Automatic flange plate welding equipment and using method thereof

Abstract

The invention relates to the technical field of flange plate welding, in particular to flange plate automatic welding equipment and a using method thereof.The flange plate automatic welding equipment comprises a welding executing mechanism arranged on a wall, a supporting platform is arranged in front of the welding executing mechanism, and a rotating platform is arranged on the supporting platform; a chuck for clamping a flange plate is fixed on the rotating platform; the welding executing mechanism comprises a linear module arranged on a wall, a frame is fixed to a sliding block of the linear module, a rotating shaft is arranged at the top of the frame, and the rotating shaft is connected with a mechanical arm. The method can effectively ensure that a product is not deformed in the welding process, meanwhile, the residual stress of a weldment generated by welding is reduced, the quality of the product is improved, the passing rate of nondestructive detection of a flange pipeline on a welding seam is also improved, the problems of poor welding seam quality, discontinuous welding and the like caused by errors of the roundness and coaxiality of the pipeline are solved, and the welding quality is improved. And the flange automatic welding level is improved.

Description

Technical Field

[0001] The invention relates to the technical field of flange welding, in particular to an automatic flange welding device and a use method thereof. Background Art

[0002] At present, traditional manufacturing industries are facing problems such as shortage of skilled workers and low efficiency, high labor intensity and unstable welding quality, and high mass production costs due to rising labor costs. Although robot automatic welding is becoming increasingly popular, it is expensive and requires high technical personnel to operate it. Moreover, although robot automatic welding has good versatility, it may not be suitable for companies with special requirements. This patent is based on the special requirements of the container and pipeline industry. It aims to develop a set of special automatic welding platforms for pipeline flanges, aiming at the problems that the degree of automatic welding of flanges is not high during pipeline welding, the plates are easily deformed during ordinary automatic welding, and the welding quality is unstable. The platform has high production efficiency, simple operation, low cost, and ensures that the pressure pipeline will not be deformed during welding, and the welding quality meets the requirements of non-destructive testing. Summary of the invention

[0003] The purpose of the present invention is to provide an automatic flange welding device and a method for using the same, which can effectively ensure that the product does not deform during the welding process.

[0004] The present invention adopts the following technical solutions to achieve the above purpose:

[0005] A flange automatic welding device comprises a welding actuator arranged on a wall, a supporting platform is arranged in front of the welding actuator, a rotating platform is arranged on the supporting platform, a chuck for clamping the flange is fixed on the rotating platform; the welding actuator comprises a linear module arranged on the wall, a frame is fixed on the slider of the linear module, a rotating shaft is arranged on the top of the frame, the rotating shaft is connected to a mechanical arm, and a welding gun is connected to the front end of the mechanical arm.

[0006] Preferably, the lower end of the rotating shaft is connected to the top of the frame via a bearing, the lower end of the rotating shaft extends into the frame and is connected to a driven bevel gear, and the driven bevel gear is meshed with a driving bevel gear; a mounting plate is fixed in the frame, and a first reducer for driving the driving bevel gear to rotate is arranged on the mounting plate, and the first reducer is driven by a first drive motor.

[0007] Preferably, the robotic arm includes a U-shaped seat fixed at the top of the rotating shaft, a first rotating arm is arranged in the U-shaped seat, a second rotating arm is arranged at the front end of the first rotating arm, a third rotating arm is arranged at the front end of the second rotating arm, and the welding gun is arranged at the front end of the third rotating arm.

