Full-automatic welding workstation for circular seam welding of carbon steel and stainless steel cylinders

Abstract

The invention provides a full-automatic welding workstation for circular seam welding of carbon steel and stainless steel cylinders, and relates to the technical field of welding of circular seams of carbon steel and stainless steel cylinders in the boiler industry, the full-automatic welding workstation comprises a walking robot, a roller positioner, a working platform and a control cabinet, and the control cabinet is arranged on the working platform; the control cabinet is electrically connected with the walking robot and the roller positioner; a first linear sliding rail is arranged on the working platform, at least one walking robot is assembled on the first linear sliding rail, a plurality of roller position changing machines are arranged in the length direction of the first linear sliding rail at equal intervals and used for supporting a barrel to be welded, and the problem that in the prior art, the production efficiency is low is solved.

Description

Technical Field

[0001] The invention relates to the technical field of welding carbon steel and stainless steel cylinder girth seams in boiler industry, in particular to a full-automatic welding workstation for welding carbon steel and stainless steel cylinder girth seams. Background Art

[0002] The Chinese patent document, with publication number CN214721947U and publication date November 16, 2021, is named as a cylinder automatic welding device, comprising: a frame, a controller and a mechanical arm are installed on the frame, a welding gun is installed on the mechanical arm, the controller is connected to the mechanical arm and the welding gun respectively, and the controller controls the mechanical arm and the welding gun to perform welding operations on the cylinder; a welding positioner, a welding platform and a lifting assembly are installed on the welding positioner, a roller shaft, a card wheel shaft, a rotating disk and a roller chain are installed on the welding platform, the roller shaft, the rotating disk and the lifting assembly cooperate to adjust the position of the cylinder, and the card wheel shaft and the roller chain cooperate to limit the cylinder. The cylinder automatic welding device of the present invention has stable and reliable welding quality, is easy to operate, can realize fully automatic welding of the cylinder, reduce the labor intensity of workers, and improve production efficiency.

[0003] However, the above-mentioned prior art still has shortcomings. The above-mentioned prior art can automate welding, reduce the labor intensity of workers, and improve production efficiency to a certain extent. However, during welding, the next cylinder can only be welded after the current cylinder is welded, and the production efficiency is still relatively low. Summary of the invention

[0004] In order to solve the shortcomings of the above-mentioned prior art, the present invention provides a fully automatic welding workstation for carbon steel and stainless steel cylinder circumferential seam welding, which is equipped with multiple walking robots to collaboratively weld different welds (carbon steel welds and stainless steel welds) of the same different-diameter cylinder. Each walking robot can also perform welding independently, thereby solving the problem of low production efficiency of the prior art.

[0005] The present invention is achieved through the following technical solutions: A fully automatic welding workstation for carbon steel and stainless steel cylinder circumferential seam welding, characterized in that it includes a walking robot, a roller positioner, a workstation and a control cabinet, the control cabinet is arranged on the workstation, and the control cabinet is electrically connected to the walking robot and the roller positioner respectively; a first linear slide is arranged on the workstation, at least two walking robots are mounted on the first linear slide, and a plurality of roller positioners are arranged at equal intervals along the length direction of the first linear slide to support the cylinder to be welded.

[0006] Furthermore, the walking robot includes a welding execution robot arm, a laser sensor and a welding gun mounted on the welding execution robot arm, and also includes a wire reel for providing welding wire to the welding gun. The welding wire on the wire reel is fed into the welding gun through a wire feeder. The welding gun is installed on the execution end of the welding execution robot arm through an oscillator, and the oscillator is configured to drive the welding gun to swing left and right when moving along the weld.

[0007] Furthermore, the welding execution robot arm is mounted on the first linear slide rail through a slide plate I, the first linear slide rail is equipped with a rack I, the slide plate I is equipped with a drive motor I and a gear I, the output shaft of the drive motor I is connected to the gear I, driving the gear I to rotate reciprocatingly, and under the meshing action of its rack I, the welding execution robot arm moves along the length direction of the first linear slide rail; the oscillator includes a second linear slide rail, a mounting bracket and a drive motor II, the welding gun is mounted on the second linear slide rail through a mounting bracket, the second linear slide rail is equipped with a rack II, the mounting bracket is equipped with gear II and a drive motor II, the output shaft of the drive motor II is connected to the gear II, driving the gear II to rotate reciprocatingly, and under the meshing action of its rack II, the welding gun reciprocates on the second linear slide rail.

