A device and method for laser welding three-way pipe

Abstract

The invention discloses a device and method for laser welding a three-way pipe, comprising a base, a branch pipe clamp slidably arranged on the base and used for automatically centering, positioning and clamping a branch pipe, a branch pipe clamp movement module used to drive the branch pipe clamp to move, a main pipe clamp used for clamping a main pipe, and a main pipe clamp rotation module used to drive the main pipe clamp to rotate, a laser head moving module slidably arranged on the base, and a laser head arranged on the laser head moving module, the laser head being used for welding the contact position of the branch pipe and the main pipe. The device can realize automatic centering, positioning, clamping, moving and rotating of the branch pipe, positioning, clamping and rotating of the main pipe and movement of the laser head through integrated design and precise control, thereby ensuring that the branch pipe and the main pipe can automatically and accurately complete contact and matching and the laser head can accurately weld the contact position of the branch pipe and the main pipe, thereby improving welding efficiency and effect.

Description

Technical Field

[0001] The invention relates to the technical field of laser welding, and in particular to a device and method for laser welding a three-way pipe. Background Art

[0002] Tee pipes, especially straight tees, are widely used in pipelines for transporting fluids such as gases and liquids, and play a role in changing flow direction, diverting or merging. Tee pipes can be produced by an integrated molding method, but there are problems such as complex process, high cost, and low efficiency. Therefore, they are mostly manufactured by first processing the main pipe and the branch pipe separately, and then connecting the two. The specific method is: first, cut the main pipe to the specified length, and open a branch pipe connection hole at the midpoint; then, cut the branch pipe to the specified length, and process an arc-shaped end face at one end that matches the main pipe connection hole; finally, use welding to connect the mating surfaces of the two.

[0003] Commonly used welding methods include arc welding, argon arc welding, submerged arc welding, gas welding and laser welding. Among them, laser, as a new welding method, has the advantages of wide application, high precision, good stability, good environmental protection and easy to realize automated production, and has been widely used in the welding of various pipelines. Since the matching surface between the branch pipe and the main pipe in the tee pipe is a spatial curved surface, the movement path of the laser head during laser welding of the tee pipe is a spatial curve.

[0004] At present, multi-degree-of-freedom manipulators or multi-axis motion platforms are generally used to control the movement of the laser head to complete the regulation of the three-way pipe laser welding path. This has the problems of high cost, large footprint or complex programming. In addition, before welding, the main pipe and branch pipe must be clamped with a fixture to ensure that the two are well matched to meet the subsequent laser welding requirements. At present, manual adjustment is mostly used for spot welding, which has the problems of high labor intensity and low production efficiency. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a device and method for laser welding a three-way pipe.

[0006] The technical solution of the present invention to solve the above technical problems is as follows: a device for laser welding three-way pipes, comprising a base, a branch pipe clamp slidably arranged on the base and used for automatically centering and clamping the branch pipe, a branch pipe clamp movement module used to drive the branch pipe clamp to move, a main pipe clamp used to clamp the main pipe, and a main pipe clamp rotation module used to drive the main pipe clamp to rotate, a laser head moving module slidably arranged on the base, and a laser head arranged on the laser head moving module, the laser head is used to weld the contact position between the branch pipe and the main pipe,

[0007] The position of the branch pipe to be welded corresponds to the opening surface of the main pipe. The branch pipe fixture motion module drives the branch pipe fixture to move along the X-axis direction. After the branch pipe is attached to the opening surface of the main pipe, the branch pipe and the main pipe perform synchronous rotation.

[0008] Furthermore, the branch pipe clamp includes a clamp base, a clamp body arranged on the clamp base, a clamping motor bracket arranged on the clamp base, a clamping motor arranged on the clamping motor bracket, a clamping block driving shaft connected to the output end of the clamping motor, a connecting rod bracket connected to the clamping block driving shaft, clamping block connecting rods symmetrically arranged at the four corners of the connecting rod bracket, and a clamping block arranged at the end of the clamping block connecting rod away from the connecting rod bracket;

[0009] A guide groove is provided on the clamp body, and the clamp block is slidably engaged on the guide groove, and the clamp block connecting rod pushes the clamp block to slide along the guide groove. After moving into position, the clamp block abuts against the inner wall of the branch pipe, and the end face of the branch pipe contacts the surface of the clamp body. The rotation center of the clamp block driving shaft and the rotation center of the branch pipe clamp motion module are located on the same straight line.

[0010] Furthermore, the clamping block includes a clamping cylinder and a limiting plane arranged on the clamping cylinder, the limiting plane is connected to the clamping block connecting rod, and the curvature radius of the clamping cylinder is the same as the curvature radius of the inner wall of the branch pipe.

[0011] Furthermore, the branch pipe clamp motion module includes a support plate slidably arranged on the base, two groups of first brackets respectively arranged on the support plate, a first rotating shaft arranged between the two groups of brackets, and a driving assembly arranged on the base and used to drive the support plate to move along the X-axis direction of the base, and the clamp base of the branch pipe clamp is arranged on the bracket.

[0012] Further, the driving assembly includes an X-axis motor, an X-axis ball screw connected to the output end of the X-axis motor, and a spiral sleeve arranged at the bottom of the support plate and cooperating with the X-axis ball screw;

[0013] X-axis sliders are arranged on both sides of the bottom of the support plate, and an X-axis slide rail that slides with the X-axis slider is arranged on the base. The X-axis motor drives the X-axis ball screw to rotate and drives the support plate to move along the X-axis slide rail.

[0014] Furthermore, the main pipe clamp includes a fixed clamping plate arranged on the base, V-shaped clamping blocks arranged at both ends of the fixed clamping plate and a limit block arranged at the bottom end of the fixed clamping plate, the lower end surface of the main pipe abuts against the limit surface of the limit block, and the pipe body of the main pipe abuts against the V-shaped clamping block.