[0008] Preferably, the first rotating arm includes two first long plates, a first steering gear is fixed at the rear end between the two first long plates, the first steering gear is driven by a first motor, two output shafts of the first steering gear are respectively connected to the two first long plates via bearings, and the two output shafts of the first steering gear are respectively fixedly connected to the two vertical plates of the U-shaped seat, so that when the first motor drives the first steering gear, it can drive the first steering gear and the two first long plates to rotate;

[0009] A second steering gear is fixed at the front end between the two first long plates, the second steering gear is driven by a second motor, and two output shafts of the second steering gear are respectively connected to the two first long plates via bearings; the second rotating arm includes two second long plates, and two output shafts of the second steering gear are respectively fixedly connected to the two second long plates;

[0010] A third steering gear is fixed at the front end between the two second long plates, and the third steering gear is driven by a third motor; the third rotating arm includes a U-shaped block, and the two output shafts of the third steering gear are respectively connected to the two second long plates via bearings, and the two output shafts of the third steering gear are respectively fixedly connected to the two vertical plates of the U-shaped block;

[0011] A connecting plate is arranged in front of the U-shaped block, and the connecting plate is driven by the fourth motor; a connecting frame is arranged on the connecting plate, and the connecting frame is driven by the fifth motor; a rotating block is connected to the connecting frame via a rotating shaft, and the rotating shaft is driven by the sixth motor, and the welding gun is fixed to the rotating block via a clamp.

[0012] Preferably, the clamp comprises two clamping blocks, the welding gun is embedded between the two clamping blocks, and the two clamping blocks are connected by bolts.

[0013] Preferably, photoelectric switches are installed on the U-shaped seat, the first rotating arm, the second rotating arm, the third rotating arm and the connecting plate.

[0014] Preferably, the rotating platform is driven by a second reducer, and the second reducer is driven by a second drive motor; a cooling pool is provided on the supporting platform, and the rotating platform is located in the cooling pool; a water inlet pipe and a water outlet pipe are provided at the bottom of the cooling pool, the water inlet pipe is connected to the water outlet end of a cooling water tank, the water outlet pipe is connected to the water inlet end of the cooling water tank, and a water pump is installed on the water inlet pipe; an overflow pipe is provided in the cooling pool; a drain pipe is also provided at the bottom of the cooling pool, and a manual ball valve is installed on the drain pipe.

[0015] Preferably, a visual sensor is installed on the welding gun.

[0016] Preferably, a laser sensor is installed on the supporting platform via a bracket.

[0017] A method for using flange automatic welding equipment, the method is as follows:

[0018] Step 1: Add enough water to the cooling pool, let the excess water flow out from the overflow pipe, and ensure that the cooling water covers the bottom of the flange by 1 to 3 mm;

[0019] Step 2: Fix the weldment by the chuck, then rotate the platform to drive the weldment to rotate, and at the same time, the welding actuator reaches the specified welding position, and the sixth motor is started to drive the welding gun to swing, so as to realize the swing welding of the weldment, and the weld seam forms fish scale pattern;

[0020] Step 3: Turn on the water pump so that the water in the cooling pool flows from the water inlet pipe to the cooling water tank, and then flows from the water outlet pipe to the cooling pool, always circulating to ensure that the temperature of the cooling water is always kept at around 80°C during the welding process;

[0021] Step 4: After welding, open the manual ball valve to drain the water in the cooling pool from the drain pipe;

[0022] In step 2, the weldment is rotated by the rotating platform. When the weldment rotates one circle, the laser sensor measures the circular trajectory at the weld groove, and the welding actuator moves according to the circular trajectory to ensure that the distance between the weld and the welding wire remains fixed.

[0023] Beneficial effects of the present invention:

[0024] (1) The present invention provides an embodiment, through which a welding actuator can be used to weld a flange and a pipe, and the welding actuator can realize 6-degree-of-freedom control; and through lightweight topological analysis of the welding actuator, the power consumption of the welding actuator can be reduced, the power torque of the driving motor can be reduced, and the manufacturing cost can be reduced. At the same time, the mechanical arm is installed between the mechanical arms, so that the overall welding actuator is more coordinated and beautiful, and the arm torque is also reduced. The rotating platform can drive the flange and the pipe to rotate, so as to facilitate subsequent welding; the rotating shaft can drive the mechanical arm to rotate, so as to drive the welding gun to rotate, so as to facilitate subsequent welding.

