An integrated device for multi-angle cutting and welding of pipes used in water conservancy projects

Abstract

The present invention discloses a multi-angle cutting and welding integrated device for pipelines in water conservancy projects, which relates to the technical field of pipeline processing and includes a machine body; a clamping mechanism, which is arranged in the middle of the top of the machine body and is used for clamping pipelines. The present invention is realized through the cooperation of the first robotic arm, the clamping mechanism, the cutting mechanism and the first splicing mechanism, automatically cutting the pipeline into a first pipe section with a saddle opening and a second pipe section with a splicing groove. Secondly, under the cooperation of the first splicing mechanism and the second splicing mechanism, automatic alignment and splicing of the saddle opening and the splicing groove are realized, and preliminary welding is completed. Then, under the action of the second robotic arm and the welding mechanism, full welding of the saddle opening and the splicing groove is realized, completing the automatic production of equal-diameter three-way pipes, without the need for staff to operate, saving labor costs, improving the production efficiency of equal-diameter three-way pipes, and meeting the needs of staff.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline processing, and specifically relates to a multi-angle cutting and welding integrated device for pipelines in water conservancy projects. Background Technique

[0002] Welding, also known as fusion welding, is a manufacturing process and technology for joining metals or other thermoplastic materials such as plastics by means of heating, high temperature or high pressure. There are many energy sources for modern welding, including gas flames, electric arcs, lasers, electron beams, friction, and ultrasonic waves, etc.

[0003] In water conservancy projects, equal-diameter tees are often required. When producing equal-diameter tees, two pipe segments with the same pipe diameter need to be welded together. In traditional technology, workers need to manually operate. First, mark the saddle-shaped opening on the outer end of one pipe segment, then cut it. After that, mark the middle of the other pipe segment and cut it to form a splicing groove corresponding to the saddle-shaped opening. Finally, connect the saddle-shaped opening and the splicing groove together and weld them. This method is rather troublesome and has low production efficiency, making it difficult to meet the needs of workers. Summary of the Invention

[0004] To solve the above technical problems, a multi-angle cutting and welding integrated device for pipelines in water conservancy projects is provided. This technical solution solves the problem in the above background technique that in traditional technology, workers need to manually operate. First, mark the saddle-shaped opening on the outer end of one pipe segment, then cut it. After that, mark the middle of the other pipe segment and cut it to form a splicing groove corresponding to the saddle-shaped opening. Finally, connect the saddle-shaped opening and the splicing groove together and weld them. This method is rather troublesome and has low production efficiency.

[0005] To achieve the above purposes, the technical solution adopted by the present invention is as follows:

[0006] A multi-angle cutting and welding integrated device for pipelines in water conservancy projects, comprising:

[0007] A machine body;

[0008] A clamping mechanism, which is arranged in the middle of the top of the machine body and is used for clamping the pipeline;

[0009] A first robotic arm, which is installed at the left corner edge of the top of the machine body and is used for transferring an external pipeline into the clamping mechanism and pushing the pipeline in the clamping mechanism;

[0010] A cutting mechanism, which is installed on the right side of the clamping mechanism and is used for cutting the pipeline into a first pipe segment and a second pipe segment. A saddle-shaped opening is provided at the outer end of the first pipe segment, and a splicing groove corresponding to the saddle-shaped opening is provided in the middle of the second pipe segment;

[0011] The first splicing mechanism is arranged on the front side of the clamping mechanism and is used for transferring the first pipe section and clamping the second pipe section.

[0012] The second splicing mechanism is installed on the right side of the first splicing mechanism and is used for clamping the first pipe section and preliminarily welding the first pipe section and the second pipe section.

[0013] The second robotic arm is arranged on the rear side of the second splicing mechanism and is used for transferring the first pipe section and the second pipe section after preliminary welding.

[0014] The welding mechanism is connected to the right corner edge of the top of the machine body and is used for fully welding the first pipe section and the second pipe section.

[0015] Preferably, the clamping mechanism includes a fixed seat, the fixed seat is welded to the top of the machine body, a turntable is rotatably connected inside the fixed seat, a fixed gear is fixedly installed on the outer side of the turntable, a first driving motor is also connected to the fixed seat, and the output end of the first driving motor is fixedly connected to a transmission gear that meshes with the fixed gear.