[0015] Furthermore, the main pipe clamp rotation module includes a second bracket arranged on a base, a main pipe clamp base arranged on a fixed clamp plate, a third bracket arranged on the main pipe clamp base, a second rotating shaft arranged between an upper end of the second bracket and an upper end of the third bracket, a third rotating shaft arranged between a lower end of the second bracket and a lower end of the third bracket, and a gear drive assembly for driving the second rotating shaft and the third rotating shaft to rotate, the rotation center of the second rotating shaft coincides with the rotation center line of the first rotating shaft of the branch pipe clamp motion module, and after the main pipe is positioned on the main pipe clamp, the axis of the main pipe intersects and is perpendicular to the rotation center line of the second rotating shaft or the first rotating shaft.

[0016] Furthermore, the laser head moving module includes a laser head bracket, a cam mechanism arranged at the bottom end of the laser head bracket, and a transmission assembly connected to the cam mechanism. The transmission assembly is connected to the gear drive assembly of the main clamp rotation module. The laser head is arranged on the laser head bracket, and a protective box covering the transmission assembly is arranged on the base.

[0017] Furthermore, the cam mechanism includes a disc-shaped groove cam connected to the transmission assembly, a cam mechanism guide rail arranged at the top of the protective box and arranged along the X-axis direction, a bracket base arranged at the lower end of the laser head bracket, and a cam mechanism slider arranged on the bracket base and slidingly matched with the cam mechanism guide rail. A guide wheel is arranged on the bracket base, and the guide wheel contacts and cooperates with the groove of the disc-shaped groove cam.

[0018] The present invention also provides a method for laser welding a three-way pipe, comprising the following steps:

[0019] S1. Setting the initial rotation position of the main clamp: starting the main motor to rotate the main clamp until the limit surface of the limit block of the main clamp is parallel to the XY plane, and marking this position as the initial rotation position of the main clamp;

[0020] S2. Set the initial movement position of the branch pipe clamp: first start the X-axis motor to move the branch pipe clamp away from the main pipe clamp along the X-axis until the distance between the branch pipe clamp and the main pipe clamp is greater than the length of the branch pipe; then start the clamping motor to reverse and drive the clamping blocks of the branch pipe clamp to move inward until the clamping cylinders of the four clamping blocks can simultaneously extend into the branch pipe, and the above position is marked as the initial movement position of the branch pipe clamp;

[0021] S3, setting the initial movement position of the laser head on the X axis: adjusting the contact position between the groove of the disc groove cam in the cam mechanism of the laser head moving module and the guide wheel at the bottom end of the laser head bracket, after the adjustment is in place, calibrate the position as the initial movement position of the laser head on the X axis;

[0022] S4. Clamp the branch pipe on the branch pipe clamp: first take the branch pipe, make its clamping end face face the clamping block, insert the clamping cylinders of the four clamping blocks into the branch pipe, move the branch pipe along the X-axis in the direction close to the limit plane until the clamping end face contacts the limit plane; then start the clamping motor to rotate forward, drive the clamping block of the branch pipe clamp to move outward, so that the branch pipe is automatically centered and clamped;

[0023] S5. Clamp the main pipe on the main pipe fixture: Take the main pipe, make its welding opening face the branch pipe fixture, and place the main pipe vertically on the main pipe fixture;

[0024] S6, the welding surface of the branch pipe and the main pipe are matched: the X-axis motor is started to move the branch pipe fixture along the X-axis in the direction close to the main pipe fixture until the branch pipe and the main pipe are automatically matched in the welding surface;

[0025] S7, welding: adjust the laser welding parameters, start the main motor to perform three-way pipe laser welding, and complete the welding until the branch pipe rotates 360°.

[0026] The present invention has the following beneficial effects: the device and method for laser welding a three-way pipe provided by the present invention,

[0027] (1) The present invention utilizes a cam mechanism to control the laser head to move back and forth along the X-axis line, and cooperates with the main pipe fixture to drive the main pipe and the branch pipe to rotate synchronously. The two use the same main motor as the power source, so as to complete the control of the complex path of the laser welding three-way pipe. It has a simple structure, small size and low cost. It can replace the expensive, bulky and complex programming multi-degree-of-freedom manipulator or multi-axis motion platform to control the laser head for three-way pipe welding without complex programming.

[0028] (2) The branch pipe clamp of the present invention is provided with four clamping blocks evenly arranged in a ring shape. Only one clamping motor is required to drive the four clamping blocks to move radially at the same time, so as to automatically center and clamp the branch pipe. In addition, the branch pipe movement module can drive the branch pipe to move toward the main pipe so that the two are in contact. Under the action of the contact force, the branch pipe can be attached to the opening surface of the main pipe and rotate around its axis, so as to realize automatic and precise matching of the welding surface of the branch pipe and the main pipe, which can replace manual spot welding matching, greatly reduce labor intensity and improve production efficiency.

