Automatic welding equipment system for TKY pipe joints

Abstract

The invention relates to the technical field of welding equipment systems, in particular to a TKY pipe joint automatic welding equipment system.The truss provides support for welding equipment and comprises an external shaft assembly, the external shaft assembly provides displacement in the front-back direction, the left-right direction and the up-down direction for the equipment, and a main positioner is used for clamping a TKY pipe; the welding position of the TKY pipe is adjusted to the position below the welding robot, and the auxiliary positioner is used for installing the TKY pipe; the TKY pipe joint automatic welding equipment system adopts a truss structure with three translation shafts, has multiple degrees of freedom, can flexibly adjust the position and angle of a welding joint, meets the welding requirement of any position and angle, meets the welding operation requirement of a complex TKY pipe joint, does not need manual repair welding operation, and improves the welding efficiency. And automatic welding can be achieved through cooperation of the welding robot and laser vision, the welding efficiency and quality are improved, then the construction progress is accelerated, and the construction cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of welding equipment systems, and in particular to a TKY pipe node automatic welding equipment system. Background Art

[0002] TKY tubular node refers to a special type of node used to connect multiple tubular components in steel structures, especially in offshore engineering structures. The "T", "K" and "Y" here represent different shapes of connection forms, which correspond to different geometric configurations.

[0003] T-joint: Two tubular members intersect vertically on a common plane to form a "T"-shaped connection.

[0004] K-Joint: Two or more tubular members meet at a common point, forming a shape similar to the letter "K".

[0005] Y-type node: Three tubular members intersect at a common point to form a "Y"-shaped connection.

[0006] These nodes are very common in large steel structures such as offshore platforms, bridges, and high-rise buildings, especially in situations where high strength and stability are required. Due to the structural complexity of these nodes, their manufacture and installation usually require very high precision and strict quality control measures. Especially during the welding process, in order to ensure the safety and reliability of the structure, appropriate welding technology and strict testing methods must be used to ensure the quality of the weld.

[0007] TKY pipe node is the most important and common structural form in the structure of offshore platform jacket. The connection angle and method of the node vary greatly, and there are many different types. In view of the characteristics of non-uniform node types and many types, it is necessary to frequently change the welding parameters and welding postures to meet the welding requirements, which greatly increases the operation time and construction cost. In addition, some nodes have special spatial structures in the three-dimensional structure. Many positions cannot be welded normally due to the special position and angle, which easily leads to welding defects such as lack of fusion and undercut, and requires manual welding. It has problems such as high labor intensity, harsh working environment, difficult personnel management and unpredictable construction period. In addition, it is impossible to realize the automated welding of three-dimensional workpieces, which leads to extremely high construction costs and cycles. Summary of the invention

[0008] The main purpose of the present invention is to provide a TKY tube node automatic welding equipment system to solve the problem that the automatic welding of three-dimensional workpieces cannot be achieved in the related art.

[0009] In order to achieve the above object, according to one aspect of the present invention, a TKY pipe node automatic welding equipment system is provided, comprising: a truss, the truss provides support for the welding equipment, the truss includes an external shaft assembly, the external shaft assembly provides displacement in three directions of front and back, left and right, and up and down for the equipment; A welding robot, which is fixed on the truss and is used to weld the TKY pipe nodes. The welding robot moves following the external shaft assembly; A mobile platform, which is slidably arranged on the truss and provides welding materials for the welding robot; A main positioner is placed on one side of the truss and is used to clamp the TKY tube and adjust the welding position of the TKY tube to below the welding robot; Auxiliary positioner, the auxiliary positioner is placed on one side of the truss and on the same side as the main positioner, and the auxiliary positioner is used to install the TKY pipe.

[0010] Further, the external axis assembly includes a first translation axis, a second translation axis and a third translation axis, and the truss also includes a truss base.

[0011] Further, the first translation axis is slidably disposed above the truss base, the second translation axis is slidably disposed on the side of the first translation axis, and the third translation axis is slidably disposed on the second translation axis.

[0012] Furthermore, the welding robot is fixed at the bottom end of the third translation axis.

[0013] Furthermore, the mobile platform is fixedly arranged at the end of the first translation axis, and a water cooler, a control cabinet, a welding machine and barreled welding wire are placed in the mobile platform.

[0014] Furthermore, the main positioner includes two rotating support structures, two rotating power structures, a first guide rail and two support frames. The two rotating support structures are arranged relatively to each other, the first guide rail is fixedly arranged at the bottom between the two rotating support structures, the rotating support structure is slidingly connected to the first guide rail, the rotating power structures are rotatably arranged on the upper inner side of the rotating support structure, and the support frames are located between the two rotating support structures and span the first guide rail.

