding frame 62, the feeding frame 62, the support frame 61 and the receiving frame 64 are arranged in parallel from the feeding side III to the discharging side IV, and a part of the support frame 61 is located on the receiving frame 64;

[0054] The first slide 3 is fixedly connected with a first drive motor 16 , and the first drive motor 16 is located at the welding mechanism 4 close to the discharge side IV.

[0055] The welding mechanism 4 is movably connected to the first slide 3 through a first moving mechanism 9. The first moving mechanism 9 includes two third slide rails 91. The two third slide rails 91 are parallel to the first slide rails 2 and fixed on the first slide 3. A moving base 92 is slidably connected to the two third slide rails 91. A third cylinder 93 is installed on the moving base 92. The third cylinder 93 is parallel to the third slide rails 91. The third cylinder 93 has a third telescopic end. The third telescopic end is located in a direction away from the material receiving mechanism 6. The top of the third telescopic end extends out of the moving base 92. A mounting seat is provided on the first slide 3 below the top of the third telescopic end. The top of the third telescopic end is fixed to the mounting seat. The first box body 41 is covered on the third cylinder 93 and fixedly connected to the moving base 92.

[0056] A second drive motor 94 is fixedly installed on the movable base 92 near the discharge side IV. A first valve group 95 is also provided on the movable base 92. The first valve group 95 is located on the side of the third cylinder 93 away from the telescopic end. The second drive motor 94 is connected to the third cylinder 93 through the first valve group 95.

[0057] The support rack 61 is connected with a baffle plate 10 via a rotating shaft, the baffle plate 10 is L-shaped, and the opening of the baffle plate 10 faces the discharge side IV; the support rack 61 is installed with a fourth cylinder 17 near the bottom of the feed rack 62, the fourth cylinder 17 has a fourth telescopic end, and the fourth telescopic end is connected to the baffle plate 10 via a rotating shaft.

[0058] A support plate axle pin 26 is provided at the bottom of the support rack 61 close to the feeding rack 62 , and the fourth cylinder 17 is connected to the support plate toggle plate 25 via the support plate axle pin 26 .

[0059] Welding power sources 7 are respectively installed on the two first slides 3 near the base 1 .

[0060] An operating platform 18 is provided on the fixed side I close to the feeding side III.

[0061] The first support frame 42 is L-shaped.

[0062] A rotary cylinder 28 is provided inside the material receiving rack 64 near the side of the supporting rack 61 , and a rotary shaft 27 is rotatably connected above the rotary cylinder 28 . The top of the rotary shaft 27 extends out of the upper surface of the material receiving rack 64 , and the supporting rack 61 is partially located on the rotary shaft 27 .

[0063] The third slide is provided with a clamping mechanism 21, which includes a mold support bracket 211 and a supporting wheel 212. The mold support bracket 211 is L-shaped, and the bottom of the mold support bracket 211 has a first connecting bottom surface parallel to the ground, and the bottom of the first connecting bottom surface is equipped with a supporting wheel 212.

[0064] The working process of the device of the present invention is as follows:

[0065] When the pipe 20 of the component to be processed by the equipment is to be processed, the first driving motor 16 on the first slide 3 controls the first slide 3 located on the moving side II to move toward the fixed side I, and the second driving motor 94 on the mobile base 92 controls the two mobile bases 92 to move toward the middle along the third slide rail 91 to adapt to the length of the pipe 20; at this time, the second cylinder 63 extends to move the bracket 61 to the upper end, and the pipe 20 is flipped from the bracket to the bracket 61; then the second cylinder 63 shortens to move the bracket 61 to the lower end, and the pipe 20 moves downward on the bracket 61 until the flanges on both sides move to the two first rollers 53; at this time, the first telescopic end of the first cylinder 12 is driven by the vertical servo motor 15 Move downward so that the clamping structure 21 presses down on the pipe 20; the four multi-directional adjustable slides 11 on the equipment are adjusted according to the preset position so that the four welding guns 48 all reach the welding position; the flange support shaft 52 is driven by the rotating motor to rotate, so that the two circular first rollers 53 also rotate, driving the pipe 20 to rotate, and at the same time the laser in the laser tracker 47 is started to scan the positions of the four corner welds to obtain the specific shape of the welds; then repeat the previous action (rotation of the pipe 20), and at the same time the program controls the four welding guns 48 to weld, and controls the swing of the welding guns 48 according to the specific shape of the weld, to realize the laser scanning straight pipe flange internal and external corner welds synchronous four-point welding operation, until one circle of welding is completed.