[0016] Preferably, a rotating ring is rotatably connected inside the turntable, internal teeth and external teeth are respectively fixedly installed on the inner and outer circumferential surfaces of the rotating ring, a group of second gears and several groups of first gears are also rotatably connected inside the turntable, the second gears mesh with the external teeth, several groups of first gears all mesh with the internal teeth, and several groups of first clamping members are slidably connected inside the turntable. The bottoms of several groups of first clamping members are all fixedly installed with racks, several groups of racks respectively mesh with several groups of first gears, and the inner wall of the turntable is fixedly connected with a second driving motor, and the output end of the second driving motor is fixedly connected to the second gear.

[0017] Preferably, the cutting mechanism includes two first fixing blocks, both of which are welded to the top of the machine body. A first lead screw is rotatably connected between the two first fixing blocks. A first movable plate is threadedly connected to the first lead screw. The first movable plate is L-shaped. An upper first electric push rod is installed on the horizontal plate of the first movable plate. The output end of the first electric push rod is fixedly connected to a laser cutting head. A first guide rod is also welded between the two first fixing blocks. The vertical plate of the first movable plate is slidably connected to the first guide rod. A first stepping motor is arranged outside one of the first fixing blocks, and the outer end of the first lead screw is fixedly installed at the output end of the first stepping motor.

[0018] Preferably, the first splicing mechanism includes a second fixing block, a second lead screw, a second guide rod and a second movable plate. There are two groups of second fixing blocks, both of which are welded to the top of the machine body. The second lead screw is rotatably connected between the two groups of second fixing blocks. The second guide rod is fixedly connected between the two groups of second fixing blocks. The second movable plate is slidably connected to the second guide rod and is threadedly connected to the second lead screw. The outer end of the second lead screw is fixedly installed at the output end of the second stepping motor, and the second stepping motor is connected to the outside of one of the second fixing blocks.

[0019] Preferably, a third driving motor is fixedly installed on the top of the second movable plate. The output end of the third driving motor is connected to a connecting frame. A rotating plate is rotatably connected inside the connecting frame. A fourth driving motor for driving the rotating plate to rotate is arranged outside the connecting frame. A fifth driving motor is arranged outside the rotating plate. The output end of the fifth driving motor penetrates the outer wall of the rotating plate and is welded to a fixing frame. A first screw rod is rotatably connected inside the fixing frame. The thread directions of the two ends of the first screw rod are opposite. A first fixing rod is also connected inside the fixing frame. Two groups of second clamping members are slidably connected to the first fixing rod. The two groups of second clamping members are respectively threadedly connected to the two ends of the outer surface of the first screw rod. A first servo motor is arranged outside the fixing frame. The outer end of the first screw rod is fixedly installed at the output end of the first servo motor.

[0020] Preferably, the second splicing mechanism includes two groups of third fixing blocks. The bottoms of the two groups of third fixing blocks are both welded to the top of the machine body. A third lead screw is rotatably connected inside the two groups of third fixing blocks. A first movable frame is threadedly connected to the third lead screw. The outer end of the third lead screw is fixedly installed at the output end of the third stepping motor, and the third stepping motor is arranged outside one of the third fixing blocks. A third guide rod is installed between the two groups of third fixing blocks. The first movable frame is slidably connected to the third guide rod. A fourth lead screw is rotatably connected inside the first movable frame. A second movable frame is threadedly connected to the fourth lead screw. The second movable frame is slidably connected to a fourth guide rod. The fourth guide rod is fixedly connected inside the first movable frame. A fourth stepping motor is arranged outside the first movable frame. The output end of the fourth stepping motor extends into the first movable frame and is fixedly connected to the fourth lead screw.

[0021] Preferably, a fifth guide rod is fixedly connected inside the second movable frame. A lifting block is slidably connected to the fifth guide rod. The lifting block is threadedly connected to the outer surface of a fifth lead screw. The fifth lead screw is rotatably connected inside the second movable frame, and the top of the fifth lead screw is fixedly connected to the output end of a fifth stepper motor. The fifth stepper motor is arranged on the top of the second movable frame. A sixth drive motor is fixedly installed on the outside of the lifting block. The output end of the sixth drive motor is fixedly connected to a frame. A second screw rod is rotatably connected inside the frame. The thread directions of the two ends of the second screw rod are opposite. Third clamping members are threadedly connected to both ends of the outer surface of the second screw rod. Both groups of third clamping members are slidably connected to a second fixed rod. The second fixed rod is welded inside the frame. And a second servo motor is arranged outside the frame. The outer end of the second screw rod is fixedly connected to the output end of the second servo motor. Second electric push rods are installed on both groups of third clamping members. The output ends of the second electric push rods are installed with first laser welding heads.