[0015] Furthermore, a clamping claw slide rail is fixedly provided on the outer side of the rotary power structure, and a clamping claw is slidably provided on the clamping claw slide rail, and the clamping claw is used to clamp the TKY tube.

[0016] Furthermore, the support frame includes a base assembly, a lifting device and rollers, and the base assembly includes a guide rail support, a second guide rail and a sliding base.

[0017] Furthermore, the guide rail support is fixedly arranged at the middle bottom of the two rotating support structures, the second guide rail is fixedly installed on the guide rail support, the sliding base is slidably connected to the second guide rail, the lifting device is fixedly arranged above the sliding base, and the roller is rotatably arranged above the lifting device.

[0018] Furthermore, the auxiliary positioner includes two power components and two support components, the power component includes a main rotary power structure and an auxiliary rotary power structure, the support component includes a main rotary support structure, a cross beam and an auxiliary rotary support structure, the main rotary power structure is rotatably arranged on the inner side of the main rotary support structure, the cross beam is fixedly arranged on the inner side of the main rotary power structure, both ends of the auxiliary rotary support structure are slidably connected to the cross beam, the auxiliary rotary support structure and the cross beam form a frame, the auxiliary rotary power structure is arranged in the frame, and both ends of the auxiliary rotary power structure are rotatably connected to the middle part of the auxiliary rotary support structure.

[0019] Compared with the prior art, the present invention has the following beneficial effects: the TKY pipe node automated welding equipment system adopts a truss structure with three translation axes, has multiple degrees of freedom, can flexibly adjust the position and angle of the welding node, realize welding requirements at any position and angle, and meet the welding operation requirements for complex TKY pipe nodes. No manual repair welding operation is required, and automatic welding can be achieved through the cooperation of the welding robot and laser vision, thereby improving welding efficiency and quality, thereby accelerating construction progress and reducing construction costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an overall schematic diagram of the present invention; Figure 2 It is a schematic diagram of the truss structure of the present invention; Figure 3 This is a schematic diagram of the structure of the main positioner of the present invention; Figure 4 This is a schematic diagram of the auxiliary positioner structure of the present invention; Figure 5 This is a schematic diagram of a typical TKY node of the present invention; Figure 6 This is a schematic diagram of a typical X-shaped node of the present invention.

[0021] Illustration Description: 1. Truss; 11. First translation axis; 12. Second translation axis; 13. Third translation axis; 2. Main positioner; 21. Rotary support structure; 22. Rotary power structure; 221. Gripping claw slide rail; 23. First guide rail; 24. Support frame; 241. Guide rail support; 242. Second guide rail; 243. Sliding base; 244. Lifting device; 245. Roller; 3. Auxiliary positioner; 31. Main rotary support structure; 32. Main rotary power structure; 33. Crossbeam; 34. Auxiliary rotary support structure; 35. Auxiliary rotary power structure; 4. Welding robot; 5. Mobile platform; 51. Water cooler; 52. Control cabinet; 53. Welding machine; 54. Barreled welding wire. DETAILED DESCRIPTION

[0022] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation mode, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0023] See also Figures 1 to 6 , This embodiment provides a TKY pipe node automated welding equipment system, including: a truss 1, the truss 1 provides support for the welding equipment, the truss 1 includes an external shaft assembly, and the external shaft assembly provides displacement in three directions of front and back, left and right, and up and down for the equipment; Welding robot 4, which is fixed on truss 1 and used for welding TKY pipe nodes. Welding robot 4 moves following the external shaft assembly. A mobile platform 5 is slidably disposed on the truss 1 to provide welding materials for the welding robot 4; Main positioner 2, which is placed on one side of the truss 1. Main positioner 2 is used to clamp the TKY tube and adjust the welding position of the TKY tube to below the welding robot 4; Auxiliary positioner 3: The auxiliary positioner 3 is placed on one side of the truss 1 and on the same side as the main positioner 2. The auxiliary positioner 3 is used to install the TKY pipe.

[0024] The external axis assembly includes a first translation axis 11, a second translation axis 12 and a third translation axis 13, and the truss 1 further includes a truss base.

[0025] The first translation axis 11 is slidably arranged above the truss base, the second translation axis 12 is slidably arranged on the side of the first translation axis 11, and the third translation axis 13 is slidably arranged on the second translation axis 12. A motor is fixedly arranged at the end of the first translation axis 11 to drive the first translation axis 11 to slide left and right along the truss base. A motor is fixedly arranged at the end of the second translation axis 12 to drive the second translation axis 12 to slide forward and backward along the first translation axis 11. A motor is fixedly arranged at the end of the third translation axis 13 to drive the third translation axis 13 to slide up and down along the second translation axis 12. The first translation axis 11, the second translation axis 12 and the third translation axis 13 are in a series relationship.