[0066] Laser scans the weld to understand the changes in the weld gap size, and then the program controls the welding gun to swing more and the tube to rotate more slowly when the gap is large, so that more weld meat is filled, ensuring that the weld meat in large gaps is fully filled; the program controls the welding gun to swing less and the tube to rotate faster when the gap is small, so that less weld meat is filled, ensuring that there is not too much weld meat in small gaps.

[0067] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device, characterized in that: The invention comprises a base (1), wherein the base (1) has a fixed side (I) and a movable side (II) facing the fixed side (I), and the base (1) located on the movable side (II) is installed with two mutually parallel first slide rails (2), and the first slide rails (2) are perpendicular to the fixed side (I), and the fixed side (I) and the movable side (II) are respectively provided with a first slide plate (3), one of the first slide plates (3) is slidably connected to the two first slide rails (2), and the other first slide plate (3) is fixed to the base (1) of the fixed side (I); welding mechanisms (4), roller brackets (5) and material receiving mechanisms (6) are respectively and symmetrically arranged in sequence on the two first slide plates (3) along the direction from the fixed side (I) and the fixed side (I) moving away from each other to the direction from the fixed side (I) and the fixed side (I) moving toward each other; The welding mechanism (4) comprises a first box body (41), on which a first support frame (42) and a rotary head (45) are installed, and a second slide (43) is installed perpendicular to the ground on the upstream side of the first support frame (42) close to the material receiving mechanism (6), and a multi-directional adjustable slide (44) is installed on the rotary head (45) and the second slide (43) respectively; the multi-directional adjustable slide (44) comprises a first servo slide (44a), a second servo slide (44b) and a third servo slide (44c) arranged in sequence from bottom to top, the second servo slide (44b) is fixed on the first servo slide (44a), and a slide connecting member is installed on the second servo slide (44b). The connecting bracket (44d), the third servo slide (44c) is fixed on the side wall of the slide connecting bracket (44d), and the sliding directions of the first servo slide (44a), the second servo slide (44b) and the third servo slide (44c) are perpendicular to each other in three-dimensional space; the two multi-directional adjustable slides (44) are respectively connected with a first connecting shaft (46), the first connecting shaft (46) is fixed on the third servo slide (44c), the first connecting shaft (46) is parallel to the ground, the first connecting shaft (46) is rotatably connected to the laser tracker (47) through the laser tracker fixing clamp (49), and the first connecting shaft (46) is rotatably connected to the welding gun (48) through the welding gun fixing clamp (40); A first cylinder (12) is installed upstream of one side of the second slide (43), the first cylinder (12) having a first telescopic end, the first telescopic end being located at the bottom, the first telescopic end being bent toward the multi-directional adjustable slide (44) located on the second slide (43) and being fixedly connected to the first servo slide (44a); two second slide rails (13) parallel to each other are laid on the second slide (43) perpendicular to the ground, the second slide rails (13) being slidably connected to a third slide (14) located on the first slide The sliding direction of the first servo slide (44a) on the second slide (43) is perpendicular to the ground and is fixed on the third slide (14); a vertical servo motor (15) is provided in the second slide (43), and the vertical servo motor (15) is connected to the first cylinder (12); two welding wire storage mechanisms (8) are provided on the welding mechanism (4), one of the welding wire storage mechanisms (8) is located on the first support frame (42), and the other welding wire storage mechanism (8) is located on the first box (41); The roller bracket (5) comprises a second box (51), and the second box (51) is rotatably connected to two first rollers (53) via a flange support shaft (52) on the upstream side close to the welding mechanism (4), and the two first rollers (53) are arranged side by side at the same horizontal height, and the top height of the two first rollers (53) is higher than the top height of the second box (51); The material receiving mechanism (6) comprises a support frame (61), one side of the support frame (61) is connected to a feeding frame (62) via a rotating shaft, a second cylinder (63) is provided below the other side of the support frame (61), the second cylinder (63) has a second telescopic end, a dummy shaft is installed on the top of the second telescopic end, a shaft pin toggle plate (23) is provided at the bottom of the side of the support frame (61) away from the feeding frame (62), the dummy shaft is connected to the shaft pin toggle plate (23) via a cylinder shaft pin (24), and the second cylinder (63) The bottom of the material support frame (61) is provided with a first connecting plate, the first slide plate (3) is provided with a second connecting plate, the second connecting plate is located below the second cylinder (63), and the first connecting plate and the second connecting plate are connected via a rotating shaft; the side of the material support frame (61) away from the material feeding frame (62) is provided with a material receiving frame (64), the material feeding frame (62), the material support frame (61) and the material receiving frame (64) are arranged in parallel from the material feeding side (III) to the material discharging side (IV), and a part of the material support frame (61) is located on the material receiving frame (64); A first drive motor (16) is fixedly connected to the first slide (3), and the first drive motor (16) is located on the welding mechanism (4) close to the discharge side (IV).

