TKY pipe node automatic welding equipment system

Abstract

The present application relates to the technical field of welding equipment system, in particular to a TKY pipe node automatic welding equipment system, the truss provides support for the welding equipment, the truss includes external shaft assembly, the external shaft assembly provides displacement in three directions of front and back, left and right, up and down for the equipment, the main variable position machine is used for clamping TKY pipe and adjusting the welding position of the TKY pipe to below the welding robot, the auxiliary variable position machine is used for installing TKY pipe;TKY pipe node automatic welding equipment system adopts the truss structure with three translation axes, has multiple degrees of freedom, can flexibly adjust the position and angle of the welding node, realizes the welding requirement of any position and angle, meets the welding operation requirement for complex TKY pipe node, does not need manual repair welding operation, and can realize automatic welding through the cooperation of welding robot and laser vision, improves welding efficiency and quality, and then speeds up construction progress, reduces construction cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding equipment systems, and particularly to a TKY pipe node automatic welding equipment system. BACKGROUND

[0002] TKY pipe nodes refer to a special type of joint used to connect multiple tubular members in steel structures, particularly in offshore engineering structures. Here, "T", "K", and "Y" represent different connection forms, which correspond to different geometric configurations.

[0003] T-type joint: two tubular members intersect perpendicularly in a common plane, forming a "T" shaped connection.

[0004] K-type joint: two or more tubular members intersect at a common point, forming a shape similar to the letter "K".

[0005] Y-type joint: three tubular members intersect at a common point, forming a "Y" shaped connection.

[0006] These joints are very common in large steel structures such as offshore platforms, bridges, high-rise buildings, etc., especially in situations requiring high strength and stability. Due to the complexity of these joints, their manufacture and installation usually require very high precision and strict quality control measures. In particular, during the welding process, in order to ensure the safety and reliability of the structure, appropriate welding techniques and strict detection means must be used to ensure the quality of the welds.

[0007] TKY pipe nodes are the most important and common structural forms in offshore platform jacket structures, with varying connection angles and methods, resulting in multiple different types. Due to the non-uniformity and variety of joint types, frequent changes in welding parameters and welding poses are required to meet welding requirements, greatly increasing operation time and construction costs. Moreover, some nodes have special spatial structures in three-dimensional structures, and many positions cannot be normally welded due to special positions and angles, which can easily form welding defects such as incomplete fusion and undercut, requiring manual repair welding. This has the problems of high labor intensity, poor working environment, difficult personnel management, unpredictable construction period, and inability to achieve automatic welding of three-dimensional workpieces, resulting in extremely high construction costs and cycle time. SUMMARY

[0008] The main purpose of the present application is to provide a TKY pipe node automatic welding equipment system to solve the problem of inability to achieve automatic welding of three-dimensional workpieces in the related art.

[0009] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a TKY pipe node automatic welding equipment system is provided, comprising: a truss providing support for a welding equipment, the truss comprising an external shaft assembly providing displacement of the equipment in three directions of front and back, left and right, and up and down;

[0010] a welding robot fixedly arranged on the truss for welding a TKY pipe node, the welding robot moving along with the external shaft assembly;

[0011] a moving platform slidingly arranged on the truss for providing welding materials for the welding robot;

[0012] a main positioner arranged on one side of the truss, the main positioner being used for clamping a TKY pipe and adjusting the welding position of the TKY pipe to below the welding robot;

[0013] an auxiliary positioner arranged on the same side of the truss as the main positioner, the auxiliary positioner being used for installing a TKY pipe.

[0014] Further, the external shaft assembly comprises a first translation shaft, a second translation shaft and a third translation shaft, and the truss further comprises a truss base.

[0015] Further, the first translation shaft is slidingly arranged above the truss base, the second translation shaft is slidingly arranged on the side of the first translation shaft, and the third translation shaft is slidingly arranged on the second translation shaft.

[0016] Further, the welding robot is fixedly arranged at the bottom end of the third translation shaft.

[0017] Further, the moving platform is fixedly arranged at the end of the first translation shaft, and the moving platform internally accommodates a water chiller, a control cabinet, a welding machine and a barrel of welding wire.

[0018] Further, the main positioner comprises two rotary support structures, two rotary power structures, a first guide rail and two support frames, the two rotary support structures are oppositely arranged, the first guide rail is fixedly arranged at the bottom between the two rotary support structures, the rotary support structures are slidingly connected with the first guide rail, the rotary power structures are rotationally arranged on the inner side above the rotary support structures, and the support frames are located in the middle of the two rotary support structures and span the first guide rail.

