Large-diameter shrimp elbow welding robot and control method thereof

Abstract

The invention belongs to the technical field of bend welding, and particularly relates to a large-diameter shrimp bend welding robot and a control method thereof. The welding device comprises ground rails arranged in parallel in the X-axis direction, a movable portal frame matched with the ground rails to move, a telescopic welding device installed on the movable portal frame through a Y-axis translation mechanism, a fixed lifting device and a movable lifting device, wherein the fixed lifting device and the movable lifting device are installed in the moving space of the movable portal frame and are parallel to the ground rails. Displacement devices are mounted at the output ends of the fixed lifting device and the movable lifting device; a to-be-welded mitre waist pipe is arranged between the two displacement devices. The telescopic welding device only has the telescopic freedom degree in the Z-axis direction and the rotation freedom degree of the welding head, and the ground rail and the translation device which are relatively independent are arranged and matched with the movable portal frame to achieve movement of the telescopic welding device in the X-axis direction and the Y-axis direction. The problems that in the prior art, stability is poor, control programming difficulty is large, and welding errors are large are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of bend welding, and in particular relates to a large-diameter shrimp bend pipe welding robot and a control method thereof. Background Art

[0002] Shrimp elbow is a kind of pipe connector. It plays an important role in the design of pipelines. Shrimp elbow is made of multiple shrimp sections welded in sequence. The stability of welding directly affects the mechanical properties of the shrimp elbow and indirectly affects the service life of the shrimp elbow. In the production process of large-diameter shrimp elbow, the welding operation of multiple shrimp sections is more complicated. Traditional welding requires auxiliary equipment and manual welding. In this process, there is a certain uncertainty due to manual participation, that is, the uniformity and continuity of welding cannot be guaranteed. At the same time, the smoke, gas and harmful particulate matter generated during the welding process may cause harm to the respiratory system and health of workers.

[0003] In order to reduce manual intervention, a variety of welding robots have appeared on the market. For example, the applicant previously designed a large-diameter elbow welding robot and its control method with patent number CN118682374A. The shrimp elbow is welded by a four-degree-of-freedom welding robot. Although the problem of manual intervention has been solved, the welding part is set with four degrees of freedom to achieve the welding of shrimp sections in different positions. The control programming is difficult, the stability is difficult to control, and the cumulative error of multiple freedom settings is large, which can easily cause inaccuracy in the welding position. The size of the applicable shrimp elbow is restricted by the welding part, which makes the scope of application have certain limitations. At the same time, the welding area depends on the structure of the welding part and cannot meet more welding requirements. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects existing in the prior art and provide a large-diameter shrimp bend pipe welding robot and a control method thereof for realizing automated welding.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] As a first aspect, a large-diameter shrimp elbow welding robot comprises a ground rail arranged parallel to the X-axis direction, a mobile gantry moving in coordination with the ground rail, a telescopic welding device installed on the mobile gantry through a Y-axis translation mechanism, and a fixed lifting device and a mobile lifting device installed in the moving space of the mobile gantry and arranged parallel to the ground rail direction; the output ends of the fixed lifting device and the mobile lifting device are both installed with a displacement device; the shrimp waist tube to be welded is arranged between the two displacement devices;

[0007] The telescopic welding device includes a welding frame fixedly installed at the output end of the Y-axis translation mechanism, a primary bending frame fixedly installed with the welding frame, a secondary bending frame and a tertiary bending frame sequentially sleeved in the primary bending frame along the Z-axis direction, a telescopic reduction motor installed on the primary bending frame, a telescopic transmission gear coaxially arranged with the output shaft of the telescopic reduction motor, a telescopic transmission rack fixedly arranged on the secondary bending frame and matched with the telescopic transmission gear, and a welding assembly installed on the lower end surface of the tertiary bending frame; the primary bending frame and the secondary bending frame, and the secondary bending frame and the tertiary bending frame are all slidably connected through a sliding module; the primary bending frame, the secondary bending frame and the tertiary bending frame are driven by a belt transmission unit.

[0008] Furthermore, the belt transmission unit comprises:

[0009] A first fixed shaft and a second fixed shaft symmetrically arranged at the upper and lower ends of the secondary bending frame;

[0010] A first pulley, mounted on the first fixed shaft;

[0011] a second pulley mounted on the second fixed shaft;

[0012] A synchronous belt, wound between the first pulley and the second pulley;

[0013] The synchronous belt is fixedly connected to the primary bending frame and the tertiary bending frame via a pressure plate clamp.

[0014] Further, the mobile lifting device includes a mobile base frame fixedly mounted on the ground, a sliding mounting plate slidably connected to the base frame through an X-axis sliding assembly, a lifting base arm vertically mounted on the sliding mounting plate, a lifting guide arm mounted on the sliding mounting plate side by side with the lifting base arm, a lifting electric cylinder vertically mounted on the sliding mounting plate, and a lifting frame mounted on the telescopic end of the lifting electric cylinder;

[0015] A lifting guide groove is provided inside the lifting guide arm, and at least one lifting guide wheel is installed on both sides of the lifting frame; the lifting guide wheel rolls and guides in the lifting guide groove.

[0016] Further, the X-axis sliding assembly includes two X-axis slide rails symmetrically arranged on the mobile chassis along the X-axis direction, an X-axis slider matched with the X-axis slide rails and fixedly installed on the lower end surface of the sliding mounting plate, an X-axis rack fixedly installed on the corresponding mobile chassis between the two X-axis slide rails, an X-axis limit block fixedly installed on the mobile chassis corresponding to the end of the X-axis rack, an X-axis mobile motor installed on the sliding mounting plate, and an X-axis gear coaxially arranged with the output shaft of the X-axis mobile motor;

[0017] The X-axis rack is arranged in parallel with the X-axis slide rail, and the X-axis gear is meshed with the X-axis rack for transmission.