[0025] (2) In one embodiment of the present invention, a cooling pool is provided on the support platform, which can reduce the temperature generated during the welding process, thereby reducing residual stress and reducing deformation of welds. An overflow pipe is provided in the cooling pool, and excess water can flow out from the overflow pipe, ensuring that the cooling water covers the bottom of the flange by 1 to 3 mm, which can better achieve a cooling effect.

[0026] (3) In one embodiment of the present invention, the distance between the laser sensor and the weldment can be measured by a laser sensor. When the weldment rotates one circle, the laser sensor can measure the change in the distance between the laser sensor and the weldment, thereby forming a linear change. The welding actuator realizes mobile welding based on this linear change, compensates for eccentricity, realizes follow-up of the weldment, and ensures its welding quality.

[0027] (4) In the actual production process, there are roundness errors and coaxiality errors in the pipeline, which leads to the inconsistency of the distance between the weldment and the welding gun. If general automatic welding equipment is used, the welding quality will be seriously affected, causing welding pauses and difficulty in continuous welding, which will affect the automated welding process in this field. This patent drives the weldment to rotate through a rotating platform. After the weldment rotates one circle, the laser sensor is used to first measure the circular trajectory at the weld groove. The welding actuator moves according to this circular trajectory to ensure that the distance between the weld and the welding wire remains fixed, thereby effectively solving the problems of poor weld quality and discontinuous welding caused by the roundness and coaxiality errors of the pipeline.

[0028] The present invention can effectively ensure that the product does not deform during the welding process, while reducing the residual stress of the weldment caused by welding, improving the quality of the product, and also improving the pass rate of the flange pipeline in the non-destructive testing of the weld, solving the problems of poor weld quality and welding discontinuity caused by the roundness and coaxiality errors of the pipeline, and improving the level of automated welding of the flange. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the present invention.

[0030] Figure 2 It is a schematic diagram of the structure of the cooling pool.

[0031] Figure 3 It is the internal structure diagram of the framework.

[0032] Figure 4 It is a structural diagram of the robotic arm.

[0033] Figure 5 It is a structural diagram of the connecting plate.

[0034] Figure 6 It is a structural diagram of the support platform.

[0035] In the figure: wall 1, welding actuator 2, support platform 3, rotating platform 4, chuck 5, linear module 21, frame 22, rotating shaft 23, mechanical arm 24, welding gun 25, driven bevel gear 26, driving bevel gear 27, mounting plate 28, first reducer 29, first drive motor 210, U-shaped seat 241, first rotating arm 242, second rotating arm 243, third rotating arm 244, first long plate 2421, first diverter 2422, first motor 2423, second diverter 2424, second motor 2425, second long plate Plate 2431, third diverter 2432, third motor 2433, U-shaped block 2441, connecting plate 245, fourth motor 246, connecting frame 247, fifth motor 248, rotating shaft 249, rotating block 2410, sixth motor 2411, clamping block 2412, screw hole 2413, photoelectric switch 2414, second reducer 6, second drive motor 7, cooling pool 8, water inlet pipe 9, water outlet pipe 10, water pump 11, overflow pipe 12, drain pipe 13, manual ball valve 14, bracket 15, laser sensor 16, control box 17. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings.

[0037] like Figure 1-Figure 6 As shown, an embodiment is provided in the present invention, which provides an automatic flange welding device, including a welding actuator 2 arranged on a wall 1, through which the flange and the pipeline can be welded, a supporting platform 3 is arranged in front of the welding actuator 2, and a rotating platform 4 is arranged on the supporting platform 3, and the flange and the pipeline can be driven to rotate by the rotating platform 4, so as to facilitate subsequent welding; a chuck 5 for clamping the flange is fixed on the rotating platform 4, and the chuck 5 can be a three-jaw chuck 5, but is not limited to this; before welding the flange and the pipeline, spot welding of the flange and the pipeline is first performed to perform preliminary fixation to prevent the pipeline from falling off the flange during the subsequent rotation process. The welding actuator 2 includes a linear module 21 arranged on the wall 1, and the linear module 21 can drive the welding gun 25 to move, which is convenient for subsequent welding; a frame 22 is fixed on the slider of the linear module 21, and a rotating shaft 23 is arranged on the top of the frame 22. The rotating shaft 23 is connected to a mechanical arm 24, and the mechanical arm 24 can be driven to rotate through the rotating shaft 23, thereby driving the welding gun 25 to rotate, which is convenient for subsequent welding. A welding gun 25 is connected to the front end of the mechanical arm 24 for welding flanges and pipes.