[0008] Furthermore, it also includes a fume hood, a smoke purifier and a gun cleaner, wherein the fume hood is arranged above the welding gun, the smoke purifier is arranged on the slide plate I, and the fume hood is connected to the smoke purifier; the gun cleaner is arranged on the welding execution robot arm.

[0009] Furthermore, the roller positioner includes a machine base, on which a driving roller group and a driven roller group are symmetrically arranged, and the driving rollers on the driving roller group are driven to rotate by a driving motor III; the driving rollers at both ends of the driving roller group are used to support one end of the cylinder to be welded, and driven rollers are arranged at both ends of the driven roller group to support the other end of the cylinder to be welded; the spacing between the driving rollers at both ends of the driving roller group is adjustable to adapt to cylinders to be welded with different diameters, and the spacing between the driven rollers at both ends of the driven roller group is adjustable to adapt to cylinders to be welded with different diameters; a lifting assembly is arranged between the driven roller group and the machine base, and the lifting assembly is used to adjust the height of the driven roller group; the lifting assembly is slidably fitted on the machine base, and is driven by the axial adjustment assembly, so that the lifting assembly drives the driven roller group to move closer to or away from the driving roller group along the axial direction of the cylinder to be welded.

[0010] Furthermore, the spacing between the active rollers at both ends of the active roller group can be adjusted by the cooperation of the driving motor IV and the screw nut pair, the ball screw I is rotatably arranged on the active roller group, the driving motor IV drives the ball screw I to rotate, a connecting seat I that is threadedly matched with the ball screw I is arranged below the active roller, and the ball screw I and the connecting seat I form the screw nut pair; the driving motor IV drives the ball screw I to rotate, thereby driving the active rollers at both ends of the active roller group to approach or move away; the spacing between the driven rollers at both ends of the driven roller group can be adjusted by the cooperation of the driving motor V and the screw nut pair, the ball screw II is rotatably arranged on the driven roller group, the driving motor V drives the ball screw II to rotate, a connecting seat II that is threadedly matched with the ball screw II is arranged below the driven roller, and the ball screw II and the connecting seat II form the screw nut pair; the driving motor V drives the ball screw II to rotate, thereby driving the driven rollers at both ends of the driven roller group to approach or move away.

[0011] Furthermore, the driven roller group includes a driven roller bracket, a scissors frame, and a skateboard II. A third linear slide rail is arranged on both sides of the machine base. The skateboard II is assembled in the third linear slide rail. The scissors frame has two arms hinged into an X shape. The top ends of the two arms are slidably connected to the driven roller bracket, and the bottom ends of the two arms are slidably connected to the skateboard II. The lifting assembly includes an adjusting motor and a turbine screw lift. The upper end of the screw of the turbine screw lift is connected to the driven roller bracket, and the lower end passes through the skateboard II. The input end of one of the turbine screw lifts is connected to the adjusting motor, and the output end is connected to the input end of the other turbine screw lift through a coupling and a connecting rod. The axial adjustment assembly includes a drive motor VI, a rack III and a gear III. The rack III is assembled on the machine base, the gear III and the drive motor VI are assembled on the skateboard II, and the output shaft of the drive motor VI is connected to the gear III, driving the gear III to reciprocate. Under the meshing action of its rack III, the driven roller group approaches or moves away from the active roller group along the axial direction of the cylinder to be welded.

[0012] Furthermore, it also includes a stopper wheel assembly and a fourth linear slide rail horizontally arranged on the machine base on one side of the active roller assembly, a screw rod is arranged in the fourth linear slide rail, one end of the screw rod is connected to a manual crank, a movable plate is installed under the stopper wheel assembly, the movable plate is connected to the screw rod through a connecting block, and the screw rod is driven to rotate by the manual crank so that the movable plate moves relative to the fourth linear slide rail.

[0013] Furthermore, a synchronization mechanism is provided on one side of the active roller group, including an external shaft, a synchronous belt, a connecting rod and a synchronous gear. The external shaft is connected to the input shaft of the drive motor III, the output shaft of the drive motor III is connected to one of the synchronous wheels of the synchronous belt, the other synchronous wheel is connected to the connecting rod, and synchronous gears are installed at both ends of the connecting rod. The synchronous gears at both ends are respectively connected to the input shafts of the corresponding reducers, and the output shaft of the reducer is connected to the active roller.

[0014] Furthermore, four roller positioners are arranged at equal intervals along the length direction of the first linear slide rail to support the cylinder to be welded. The first three roller positioners are equipped with a synchronization mechanism, and two groups of active roller groups are arranged on the fourth roller positioner, one of which is equipped with a synchronization mechanism, and the other is equipped with a drive motor VII and a reducer.