[0018] Further, the Y-axis translation mechanism includes a translation frame, a translation reduction motor installed on the translation frame, a translation gear coaxially arranged with the output shaft of the translation reduction motor, a translation rack fixedly installed on the crossbeam of the mobile gantry along the Y-axis direction, and a guide assembly installed on the translation frame;

[0019] The translation rack is in transmission cooperation with the translation gear, and the welding frame is fixedly connected with the translation frame via a connecting plate.

[0020] Furthermore, the guide assembly comprises:

[0021] A plurality of upper guide wheels, mounted on the translation frame, and cooperating with the upper end surface of the crossbeam of the mobile gantry;

[0022] A plurality of lower guide wheels, mounted on the translation frame, and cooperating with the lower end surface of the crossbeam of the mobile gantry;

[0023] At least one side guide frame is installed on the translation frame and a side guide wheel is installed on the side guide frame; the side guide wheel cooperates with the side guide of the crossbeam of the mobile gantry.

[0024] Further, the displacement device includes a rotary assembly connected to the mobile lifting device and / or the fixed lifting device for driving the shrimp bend pipe to be welded to rotate, a pitch mechanism installed at the output end of the rotary assembly for driving the shrimp bend pipe to be welded to adjust the pitch, and an adjustable clamp installed at the output end of the pitch mechanism;

[0025] The shrimp bend pipe to be welded is sleeved on the outside of the adjustable clamp, and the adjustable clamp is supported against the inner wall of the shrimp bend pipe to be welded.

[0026] Further, the pitch mechanism comprises a slewing base plate mounted at the output end of the slewing assembly, pitch side plates symmetrically fixedly mounted on both sides of the slewing base plate, a pitch frame rotatably mounted between the two pitch side plates, a transmission gear set symmetrically mounted on both sides of the pitch frame, and a pitch reduction motor mounted on one of the pitch side plates;

[0027] The output shaft of the pitch reduction motor is in transmission cooperation with one of the transmission gear sets to drive the pitch frame to pitch along the Y axis.

[0028] Furthermore, the adjustable clamp comprises:

[0029] An adjusting disc is fixedly mounted on the pitch frame via a connecting plate;

[0030] An adjustment cavity is formed by an opening provided in the middle of the adjustment disc and surrounded by a mounting surface of the pitch frame;

[0031] Two adjusting slide blocks are slidably mounted in the adjusting cavity; both adjusting slide blocks are provided with supporting columns extending out of the adjusting disc;

[0032] A turntable is rotatably mounted on the pitch frame, and the two adjusting sliders are both connected to the turntable through a transmission connecting rod;

[0033] An adjusting electric push rod, wherein the fixed end and the telescopic end of the adjusting electric push rod are respectively fixedly mounted on the two adjusting sliders;

[0034] The connection points between the two transmission connecting rods and the corresponding adjusting sliding blocks are in a diagonal relationship.

[0035] As a second aspect, according to the above-mentioned control method of a large-diameter shrimp elbow welding robot, the following steps are included:

[0036] Step 1: Install one end of the shrimp elbow to be welded on the displacement device on one side, and control the adjustable clamp to adapt to the diameter of the shrimp elbow to be welded to support one end of the shrimp elbow to be welded;

[0037] Step 2: spot-weld and pre-fix the multiple shrimp sections of the shrimp elbow pipe to be welded, and form a weld ring between two adjacent shrimp sections;

[0038] Step 3: Control the mobile lifting device to adapt the spacing between the fixed lifting device and the mobile lifting device to the length of the shrimp elbow to be welded, and fix the other end of the shrimp elbow to be welded to the displacement device on the other side;

[0039] Step 4: Control the pitching freedom of the mobile lifting device, the fixed lifting device and the two displacement devices so that the plane where the corresponding weld ring of the shrimp elbow to be welded is located is parallel to the vertical plane;

[0040] Step 5: according to the position of the weld ring to be welded, start the mobile gantry to move the telescopic welding device to a set position in the X-axis direction, and control the Y-axis translation mechanism to adjust the position of the telescopic welding device on the Y-axis;

[0041] Step 6: Control the telescopic reduction motor to rotate, drive the welding assembly to move downward until it is connected to the position corresponding to the weld ring to be welded, and synchronously start the two displacement devices and the welding assembly to drive the shrimp elbow to be welded while rotating and welding until the welding of a weld ring to be welded is completed;

[0042] Step 7: Repeat steps 5 to 6 to complete the welding of the remaining weld rings in sequence;

[0043] Step 8: Start the resetting process to reset the large-diameter shrimp bend welding robot and disassemble the welded shrimp bend.

[0044] The beneficial effects of a large-diameter shrimp elbow welding robot and a control method thereof of the present invention are:

[0045] The telescopic welding device designed in the present invention only has the telescopic freedom along the Z-axis direction and the rotational freedom of the welding head itself. A relatively independent ground rail and translation device are set up, and the telescopic welding device is coordinated with the mobile gantry to realize the movement of the telescopic welding device in the X-axis direction and the Y-axis direction, abandoning the traditional idea that the more degrees of freedom the welding part has, the better, and separating the degrees of freedom in the X-axis and Y-axis directions from the welding part, which can not only solve the problem of manual participation, but also solve the problems of poor stability, high control programming difficulty, and large cumulative welding errors caused by the setting of multiple degrees of freedom in the welding part in the prior art. At the same time, by using the setting of the first-level bending frame, the second-level bending frame and the third-level bending frame that are arranged in sequence, the three-level telescopic expansion of the welding assembly in the Z-axis direction is realized through the sliding module and the belt transmission unit, ensuring that the welding assembly has a sufficient moving distance in the vertical direction, and cooperating with the use of the ground rail, the mobile gantry and the translation mechanism, the welding area that can be welded by the shrimp pipe bending welding robot is greatly increased.