[0038] The lower end of the rotating shaft 23 is connected to the top of the frame 22 via a bearing, and the lower end of the rotating shaft 23 extends into the frame 22 and is connected to a driven bevel gear 26, which is meshed with a driving bevel gear 27; a mounting plate 28 is fixed in the frame 22, and a first reducer 29 for driving the driving bevel gear 27 to rotate is provided on the mounting plate 28, and the first reducer 29 is driven by a first driving motor 210. The output shaft of the first reducer 29 is driven to rotate by the first driving motor 210, so that the driving bevel gear 27 can be driven to rotate, so that the driven bevel gear 26 can be driven to rotate, and then the rotating shaft 23 can be driven to rotate.

[0039] The robotic arm 24 includes a U-shaped seat 241 fixed on the top of the rotating shaft 23, a first rotating arm 242 is arranged in the U-shaped seat 241, a second rotating arm 243 is arranged at the front end of the first rotating arm 242, a third rotating arm 244 is arranged at the front end of the second rotating arm 243, and the welding gun 25 is arranged at the front end of the third rotating arm 244. The first rotating arm 242, the second rotating arm 243 and the third rotating arm 244 are used to adjust the position and angle of the welding gun 25 to facilitate better subsequent welding.

[0040] The first rotating arm 242 includes two first long plates 2421, and a first diverter 2422 is fixed at the rear end between the two first long plates 2421. The first diverter 2422 is driven by a first motor 2423. The two output shafts of the first diverter 2422 are respectively connected to the two first long plates 2421 via bearings. The two output shafts of the first diverter 2422 are respectively fixedly connected to the two vertical plates of the U-shaped seat 241, so that when the first motor 2423 drives the first diverter 2422, it can drive the first diverter 2422 and the two first long plates 2421 to rotate; when the first motor 2423 is started to drive the first diverter 2422, since the two output shafts of the first diverter 2422 are fixed, the first diverter 2422 rotates, thereby driving the two long plates to rotate.

[0041] A second steering gear 2424 is fixed at the front end between the two first long plates 2421, and the second steering gear 2424 is driven by a second motor 2425. The two output shafts of the second steering gear 2424 are respectively connected to the two first long plates 2421 via bearings; the second rotating arm 243 includes two second long plates 2431, and the two output shafts of the second steering gear 2424 are respectively fixedly connected to the two second long plates 2431; the second motor 2425 is started to drive the two output shafts of the second steering gear 2424 to rotate, thereby driving the two second long plates 2431 to rotate.

[0042] A third diverter 2432 is fixed at the front end between the two second long plates 2431, and the third diverter 2432 is driven by a third motor 2433; the third rotating arm 244 includes a U-shaped block 2441, and the two output shafts of the third diverter 2432 are respectively connected to the two second long plates 2431 via bearings, and the two output shafts of the third diverter 2432 are respectively fixedly connected to the two vertical plates of the U-shaped block 2441; the third motor 2433 is started to drive the two output shafts of the third diverter 2432 to rotate, thereby driving the U-shaped block 2441 to rotate.

[0043] A connecting plate 245 is disposed in front of the U-shaped block 2441 . The connecting plate 245 is driven by a fourth motor 246 for driving the connecting plate 245 to rotate.

[0044] A connecting frame 247 is provided on the connecting plate 245, and the connecting frame 247 is driven by the fifth motor 248 to drive the connecting frame 247 to rotate; a rotating block 2410 is connected to the connecting frame 247 via a rotating shaft 249, and the rotating shaft 249 is driven by the sixth motor 2411 to drive the rotating shaft 249 to swing, thereby driving the rotating block 2410 to swing, and further driving the welding gun 25 to swing, and the welding gun 25 is fixed to the rotating block 2410 via a clamp.