[0029] (3) The branch pipe clamp motion module of the present invention can be translated along the X-axis to adjust the distance between the branch pipe clamp and the main pipe clamp, which can adapt to the clamping of branch pipes of different lengths; the four clamping blocks of the branch pipe clamp can be radially moved under the drive of the clamping motor to adapt to the clamping of branch pipes of different diameters; the main pipe clamp is positioned by two V-blocks and a limit plate, which is easy to replace and can adapt to the clamping of main pipes of different lengths and diameters; the cam can be replaced according to the unfolded contour of the branch pipe welding surface to adapt to the welding of different tees, effectively improving the versatility of the tee laser welding device. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structure of the present invention;

[0031] Figure 2 It is a schematic diagram of the structure of the branch pipe clamp in the present invention;

[0032] Figure 3 It is a schematic diagram of the exploded structure of the branch pipe clamp in the present invention;

[0033] Figure 4 It is a schematic diagram of the working state of the branch pipe clamp in the present invention;

[0034] Figure 5 It is a structural schematic diagram of the branch pipe clamp motion module in the present invention;

[0035] Figure 6 It is a structural schematic diagram of the main clamp rotating module in the present invention;

[0036] Figure 7 It is a structural schematic diagram of the laser head moving module in the present invention;

[0037] Figure 8 It is a schematic diagram of the exploded structure of the cam mechanism in the present invention;

[0038] Fig. 9 It is a schematic diagram of the groove profile design of the disc-shaped groove cam in the present invention;

[0039] Fig.10 It is a schematic diagram of the coordination process between the branch pipe and the main pipe in the present invention;

[0040] Fig.11 It is a schematic diagram of the welding process under the combined action of the main pipe fixture rotation and the laser head movement in the present invention;

[0041] Figures 1 to 11The reference numerals shown in the figure represent respectively: 1-branch pipe, 2-branch pipe clamp, 3-branch pipe clamp motion module, 4-main pipe, 5-main pipe clamp, 6-main pipe clamp rotation module, 7-laser head, 8-laser head moving module, 9-base, 21-clamp base, 22-clamping motor, 23-clamping motor bracket, 24-clamp body, 25-clamp block drive shaft, 26-clamp block, 27-clamp block connecting rod, 28-connecting rod bracket, 261-clamping cylinder, 262-limiting plane, 31-X-axis motor, 32-X-axis ball screw, 33-X-axis slide rail, 34-support plate, 35-first bracket, 36-first rotating shaft, 51-fixed clamp , 52-V-shaped clamp, 53-limit block, 61-main motor, 62-first gear, 63-second gear, 64-third shaft, 65-third gear, 66-fourth gear, 67-second shaft, 68-second bracket, 69-main fixture base, 70-third bracket, 81-fifth gear, 82-fourth shaft, 83-fourth bracket, 84-sixth gear, 85-seventh gear, 86-fifth bracket, 87-fifth shaft, 88-cam mechanism, 89-laser head bracket, 881-disc groove cam, 882-bracket base, 883-cam mechanism slider, 884-cam mechanism guide rail, 885-guide wheel. DETAILED DESCRIPTION

[0042] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0043] like Figure 1 As shown, a laser welding device for three-way pipes includes a base 9, a branch pipe clamp 2 slidably arranged on the base 9 and used for automatically centering and clamping the branch pipe 1, a branch pipe clamp movement module 3 for driving the branch pipe clamp 2 to move, a main pipe clamp 5 for clamping the main pipe 4, and a main pipe clamp rotation module 6 for driving the main pipe clamp 5 to rotate, a laser head moving module 8 slidably arranged on the base 9, and a laser head 7 arranged on the laser head moving module 8, the laser head 7 is used to weld the contact position of the branch pipe 1 and the main pipe 4, the position to be welded of the branch pipe 1 corresponds to the opening surface of the main pipe 4, the branch pipe clamp movement module 3 drives the branch pipe clamp 2 to move along the X-axis direction, and after the branch pipe 1 is attached to the opening surface of the main pipe 4, the branch pipe 1 and the main pipe 4 perform synchronous rotation movement. The device can realize automatic centering, clamping, and movement of the branch pipe 1 and the clamping and rotation of the main pipe 4 through integrated design and precise control, thereby ensuring that the laser head 7 can accurately weld the contact position of the branch pipe 1 and the main pipe 4.

[0044] When in use, install the main pipe 4 on the main pipe fixture 5, and adjust the position and angle of the main pipe fixture 5 to ensure that the main pipe 4 is stable and easy to operate. Place the branch pipe 1 on the branch pipe fixture 2, and the branch pipe fixture 2 will automatically center and clamp the branch pipe 1 to ensure that the branch pipe 1 will not move or deform during the welding process. Start the branch pipe fixture movement module 3, drive the branch pipe fixture 2 to move along the X-axis direction, so that the contact end face of the branch pipe 1 fits on the opening surface of the main pipe 4. Through the rotation function of the branch pipe fixture 2 around the X-axis, adjust the relative angle between the branch pipe 1 and the main pipe 4 to ensure the accuracy of the welding position. Drive the branch pipe 1 to rotate around its axis in contact with the opening surface of the main pipe 4 to make further preparations for the welding process. Start the laser head moving module 8, and drive the laser head 7 to move to the contact position of the branch pipe 1 and the main pipe 4 according to the preset welding path and parameters. The laser starts to emit a laser beam to heat and melt the contact position of the branch pipe 1 and the main pipe 4 to achieve welding. During the welding process, the output power, frequency, pulse width and other parameters of the laser head 7 can be adjusted as needed to obtain the best welding effect.