[0046] The present invention sets the shrimp bend pipe to be welded between a fixed lifting device and a mobile lifting device, and uses the X-axis sliding assembly in the mobile lifting device to adjust the distance between the mobile lifting device and the fixed lifting device, so that the present invention can be applicable to the welding of shrimp bend pipes of different lengths. At the same time, the displacement device of the present invention adopts an adjusting electric push rod to drive two adjusting sliders to move in the adjusting cavity, and drives the turntable to rotate through a transmission connecting rod to achieve the simultaneous movement of the two adjusting sliders towards or away from each other, and uses the supporting columns on the adjusting sliders to support the inner wall of the shrimp bend pipe, thereby achieving support and displacement of shrimp bend pipes of different diameters, thereby solving the problem that the size of the shrimp bend pipe applicable in the prior art is restricted by the welding part, so that the scope of application has certain limitations, and the welding area depends on the structure of the welding part and cannot meet more welding requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0048] Figure 1 It is a stereoscopic diagram of a large-diameter shrimp-bend pipe welding robot according to an embodiment of the present invention.

[0049] Figure 2 Schematic diagram of the structure of the telescopic welding device in the embodiment of the present invention.

[0050] Figure 3 yes Figure 2 Top view of the .

[0051] Figure 4 Schematic diagram of the structure of the welding assembly in the embodiment of the present invention.

[0052] Figure 5 Schematic diagram of the structure of the translation mechanism in the embodiment of the present invention.

[0053] Figure 6 It is a partial exploded view of the translation mechanism in the embodiment of the present invention.

[0054] Figure 7 It is a diagram of the coordinated installation of the mobile gantry and the ground rail in an embodiment of the present invention.

[0055] Figure 8 It is a structural schematic diagram of a mobile lifting device in an embodiment of the present invention.

[0056] Fig. 9 It is a partial structural schematic diagram of the mobile lifting device in an embodiment of the present invention.

[0057] Fig.10 It is a first perspective stereoscopic diagram of the displacement device in an embodiment of the present invention.

[0058] Fig.11 It is a stereoscopic diagram from a second viewing angle of the displacement device in the embodiment of the present invention.

[0059] Fig.12 It is a flow chart of the control method of the large-diameter shrimp elbow welding robot according to an embodiment of the present invention.

[0060] In the figure: 1, ground rail, 2, mobile gantry, 21, gantry mounting plate, 22, gantry column, 23, crossbeam, 24, walking device, 3, translation mechanism, 31, translation frame, 32, translation reduction motor, 33, translation gear, 34, translation rack, 35, guide assembly, 351, upper guide wheel, 352, lower guide wheel, 353, side guide frame, 354, side guide wheel, 4, telescopic welding device, 41, welding Frame, 42, first-level bending frame, 43, second-level bending frame, 44, third-level bending frame, 45, telescopic reduction motor, 46, telescopic transmission gear, 47, telescopic transmission rack, 48, welding assembly, 481, welding support plate, 482, welding rotating motor, 483, rotating flange, 484, welding gun, 49, belt drive unit, 491, first fixed shaft, 493, first pulley, 495, synchronous belt, 496, pressure plate clamp, 410, sliding module, 5, fixed lifting device, 6, mobile lifting device, 61, mobile base frame, 62, X-axis sliding assembly, 621, X-axis slide rail, 622, X-axis rack, 623, X-axis limit block, 624, X-axis mobile motor, 63, sliding mounting plate, 64, lifting base arm, 65, lifting guide arm, 66, lifting electric cylinder, 67, lifting frame, 68, lifting guide groove, 69, lifting guide wheel, 7. Positioning device, 71. Rotation assembly, 72. Pitch mechanism, 721. Rotation base plate, 722. Pitch side plate, 723. Transmission gear set, 724. Pitch reduction motor, 725. Pitch frame, 73. Adjustable clamp, 731. Adjustment disc, 733. Adjustment cavity, 734. Adjustment slider, 735. Support column, 736. Turntable, 737. Transmission connecting rod, 738. Adjustment electric push rod, 8. Shrimp bend pipe. DETAILED DESCRIPTION

[0061] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0062] In this embodiment, the X-axis, Y-axis, and Z-axis directions are all in the direction of Figure 1 As a reference benchmark, Figure 1-Figure 11The specific embodiment of a large-diameter shrimp elbow welding robot of the present invention shown in the figure comprises a ground rail 1 arranged parallel to the X-axis direction, a mobile gantry 2 moving in coordination with the ground rail 1, a telescopic welding device 4 installed on the mobile gantry 2 via a Y-axis translation mechanism 3, and a fixed lifting device 5 and a mobile lifting device 6 installed in the moving space of the mobile gantry 2 and arranged parallel to the ground rail 1; a displacement device 7 is installed at the output ends of the fixed lifting device 5 and the mobile lifting device 6; and the shrimp waist tube to be welded is arranged between the two displacement devices 7. The telescopic welding device 4 includes a welding frame 41 fixedly installed at the output end of the Y-axis translation mechanism 3, a primary bending frame 42 fixedly installed with the welding frame 41, a secondary bending frame 43 and a tertiary bending frame 44 sequentially sleeved in the primary bending frame 42 along the Z-axis direction, a telescopic reduction motor 45 installed on the primary bending frame 42, a telescopic transmission gear 46 coaxially arranged with the output shaft of the telescopic reduction motor 45, a telescopic transmission rack 47 fixedly arranged on the secondary bending frame 43 and cooperating with the telescopic transmission gear 46, and a welding assembly 48 installed on the lower end surface of the tertiary bending frame 44; the primary bending frame 42 and the secondary bending frame 43, and the secondary bending frame 43 and the tertiary bending frame 44 are all slidably connected through a sliding module 410; the primary bending frame 42, the secondary bending frame 43 and the tertiary bending frame 44 are transmitted by a belt transmission unit 49.