[0015] The working principle of the present invention is as follows: The spacing between the active rollers at both ends of the active roller group is adjusted to the diameter of the cylinder to be welded, and the spacing between the driven rollers at both ends of the driven roller group is adjusted to the diameter of the cylinder to be welded; the lifting assembly adjusts the height of the driven roller group to a height suitable for the cylinder to be welded; the lifting assembly is slidably fitted on the machine base and driven by the axial adjustment assembly, so that the lifting assembly drives the driven roller group to move closer to or away from the active roller group along the axial direction of the cylinder to be welded, and adjusts the position of the cylinder from the three coordinate axes in space to ensure the uniqueness of the rotation axis of the cylinder. Then the control cabinet simultaneously controls the walking robot to weld the cylinder and rotate the active roller on the roller positioner to drive the cylinder to rotate, ensuring that the linear speed of the cylinder rolling matches the welding speed of the external welding equipment, which can reduce the slippage of the cylinder workpiece during rotation and reduce welding defects.

[0016] The beneficial effects of the present invention are as follows: 1. The present invention adopts a double walking robot and four roller positioners are placed on four welding stations. The four roller positioners are arranged on the same side to meet the workers' loading and unloading needs. The double walking robots can weld simultaneously or independently, and the areas of the four welding stations are independent of each other to meet the loading and unloading needs of the workpieces without affecting the working area of ​​the walking robot, thereby maximizing the utilization of the robot's work and improving production efficiency.

[0017] 2. The present invention can realize the collaborative welding of different welds (carbon steel welds and stainless steel welds) of the same different-diameter cylinder by dual welding guns and dual walking robots; 3. In the present invention, the roller spacing between the active roller group and the driven roller group on the welding positioner is adjustable, and a lifting assembly and an axial adjustment device are also provided on the driven roller group to realize the position adjustment of the cylinder on the three coordinate axes of space and ensure the uniqueness of the rotation axis of the irregular cylinder with segmented different diameters.

[0018] 4. In the present invention, a blocking wheel assembly is provided to prevent the cylinder from axial movement and rolling slippage when rolling, and to provide a dynamic reference for laser tracking. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a workstation layout diagram of the present invention; Figure 2 for Figure 1 A top view of Figure 3 This is a schematic diagram of the walking robot structure; Figure 4 for Figure 2 Schematic diagram of the mechanical arm structure; Figure 5 It is a schematic diagram of the structure of the roller positioner; Figure 6 for Figure 5 Main view; Figure 7 for Figure 5 Schematic diagram of the structure of the middle active roller group; Figure 8 for Figure 5 Schematic diagram of the structure of the driven roller group; Fig. 9 for Figure 8 Top view.

[0020] Figure numerals: 1-walking robot, 2-roller positioner, 3-workstation, 4-control cabinet, 5-first linear slide, 6-slide plate I, 7-welding execution robot arm, 8-wire reel, 9-wire feeder, 10-second linear slide, 11-mounting bracket, 12-laser sensor, 13-smoke hood, 14-smoke purifier, 15-gun cleaner, 16-welding gun, 17-machine base, 18-active roller group, 19-driven roller group, 20-ball screw I, 21-connecting seat I, 22-ball screw II, 23-connecting seat II, 2 4-driven roller bracket, 25-scissors frame, 26-slide plate II, 27-third linear slide rail, 28-support arm, 29-turbine screw lift, 30-adjusting motor, 31-coupling, 32-drive motor VI, 33-rack III, 34-gear III, 35-reducer, 36-drive motor III, 37-connecting rod, 38-blocking wheel assembly, 39-manual crank, 40-fourth linear slide rail, 41-moving plate, 42-fence, 43-lifting platform track, 44-lifting platform, 45-grating assembly, 46-conductive brush, 47-connecting rod. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings of the present invention specification to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] Example 1 like Figure 1-Figure 2As shown, a fully automatic welding workstation for carbon steel and stainless steel cylinder circumferential seam welding includes a walking robot 1, a roller positioner 2, a workstation 3 and a control cabinet 4. The control cabinet 4 is arranged on the workstation 3, and the control cabinet 4 is electrically connected to the walking robot 1 and the roller positioner 2 respectively; a first linear slide rail 5 is arranged on the workstation 3, at least two walking robots 1 are mounted on the first linear slide rail 5, and a plurality of roller positioners 2 are arranged at equal intervals along the length direction of the first linear slide rail 5 to support the cylinder to be welded.