[0026] The welding robot 4 is fixed at the bottom end of the third translation axis 13, and the third translation axis 13 drives the welding robot 4 to move, so as to meet the requirements of good welding posture of TKY pipes of different sizes at different positions and ensure welding quality.

[0027] The mobile platform 5 is fixed at the end of the first translation axis 11. A water cooler 51, a control cabinet 52, a welding machine 53 and barreled welding wire 54 are placed in the mobile platform 5. The mobile platform 5 can move with the first translation axis 11 to ensure that the cable is not pulled too long when the welding robot 4 moves, preventing the cable from being broken.

[0028] The main positioner 2 includes two rotary support structures 21, two rotary power structures 22, a first guide rail 23 and two support frames 24. The two rotary support structures 21 are arranged opposite to each other. The first guide rail 23 is fixed at the bottom between the two rotary support structures 21. The rotary support structure 21 is slidably connected to the first guide rail 23. When installing the TKY tube, the rotary support structure 21 moves toward the center of the first guide rail 23 to clamp the TKY tube. The rotary power structures 22 are all rotatably arranged on the upper inner side of the rotary support structure 21. The support frames 24 are all located between the two rotary support structures 21 and span the first guide rail 23. When installing the TKY tube, the support frames 24 support the TKY tube.

[0029] A clamping slide rail 221 is fixedly provided on the outer side of the rotary power structure 22, and a clamping jaw is slidably provided on the clamping slide rail 221. The clamping jaw is used to clamp the TKY tube. The clamping jaw moves with the clamping slide rail 221 and can adapt to different TKY tube sizes. The center of the TKY tube coincides with the rotary power structure 22 and can rotate 360° around the center of the workpiece.

[0030] The support frame 24 includes a base assembly, a lifting device 244 and a roller 245 . The base assembly includes a guide rail support 241 , a second guide rail 242 and a sliding base 243 .

[0031] The guide rail support 241 is fixedly arranged at the middle bottom of the two slewing support structures 21, the second guide rail 242 is fixedly installed on the guide rail support 241, the sliding base 243 is slidably connected with the second guide rail 242, and a motor is arranged inside the sliding base 243 for driving the sliding base 243 to move along the second guide rail 242. When installing the TKY tube, the sliding base 243 moves to the center of the main positioner 2 to support the TKY tube. The lifting device 244 is fixedly arranged above the sliding base 243. A hydraulic cylinder is provided in the device 244. When the piston rod of the hydraulic cylinder is extended, the height of the roller 245 is increased. When the piston rod is retracted, the height of the roller 245 is reduced to adapt to TKY tubes of different sizes. The roller 245 is rotatably arranged above the lifting device 244. A motor is fixedly provided at one end of the roller 245 to drive the roller 245 to roll. The rolling direction of the roller 245 is the same as the setting direction of the first guide rail 23, so that the slewing support structure 21 can clamp the TKY tube to keep the TKY tube moving along the first guide rail 23.

[0032] The auxiliary positioner 3 includes two power components and two support components. The power component includes a main rotary power structure 32 and an auxiliary rotary power structure 35. The support component includes a main rotary support structure 31, a crossbeam 33 and an auxiliary rotary support structure 34. The main rotary power structure 32 is rotatably arranged inside the main rotary support structure 31. The crossbeam 33 is fixed inside the main rotary power structure 32. The crossbeam 33 can rotate 360° around its center with the main rotary power structure 32. Both ends of the auxiliary rotary support structure 34 are slidably connected to the crossbeam 33. Then, when installing the TKY tube, the auxiliary rotary support structure 34 moves toward the center to clamp the TKY tube. The auxiliary rotary support structure 34 and the crossbeam 33 form a frame. The auxiliary rotary power structure 35 is arranged in the frame. Both ends of the auxiliary rotary power structure 35 are rotatably connected to the middle of the auxiliary rotary support structure 34. The TKY tube is fixed to the auxiliary positioner 3 through the auxiliary rotary power structure 35. The TKY tube performs 360° rotational movement in two directions with the main rotary power structure 32 and the auxiliary rotary power structure 35, and the two directions are perpendicular to each other.

[0033] At the same time, the motors in the two sliding bases 243 are started, and the motors drive the sliding bases 243 to move along the second guide rail 242 to the center of the main positioner 2. The motor at the end of the roller 245 is started, and the motor drives the roller 245 to rotate, and the TKY tube is placed on the roller 245. The slewing support structure 21 clamps the TKY tube to keep the TKY tube moving along the first guide rail 23, and the hydraulic cylinder in the lifting device 244 is started. The hydraulic cylinder adjusts the height of the TKY tube to a suitable position, and at the same time, the first translation axis 11 and the second translation axis 12 are started. and the motors at the ends of the third translation axis 13, the motors respectively drive the first translation axis 11, the second translation axis 12 and the third translation axis 13 to move, move the welding robot 4 to above the welding point of the TKY tube, start the welding robot 4, and weld the TKY tube; after the welding of the TKY tube at the main positioner 2 is completed, the motor at the end of the first translation axis 11 drives the first translation axis 11 to move rightward along the truss base, and brings the welding robot 4 to above the TKY tube at the auxiliary positioner 3, and welds the TKY tube at the auxiliary positioner 3.