[0063] The telescopic welding device 4 designed by the present invention only has the telescopic freedom along the Z-axis direction and the rotational freedom of the welding head itself. A relatively independent ground rail 1 and a translation device are set, and the telescopic welding device 4 is moved in the X-axis direction and the Y-axis direction in cooperation with the mobile gantry 2. The traditional idea that the more degrees of freedom the welding part has, the better is abandoned. The degrees of freedom in the X-axis and Y-axis directions are separated from the welding part, which can not only solve the problem of manual participation, but also solve the problems of poor stability, high control programming difficulty, and large cumulative welding errors caused by the setting of multiple degrees of freedom in the welding part in the prior art. At the same time, by using the setting of the first-level bending frame 42, the second-level bending frame 43 and the third-level bending frame 44, the three-level telescopic of the welding assembly 48 in the Z-axis direction is realized through the sliding module 410 and the belt transmission unit 49, ensuring that the welding assembly 48 has a sufficient moving distance in the vertical direction. In conjunction with the use of the ground rail 1, the mobile gantry 2, and the translation mechanism 3, the welding area that can be welded by the shrimp bending pipe 8 welding robot is greatly increased.

[0064] like Figure 2 and Figure 3As shown, the belt transmission unit 49 in this embodiment includes a first fixed shaft 491 and a second fixed shaft, a first pulley 493, a second pulley, and a synchronous belt 495 symmetrically arranged at the upper and lower ends of the secondary bending frame 43, wherein the first pulley 493 is installed on the first fixed shaft 491, the second pulley is installed on the second fixed shaft, the synchronous belt 495 is wound between the first pulley 493 and the second pulley, and the synchronous belt 495 is fixedly connected to the primary bending frame 42 and the tertiary bending frame 44 through a pressure plate clamp 496. The sliding module 410 in this embodiment includes a first sliding module 410 arranged between the primary bending frame 42 and the secondary bending frame 43, and a second sliding module 410 arranged between the secondary bending frame 43 and the tertiary bending frame 44, wherein the first sliding module 410 includes two first Z-axis slide rails arranged on the secondary bending frame 43 in parallel along the Z axis and a first Z-axis slider fixedly installed on the primary bending frame 42, and the first Z-axis slider is slidably matched with the first Z-axis slide rail. The second sliding module 410 includes two second Z-axis slide rails arranged parallel to the Z-axis on the third-level bending frame 44 and a second Z-axis slider fixedly installed on the second-level bending frame 43, and the second Z-axis slider is slidably matched with the second Z-axis slide rails.

[0065] When in use, the telescopic reduction motor 45 is started to drive the telescopic transmission gear 46 to rotate, thereby driving the secondary bending frame fixedly installed with the telescopic transmission rack 47 to move along the Z axis. With the cooperation of the belt transmission unit 49, the welding assembly 48 is driven to move up and down through the first sliding module 410 and the second sliding module 410.

[0066] As a preferred embodiment, see Figure 4 The welding assembly 48 in this embodiment includes a welding support plate 481 mounted on the lower end surface of the three-stage bending frame 44, a welding rotary motor 482 mounted on the welding support plate 481, a rotary flange 483 coaxially arranged with the output shaft of the welding rotary motor 482, and a welding gun 484 mounted on the rotary flange 483. When in use, the welding rotary motor 482 can be started to adjust the welding angle of the welding gun 484 according to specific use requirements.

[0067] like Figure 5 and Figure 6As shown, the Y-axis translation mechanism 3 in this embodiment includes a translation frame 31, a translation reduction motor 32 installed on the translation frame 31, a translation gear 33 coaxially arranged with the output shaft of the translation reduction motor 32, a translation rack 34 fixedly installed on the crossbeam 23 of the mobile gantry 2 along the Y-axis direction, and a guide assembly 35 installed on the translation frame 31. The translation rack 34 is in transmission cooperation with the translation gear 33, and the welding frame 41 is fixedly connected to the translation frame 31 through a connecting plate. Among them, the guide assembly 35 includes: a plurality of upper guide wheels 351, a plurality of lower guide wheels 352, at least one side guide frame 353 installed on the translation frame 31, and a side guide wheel 354 installed on the side guide frame 353. Specifically, a plurality of upper guide wheels 351 are installed on the translation frame 31, and cooperate with the upper end surface guide of the beam 23 of the mobile gantry 2; a plurality of lower guide wheels 352 are installed on the translation frame 31, and cooperate with the lower end surface guide of the beam 23 of the mobile gantry 2; at least one side guide frame 353 is installed on the translation frame 31, and a side guide wheel 354 is installed on the side guide frame 353; the side guide wheel 354 cooperates with the side guide of the beam 23 of the mobile gantry 2.

[0068] As an implementation method, Figure 7 As shown, the mobile gantry 2 in this embodiment includes two symmetrically arranged gantry mounting plates 21, two gantry columns 22 installed on the two gantry mounting plates 21, a crossbeam 23 installed between the two gantry columns 22, and a walking device 24 installed on the gantry mounting plates and the ground rail, wherein the walking device 24 includes a plurality of moving wheels that cooperate with the ground rail 1 are installed on the lower end surfaces of the two gantry mounting plates 21, a gantry moving motor is installed on the gantry mounting plates 21, a gantry moving gear is installed on the output shaft of the gantry moving motor, and a gantry moving rack that cooperates with the gantry moving gear is installed along the extension direction of the ground rail 1. When the mobile gantry 2 needs to be moved, the gantry moving motor is started, and the gantry moving gear and the gantry moving rack are cooperated to drive the gantry mounting plate 21 to move linearly relative to the ground rail 1 through the moving wheel, that is, the position of the welding assembly 48 in the X-axis direction of the shrimp bend pipe 8 to be welded is changed.