[0023] In implementation, the driving motor in the walking robot 1 has a power of 2.5 kW, a running speed of 24 m / min, a maximum stroke of 11000 mm, and a spacing between roller positioners 2 in the workstation is 1500 mm. The diameter of the cylinder to be welded is 200-2000 mm, and the length is 600-2700 mm.

[0024] Example 2 This embodiment further elaborates and supplements the implementation mode of the present invention on the basis of Embodiment 1.

[0025] As an implementation method of this embodiment, Figure 3-Figure 4 As shown, the walking robot 1 includes a welding execution robot arm 7, a laser sensor 12 and a welding gun 16 mounted on the welding execution robot arm 7, and also includes a wire reel 8 for providing welding wire to the welding gun 16. The welding wire of the wire reel 8 is fed into the welding gun 16 through a wire feeder 9. The welding gun 16 is installed on the execution end of the welding execution robot arm 7 through an oscillator, and the oscillator is configured to drive the welding gun 16 to swing left and right when moving along the weld.

[0026] As another implementation mode of this embodiment, the welding execution robot arm 7 is mounted on the first linear slide rail 5 through a slide plate Ⅰ6, the first linear slide rail 5 is equipped with a rack Ⅰ, and the slide plate Ⅰ6 is equipped with a drive motor Ⅰ and a gear Ⅰ. The output shaft of the drive motor Ⅰ is connected to the gear Ⅰ, driving the gear Ⅰ to rotate reciprocally. Under the meshing action of its rack Ⅰ, the welding execution robot arm 7 moves along the length direction of the first linear slide rail 5; the oscillator includes a second linear slide rail 10, a mounting bracket 11 and a drive motor Ⅱ, and the welding gun 16 is mounted on the second linear slide rail 10 through the mounting bracket 11. The second linear slide rail 10 is equipped with a rack Ⅱ, and the mounting bracket 11 is equipped with a gear Ⅱ and a drive motor Ⅱ. The output shaft of the drive motor Ⅱ is connected to the gear Ⅱ, driving the gear Ⅱ to rotate reciprocally. Under the meshing action of its rack Ⅱ, the welding gun 16 reciprocates on the second linear slide rail 10.

[0027] As an example, the oscillator includes a second linear slide 10, a mounting bracket 11, a drive motor II and a screw nut pair. The welding gun 16 is mounted on the second linear slide 10 through the mounting bracket 11. The screw is rotatably mounted on the second linear slide 10. The drive motor II drives the screw to rotate. A connecting seat that cooperates with the screw thread is provided at the bottom of the mounting bracket 11. The screw and the connecting seat form the screw nut pair; the drive motor II drives the screw to rotate reciprocatingly, thereby driving the mounting bracket 11 to move left and right along the screw.

[0028] As another implementation of this embodiment, it also includes a smoke hood 13, a smoke purifier 14 and a gun cleaner 15, wherein the smoke hood 13 is arranged above the welding gun 16, the smoke purifier 14 is arranged on the slide plate Ⅰ6, and the smoke hood 13 is connected to the smoke purifier 14; the gun cleaner 15 is arranged on the welding execution robot arm 7.

[0029] Example 3 This embodiment further elaborates and supplements the implementation mode of the present invention on the basis of Embodiment 1 or Embodiment 2.

[0030] As an implementation method of this embodiment, Figure 5 As shown, the roller positioner 2 includes a machine base 17, on which a driving roller group 18 and a driven roller group 19 are symmetrically arranged, and the driving rollers on the driving roller group 18 are driven to rotate by a driving motor III 36; the driving rollers at both ends of the driving roller group 18 are used to support one end of the cylinder to be welded, and driven rollers are arranged at both ends of the driven roller group 19 to support the other end of the cylinder to be welded; the spacing between the driving rollers at both ends of the driving roller group 18 is adjustable to adapt to cylinders to be welded with different diameters, and the spacing between the driven rollers at both ends of the driven roller group 19 is adjustable to adapt to cylinders to be welded with different diameters; a lifting component is arranged between the driven roller group 19 and the machine base 17, and the lifting component is used to adjust the height of the driven roller group 19; the lifting component is slidably fitted on the machine base 17, and is driven by the axial adjustment component, so that the lifting component drives the driven roller group 19 to move closer to or away from the driving roller group 18 along the axial direction of the cylinder to be welded.