[0045] Alternatively, an oscillator (not shown) is provided on the connecting plate 245. The model of the oscillator may be SGX57-1204, but is not limited thereto. The oscillator can drive the welding gun 25 to oscillate. The oscillator is driven by the fifth motor 248. The welding gun 25 is fixed to the oscillator via a clamp.

[0046] In one embodiment of the present invention, this embodiment is based on the previous embodiment, the clamp includes two clamping blocks 2412, the welding gun 25 is embedded between the two clamping blocks 2412, and the two clamping blocks 2412 are connected by bolts (not shown), and the welding gun 25 can be easily disassembled and assembled through the cooperation of the bolts and the clamping blocks 2412. The clamping blocks 2412 are provided with screw holes 2413 that cooperate with the bolts.

[0047] In one embodiment of the present invention, this embodiment is based on any one of the above embodiments, and a photoelectric switch 2414 is installed on the U-shaped seat 241, the first rotating arm 242, the second rotating arm 243, the third rotating arm 244, and the connecting plate 245. The photoelectric switch 2414 can adopt a slot-type photoelectric switch 2414 with model EE-SX672-WR, but is not limited to this. The photoelectric switch 2414 can facilitate the U-shaped seat 241, the first rotating arm 242, the second rotating arm 243, the third rotating arm 244, and the connecting plate 245 to return to the origin, that is, after the sensing sheet moves into the slot of the photoelectric switch 2414, the U-shaped seat 241, the first rotating arm 242, the second rotating arm 243, the third rotating arm 244, and the connecting plate 245 stop rotating and return to the initial position.

[0048] In one embodiment of the present invention, which is based on any one of the above embodiments, the rotating platform 4 is driven by a second reducer 6, and the second reducer 6 is driven by a second drive motor 7; the second reducer 6 is driven by the second drive motor 7, thereby driving the rotating platform 4 to rotate.

[0049] The support platform 3 is provided with a cooling pool 8, which can reduce the temperature generated during the welding process, and has the effect of reducing residual stress and reducing deformation of weldments. The rotating platform 4 is located in the cooling pool 8; the bottom of the cooling pool 8 has a water inlet pipe 9 and a water outlet pipe 10, the water inlet pipe 9 is connected to the water outlet end of a cooling water tank (not shown), and the water outlet pipe 10 is connected to the water inlet end of the cooling water tank, and the water inlet pipe 9 is installed with a water pump 11 for conveying water; the cooling pool 8 has an overflow pipe 12, and excess water can flow out from the overflow pipe 12, ensuring that the cooling water is 1 to 3 mm above the bottom of the flange, which can better achieve a cooling effect; the bottom of the cooling pool 8 also has a drain pipe 13, and the drain pipe 13 is installed with a manual ball valve 14, and opening the manual ball valve 14 can discharge the water in the cooling pool 8 from the drain pipe 13.

[0050] Add enough water to the cooling pool 8, let the excess water flow out from the overflow pipe 12, ensure that the cooling water covers the bottom of the flange by 1 to 3 mm, then turn on the water pump 11, so that the water in the cooling pool 8 flows from the water inlet pipe 9 to the cooling water tank, and then flows from the water outlet pipe 10 to the cooling pool 8, ensuring that the temperature of the welding process is always maintained at about 80°C. After welding, open the manual ball valve 14 to discharge the water in the cooling pool 8 from the drain pipe 13.

[0051] In one embodiment of the present invention, which is based on any one of the above embodiments, a visual sensor (not shown) is installed on the welding gun 25, which can capture the image of the weld in real time and obtain the distance between the center point of the weld and the center point of the welding wire, so as to facilitate subsequent tracking and positioning.

[0052] In one embodiment of the present invention, this embodiment is based on any of the above embodiments, and a laser sensor 16 is installed on the support platform 3 through the bracket 15. The laser sensor 16 first measures the circumferential trajectory at the groove of the weldment, and the welding actuator 2 moves according to this circular trajectory to ensure that the distance between the weld and the welding wire remains fixed, thereby effectively solving the problems of poor weld quality and discontinuous welding caused by the roundness and coaxiality errors of the pipeline.