[0069] See also Figure 8As shown, the mobile lifting device 6 in this embodiment includes a mobile base frame 61 fixedly mounted on the ground, a sliding mounting plate 63 slidably connected to the base frame through an X-axis sliding assembly 62, a lifting base arm 64 vertically mounted on the sliding mounting plate 63, a lifting guide arm 65 mounted on the sliding mounting plate 63 side by side with the lifting base arm 64, a lifting electric cylinder 66 vertically mounted on the sliding mounting plate 63, and a lifting frame 67 mounted on the telescopic end of the lifting electric cylinder 66. A lifting guide groove 68 is provided on the inner side of the lifting guide arm 65, and at least one lifting guide wheel 69 is installed on both sides of the lifting frame 67; the lifting guide wheel 69 rolls and guides in the lifting guide groove 68. It should be further explained that, except for not including the moving part, the structure of the lifting part of the fixed lifting device 5 in this embodiment is exactly the same as the lifting structure of the mobile lifting device 6, and the specific structure of the fixed lifting device 5 will not be elaborated in detail here.

[0070] like Fig. 9 As shown, in this embodiment, the X-axis sliding assembly 62 includes two X-axis slide rails 621 symmetrically arranged on the mobile chassis 61 along the X-axis direction, an X-axis slider matched with the X-axis slide rails 621 and fixedly installed on the lower end surface of the sliding mounting plate 63, an X-axis rack 622 fixedly installed on the corresponding mobile chassis 61 between the two X-axis slide rails 621, an X-axis stopper 632 fixedly installed on the mobile chassis 61 corresponding to the end of the X-axis rack 622, an X-axis moving motor 624 installed on the sliding mounting plate 63, and an X-axis gear coaxially arranged with the output shaft of the X-axis moving motor 624. The X-axis rack 622 is arranged parallel to the X-axis slide rail 621, and the X-axis gear is meshed with the X-axis rack 622 for transmission. In specific use, the two X-axis slide rails 621 and the X-axis rack 622 are fixed to the mobile base frame 61 by bolts, and the X-axis slider is fixedly mounted on the lower end surface of the sliding mounting plate 63. The cooperation between the X-axis slide rail 621 and the X-axis slider guides the linear motion of the X-axis rack 622 and the X-axis gear. The rotation of the X-axis moving motor 624 drives the X-axis gear to move linearly along the X-axis rack 622, thereby driving the entire lifting mechanism to move linearly. The lifting base arm 64 is fixed to the sliding mounting plate 63 by bolts, and the lifting guide arm 65 is installed side by side with the lifting base arm 64. The extension and retraction of the lifting electric cylinder 66 drives the lifting frame 67 to make linear motion in the vertical direction, and lifting guide wheels 69 are installed on both sides of the lifting frame 67. A vertical lifting guide groove 68 is opened on the inner side of the lifting guide arm 65. During the lifting process of the lifting frame 67, the lifting guide wheel 69 rolls in the lifting guide groove 68 to ensure that the lifting direction of the lifting frame 67 is always in a vertical state, which plays a guiding and limiting role in the lifting direction of the lifting frame 67, thereby ensuring the installation stability of the shrimp bend pipe 8 to be welded.

[0071] It should be further explained that at least one supporting leg is provided on the side of the lifting base arm 64 in this embodiment, and a plurality of reinforcing supports are provided on the side of the connecting plate for connecting the pitch frame 725 and the adjusting disc 731, which effectively improves the stability of the shrimp bend pipe to be welded under high load.

[0072] In order to avoid excessive movement of each linear motion, a limit block is provided at the installation position corresponding to each rack to limit the relative movement of the gears. The position of the limit block can be adaptively set according to the specific rack position and rack length, and the position of the limit block is no longer limited one by one here.

[0073] In a specific embodiment, a mobile lifting device 6 is arranged at one end of the shrimp bend pipe 8 to be welded, and a fixed lifting device 5 is arranged at the other end of the shrimp bend pipe 8 to be welded, and both ends are fixed by a displacement device 7. During the welding process, the mobile lifting device 6 and the fixed lifting device 5 work together to provide lifting for the shrimp bend pipe 8, and can be moved in the X-axis direction through a first sliding component. The mobile gantry 2 is arranged on the ground rail 1 to realize the position change of the welding component 48 in the X-axis direction. The Y-axis translation mechanism 3 is installed on the crossbeam 23 of the mobile gantry 2 to realize the translation of the welding component 48 in the Y-axis direction. The multi-stage bending frame, telescopic transmission gear 46, telescopic transmission rack 47, sliding module 410 and belt drive unit 49 are arranged to realize the telescopic movement of the welding component 48 in the Z-axis direction, so that the welding component 48 can weld large-diameter shrimp bend pipes 8 of different sizes.

[0074] The displacement device 7 in this embodiment includes a rotary assembly 71 connected to the mobile lifting device 6 and / or the fixed lifting device 5 for driving the shrimp bend pipe 8 to be welded to rotate, a pitch mechanism 72 installed at the output end of the rotary assembly 71 for driving the shrimp bend pipe 8 to be welded to pitch and adjust, and an adjustable clamp 73 installed at the output end of the pitch mechanism 72. The shrimp bend pipe 8 to be welded is sleeved on the outside of the adjustable clamp 73, and the adjustable clamp 73 is supported against the inner wall of the shrimp bend pipe 8 to be welded, see Fig.10 .