[0031] As another implementation method of this embodiment, Figure 7 As shown, the spacing between the active rollers at both ends of the active roller group 18 can be adjusted by the cooperation of the driving motor IV and the screw nut pair. The ball screw I20 is rotatably arranged on the active roller group 18. The driving motor IV drives the ball screw I20 to rotate. A connecting seat I21 threadedly matched with the ball screw I20 is arranged below the active roller. The ball screw I20 and the connecting seat I21 form the screw nut pair. The driving motor IV drives the ball screw I20 to rotate, thereby driving the active rollers at both ends of the active roller group 18 to move closer or farther away; as shown in FIG. Fig. 9As shown, the spacing between the driven rollers at both ends of the driven roller group 19 can be adjusted by the cooperation of the driving motor V and the screw nut pair. The ball screw II 22 is rotatably arranged on the driven roller group 19. The driving motor V drives the ball screw II 22 to rotate. A connecting seat II 23 that is threadably matched with the ball screw II 22 is arranged below the driven roller. The ball screw II 22 and the connecting seat II 23 form the screw nut pair. The driving motor V drives the ball screw II 22 to rotate, thereby driving the driven rollers at both ends of the driven roller group 19 to move closer or farther away.

[0032] As an example, the distance between the driving rollers at both ends of the driving roller group 18 can be adjusted by the cooperation of the driving motor IV, the gear and the rack. The rack is mounted on the driving roller group 18. The driving rollers at both ends of the driving roller group 18 are equipped with the driving motor IV and the gear. The driving motor IV is connected to the gear to drive the gear to rotate. Under the meshing action of its rack, the driving rollers at both ends approach or move away from each other; the distance between the driven rollers at both ends of the driven roller group 19 can also be adjusted by the cooperation of the driving motor V, the gear and the rack. The rack is mounted on the driven roller group 19. The driven rollers at both ends of the driven roller group 19 are equipped with the driving motor V and the gear. The driving motor V is connected to the gear to drive the gear to rotate. Under the meshing action of its rack, the driven rollers at both ends approach or move away from each other.

[0033] As another implementation method of this embodiment, Figure 8 As shown, the driven roller group 19 includes a driven roller bracket 24, a scissor frame 25, and a slide plate II 26. The third linear slide rails 27 are arranged on both sides of the machine base 17. The slide plate II 26 is assembled in the third linear slide rails 27. The scissor frame 25 has two arms 28 hinged in an X shape. The top ends of the two arms 28 are slidably connected to the driven roller bracket 24, and the bottom ends of the two arms 28 are slidably connected to the slide plate II 26. The lifting assembly includes an adjusting motor 30 and a worm screw lift 29. The upper end of the screw of the worm screw lift 29 is connected to the driven roller bracket 24, and the lower end passes through the slide plate II 26. The input end of one of the worm screw lifts 29 is connected to the adjusting motor 30, and the output end is connected through the coupling. The shaft 31 and the connecting rod 47 are connected to the input end of the other worm screw elevator 29, and the adjusting motor 30 is started to drive one of the worm screw elevators 29 to rise and fall, and is connected to the other worm screw elevator 29 through the coupling 31 and the connecting rod 47. The two worm screw elevators 29 are raised and lowered synchronously. When the worm screw elevators 29 at both ends of the slide plate II 26 rise, the top ends of the two hinged support arms 28 approach each other, and their bottom ends also approach each other, thereby realizing the rise of the driven roller bracket 24; when the worm screw elevators 29 at both ends of the slide plate II 26 fall, the top ends of the two hinged support arms 28 move away from each other, and their bottom ends also move away from each other, thereby realizing the fall of the driven roller bracket 24; Figure 6As shown, the axial adjustment assembly includes a drive motor VI32, a rack III33 and a gear III34. The rack III33 is assembled on the machine base 17, and the gear III34 and the drive motor VI32 are assembled on the slide plate II26. The output shaft of the drive motor VI32 is connected to the gear III34, driving the gear III34 to reciprocate. Under the meshing action of its rack III33, the driven roller group 19 approaches or moves away from the active roller group 18 along the axial direction of the cylinder to be welded.

[0034] As an example, the lifting assembly includes an adjusting motor 30, a gear and a rack. The rack is assembled on the driven roller bracket 24. The top of the two arms 28 are equipped with an adjusting motor 30 and a gear. The adjusting motor 30 is connected to the gear to drive the gear to rotate. Under the meshing action of its rack, the tops of the two arms 28 approach or move away. When approaching, the bottom ends of the two arms 28 also approach each other, thereby realizing the rise of the driven roller bracket 24; when moving away, the bottom ends of the two arms 28 also move away from each other, thereby realizing the descent of the driven roller bracket 24.