[0053] The laser sensor 16 continuously senses the distance between the laser sensor 16 and the weldment during its rotation, thereby determining the circular trajectory of the weldment groove.

[0054] In one embodiment of the present invention, which is based on any one of the above embodiments, a control box 17 is provided on the right side of the support platform 3 for controlling various components.

[0055] In one embodiment of the present invention, this embodiment is based on any of the above embodiments, and this embodiment provides a method for using a flange automatic welding device, the method is as follows:

[0056] Step 1: Add enough water to the cooling pool, let the excess water flow out from the overflow pipe, and ensure that the cooling water covers the bottom of the flange by 1 to 3 mm;

[0057] Step 2: Fix the weldment by the chuck, then rotate the platform to drive the weldment to rotate, and at the same time, the welding actuator reaches the specified welding position, and the sixth motor is started to drive the welding gun to swing, so as to realize the swing welding of the weldment, and the weld seam forms fish scale pattern;

[0058] Step 3: Turn on the water pump so that the water in the cooling pool flows from the water inlet pipe to the cooling water tank, and then flows from the water outlet pipe to the cooling pool, always circulating to ensure that the temperature of the cooling water is always kept at around 80°C during the welding process;

[0059] Step 4: After welding, open the manual ball valve to drain the water in the cooling pool from the drain pipe;

[0060] In step 2, the weldment is rotated by the rotating platform. After the weldment rotates one circle, the laser sensor measures the circular trajectory at the weld groove. The welding actuator moves according to the circular trajectory to ensure that the distance between the weld and the welding wire remains fixed.

[0061] Due to the roundness error and coaxiality error of the pipeline, the distance between the weldment and the welding gun is not fixed. Therefore, during the process of the weldment rotating one circle, the laser sensor first measures the circular trajectory at the weldment groove, and then adjusts the position of the welding actuator according to this circular trajectory.

[0062] In one embodiment of the present invention, which is based on any of the above embodiments, during the movement of the welding actuator, the visual sensor takes an image of the weld in real time and obtains the distance between the center point of the weld and the center point of the welding wire, and adjusts the position of the welding actuator in real time based on this distance and the circular trajectory. Specifically, when the distance between the weld and the welding wire is shortened, the welding actuator moves away from the weldment, and when the distance between the welding powder and the welding wire is increased, the welding actuator moves close to the weldment.

[0063] The three-jaw chuck, linear module, welding gun, cooling water tank, visual sensor, and laser sensor in the present invention are all prior art, and those skilled in the art are already able to clearly understand them, so they will not be described in detail here.

[0064] The above description is only a preferred embodiment of the present invention and should not be construed as limiting the present application. All equivalent changes and modifications made within the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A flange automatic welding equipment, characterized in that: It comprises a welding actuator arranged on a wall, a supporting platform is arranged in front of the welding actuator, a rotating platform is arranged on the supporting platform, and a chuck for clamping a flange is fixed on the rotating platform; The welding actuator includes a linear module arranged on a wall, a frame is fixed on a slider of the linear module, a rotating shaft is arranged on the top of the frame, the rotating shaft is connected to a mechanical arm, and a welding gun is connected to the front end of the mechanical arm.

2. The flange automatic welding equipment according to claim 1, characterized in that: The lower end of the rotating shaft is connected to the top of the frame via a bearing, and the lower end of the rotating shaft extends into the frame and is connected to a driven bevel gear, and the driven bevel gear is meshed with a driving bevel gear; a mounting plate is fixed in the frame, and a first reducer for driving the driving bevel gear to rotate is arranged on the mounting plate, and the first reducer is driven by a first drive motor.

3. The flange automatic welding equipment according to claim 1 or 2, characterized in that: The robotic arm includes a U-shaped seat fixed on the top of the rotating shaft, a first rotating arm is arranged in the U-shaped seat, a second rotating arm is arranged at the front end of the first rotating arm, a third rotating arm is arranged at the front end of the second rotating arm, and the welding gun is arranged at the front end of the third rotating arm.