[0019] Further, the rotary power structures are each fixedly provided with a jaw sliding rail on the outer side, and a jaw is slidingly arranged on the jaw sliding rail, the jaw being used for clamping a TKY pipe.

[0020] Further, the support frame comprises a base assembly, a lifting device and a roller, the base assembly comprises a guide rail support, a second guide rail and a sliding base.

[0021] Further, the guide rail support is fixedly arranged at the bottom between the two rotary support structures, the second guide rail is fixedly arranged on the guide rail support, the sliding base is slidably connected with the second guide rail, and the lifting device is fixedly arranged above the sliding base.

[0022] Further, the auxiliary positioner comprises two power assemblies and two support assemblies, the power assembly comprises a main rotary power structure and an auxiliary rotary power structure, the support assembly comprises a main rotary support structure, a cross beam and an auxiliary rotary support structure, the main rotary power structure is rotatably arranged inside the main rotary support structure, the cross beam is fixedly arranged inside the main rotary power structure, the auxiliary rotary support structure is slidably connected with the cross beam at both ends, the auxiliary rotary support structure and the cross beam form a frame, the auxiliary rotary power structure is arranged in the frame, and the auxiliary rotary power structure is rotatably connected with the middle part of the auxiliary rotary support structure at both ends.

[0023] Compared with the prior art, the present application has the following beneficial effects: the TKY pipe joint automatic 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 welded joint, realizes welding requirements at any position and angle, meets the welding operation requirements of complex TKY pipe joints, does not need manual repair welding operation, and can realize automatic welding through cooperation of the welding robot and the laser vision, thereby improving the welding efficiency and quality, further speeding up the construction progress and reducing the construction cost. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a schematic diagram of the present application as a whole;

[0025] Figure 2 It is a schematic diagram of the truss structure of the present application;

[0026] Figure 3 It is a schematic diagram of the main positioner structure of the present application;

[0027] Figure 4 It is a schematic diagram of the auxiliary positioner structure of the present application;

[0028] Figure 5 It is a schematic diagram of the TKY typical joint of the present application;

[0029] Figure 6 It is a schematic diagram of the X-shaped typical joint of the present application.

[0030] ILLUSTRATIVE DESCRIPTION

[0031] 1, truss; 11, first translation axis; 12, second translation axis; 13, third translation axis;

[0032] 2, main variable position machine; 21, rotary support structure; 22, rotary power structure; 221, clamping jaw sliding rail; 23, first guide rail; 24, support frame; 241, guide rail support; 242, second guide rail; 243, sliding base; 244, lifting device; 245, roller;

[0033] 3, auxiliary variable position machine; 31, main rotary support structure; 32, main rotary power structure; 33, cross beam; 34, auxiliary rotary support structure; 35, auxiliary rotary power structure;

[0034] 4, welding robot;

[0035] 5, mobile platform; 51, water-cooled machine; 52, control cabinet; 53, welding machine; 54, barrel welding wire. DETAILED DESCRIPTION

[0036] In order to further illustrate the technical means and effects adopted by the present application to achieve the predetermined object, the specific embodiments, structures, features and effects according to the present application are described in detail below in combination with the drawings and preferred embodiments.

[0037] Please refer to Figures 1 to 6 The embodiment provides a TKY pipe node automatic welding equipment system, which comprises a truss 1, the truss 1 provides support for the welding equipment, and the truss 1 comprises an external shaft assembly, which provides displacement in three directions of front and back, left and right, and up and down for the equipment.

[0038] A welding robot 4 is fixedly arranged on the truss 1 and used for welding the TKY pipe node, and the welding robot 4 moves along with the external shaft assembly.

[0039] A mobile platform 5 is slidably arranged on the truss 1 and provides welding materials for the welding robot 4.

[0040] A main variable position machine 2 is arranged on one side of the truss 1, and is used for clamping the TKY pipe and adjusting the welding position of the TKY pipe to below the welding robot 4.

[0041] An auxiliary variable position machine 3 is arranged on one side of the truss 1 and is on the same side as the main variable position machine 2, and is used for installing the TKY pipe.

[0042] The external shaft assembly comprises a first translation shaft 11, a second translation shaft 12 and a third translation shaft 13, and the truss 1 further comprises a truss base.