[0075] like Fig.11 As shown, the pitch mechanism 72 in this embodiment includes a rotating base plate 721 installed at the output end of the rotating assembly 71, pitch side plates 722 symmetrically fixedly installed on both sides of the rotating base plate 721, a pitch frame 725 rotatably installed between the two pitch side plates 722, a transmission gear set 723 symmetrically installed on both sides of the pitch frame 725, and a pitch reduction motor 724 installed on one of the pitch side plates 722. The output shaft of the pitch reduction motor 724 cooperates with a transmission gear set to drive the pitch frame 725 to pitch along the Y-axis.

[0076] The adjustable clamp 73 includes: an adjusting disc 731, an adjusting cavity 733, two adjusting sliders 734, a rotating disk 736 and an adjusting electric push rod 738, wherein the adjusting disc 731 is fixedly mounted on the pitch frame 725 through a connecting plate; the adjusting cavity 733 is formed by an opening provided in the middle of the adjusting disc 731 and surrounded by the mounting surface of the pitch frame 725; two adjusting sliders 734 are slidably mounted in the adjusting cavity 733; both adjusting sliders 734 are provided with supporting columns 735 extending from the adjusting disc 731; the rotating disk 736 is rotatably mounted on the pitch frame 725, and both adjusting sliders 734 are transmission-connected to the rotating disk 736 through a transmission connecting rod 737; the fixed end and the telescopic end of the adjusting electric push rod 738 are respectively fixedly mounted on the two adjusting sliders 734; the connection between the two transmission connecting rods 737 and the corresponding adjusting sliders 734 is in a diagonal relationship.

[0077] In this embodiment, the shrimp bend pipe 8 to be welded is arranged between the fixed lifting device 5 and the mobile lifting device 6, and the X-axis sliding assembly 62 in the mobile lifting device 6 is used to adjust the distance between the shrimp bend pipe 8 and the fixed lifting device 5, so that the present invention can be applicable to the welding of shrimp bend pipes 8 of different lengths. At the same time, the displacement device 7 of the present invention adopts an adjusting electric push rod 738 to drive the two adjusting sliders 734 to move in the adjusting cavity 733, and drives the turntable 736 to rotate through the transmission connecting rod 737, so as to realize the simultaneous movement of the two adjusting sliders 734 towards or away from each other, and utilizes the supporting column 735 on the adjusting slider 734 to support the inner wall of the shrimp bend pipe 8, so as to realize the support and displacement of shrimp bend pipes 8 of different diameters, so as to solve the problem that the size of the shrimp bend pipe 8 applicable in the prior art is restricted by the welding part, so that the scope of application has certain limitations, and the welding area depends on the structure of the welding part and cannot meet more welding requirements.

[0078] Based on the control method of the large diameter shrimp bending welding robot, Fig.10 As shown, the following steps are included:

[0079] Step 1: Install one end of the shrimp bend pipe 8 to be welded on the displacement device 7 on one side, and control the adjustable clamp 73 to adapt to the diameter of the shrimp bend pipe 8 to be welded to support one end of the shrimp bend pipe 8 to be welded;

[0080] Step 2: spot-weld and pre-fix the multiple shrimp sections of the shrimp elbow pipe 8 to be welded, so as to form a weld ring between two adjacent shrimp sections;

[0081] Step 3: Control the mobile lifting device 6 to adapt the spacing between the fixed lifting device 5 and the mobile lifting device 6 to the length of the shrimp elbow 8 to be welded, and fix the other end of the shrimp elbow 8 to be welded to the displacement device 7 on the other side;

[0082] Step 4: Control the pitching freedom of the mobile lifting device 6, the fixed lifting device 5 and the two displacement devices 7 so that the plane where the corresponding weld ring of the shrimp elbow pipe 8 to be welded is located is parallel to the vertical plane;

[0083] Step 5: according to the position of the weld ring to be welded, start the mobile gantry 2 to move the telescopic welding device 4 to the set position in the X-axis direction, and control the Y-axis translation mechanism 3 to adjust the position of the telescopic welding device 4 on the Y-axis;

[0084] Step 6: Control the telescopic reduction motor 45 to rotate, drive the welding assembly 48 to move downward until it is connected to the position corresponding to the weld ring to be welded, and synchronously start the two displacement devices 7 and the welding assembly 48 to drive the shrimp elbow 8 to be welded to rotate and weld until the welding of a weld ring to be welded is completed;

[0085] Step 7: Repeat steps 5 to 6 to complete the welding of the remaining weld rings in sequence;

[0086] Step 8: Start the resetting process to reset the large-diameter shrimp bend pipe welding robot and disassemble the shrimp bend pipe 8 that has been welded.

[0087] The control principle of the present invention is as follows: assuming that the shrimp bend pipe 8 to be welded is composed of seven sections, which are the first shrimp section, the second shrimp section, the third shrimp section, the fourth shrimp section, and the seventh shrimp section in sequence along the positive direction of X. Before performing the welding operation, multiple shrimp sections are pre-fixed by spot welding, and a weld ring to be welded is formed between two adjacent shrimp sections. The spacing between the fixed lifting device 5 and the mobile lifting device 6 is adjusted to adapt to the length of the shrimp bend pipe 8 to be welded. One end of the shrimp bend pipe 8 to be welded is installed on the displacement device 7 on one side, and the adjustable clamp 73 is controlled to adapt to the diameter of the shrimp bend pipe 8 to be welded to support one end of the shrimp bend pipe 8 to be welded. The other end of the shrimp bend pipe 8 to be welded is fixedly installed with the displacement device 7 on the other side, that is, the other end of the shrimp bend pipe 8 to be welded is supported by the corresponding adjustable clamp 73.