[0045] like Figures 2 to 4As shown, the branch pipe clamp 2 includes a clamp base 21, a clamp body 24 arranged on the clamp base 21, a clamp motor bracket 23 arranged on the clamp base 21, a clamp motor 22 arranged on the clamp motor bracket 23, a clamp block driving shaft 25 connected to the output end of the clamp motor 22, a connecting rod bracket 28 connected to the clamp block driving shaft 25, clamp block connecting rods 27 symmetrically arranged at the four corners of the connecting rod bracket 28, and a clamp block 26 arranged at the end of the clamp block connecting rod 27 away from the connecting rod bracket 28. There are four clamp block connecting rods 27 and four clamp block connecting rods 27, and the clamp block connecting rods 27 are L-shaped structures as a whole. One end of the clamp block connecting rod 27 is connected to the connecting rod bracket 28, and the other end is connected to the clamp block 26. The clamp base 21 serves as the basic support structure of the entire branch pipe clamp 2, and is used to install and fix the clamp body 24, the clamp motor 22 and other components to ensure the stability and reliability of the clamp. The clamp body 24 is the main component for clamping the branch pipe 1. The guide groove provided on the clamp body 24 is used to guide the sliding of the clamp block 26 to ensure that the clamp block 26 can accurately move to the predetermined position. The surface of the clamp body 24 contacts the end face of the branch pipe 1 to provide support and positioning for the branch pipe 1. The clamping motor 22 provides a power source, and drives the clamp block drive shaft 25 to rotate through the rotation of the output shaft, thereby realizing the clamping and loosening of the clamp block 26. The clamp block drive shaft 25 is connected to the output end of the clamping motor 22, and converts the rotational motion of the motor into linear motion or a specific mechanical motion to drive the movement of the clamp block connecting rod 27 and the clamp block 26. The connecting rod bracket 28 is connected to the clamp block drive shaft 25, and is used to support and fix the clamp block connecting rod 27 to ensure that the clamp block connecting rod 27 can move according to the predetermined trajectory. The clamp block connecting rod 27 is symmetrically arranged at the four corners of the connecting rod bracket 28. Through the transmission action of the connecting rod, the rotational motion of the clamp block drive shaft 25 is converted into the sliding motion of the clamp block 26. A guide groove is provided on the clamp body 24, and the clamp block 26 slides in the guide groove, and the clamp block connecting rod 27 pushes the clamp block 26 to slide along the guide groove. After the clamp block 26 is moved into position, it abuts against the inner wall of the branch pipe 1, and the end face of the branch pipe 1 contacts the surface of the clamp body 24. The rotation center of the clamp block driving shaft 25 and the rotation center of the branch pipe clamp motion module 3 are located on the same straight line. Through the design of the clamp body 24 and the sliding cooperation of the clamp block 26, the branch pipe 1 can be accurately centered and positioned in the clamp, avoiding deviations and errors during welding. Based on the above assembly relationship, the clamping motor 22 can transmit the rotational motion to the connecting rod bracket 28 through the clamp block driving shaft 25, and the clamp block connecting rod 27 can convert the rotation of the connecting rod bracket 28 into the sliding of the four clamp blocks 26 along the guide groove of the clamp body at the same time, so that the branch pipe clamp 2 can realize the automatic centering and clamping of the branch pipe 1.

[0046] The clamping block 26 includes a clamping cylinder 261 and a limiting plane 262 arranged on the clamping cylinder 261. The clamping cylinder 261 is the cylinder where the clamping block 26 contacts the inner wall of the branch pipe 1. The curvature radius of the clamping cylinder 261 is the same as the curvature radius of the inner wall of the branch pipe 1. The limiting plane 262 is connected to the clamping block connecting rod 27, and the limiting plane 262 can limit the end face of the branch pipe 1.

[0047] like Figure 5 As shown, the branch pipe clamp motion module 3 includes a support plate 34 slidably arranged on the base 9, two groups of first brackets 35 respectively arranged on the support plate 34, a first rotating shaft 36 arranged between the two groups of brackets 35, and a driving assembly arranged on the base 9 and used to drive the support plate 34 to move along the X-axis direction of the base 9. The clamp base 21 of the branch pipe clamp 2 is arranged on the bracket 35. The clamp base 21, which is arranged on the bracket 35, is the main part of the branch pipe clamp 2, and is used to install the clamp body 24, the clamping motor 22 and other components, and transmit the clamping force to the branch pipe 1. The support plate 34 is slidably arranged on the base 9, and is used to carry and support the bracket 35, the first rotating shaft 36 and the clamp base 21 and other components. The support plate 34 can move along the X-axis direction of the base 9, thereby driving the entire clamp system to move. The brackets 35 are respectively arranged on both sides of the support plate 34, and are used to fix the clamp base 21 and the first rotating shaft 36. The design of the bracket 35 ensures the stability of the clamp base 21 and the rotation flexibility of the first rotating shaft 36. The first rotating shaft 36 is arranged between the two groups of brackets 35, and is used to realize the rotation function of the branch pipe clamp 2 around the X-axis. By rotating the first rotating shaft 36, the relative angle between the branch pipe 1 and the main pipe 4 can be adjusted to ensure the accuracy of the welding position. Before welding begins, the support plate 34, the bracket 35, the first rotating shaft 36 and the clamp base 21 and other components are all in the initial position, and the driving component is in a standby state, waiting to receive the moving instruction. When the position of the branch pipe 1 needs to be adjusted, the driving component receives the instruction and starts working. The driving component drives the support plate 34 to move along the X-axis direction of the base 9. When the support plate 34 moves, it drives the bracket 35, the first rotating shaft 36 and the clamp base 21 and other components to move together, thereby realizing the movement of the branch pipe 1. After the branch pipe 1 moves to the predetermined position and the angle is adjusted, the clamp body 24 and the clamping motor 22 on the clamp base 21 start working. The clamping motor 22 drives the clamp block 26 to slide through the clamp block drive shaft 25 and the connecting rod bracket 28 and other components, thereby clamping the branch pipe 1. After the branch pipe 1 is clamped, the entire fixture system remains stable, and at this time, the laser head moving module 8 and the laser head 7 can be started to prepare for welding. The laser head 7 moves to the contact position above the branch pipe 1 and the main pipe 4, and starts to emit a laser beam for welding.