[0035] As an example, the axial adjustment assembly includes a drive motor VI 32 and a nut-screw pair. The screw is rotatably mounted on the machine base 17 along the axial direction of the cylinder to be welded. A connecting seat that cooperates with the screw thread is provided at the bottom of the slide plate II 26. The screw and the connecting seat form the screw-nut pair. The drive motor VI 32 drives the screw to rotate reciprocatingly, thereby driving the slide plate II 26 to move along the screw, and the driven roller group 19 approaches or moves away from the active roller group 18 along the axial direction of the cylinder to be welded.

[0036] As another implementation method of this embodiment, Figure 7 As shown, a synchronization mechanism is provided on one side of the active roller group 18, and a synchronization mechanism is provided on one side of the active roller group 18, including an external shaft, a synchronous belt, a connecting rod 37 and a synchronous gear. The external shaft is connected to the input shaft of the driving motor III 36, and the output shaft of the driving motor III 36 is connected to one of the synchronous wheels of the synchronous belt, and the other synchronous wheel is connected to the connecting rod 37. Synchronous gears are installed at both ends of the connecting rod 37. The synchronous gears at both ends are respectively connected to the input shafts of the corresponding reducer 35, and the output shaft of the reducer 35 is connected to the active roller.

[0037] In this embodiment, the external axis is a walking robot 1, which ensures that the linear speed of the rolling of the cylinder to be welded matches the welding speed of the external welding equipment.

[0038] As another implementation method of this embodiment, Figure 5As shown, it also includes a stopper wheel assembly 38 and a fourth linear slide 40 horizontally arranged on the machine base 17 on one side of the active roller group 18. A lead screw is arranged in the fourth linear slide 40, and a manual crank is connected to one end of the lead screw. A movable plate 41 is installed below the stopper wheel assembly 38. The movable plate 41 is connected to the lead screw through a connecting block. The lead screw is driven to rotate by the manual crank 39 so that the movable plate 41 moves relative to the fourth linear slide 40. The stopper wheel assembly 38 is provided to prevent the cylinder from axial movement and rolling slippage when rolling, and to provide a dynamic reference for laser tracking. The position of the stopper wheel assembly 38 is adjusted by the manual crank 39, so that the workpiece has a tendency to move unidirectionally toward the end stopper wheel mechanism and is blocked, thereby preventing the workpiece from axial movement.

[0039] As another implementation method of this embodiment, Figure 1-Figure 2 As shown, four roller positioners 2 are arranged at equal intervals along the length direction of the first linear slide rail 5 to support the cylinder to be welded, the first three roller positioners 2 are equipped with a synchronization mechanism, and two groups of active roller groups 18 are arranged on the fourth roller positioner 2, one of which is equipped with a synchronization mechanism, and the other is equipped with a drive motor VII and a reducer 35. The cylinder to be welded on the fourth roller positioner 2 can be welded by the walking robot 1 or manually.

[0040] In implementation, a double walking robot 1 and four roller positioners 2 are placed on four welding stations. The four roller positioners 2 are arranged on the same side to meet the workers' loading and unloading needs. The double walking robots 1 can move relative to each other, and can be located at the two ends of the first linear slide rail 5 at the farthest, and can be adjacent to each other at the closest. The travel switch is used to control the two walking robots 1 to avoid collision. They can weld at the same time, so that the double walking robots 1 can cooperate to weld different welds (carbon steel welds and stainless steel welds) of the same different-diameter cylinder. Independent welding can also be carried out, and the areas of the four welding stations are independent of each other, which meets the needs of loading and unloading workpieces, does not affect the working area of ​​the walking robot 1, and realizes the maximum utilization of the robot's work, thereby improving production efficiency.

[0041] Example 4 This embodiment further elaborates and supplements the implementation manner of the present invention on the basis of Embodiment 1, Embodiment 2 or Embodiment 3.

[0042] As an implementation mode of this embodiment, it also includes a conductive brush 46, which is installed on one side of the driven roller group 19; the conductive brush 46 is assembled from a copper block, a mounting base and a spring.

[0043] As another implementation method of this embodiment, Figure 1 As shown, a fence 42 is installed around the workstation 3.

[0044] As another implementation method of this embodiment, Figure 1 As shown, a lifting platform track 43 is arranged beside the roller positioner 2, and a lifting platform 44 is mounted on the lifting platform track 43. The lifting platform 44 can be used for manual loading, unloading and welding.