[0034] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A TKY tube node automated welding equipment system, characterized in that: include: A truss (1), the truss (1) providing support for welding equipment, the truss (1) comprising an external shaft assembly, the external shaft assembly providing displacement of the equipment in three directions: front-to-back, left-to-right, and up-and-down; A welding robot (4), the welding robot (4) being fixedly mounted on the truss (1) and used for welding the TKY tube node, the welding robot (4) moving following the external shaft assembly; A mobile platform (5), the mobile platform (5) being slidably disposed on the truss (1) to provide welding materials for the welding robot (4); A main positioner (2), the main positioner (2) being placed on one side of the truss (1), the main positioner (2) being used to clamp the TKY tube and adjust the welding position of the TKY tube to below the welding robot (4); An auxiliary positioner (3), the auxiliary positioner (3) is placed on one side of the truss (1) and on the same side as the main positioner (2), and the auxiliary positioner (3) is used to install the TKY pipe.

2. A TKY tube node automatic welding equipment system according to claim 1, characterized in that: The external axis assembly comprises a first translation axis (11), a second translation axis (12) and a third translation axis (13), and the truss (1) further comprises a truss base.

3. A TKY tube node automated welding equipment system according to claim 2, characterized in that: The first translation axis (11) is slidably disposed above the truss base, the second translation axis (12) is slidably disposed on a side of the first translation axis (11), and the third translation axis (13) is slidably disposed on the second translation axis (12).

4. The TKY tube node automatic welding equipment system according to claim 2 is characterized in that: The welding robot (4) is fixedly arranged at the bottom end of the third translation axis (13).

5. The TKY tube node automatic welding equipment system according to claim 2 is characterized in that: The mobile platform (5) is fixedly arranged at the end of the first translation axis (11), and a water cooler (51), a control cabinet (52), a welding machine (53) and barreled welding wire (54) are placed in the mobile platform (5).

6. The TKY tube node automatic welding equipment system according to claim 1 is characterized in that: The main positioner (2) comprises two rotary support structures (21), two rotary power structures (22), a first guide rail (23) and two support frames (24); the two rotary support structures (21) are arranged relative to each other; the first guide rail (23) is fixedly arranged at the bottom between the two rotary support structures (21); the rotary support structure (21) is slidably connected to the first guide rail (23); the rotary power structures (22) are rotatably arranged above the inner side of the rotary support structure (21); and the support frames (24) are located between the two rotary support structures (21) and straddle the first guide rail (23).

7. The TKY tube node automatic welding equipment system according to claim 6 is characterized in that: The outer side of the rotary power structure (22) is fixedly provided with a clamping claw slide rail (221), and the clamping claw slide rail (221) is slidably provided with a clamping claw, and the clamping claw is used to clamp the TKY tube.

8. The TKY tube node automatic welding equipment system according to claim 6 is characterized in that: The support frame (24) comprises a base assembly, a lifting device (244) and a roller (245); the base assembly comprises a guide rail support (241), a second guide rail (242) and a sliding base (243).

9. The TKY tube node automatic welding equipment system according to claim 8, characterized in that: The guide rail support (241) is fixedly arranged at the middle bottom of the two slewing support structures (21); the second guide rail (242) is fixedly mounted on the guide rail support (241); the sliding base (243) is slidably connected to the second guide rail (242); the lifting device (244) is fixedly arranged above the sliding base (243); and the roller (245) is rotatably arranged above the lifting device (244).

10. The TKY tube node automatic welding equipment system according to claim 1, characterized in that: The auxiliary positioner (3) comprises two power components and two support components. The power components comprise a main rotary power structure (32) and an auxiliary rotary power structure (35). The support components comprise a main rotary support structure (31), a crossbeam (33) and an auxiliary rotary support structure (34). The main rotary power structure (32) is rotatably arranged on the inner side of the main rotary support structure (31). The crossbeam (33) is fixedly arranged on the inner side of the main rotary power structure (32). Both ends of the auxiliary rotary support structure (34) are slidably connected to the crossbeam (33). The auxiliary rotary support structure (34) and the crossbeam (33) form a frame. The auxiliary rotary power structure (35) is arranged in the frame. Both ends of the auxiliary rotary power structure (35) are rotatably connected to the middle of the auxiliary rotary support structure (34).

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