4. The flange automatic welding equipment according to claim 3 is characterized in that: The first rotating arm includes two first long plates, a first steering gear is fixed at the rear end between the two first long plates, the first steering gear is driven by a first motor, two output shafts of the first steering gear are respectively connected to the two first long plates via bearings, and the two output shafts of the first steering gear are respectively fixedly connected to the two vertical plates of the U-shaped seat, so that when the first motor drives the first steering gear, it can drive the first steering gear and the two first long plates to rotate; A second steering gear is fixed at the front end between the two first long plates, the second steering gear is driven by a second motor, and two output shafts of the second steering gear are respectively connected to the two first long plates via bearings; the second rotating arm includes two second long plates, and two output shafts of the second steering gear are respectively fixedly connected to the two second long plates; A third steering gear is fixed at the front end between the two second long plates, and the third steering gear is driven by a third motor; the third rotating arm includes a U-shaped block, and the two output shafts of the third steering gear are respectively connected to the two second long plates via bearings, and the two output shafts of the third steering gear are respectively fixedly connected to the two vertical plates of the U-shaped block; A connecting plate is arranged in front of the U-shaped block, and the connecting plate is driven by the fourth motor; a connecting frame is arranged on the connecting plate, and the connecting frame is driven by the fifth motor; a rotating block is connected to the connecting frame via a rotating shaft, and the rotating shaft is driven by the sixth motor, and the welding gun is fixed to the rotating block via a clamp.

5. The flange automatic welding equipment according to claim 4, characterized in that: The clamp comprises two clamping blocks, the welding gun is embedded between the two clamping blocks, and the two clamping blocks are connected by bolts.

6. The flange automatic welding equipment according to claim 4, characterized in that: The U-shaped seat, the first rotating arm, the second rotating arm, the third rotating arm and the connecting plate are all equipped with photoelectric switches.

7. The flange automatic welding equipment according to claim 4, characterized in that: The rotating platform is driven by a second reducer, and the second reducer is driven by a second drive motor; a cooling pool is provided on the supporting platform, and the rotating platform is located in the cooling pool; a water inlet pipe and a water outlet pipe are provided at the bottom of the cooling pool, the water inlet pipe is connected to the water outlet end of a cooling water tank, the water outlet pipe is connected to the water inlet end of the cooling water tank, and a water pump is installed on the water inlet pipe; an overflow pipe is provided in the cooling pool; a drain pipe is also provided at the bottom of the cooling pool, and a manual ball valve is installed on the drain pipe.

8. The flange automatic welding equipment according to claim 7, characterized in that: A visual sensor is installed on the welding gun.

9. The flange automatic welding equipment according to claim 7, characterized in that: A laser sensor is installed on the support platform via a bracket.

10. A method for using the flange automatic welding equipment according to claim 9, characterized in that: Here’s how: Step 1: Add enough water to the cooling pool, let the excess water flow out from the overflow pipe, and ensure that the cooling water covers the bottom of the flange by 1 to 3 mm; Step 2: Fix the weldment by the chuck, then rotate the platform to drive the weldment to rotate, and at the same time, the welding actuator reaches the specified welding position, and the sixth motor is started to drive the welding gun to swing, so as to realize the swing welding of the weldment, and the weld seam forms fish scale pattern; Step 3: Turn on the water pump so that the water in the cooling pool flows from the water inlet pipe to the cooling water tank, and then flows from the water outlet pipe to the cooling pool, always circulating to ensure that the temperature of the cooling water is always kept at around 80°C during the welding process; Step 4: After welding, open the manual ball valve to drain the water in the cooling pool from the drain pipe; In step 2, the weldment is rotated by the rotating platform. When the weldment rotates one circle, the laser sensor measures the circular trajectory at the weld groove, and the welding actuator moves according to the circular trajectory to ensure that the distance between the weld and the welding wire remains fixed.

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