[0048] The driving assembly includes an X-axis motor 31, an X-axis ball screw 32 connected to the output end of the X-axis motor 31, and a spiral sleeve arranged at the bottom of the support plate 34 and cooperating with the X-axis ball screw 32; X-axis sliders are arranged on both sides of the bottom of the support plate 34, and an X-axis slide rail 33 slidably cooperating with the X-axis slider is arranged on the base 9. The X-axis motor 31 drives the X-axis ball screw 32 to rotate and drives the support plate 34 to move along the X-axis slide rail 33. The X-axis motor 31 serves as the power source of the driving assembly and provides the necessary torque to drive the rotation of the X-axis ball screw 32. The X-axis ball screw 32 converts the rotational motion of the X-axis motor 31 into linear motion. The ball screw has the characteristics of high precision, high efficiency and low friction, and can ensure the smooth movement of the support plate 34 in the X-axis direction. The spiral sleeve is arranged at the bottom of the support plate 34 and cooperates with the X-axis ball screw 32. When the X-axis ball screw 32 rotates, the spiral sleeve moves along the thread direction of the screw, thereby driving the support plate 34 to move. The X-axis slider is arranged on both sides of the bottom of the support plate 34 to reduce the friction between the support plate 34 and the base 9 and ensure the smooth sliding of the support plate 34 in the X-axis direction. The X-axis slide rail 33 is arranged on the base 9 and slides with the X-axis slider. The X-axis slide rail 33 provides a stable moving path for the support plate 34 to ensure the accuracy and stability of the support plate 34 during the movement. When the support plate 34 needs to be moved, the X-axis motor 31 is first started. The X-axis motor 31 starts to rotate and outputs torque. The rotation of the X-axis motor 31 drives the rotation of the X-axis ball screw 32. The rotation of the ball screw converts the rotational motion of the motor into linear motion. As the ball screw rotates, the spiral sleeve moves along the thread direction of the screw. The movement of the spiral sleeve drives the movement of the support plate 34 connected thereto. Finally, the support plate 34, the branch pipe fixture 2 and the branch pipe 1 as a whole move to a predetermined position along the X-axis direction under the joint action of the X-axis motor 31, the ball screw, the spiral sleeve, the X-axis slider and the X-axis slide rail 33.

[0049] like Figure 6 As shown, the main pipe clamp 5 includes a fixed clamp plate 51 arranged on the base 9, a V-shaped clamp block 52 arranged at both ends of the fixed clamp plate 51, and a limit block 53 arranged at the bottom end of the fixed clamp plate 51. The lower end surface of the main pipe 4 abuts against the limit surface of the limit block 53, and the pipe body of the main pipe 4 abuts against the V-shaped clamp block 52. The distance from the limit surface of the limit block 53 to the rotation center line of the second rotating shaft 67 is 1 / 2 of the pipe length of the main pipe 4, and the limit surface of the limit block 53 is the contact surface between the limit block 53 and the main pipe 4. Fixed clamp plate 51: It is the main supporting component of the main pipe clamp 5, used to fix and support the main pipe 4. The design of the fixed clamp plate 51 needs to take into account factors such as the diameter, length and weight of the main pipe 4 to ensure that it can withstand various forces and moments of the main pipe 4 during the welding process.

[0050] V-shaped clamping blocks 52 are arranged at both ends of the fixed clamping plate 51, and are used to clamp the pipe body of the main pipe 4. The design of the V-shaped clamping blocks 52 can adapt to main pipes 4 of different diameters, and the main pipe 4 can be stably fixed in the horizontal direction through the close contact between its V-shaped groove and the pipe body of the main pipe 4. The limit block 53 is arranged at the bottom end of the fixed clamping plate 51, and is used to limit the position of the lower end face of the main pipe 4. The limit block 53 has a limit face. When the lower end face of the main pipe 4 abuts against the limit face, the main pipe 4 can be stably fixed in the vertical direction. At the same time, the limit block 53 can also be used as a positioning reference for the main pipe 4, helping to achieve accurate alignment of the main pipe 4 and the branch pipe 1.

[0051] like Figure 6 As shown, the main pipe fixture rotation module 6 includes a second bracket 68 arranged on the base 9, a main pipe fixture base 69 arranged on the fixed clamp plate 51, a third bracket 70 arranged on the main pipe fixture base 69, a second rotating shaft 67 arranged between the upper end of the second bracket 68 and the upper end of the third bracket 70, a third rotating shaft 64 arranged between the lower end of the second bracket 68 and the lower end of the third bracket 70, and a gear driving assembly for driving the second rotating shaft 67 and the third rotating shaft 64 to rotate. The rotation center of the second rotating shaft 67 coincides with the rotation center line of the first rotating shaft 36 of the branch pipe fixture motion module 3. After the main pipe 4 is positioned on the main pipe fixture 5, the axis of the main pipe 4 intersects and is perpendicular to the rotation center line of the second rotating shaft 67 or the first rotating shaft 36. The second bracket 68 is an important supporting structure of the main pipe fixture rotation module 6. It is installed on the base 9 and provides a mounting position for the second rotating shaft 67 and the third rotating shaft 64 together with the third bracket 70. The main pipe clamp base 69 is installed on the fixed clamp plate 51 and is a connecting component between the main pipe clamp rotation module 6 and the main pipe clamp 5. It bears the weight of the third bracket 70 and the main pipe clamp 5, and is connected to the second rotating shaft 67 and the third rotating shaft 64 through the third bracket 70 to realize the rotation function of the main pipe clamp 5. The second rotating shaft 67: installed between the second bracket 68 and the upper end of the third bracket 70, is the main driving shaft for the rotation of the main pipe clamp 5. It is responsible for transmitting the torque of the gear drive assembly to the main pipe clamp 5, so that it rotates around the rotation center line of the second rotating shaft 67. The third rotating shaft 64 is installed between the lower ends of the second bracket 68 and the third bracket 70, and plays the role of auxiliary support and stable rotation. It ensures the stability of the main pipe clamp 5 during the rotation process and reduces the vibration and deviation caused by the rotation.