2. According to claim 1, the laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device is characterized in that: The welding mechanism (4) is movably connected to the first slide (3) through a first moving mechanism (9). The first moving mechanism (9) comprises two third slide rails (91). The two third slide rails (91) are parallel to the first slide rails (2) and fixed on the first slide (3). A moving base (92) is slidably connected to the two third slide rails (91). A third cylinder (93) is installed on the moving base (92). The third cylinder (93) is parallel to the third slide rails (91). The third cylinder (93) has a third telescopic end. The third telescopic end is located in a direction away from the material receiving mechanism (6). The top of the third telescopic end extends out of the moving base (92). A mounting seat is provided on the first slide (3) below the top of the third telescopic end. The top of the third telescopic end is fixed to the mounting seat. The first box (41) is covered on the third cylinder (93) and is fixedly connected to the moving base (92).

3. According to claim 2, the laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device is characterized in that: A second drive motor (94) is fixedly mounted on the side of the movable base (92) close to the discharge side (IV). A first valve group (95) is also provided on the movable base (92). The first valve group (95) is located on the side of the third cylinder (93) away from the telescopic end. The second drive motor (94) is connected to the third cylinder (93) via the first valve group (95).

4. According to claim 1, the laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device is characterized in that: The support frame (61) is connected to a baffle plate (10) via a rotating shaft, the baffle plate (10) is L-shaped, and the opening of the baffle plate (10) faces the discharge side (IV); the support frame (61) is provided with a fourth cylinder (17) below the feed frame (62), the fourth cylinder (17) having a fourth telescopic end, and the fourth telescopic end is connected to the baffle plate (10) via a rotating shaft.

5. According to claim 4, the laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device is characterized in that: A support plate shaft pin (26) is provided at the bottom of the support frame (61) near the feeding frame (62), and the fourth cylinder (17) is connected to the support plate toggle plate (25) through the support plate shaft pin (26).

6. According to claim 1, the laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device is characterized in that: A welding power source (7) is respectively installed on the two first slides (3) close to the base (1).

7. According to claim 1, the laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device is characterized in that: An operating platform (18) is provided on the fixed side (I) close to the feeding side (III).

8. According to claim 1, the laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device is characterized in that: The first support frame (42) is L-shaped.

9. The laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device according to claim 1, characterized in that: A rotary cylinder (28) is provided inside the material receiving frame (64) near the side of the supporting frame (61), and a rotary shaft (27) is rotatably connected above the rotary cylinder (28). The top of the rotary shaft (27) extends out of the upper surface of the material receiving frame (64), and the supporting frame (61) is partially located on the rotary shaft (27).

10. The laser scanning straight pipe flange internal and external fillet weld synchronous four-point welding device according to claim 1, characterized in that: The third slide is provided with a clamping mechanism (21), the clamping mechanism (21) comprising a mold support bracket (211) and a support wheel (212), the mold support bracket (211) is L-shaped, the bottom of the mold support bracket (211) has a first connecting bottom surface parallel to the ground, and the bottom of the first connecting bottom surface is provided with a support wheel (212).

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