[0088] First, by controlling the pitching freedom of the mobile lifting device 6, the fixed lifting device 5 and the two displacement devices 7, the plane where the corresponding weld ring to be welded of the shrimp bend pipe 8 to be welded is located is parallel to the vertical plane. According to the position of the weld ring to be welded, the mobile gantry 2 is started to move the telescopic welding device 4 to the set position in the X-axis direction, the Y-axis translation mechanism 3 is controlled to adjust the position of the telescopic welding device 4 on the Y-axis, the telescopic reduction motor 45 is controlled to rotate, and the welding assembly 48 is driven to move downward until it is docked with the corresponding position of the weld ring to be welded, and the two displacement devices 7 and the welding assembly 48 are started synchronously to drive the shrimp bend pipe 8 to be welded to rotate and weld at the same time , until the welding of a weld ring to be welded is completed, and then steps five and six are repeated to weld the remaining weld rings to be welded. This control method does not require complex control of the welding assembly 48, and only needs to adjust the plane where the weld ring to be welded is located to be parallel to the vertical plane. The control is simple. During the welding process, the welding assembly 48 does not need to move or align. During welding, only the two displacement devices 7 are controlled to drive the weld ring to be welded to rotate and change the welding position in real time. Compared with the control method in the prior art, the present invention greatly improves the welding speed and reduces the problem of poor welding effect caused by the flow of welding liquid during long-term welding. At the same time, the adjacent weld rings to be welded are welded in sequence, reducing cumbersome reciprocating motion and further reducing the welding time.

[0089] The control method of the present invention welds the weld ring to be welded parallel to the vertical surface, ensuring that any section of the weld is always vertically downward during welding, and the welding assembly 48 does not need to move during the entire welding process of a weld ring to be welded, thereby avoiding movement errors and greatly improving welding accuracy.

[0090] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A large diameter shrimp elbow welding robot, characterized in that: It comprises a ground rail (1) arranged parallel to the X-axis direction, a mobile gantry (2) moving in coordination with the ground rail (1), a telescopic welding device (4) installed on the mobile gantry (2) via a Y-axis translation mechanism (3), and a fixed lifting device (5) and a mobile lifting device (6) installed in the moving space of the mobile gantry (2) and arranged parallel to the ground rail (1); the output ends of the fixed lifting device (5) and the mobile lifting device (6) are both installed with a displacement device (7); the shrimp waist tube to be welded is arranged between the two displacement devices (7); The telescopic welding device (4) comprises a welding frame (41) fixedly mounted on the output end of the Y-axis translation mechanism (3), a primary bending frame (42) fixedly mounted on the welding frame (41), a secondary bending frame (43) and a tertiary bending frame (44) sequentially sleeved inside the primary bending frame (42) along the Z-axis direction, a telescopic reduction motor (45) mounted on the primary bending frame (42), a telescopic transmission gear (46) coaxially arranged with the output shaft of the telescopic reduction motor (45), and a secondary bending frame (43) and a tertiary bending frame (44) fixedly mounted on the secondary bending frame (42). A telescopic transmission rack (47) on the first-stage bending frame (43) and cooperating with the telescopic transmission gear (46) and a welding assembly (48) installed on the lower end surface of the third-stage bending frame (44); the first-stage bending frame (42) and the second-stage bending frame (43), and the second-stage bending frame (43) and the third-stage bending frame (44) are all slidably connected via a sliding module (410); the first-stage bending frame (42), the second-stage bending frame (43) and the third-stage bending frame (44) are driven by a belt drive unit (49).

2. A large diameter shrimp elbow welding robot according to claim 1, characterized in that: The belt transmission unit (49) comprises: A first fixed shaft (491) and a second fixed shaft symmetrically arranged at the upper and lower ends of the secondary bending frame (43); A first pulley (493) mounted on the first fixed shaft (491); a second pulley mounted on the second fixed shaft; A synchronous belt (495), wound between the first pulley (493) and the second pulley; The synchronous belt (495) is fixedly connected to the primary bending frame (42) and the tertiary bending frame (44) via a pressure plate clamp (496).

3. A large diameter shrimp elbow welding robot according to claim 1, characterized in that: The mobile lifting device (6) comprises a mobile base frame (61) fixedly mounted on the ground, a sliding mounting plate (63) slidably connected to the base frame via an X-axis sliding assembly (62), a lifting base arm (64) vertically mounted on the sliding mounting plate (63), a lifting guide arm (65) mounted on the sliding mounting plate (63) in parallel with the lifting base arm (64), a lifting electric cylinder (66) vertically mounted on the sliding mounting plate (63), and a lifting frame (67) mounted on the telescopic end of the lifting electric cylinder (66); A lifting guide groove (68) is provided inside the lifting guide arm (65), and at least one lifting guide wheel (69) is installed on both sides of the lifting frame (67); the lifting guide wheel (69) rolls and guides in the lifting guide groove (68).

4. A large diameter shrimp elbow welding robot according to claim 3, characterized in that: The X-axis sliding assembly (62) comprises two X-axis slide rails (621) symmetrically arranged on the moving base frame (61) along the X-axis direction, an X-axis slider matched with the X-axis slide rails (621) and fixedly mounted on the lower end surface of the sliding mounting plate (63), an X-axis rack (622) fixedly mounted on the moving base frame (61) corresponding to the two X-axis slide rails (621), an X-axis limit block (632) fixedly mounted on the moving base frame (61) corresponding to the end of the X-axis rack (622), an X-axis moving motor (624) mounted on the sliding mounting plate (63), and an X-axis gear coaxially arranged with the output shaft of the X-axis moving motor (624); The X-axis rack (622) is arranged in parallel with the X-axis slide rail (621), and the X-axis gear is meshed with the X-axis rack (622) for transmission.