[0052] The gear drive assembly includes a main motor 61, a first gear 62, a second gear 63, a third gear 65 and a fourth gear 66. The first gear 62 is arranged at the output end of the main motor 61, the second gear 63 is arranged on the third rotating shaft 64 and meshes with the first gear 62, the third gear 65 is arranged at the end of the third rotating shaft 64, and rotates synchronously with the second gear 63 under the action of the third rotating shaft 64, and the fourth gear 66 is arranged at the end of the second rotating shaft 67 and meshes with the third gear 65. Driven by the main motor 61, each gear is driven to drive, thereby driving the main pipe clamp 5 and the main pipe 4 to rotate as a whole.

[0053] like Figure 7 As shown, the laser head moving module 8 includes a laser head bracket 89, a cam mechanism 88 arranged at the bottom end of the laser head bracket 89, and a transmission assembly connected with the cam mechanism 88. The transmission assembly is connected with the gear drive assembly of the main clamp rotating module 6. The laser head 7 is arranged on the laser head bracket 89, and a protective box covering the transmission assembly is arranged on the base 9. The laser head bracket 89 serves as a supporting structure for the laser head 7 to ensure the stability and accuracy of the laser head 7 during movement. The cam mechanism 88 converts the rotational motion of the transmission assembly into the linear motion or the motion of a specific trajectory of the laser head bracket 89. Through the profile design of the cam, the moving path and speed of the laser head bracket 89 can be controlled, thereby realizing the precise positioning and movement of the laser head 7 during the welding process. The transmission assembly is used to transmit power to transmit the movement of the cam mechanism 88 to the laser head bracket 89 and control its movement.

[0054] The transmission assembly includes a fifth gear 81, a fourth rotating shaft 82, a fourth bracket 83, a sixth gear 84, a seventh gear 85, a fifth bracket 86 and a fifth rotating shaft 87. The fourth rotating shaft 82 is set on the fourth bracket 83 through a bearing, and the fifth gear 81 and the sixth gear 84 are respectively set at both ends of the fourth rotating shaft, wherein the fifth gear 81 is meshed with the first gear 62 on the main motor 61, the sixth gear 84 is meshed with the seventh gear 85, the seventh gear 85 is set on the fifth rotating shaft 87 through a bearing, and the fifth rotating shaft 87 is axially set in the protective box through the fifth bracket 86, and the disc groove cam 881 of the cam mechanism 88 is set at the upper end of the fifth rotating shaft.

[0055] like Figures 8 to 9As shown, the cam mechanism 88 includes a disc-shaped groove cam 881 connected to the transmission assembly, a cam mechanism guide rail 884 arranged at the top of the protective box and arranged along the X-axis direction, a bracket base 882 arranged at the lower end of the laser head bracket 89, and a cam mechanism slider 883 arranged on the bracket base 882 and slidingly matched with the cam mechanism guide rail 884. A guide wheel 885 is arranged on the bracket base 882, and the guide wheel 885 contacts and cooperates with the groove of the disc-shaped groove cam 881. The groove profile of the disc-shaped groove cam 881 is designed according to the unfolding curve of the matching surface of the branch pipe 1. As an active part, the disc-shaped groove cam 881 converts rotational motion into linear motion or motion of a specific trajectory through the contour shape of its disc-shaped groove. The design of the disc-shaped groove cam 881 determines the moving path and speed of the laser head bracket 89, and is the core component of the cam mechanism 88. The cam mechanism guide rail 884 provides guidance and support for the movement of the laser head bracket 89. The cam mechanism guide rail 884 is arranged along the X-axis direction to ensure that the laser head bracket 89 maintains stable linear motion or motion along a specific trajectory during movement. The cam mechanism slider 883 slides with the cam mechanism guide rail 884 to achieve linear motion or motion along a specific trajectory of the laser head bracket 89. The design of the cam mechanism slider 883 enables it to fit tightly on the cam mechanism guide rail 884, reducing friction and wear and improving the smoothness and accuracy of movement. The guide wheel 885 contacts and cooperates with the groove of the disc groove cam 881 to convert the rotational motion of the disc groove cam 881 into linear motion or motion along a specific trajectory of the laser head bracket 89. The design of the guide wheel 885 enables it to fit tightly in the groove of the disc groove cam 881 to ensure that the laser head bracket 89 can move according to the predetermined path and speed. During use, when the disc-shaped groove cam 881 rotates, the contour shape of its groove pushes the guide wheel 885 to move along the groove. The guide wheel 885 slides with the cam mechanism guide rail 884 through the bracket base 882 and the cam mechanism slider 883, thereby converting the rotational motion of the disc-shaped groove cam 881 into linear motion or motion of a specific trajectory of the laser head bracket 89. Driven by the cam mechanism 88, the laser head bracket 89 moves along the cam mechanism guide rail 884 and drives the laser head 7 to move together. The laser head 7 emits a laser beam according to the preset welding path and parameters to perform welding operations.