[0045] As another implementation method of this embodiment, Figure 1 As shown, a plurality of grating components 45 are arranged at equal intervals on one side of the lifting platform track 43, and an automatic alarm is given when manual entry occurs.

[0046] As another implementation of this embodiment, the gun cleaning machine 15 adopts a TBI gun cleaning, wire cutting and silicone oil spraying all-in-one machine, and the welding gun 16 adopts a TBI robot-specific air-cooled welding gun 16.

Claims

1. A fully automatic welding workstation for carbon steel and stainless steel cylinder girth welding, characterized by: The invention comprises a walking robot (1), a roller positioner (2), a workstation (3) and a control cabinet (4); the control cabinet (4) is arranged on the workstation (3), and the control cabinet (4) is electrically connected to the walking robot (1) and the roller positioner (2) respectively; a first linear slide rail (5) is arranged on the workstation (3), at least two walking robots (1) are mounted on the first linear slide rail (5), and a plurality of roller positioners (2) are arranged at equal intervals along the length direction of the first linear slide rail (5) for supporting a cylinder to be welded.

2. A fully automatic welding workstation for carbon steel and stainless steel cylinder circumferential seam welding as claimed in claim 1, characterized in that: The walking robot (1) comprises a welding execution robot arm (7), a laser sensor (12) and a welding gun (16) mounted on the welding execution robot arm (7), and also comprises a welding wire reel (8) for supplying welding wire to the welding gun (16), the welding wire on the welding wire reel (8) is fed into the welding gun (16) through a wire feeder (9), the welding gun (16) is mounted on the execution end of the welding execution robot arm (7) through an oscillator, and the oscillator is configured to drive the welding gun (16) to swing left and right when moving along the weld.

3. A fully automatic welding workstation for carbon steel and stainless steel cylinder girth welding as claimed in claim 2, characterized in that: The welding execution robot arm (7) is mounted on the first linear slide rail (5) via a slide plate I (6); a rack I is mounted on the first linear slide rail (5); a drive motor I and a gear I are mounted on the slide plate I (6); an output shaft of the drive motor I is connected to the gear I, driving the gear I to rotate back and forth; under the meshing action of the rack I, the welding execution robot arm (7) moves along the length direction of the first linear slide rail (5); the oscillator comprises a second linear slide rail (10), a mounting bracket (11) and a drive motor II; a welding gun (16) is mounted on the second linear slide rail (10) via a mounting bracket (11); a rack II is mounted on the second linear slide rail (10); a gear II and a drive motor II are mounted on the mounting bracket (11); an output shaft of the drive motor II is connected to the gear II, driving the gear II to rotate back and forth; under the meshing action of the rack II, the welding gun (16) moves back and forth on the second linear slide rail (10).

4. A fully automatic welding workstation for carbon steel and stainless steel cylinder girth welding as claimed in claim 3, characterized in that: It also includes a fume extraction hood (13), a fume purifier (14) and a gun cleaning machine (15), wherein the fume extraction hood (13) is arranged above the welding gun (16), the fume purifier (14) is arranged on the slide plate I (6), and the fume extraction hood (13) is connected to the fume purifier (14); and the gun cleaning machine (15) is arranged on the welding execution mechanical arm (7).

5. A fully automatic welding workstation for carbon steel and stainless steel cylinder girth welding according to any one of claims 1 to 4, characterized in that: The roller positioner (2) comprises a machine base (17), on which a driving roller group (18) and a driven roller group (19) are symmetrically arranged, and the driving rollers on the driving roller group (18) are driven by a driving motor III (36) to rotate; the driving rollers at both ends of the driving roller group (18) are used to support one end of the cylinder to be welded, and the driven rollers at both ends of the driven roller group (19) are used to support the other end of the cylinder to be welded; the spacing between the driving rollers at both ends of the driving roller group (18) can be adjusted to suit The spacing between the driven rollers at both ends of the driven roller group (19) is adjustable to adapt to the cylinders to be welded with different diameters; a lifting assembly is provided between the driven roller group (19) and the machine base (17), and the lifting assembly is used to adjust the height of the driven roller group (19); the lifting assembly is slidably engaged on the machine base (17) and driven by the axial adjustment assembly, so that the lifting assembly drives the driven roller group (19) to move closer to or away from the driving roller group (18) along the axial direction of the cylinder to be welded.