[0022] Preferably, the welding mechanism includes a frame body and a third screw rod. A seventh drive motor is fixedly connected to the top of the machine body. The bottom of the frame body is fixedly installed at the output end of the seventh drive motor. The third screw rod is rotatably connected inside the frame body. The thread directions of the two ends of the third screw rod are opposite. A third fixed rod is also welded inside the frame body. Two groups of fourth clamping members are slidably connected to the third fixed rod. The two groups of fourth clamping members are respectively threadedly connected to both ends of the outer surface of the third screw rod. And a third servo motor is arranged outside the frame body. The output end of the third servo motor extends into the frame body and is fixedly connected to the third screw rod.

[0023] Preferably, the welding mechanism further includes a vertical frame and a sixth guide rod. The bottom of the vertical frame is welded to the top of the machine body. A sixth lead screw is rotatably connected inside the vertical frame. The sixth guide rod is fixedly installed inside the vertical frame. A lifting frame is threadedly connected to the sixth lead screw. The lifting frame is slidably connected to the sixth guide rod. The top end of the sixth lead screw is fixedly connected to the output end of a sixth stepper motor. The sixth stepper motor is arranged on the top of the vertical frame. A second laser welding head is rotatably connected inside the lifting frame. An eighth drive motor for driving the second laser welding head to rotate is arranged outside the lifting frame.

[0024] Compared with the prior art, the present invention provides a pipeline multi-angle cutting and welding integrated device for water conservancy projects, having the following beneficial effects:

[0025] The present invention is realized through the cooperation of a first robotic arm, a clamping mechanism, a cutting mechanism, and a first splicing mechanism, automatically cutting a pipeline into a first pipe section with a saddle opening and a second pipe section with a splicing groove. Secondly, under the combined action of the first splicing mechanism and the second splicing mechanism, automatic alignment and splicing of the saddle opening and the splicing groove are achieved, and preliminary welding is completed. Then, under the action of the second robotic arm and the welding mechanism, full welding of the saddle opening and the splicing groove is achieved, completing the automated production of an equal-diameter tee. There is no need for staff to operate, saving labor costs, improving the production efficiency of the equal-diameter tee, and meeting the needs of the staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 is a schematic diagram of the structure of the clamping mechanism in the present invention;

[0028] Figure 3 is a schematic diagram of the installation position of the second drive motor in the present invention;

[0029] Figure 4 is a schematic diagram of the internal structure of the turntable in the present invention;

[0030] Figure 5 is a schematic diagram of the structure of the cutting mechanism in the present invention;

[0031] Figure 6 is a schematic diagram of the structure of the first splicing mechanism in the present invention;

[0032] Figure 7 is a schematic diagram of the structure of the first splicing mechanism from another perspective in the present invention;

[0033] Figure 8 is a schematic diagram of the structure of the second splicing mechanism in the present invention;

[0034] Figure 9 is a schematic diagram of the structure of the second splicing mechanism from another perspective in the present invention;

[0035] Figure 10 is a schematic diagram of the internal structure of the frame in the present invention;

[0036] Figure 11 is a schematic diagram of the structure of the welding mechanism in the present invention;

[0037] Figure 12 is a schematic diagram of the structure of the second pipe section in the present invention;

[0038] Figure 13 is a schematic diagram of the structure of the first pipe section in the present invention.