[0043] 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. The first translation axis 11 is fixedly provided with a motor at the end portion, which drives the first translation axis 11 to slide left and right along the truss base. The second translation axis 12 is provided with a motor at the end portion, which drives the second translation axis 12 to slide forward and backward along the first translation axis 11. The third translation axis 13 is provided with a motor at the end portion, which drives 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 series.

[0044] The welding robot 4 is fixedly arranged 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 welding posture of TKY pipes of different sizes at different positions and ensure the welding quality.

[0045] The moving platform 5 is fixedly arranged at the end portion of the first translation axis 11, and the moving platform 5 is placed with a water-cooled machine 51, a control cabinet 52, a welding machine 53 and a barrel of welding wire 54. The moving platform 5 can move with the first translation axis 11, so as to prevent the cable from being pulled too long and broken when the welding robot 4 moves.

[0046] 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 oppositely arranged, and 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 with the first guide rail 23. When the TKY pipe is installed, the rotary support structure 21 approaches the center of the first guide rail 23 to clamp the TKY pipe. The rotary power structure 22 is rotatably arranged on the inner side above the rotary support structure 21. The support frame 24 is located in the middle of the two rotary support structures 21 and spans the first guide rail 23. When the TKY pipe is installed, the support frame 24 supports the TKY pipe.

[0047] The rotary power structure 22 is fixedly provided with a clamping jaw sliding rail 221 on the outer side, and a clamping jaw is slidably arranged on the clamping jaw sliding rail 221. The clamping jaw is used for clamping the TKY pipe, and the clamping jaw moves with the clamping jaw sliding rail 221 to adapt to different sizes of TKY pipes. The center of the TKY pipe coincides with the rotary power structure 22, and the TKY pipe can rotate 360° around the center of the workpiece.

[0048] 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.

[0049] The guide rail support 241 is fixedly arranged at the bottom of the two rotary support structures 21, the second guide rail 242 is fixedly arranged on the guide rail support 241, the sliding base 243 is in sliding connection with the second guide rail 242, a motor is arranged in the sliding base 243, and the motor is used to drive the sliding base 243 to move along the second guide rail 242; when the TKY pipe is installed, the sliding base 243 moves to the center of the main positioner 2 to support the TKY pipe, the lifting device 244 is fixedly arranged above the sliding base 243, a hydraulic cylinder is arranged in the lifting 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 decreased, so as to adapt to TKY pipes of different sizes, the roller 245 is rotatably arranged above the lifting device 244, a motor is fixedly arranged at one end of the roller 245, and the motor is used to drive the roller 245 to roll, the rolling direction of the roller 245 is the same as the arrangement direction of the first guide rail 23, so that the TKY pipe can move along the first guide rail 23 when the rotary support structure 21 clamps the TKY pipe.

[0050] The auxiliary positioner 3 comprises two power assemblies and two support assemblies, the power assemblies comprise a main rotary power structure 32 and an auxiliary rotary power structure 35, the support assemblies comprise a main rotary support structure 31, a cross beam 33 and an auxiliary rotary support structure 34, the main rotary power structure 32 is rotatably arranged in the inner side of the main rotary support structure 31, the cross beam 33 is fixedly arranged in the inner side of the main rotary power structure 32, the cross beam 33 can rotate 360° around the center of the main rotary power structure 32, the auxiliary rotary support structure 34 is in sliding connection with the cross beam 33 at both ends, the auxiliary rotary support structure 34 is close to the center to clamp the TKY pipe when the TKY pipe is installed, the auxiliary rotary support structure 34 and the cross beam 33 form a frame, the auxiliary rotary power structure 35 is arranged in the frame, the auxiliary rotary power structure 35 is rotatably connected with the middle part of the auxiliary rotary support structure 34 at both ends, the TKY pipe is fixed with the auxiliary positioner 3 through the auxiliary rotary power structure 35, and the TKY pipe rotates 360° in two directions along with the main rotary power structure 32 and the auxiliary rotary power structure 35, and the two directions are perpendicular to each other.

[0051] At the same time, the motors in the two sliding bases 243 are started, the motors drive the sliding bases 243 to move along the second guide rails 242 to the center of the main positioner 2, the motors at the ends of the rollers 245 are started, the motors drive the rollers 245 to rotate, the TKY pipe is placed on the rollers 245, the rotary support structure 21 clamps the TKY pipe while keeping the TKY pipe movable along the first guide rails 23, the hydraulic cylinders in the lifting devices 244 are started, the hydraulic cylinders adjust the height of the TKY pipe to a suitable position, at the same time, the motors at the ends of the first, second and third translation shafts 11, 12 and 13 are started, the motors respectively drive the first, second and third translation shafts 11, 12 and 13 to move, the welding robot 4 is moved above the welding point of the TKY pipe, the welding robot 4 is started to weld the TKY pipe; after the TKY pipe at the main positioner 2 is welded, the motor at the end of the first translation shaft 11 drives the first translation shaft 11 to move rightward along the truss base, the welding robot 4 is brought above the TKY pipe at the auxiliary positioner 3, the TKY pipe at the auxiliary positioner 3 is welded.