5. The large diameter shrimp elbow welding robot according to claim 1, characterized in that: The Y-axis translation mechanism (3) comprises a translation frame (31), a translation reduction motor (32) mounted on the translation frame (31), a translation gear (33) coaxially arranged with the output shaft of the translation reduction motor (32), a translation rack (34) fixedly mounted on the crossbeam (23) of the mobile gantry (2) along the Y-axis direction, and a guide assembly (35) mounted on the translation frame (31); The translation rack (34) is in transmission cooperation with the translation gear (33), and the welding frame (41) is fixedly connected with the translation frame (31) via a connecting plate.

6. A large diameter shrimp elbow welding robot according to claim 5, characterized in that: The guide assembly (35) comprises: A plurality of upper guide wheels (351) are mounted on the translation frame (31) and cooperate with the upper end surface of the crossbeam (23) of the mobile gantry (2) for guiding; A plurality of lower guide wheels (352) are mounted on the translation frame (31) and cooperate with the lower end surface of the crossbeam (23) of the mobile gantry (2) for guiding; At least one side guide frame (353) is installed on the translation frame (31) and a side guide wheel (354) is installed on the side guide frame (353); the side guide wheel (354) cooperates with the side guide of the crossbeam (23) of the mobile gantry (2).

7. The large diameter shrimp elbow welding robot according to claim 1, characterized in that: The displacement device (7) comprises a rotary assembly (71) connected to the mobile lifting device (6) and / or the fixed lifting device (5) for driving the shrimp bend pipe (8) to be welded to rotate, a pitch mechanism (72) installed at the output end of the rotary assembly (71) for driving the shrimp bend pipe (8) to be welded to adjust the pitch, and an adjustable clamp (73) installed at the output end of the pitch mechanism (72); The shrimp bend pipe (8) to be welded is sleeved on the outer side of the adjustable clamp (73), and the adjustable clamp (73) is supported against the inner wall of the shrimp bend pipe (8) to be welded.

8. A large diameter shrimp elbow welding robot according to claim 7, characterized in that: The pitch mechanism (72) comprises a slewing base plate (721) mounted at the output end of the slewing assembly (71), pitch side plates (722) symmetrically fixedly mounted on both sides of the slewing base plate (721), a pitch frame (725) rotatably mounted between the two pitch side plates (722), a transmission gear set (723) symmetrically mounted on both sides of the pitch frame (725), and a pitch reduction motor (724) mounted on one of the pitch side plates (722); The output shaft of the pitch reduction motor (724) is in transmission cooperation with one of the transmission gear sets to drive the pitch frame (725) to pitch along the Y axis.

9. A large diameter shrimp elbow welding robot according to claim 8, characterized in that: The adjustable clamp (73) comprises: An adjusting disc (731) is fixedly mounted on the pitch frame (725) via a connecting plate; An adjustment cavity (733) is formed by an opening provided in the middle of the adjustment disc (731) and surrounded by a mounting surface of the pitch frame (725); Two adjusting sliders (734) are slidably mounted in the adjusting cavity (733); both adjusting sliders (734) are provided with supporting columns (735) extending from the adjusting disc (731); A turntable (736) is rotatably mounted on the pitch frame (725), and the two adjusting sliders (734) are both connected to the turntable (736) by transmission connecting rods (737); An adjusting electric push rod (738), wherein the fixed end and the telescopic end of the adjusting electric push rod (738) are respectively fixedly mounted on the two adjusting sliders (734); The connection points between the two transmission connecting rods (737) and the corresponding adjusting sliders (734) are in a diagonal relationship.

10. The control method of a large diameter shrimp elbow welding robot according to any one of claims 7 to 9, characterized in that: The following steps are involved: Step 1: Install one end of the shrimp bend pipe (8) to be welded on the displacement device (7) on one side, and control the adjustable clamp (73) to adapt to the diameter of the shrimp bend pipe (8) to be welded to support one end of the shrimp bend pipe (8) to be welded; Step 2: spot-weld a plurality of shrimp sections of the shrimp bend pipe (8) to be welded to pre-fix them, so that a weld ring to be welded is formed between two adjacent shrimp sections; Step 3: Control the mobile lifting device (6) to adapt the distance between the fixed lifting device (5) and the mobile lifting device (6) to the length of the shrimp bend pipe (8) to be welded, and fix the other end of the shrimp bend pipe (8) to be welded to the displacement device (7) on the other side; Step 4: Control the pitching freedom of the mobile lifting device (6), the fixed lifting device (5) and the two displacement devices (7) so that the plane where the corresponding weld ring of the shrimp elbow pipe (8) to be welded is located is parallel to the vertical plane; Step 5: according to the position of the weld ring to be welded, the mobile gantry (2) is started to move the telescopic welding device (4) to a set position in the X-axis direction, and the Y-axis translation mechanism (3) is controlled to adjust the position of the telescopic welding device (4) on the Y-axis; Step 6: Control the telescopic reduction motor (45) to rotate, drive the welding assembly (48) to move downward until it is docked with the corresponding position of the weld ring to be welded, and synchronously start the two displacement devices (7) and the welding assembly (48), drive the shrimp elbow (8) to be welded to rotate and weld at the same time, until the welding of a weld ring to be welded is completed; Step 7: Repeat steps 5 to 6 to complete the welding of the remaining weld rings in sequence; Step 8: Start the resetting process to reset the large-diameter shrimp bend pipe welding robot and disassemble the shrimp bend pipe (8) that has been welded.

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