[0039] The reference numerals in the drawings are:

[0040] 1. Body; 101. First robotic arm; 102. Pipeline; 103. First pipe section; 104. Second pipe section; 105. Second robotic arm;

[0041] 2. Clamping mechanism; 201. Fixed seat; 202. Turntable; 203. Fixed gear; 204. First driving motor; 205. Transmission gear; 206. Rotating ring; 207. Inner teeth; 208. Outer teeth; 209. First gear; 210. Second gear; 211. First clamping piece; 212. Rack; 213. Second driving motor;

[0042] 3. Cutting mechanism; 301. First fixing block; 302. First lead screw; 303. First guide rod; 304. First stepping motor; 305. First movable plate; 306. First electric push rod; 307. Laser cutting head;

[0043] 4. First splicing mechanism; 401. Second fixing block; 402. Second lead screw; 403. Second guide rod; 404. Second stepping motor; 405. Second movable plate; 406. Third driving motor; 407. Connecting frame; 408. Rotating plate; 409. Fourth driving motor; 410. Fifth driving motor; 411. Fixed frame; 412. First screw; 413. First fixed rod; 414. First servo motor; 415. Second clamping piece;

[0044] 5. Second splicing mechanism; 501. Third fixing block; 502. Third lead screw; 503. Third guide rod; 504. Third stepping motor; 505. First movable frame; 506. Fourth lead screw; 507. Fourth guide rod; 508. Fourth stepping motor; 509. Second movable frame; 510. Fifth lead screw; 511. Fifth guide rod; 512. Fifth stepping motor; 513. Lifting block; 514. Sixth driving motor; 515. Frame; 516. Second screw; 517. Second fixed rod; 518. Second servo motor; 519. Third clamping piece; 520. Second electric push rod; 521. First laser welding head;

[0045] 6. Welding mechanism; 601. Seventh driving motor; 602. Frame body; 603. Third screw; 604. Third fixed rod; 605. Third servo motor; 606. Vertical frame; 607. Sixth lead screw; 608. Sixth guide rod; 609. Sixth stepping motor; 610. Lifting frame; 611. Second laser welding head; 612. Eighth driving motor. Detailed implementation manners

[0046] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments in the following description are only examples, and other obvious variations can be conceived by those skilled in the art.

[0047] Embodiment 1

[0048] Please refer to Figures 1 - 13 as shown in the figure, a pipe multi-angle cutting and welding integrated device for water conservancy projects, comprising:

[0049] a machine body 1;

[0050] a clamping mechanism 2, which is arranged in the middle of the top of the machine body 1 and is used to clamp the pipe 102;

[0051] a first robotic arm 101, which is installed at the left corner edge of the top of the machine body 1 and is used to transfer the external pipe 102 into the clamping mechanism 2 and push the pipe 102 in the clamping mechanism 2;

[0052] a cutting mechanism 3, which is installed on the right side of the clamping mechanism 2 and is used to cut the pipe 102 into a first pipe section 103 and a second pipe section 104. A saddle opening is provided at the outer end of the first pipe section 103, and a splicing groove corresponding to the saddle opening is provided in the middle of the second pipe section 104;

[0053] a first splicing mechanism 4, which is arranged on the front side of the clamping mechanism 2 and is used to transfer the first pipe section 103 and clamp the second pipe section 104;

[0054] a second splicing mechanism 5, which is installed on the right side of the first splicing mechanism 4 and is used to clamp the first pipe section 103 and perform preliminary welding on the first pipe section 103 and the second pipe section 104;

[0055] a second robotic arm 105, which is arranged at the rear side of the second splicing mechanism 5 and is used to transfer the preliminarily welded first pipe section 103 and second pipe section 104;

[0056] a welding mechanism 6, which is connected to the right corner edge of the top of the machine body 1 and is used to perform full welding on the first pipe section 103 and the second pipe section 104.

[0057] Embodiment 2

[0058] Please refer to Figure 2As shown, the clamping mechanism 2 includes a fixed seat 201. The fixed seat 201 is welded to the top of the body 1. A turntable 202 is rotatably connected inside the fixed seat 201. A fixed gear 203 is fixedly installed on the outer side of the turntable 202. A first drive motor 204 is also connected to the fixed seat 201. The output end of the first drive motor 204 is fixedly connected to a transmission gear 205 that meshes with the fixed gear 203.