[0052] The above is only the preferred embodiment of the present application, and does not limit the present application in any form. Although the present application has been disclosed as above with the preferred embodiment, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to the above disclosed technical content to obtain equivalent embodiments with equivalent changes, without departing from the technical solution of the present application. Any modification, change and modification of the above embodiments, which does not depart from the technical solution of the present application, is still within the scope of the present application.

Claims

1. A TKY tube node automated welding apparatus system, characterized by, Include: Truss (1), the truss (1) provides support for welding equipment, the truss (1) includes external shaft assembly, the external shaft assembly provides displacement in front and back, left and right, up and down three directions for equipment; Welding robot (4), the welding robot (4) is fixedly arranged on the truss (1), used for welding TKY pipe node, the welding robot (4) moves along with the external shaft assembly; Mobile platform (5), the mobile platform (5) is slidably arranged on the truss (1), provides welding material for the welding robot (4); Main positioner (2), the main positioner (2) is placed on one side of the truss (1), the main positioner (2) is used for clamping TKY pipe, and the welding position of the TKY pipe is adjusted to below the welding robot (4); Auxiliary positioner (3), the auxiliary positioner (3) is placed on one side of the truss (1), and is on the same side with the main positioner (2), the auxiliary positioner (3) is used for installing TKY pipe; 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 oppositely arranged, the first guide rail (23) is fixedly arranged between the bottom of the two rotary support structures (21), the rotary support structure (21) is slidably connected with the first guide rail (23), the rotary power structure (22) is rotatably arranged on the inner side of the rotary support structure (21), the support frame (24) is located in the middle of the two rotary support structures (21), and spans the first guide rail (23); The outer side of the rotary power structure (22) is fixedly provided with a clamping jaw sliding rail (221), a clamping jaw is slidably arranged on the clamping jaw sliding rail (221), and the clamping jaw is used for clamping TKY pipe; The auxiliary positioner (3) includes two power assemblies and two support assemblies, the power assembly includes a main rotary power structure (32) and an auxiliary rotary power structure (35), the support assembly includes a main rotary support structure (31), a cross beam (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 cross beam (33) is fixedly arranged on the inner side of the main rotary power structure (32), the two ends of the auxiliary rotary support structure (34) are slidably connected with the cross beam (33), the auxiliary rotary support structure (34) and the cross beam (33) form a frame, the auxiliary rotary power structure (35) is arranged in the frame, and the two ends of the auxiliary rotary power structure (35) are rotatably connected with the middle part of the auxiliary rotary support structure (34).

2. The TKY tube node automated welding apparatus system of claim 1, wherein, The external shaft assembly includes a first translation shaft (11), a second translation shaft (12) and a third translation shaft (13), and the truss (1) further includes a truss base.

3. The TKY tube node automated welding apparatus system of claim 2, wherein, The first translation shaft (11) is slidably arranged above the truss base, the second translation shaft (12) is slidably arranged on the side of the first translation shaft (11), and the third translation shaft (13) is slidably arranged on the second translation shaft (12).

4. The TKY tube node automated welding apparatus system of claim 2, wherein, The welding robot (4) is fixedly arranged on the bottom end of the third translation shaft (13).

5. The TKY tube node automated welding apparatus system of claim 2, wherein, The mobile platform (5) is fixedly arranged at the end of the first translation shaft (11), and the water cooling machine (51), the control cabinet (52), the welding machine (53) and the barrelled welding wire (54) are arranged in the mobile platform (5).

6. The TKY tube node automated welding apparatus system of claim 1, wherein, The support frame (24) comprises a base assembly, a lifting device (244) and a roller (245), and the base assembly comprises a guide rail support (241), a second guide rail (242) and a sliding base (243).

7. The TKY tube node automated welding apparatus system of claim 6, wherein, The guide rail support (241) is fixedly arranged at the middle bottom of the two rotary support structures (21), the second guide rail (242) is fixedly arranged on the guide rail support (241), the sliding base (243) is in sliding connection with 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).

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