[0056] like Figure 10 to Figure 11 As shown, the present invention also provides a method for laser welding a three-way pipe, comprising the following steps:

[0057] S1, setting the initial rotation position of the main clamp 5: starting the main motor to rotate the main clamp 5 until the limit surface of the limit block 53 of the main clamp 5 is parallel to the XY plane, and marking this position as the initial rotation position of the main clamp 5;

[0058] S2. Set the initial movement position of the branch pipe clamp 2: First, start the X-axis motor 31 to move the branch pipe clamp 2 in the direction away from the main pipe clamp 5 along the X-axis until the distance between the branch pipe clamp 2 and the main pipe clamp 5 is greater than the length of the branch pipe 1; then start the clamping motor 22 to reverse and drive the clamping block 26 of the branch pipe clamp 2 to move inward until the clamping cylinders 261 of the four clamping blocks 26 can simultaneously extend into the branch pipe 1, and mark the above position as the initial movement position of the branch pipe clamp 2. Preferably, the distance M between the two opposite clamping cylinders 261 (see Figure 2 ) is 2 mm smaller than the inner diameter r of branch pipe 1.

[0059] S3, set the initial movement position of the laser head 7 on the X axis: adjust the contact position between the groove of the disc groove cam 881 in the cam mechanism 88 of the laser head moving module 8 and the guide wheel 885 at the bottom end of the laser head bracket 89. After the adjustment is in place, mark the position as the initial movement position of the laser head 7 on the X axis. Fig. 9 As shown, if the cam mechanism guide rail 884 is arranged on the left side of the disc groove cam 881, the position is at πR / 2 or 3πR / 2. If the cam mechanism guide rail 884 is arranged on the right side of the disc groove cam 881, the position should be selected as πR or 0.

[0060] S4. Clamp the branch pipe 1 on the branch pipe clamp 2: first, take the branch pipe 1, make its clamping end face face the clamping block 26, insert the clamping cylinders 261 of the four clamping blocks 26 into the branch pipe 1, and move the branch pipe 1 along the X-axis in the direction close to the limit plane 262 until the clamping end face contacts the limit plane 262; then start the clamping motor 22 to rotate forward, drive the clamping block 26 of the branch pipe clamp 2 to move outward, so that the branch pipe 1 is automatically centered and clamped;

[0061] S5. Clamp the main pipe 4 on the main pipe fixture 5: Take the main pipe 4, make its welding opening face the branch pipe fixture 2, and place the main pipe 4 vertically on the main pipe fixture 5;

[0062] S6, the welding surface of the branch pipe 1 and the main pipe 4 are matched: the X-axis motor 31 is started to move the branch pipe fixture 2 along the X-axis toward the main pipe fixture 5 until the branch pipe 1 and the main pipe 4 automatically complete the welding surface matching. After the branch pipe 1 contacts the main pipe 4, the branch pipe fixture 2 will passively rotate under the action of the contact force, and automatically adjust the welding end surface of the branch pipe 1 to match the welding opening surface of the main pipe 4.

[0063] S7, welding: adjust the laser welding parameters, start the main motor to perform three-way pipe laser welding, and complete the welding until the branch pipe 1 rotates 360 degrees. The second rotating shaft 67 and the fifth rotating shaft 87 have the same rotation speed, and the disc groove cam 881 and the main pipe 4 have the same rotation speed. Under the contact force of the matching surface of the branch pipe 1 and the main pipe 4, the active rotation of the main pipe 4 will drive the passive rotation of the branch pipe 1, and at the same time, the laser head 7 reciprocates along the X axis under the control of the cam mechanism 88. The combined movement of the two can enable the laser head 7 to complete the required welding path of the matching surface.

[0064] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A laser welding device for a three-way pipe, characterized in that: The invention comprises a base (9), a branch pipe clamp (2) slidably arranged on the base (9) and used for automatically centering and clamping the branch pipe (1), a branch pipe clamp movement module (3) used for driving the branch pipe clamp (2) to move, a main pipe clamp (5) used for clamping the main pipe (4), and a main pipe clamp rotation module (6) used for driving the main pipe clamp (5) to rotate, a laser head movement module (8) slidably arranged on the base (9), and a laser head (7) arranged on the laser head movement module (8), wherein the laser head (7) is used for welding the contact position between the branch pipe (1) and the main pipe (4); The position of the branch pipe (1) to be welded corresponds to the opening surface of the main pipe (4), the branch pipe clamp movement module (3) drives the branch pipe clamp (2) to move along the X-axis direction, and after the branch pipe (1) is attached to the opening surface of the main pipe (4), the branch pipe (1) and the main pipe (4) perform synchronous rotational movement; The branch pipe clamp (2) comprises a clamp base (21), a clamp body (24) arranged on the clamp base (21), a clamping motor bracket (23) arranged on the clamp base (21), a clamping motor (22) arranged on the clamping motor bracket (23), a clamping block driving shaft (25) connected to the output end of the clamping motor (22), a connecting rod bracket (28) connected to the clamping block driving shaft (25), clamping block connecting rods (27) symmetrically arranged at four corners of the connecting rod bracket (28), and a clamping block (26) arranged at the end of the clamping block connecting rod (27) away from the connecting rod bracket (28); A guide groove is provided on the clamp body (24), the clamp block (26) is slidably engaged in the guide groove, and the clamp block connecting rod (27) pushes the clamp block (26) to slide along the guide groove, and the clamp block (26) after moving into position abuts against the inner wall of the branch pipe (1), the end surface of the branch pipe (1) contacts the surface of the clamp body (24), and the rotation center of the clamp block driving shaft (25) and the rotation center of the branch pipe clamp motion module (3) are located on the same straight line; The main pipe clamp (5) comprises a fixed clamping plate (51) arranged on the base (9), V-shaped clamping blocks (52) arranged at both ends of the fixed clamping plate (51), and a limit block (53) arranged at the bottom end of the fixed clamping plate (51); the lower end surface of the main pipe (4) abuts against the limit surface of the limit block (53), and the pipe body of the main pipe (4) abuts against the V-shaped clamping block (52); The main pipe clamp rotation module (6) comprises a second bracket (68) arranged on the base (9), a main pipe clamp base (69) arranged on the fixed clamp plate (51), a third bracket (70) arranged on the main pipe clamp base (69), a second rotating shaft (67) arranged between the upper end of the second bracket (68) and the upper end of the third bracket (70), a third rotating shaft (64) arranged between the lower end of the second bracket (68) and the lower end of the third bracket (70), and a gear drive assembly for driving the second rotating shaft (67) and the third rotating shaft (64) to rotate, wherein the rotation center of the second rotating shaft (67) coincides with the rotation center line of the first rotating shaft (36) of the branch pipe clamp motion module (3), and after the main pipe (4) is positioned on the main pipe clamp (5), the axis of the main pipe (4) intersects and is perpendicular to the rotation center line of the second rotating shaft (67) or the first rotating shaft (36); The laser head moving module (8) comprises a laser head bracket (89), a cam mechanism (88) arranged at the bottom end of the laser head bracket (89), and a transmission assembly connected to the cam mechanism (88), the transmission assembly being connected to the gear drive assembly of the main clamp rotating module (6), the laser head (7) being arranged on the laser head bracket (89), and a protective box covering the transmission assembly being arranged on the base (9); The cam mechanism (88) includes a disc-shaped groove cam (881) connected to the transmission assembly, a cam mechanism guide rail (884) arranged at the top of the protection box and arranged along the X-axis direction, a bracket base (882) arranged at the lower end of the laser head bracket (89), and a cam mechanism slider (883) arranged on the bracket base (882) and slidingly matched with the cam mechanism guide rail (884), and a guide wheel (885) is arranged on the bracket base (882), and the guide wheel (885) is in contact with the groove of the disc-shaped groove cam (881).