6. A fully automatic welding workstation for carbon steel and stainless steel cylinder girth welding as claimed in claim 5, characterized in that: The spacing between the driving rollers at both ends of the driving roller group (18) can be adjusted by the cooperation of a driving motor IV and a screw nut pair. A ball screw I (20) is rotatably arranged on the driving roller group (18). The driving motor IV drives the ball screw I (20) to rotate. A connecting seat I (21) threadably engaged with the ball screw I (20) is arranged below the driving roller. The ball screw I (20) and the connecting seat I (21) form the screw nut pair. The driving motor IV drives the ball screw I (20) to rotate, thereby driving the driving rollers at both ends of the driving roller group (18) to move closer or farther away. The spacing between the driven rollers at both ends of the driven roller group (19) can be adjusted by the cooperation of the driving motor V and the screw nut pair. The ball screw II (22) is rotatably arranged on the driven roller group (19). The driving motor V drives the ball screw II (22) to rotate. A connecting seat II (23) threadably engaged with the ball screw II (22) is arranged below the driven roller. The ball screw II (22) and the connecting seat II (23) form the screw nut pair. The driving motor V drives the ball screw II (22) to rotate, thereby driving the driven rollers at both ends of the driven roller group (19) to move closer or farther away.

7. A fully automatic welding workstation for carbon steel and stainless steel cylinder girth welding as claimed in claim 5, characterized in that: The driven roller assembly (19) comprises a driven roller bracket (24), a scissor frame (25), and a slide plate II (26). The machine base (17) is provided with a third linear slide rail (27) on both sides. The slide plate II (26) is assembled in the third linear slide rail (27). The scissor frame (25) has two arms (28) hinged in an X shape. The top ends of the two arms (28) are slidably connected to the driven roller bracket (24), and the bottom ends of the two arms (28) are slidably connected to the slide plate II (26). The lifting assembly comprises an adjusting motor (30) and a turbine screw lifter (29). The upper end of the screw of the turbine screw lifter (29) is connected to the driven roller bracket (24), and the lower end passes through the slide plate II (26). One of the turbine screw lifters (29) is connected to the driven roller bracket (24). The input end of the wheel screw lift (29) is connected to the adjustment motor (30), and the output end is connected to the input end of another wheel screw lift (29) through a coupling (31) and a connecting rod (47); the axial adjustment component comprises a drive motor VI (32), a rack III (33) and a gear III (34), the rack III (33) is mounted on the machine base (17), the gear III (34) and the drive motor VI (32) are mounted on the slide plate II (26), and the output shaft of the drive motor VI (32) is connected to the gear III (34), driving the gear III (34) to reciprocate, and under the meshing action of its rack III (33), the driven roller group (19) approaches or moves away from the driving roller group (18) along the axial direction of the cylinder to be welded.

8. A fully automatic welding workstation for carbon steel and stainless steel cylinder girth welding as claimed in claim 5, characterized in that: The invention also comprises a stopper wheel assembly (38) and a fourth linear slide rail (40) disposed transversely on a machine base (17) located on one side of the active roller assembly (18); a lead screw is disposed in the fourth linear slide rail (40); one end of the lead screw is connected to a manual crank (39); a movable plate (41) is mounted below the stopper wheel assembly (38); the movable plate (41) is connected to the lead screw via a connecting block; the lead screw is driven to rotate via the manual crank (39) so that the movable plate (41) moves relative to the fourth linear slide rail (40).

9. A fully automatic welding workstation for carbon steel and stainless steel cylinder girth welding as claimed in claim 6, characterized in that: A synchronous mechanism is provided on one side of the driving roller group (18), comprising an external shaft, a synchronous belt, a connecting rod (37) and a synchronous gear. The external shaft is connected to the input shaft of the driving motor III (36). The output shaft of the driving motor III (36) is connected to one of the synchronous wheels of the synchronous belt. The other synchronous wheel is connected to the connecting rod (37). Synchronous gears are mounted on both ends of the connecting rod (37). The synchronous gears at both ends are respectively connected to the input shafts of the corresponding reducer (35). The output shaft of the reducer (35) is connected to the driving roller.

10. A fully automatic welding workstation for carbon steel and stainless steel cylinder circumferential seam welding as claimed in claim 9, characterized in that: Four roller positioners (2) are arranged at equal intervals along the length direction of the first linear slide rail (5) to support the cylinder to be welded, the first three roller positioners (2) are equipped with a synchronization mechanism, and two groups of active roller groups (18) are arranged on the fourth roller positioner (2), one group of active roller groups (18) is equipped with a synchronization mechanism, and the other group of active roller groups (18) is equipped with a drive motor VII and a reducer (35).

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