2. The laser welding device for three-way pipe according to claim 1, characterized in that: The clamping block (26) comprises a clamping cylindrical surface (261) and a limiting plane (262) arranged on the clamping cylindrical surface (261); the limiting plane (262) is connected to the clamping block connecting rod (27); and the curvature radius of the clamping cylindrical surface (261) is the same as the curvature radius of the inner wall of the branch pipe (1).

3. The laser welding device for three-way pipe according to claim 1, characterized in that: The branch pipe clamp motion module (3) comprises a support plate (34) slidably arranged on the base (9), two groups of first brackets (35) respectively arranged on the support plate (34), a first rotating shaft (36) arranged between the two groups of brackets (35), and a driving component arranged on the base (9) and used for driving the support plate (34) to move along the X-axis direction of the base (9), and the clamp base (21) of the branch pipe clamp (2) is arranged on the bracket (35) close to the main pipe clamp (5).

4. The laser welding device for three-way pipe according to claim 3, characterized in that: The driving assembly comprises an X-axis motor (31), an X-axis ball screw (32) connected to the output end of the X-axis motor (31), and a spiral sleeve arranged at the bottom of the support plate (34) and cooperating with the X-axis ball screw (32); X-axis sliders are arranged on both sides of the bottom of the support plate (34), and an X-axis slide rail (33) slidably matched with the X-axis slider is arranged on the base (9). The X-axis motor (31) drives the X-axis ball screw (32) to rotate and drive the support plate (34) to move along the X-axis slide rail (33).

5. A method for laser welding a tee pipe, characterized in that: The welding is performed using the device according to any one of claims 1 to 4, comprising the following steps: S1, setting the initial rotation position of the main clamp (5): starting the main motor to rotate the main clamp (5) until the limit surface of the limit block (53) of the main clamp (5) is parallel to the XY plane, and marking this position as the initial rotation position of the main clamp (5); S2, setting the initial movement position of the branch pipe clamp (2): first start the X-axis motor (31) to move the branch pipe clamp (2) in the direction away from the main pipe clamp (5) along the X-axis until the distance between the branch pipe clamp (2) and the main pipe clamp (5) is greater than the length of the branch pipe (1); then start the clamping motor (22) to reverse and drive the clamping block (26) of the branch pipe clamp (2) to move inward until the clamping cylinders (261) of the four clamping blocks (26) can simultaneously extend into the interior of the branch pipe (1), and the above position is marked as the initial movement position of the branch pipe clamp (2); S3, setting the initial movement position of the laser head (7) on the X-axis: adjusting the contact position between the groove of the disc-shaped groove cam (881) in the cam mechanism (88) of the laser head moving module (8) and the guide wheel (885) at the bottom end of the laser head bracket (89), and after the adjustment is in place, marking the position as the initial movement position of the laser head (7) on the X-axis; S4. Clamp the branch pipe (1) on the branch pipe clamp (2): first, take the branch pipe (1) and make its clamping end face face the clamping block (26), insert the clamping cylinders (261) of the four clamping blocks (26) into the branch pipe (1), and move the branch pipe (1) in the direction close to the limit plane (262) along the X-axis until the clamping end face contacts the limit plane (262); then start the clamping motor (22) to rotate forward, drive the clamping block (26) of the branch pipe clamp (2) to move outward, so that the branch pipe (1) is automatically centered and clamped; S5. Clamp the main pipe (4) on the main pipe fixture (5): Take the main pipe (4) so ​​that its welding opening faces the branch pipe fixture (2), and place the main pipe (4) vertically on the main pipe fixture (5); S6, the welding surface of the branch pipe (1) and the main pipe (4) are matched: the X-axis motor (31) is started to move the branch pipe fixture (2) along the X-axis in a direction close to the main pipe fixture (5) until the welding surface of the branch pipe (1) and the main pipe (4) are automatically matched; S7, welding: adjust the laser welding parameters, start the main motor to perform laser welding of the three-way pipe, and complete the welding until the branch pipe (1) rotates 360°.

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