[0059] Please refer to Figure 3 and Figure 4 As shown, a rotating ring 206 is rotatably connected inside the turntable 202. Inner teeth 207 and outer teeth 208 are fixedly installed on the inner and outer circumferential surfaces of the rotating ring 206 respectively. A set of second gears 210 and several sets of first gears 209 are also rotatably connected inside the turntable 202. The second gear 210 meshes with the outer teeth 208. Several sets of first gears 209 all mesh with the inner teeth 207. And several sets of first clamping members 211 are slidably connected inside the turntable 202. The bottoms of several sets of first clamping members 211 are all fixedly installed with racks 212. Several sets of racks 212 respectively mesh with several sets of first gears 209. The inner wall of the turntable 202 is fixedly connected to a second drive motor 213. The output end of the second drive motor 213 is fixedly connected to the second gear 210.

[0060] Those skilled in the art can understand that by driving the second gear 210 to rotate through the output end of the second drive motor 213, the outer teeth 208, the rotating ring 206 and the inner teeth 207 rotate as a whole. Furthermore, all the first gears 209 rotate synchronously, so that all the racks 212 move synchronously towards or away from the center of the turntable 202. Thus, all the first clamping members 211 move synchronously towards or away from the center of the turntable 202. When approaching, the pipe 102 is clamped, and when moving away, the clamping of the pipe 102 is released; and by driving the transmission gear 205 to rotate through the output end of the first drive motor 204, the fixed gear 203 and the turntable 202 rotate as a whole, so that the clamped pipe 102 can be driven to rotate.

[0061] Embodiment 3

[0062] Please refer to Figure 5As shown, the cutting mechanism 3 includes a first fixed block 301 and a first lead screw 302. Two groups of first fixed blocks 301 are provided and are both welded to the top of the machine body 1. The first lead screw 302 is rotatably connected between the two groups of first fixed blocks 301. A first movable plate 305 is threadedly connected to the first lead screw 302. The first movable plate 305 is L-shaped. An upper first electric push rod 306 is installed on the horizontal plate of the first movable plate 305. The output end of the first electric push rod 306 is fixedly connected to a laser cutting head 307. A first guide rod 303 is also welded between the two groups of first fixed blocks 301. The vertical plate of the first movable plate 305 is slidably connected to the first guide rod 303. A first stepping motor 304 is provided outside one of the first fixed blocks 301. The outer end of the first lead screw 302 is fixedly installed at the output end of the first stepping motor 304.

[0063] Those skilled in the art can understand that by driving the first lead screw 302 to rotate through the output end of the first stepping motor 304, the first movable plate 305 slides back and forth along the first guide rod 303; and by extending or contracting the output end of the first electric push rod 306, the laser cutting head 307 is driven to move downward or upward.

[0064] Embodiment 4

[0065] Please refer to Figure 6 As shown, the first splicing mechanism 4 includes a second fixed block 401, a second lead screw 402, a second guide rod 403 and a second movable plate 405. Two groups of second fixed blocks 401 are provided and are both welded to the top of the machine body 1. The second lead screw 402 is rotatably connected between the two groups of second fixed blocks 401. The second guide rod 403 is fixedly connected between the two groups of second fixed blocks 401. The second movable plate 405 is slidably connected to the second guide rod 403, and the second movable plate 405 is threadedly connected to the second lead screw 402. The outer end of the second lead screw 402 is fixedly installed at the output end of the second stepping motor 404. The second stepping motor 404 is connected to the outside of one of the second fixed blocks 401.

[0066] Please refer to Figure 6 and Figure 7As shown in the figure, a third driving motor 406 is fixedly installed on the top of the second movable plate 405. The output end of the third driving motor 406 is connected to a connecting frame 407. A rotating plate 408 is rotatably connected inside the connecting frame 407. And a fourth driving motor 409 for driving the rotating plate 408 to rotate is arranged outside the connecting frame 407. A fifth driving motor 410 is arranged outside the rotating plate 408. The output end of the fifth driving motor 410 penetrates through the outer wall of the rotating plate 408 and is welded to a fixed frame 411. A first screw rod 412 is rotatably connected inside the fixed frame 411. The thread directions opened at both ends of the first screw rod 412 are opposite. A first fixing rod 413 is also connected inside the fixed frame 411. Two groups of second clamping members 415 are slidably connected to the first fixing rod 413. The two groups of second clamping members 415 are respectively threadedly connected to both ends of the outer surface of the first screw rod 412. A first servo motor 414 is arranged outside the fixed frame 411. The outer end of the first screw rod 412 is fixedly installed at the output end of the first servo motor 414.

[0067] Those skilled in the art can understand that the output end of the second stepping motor 404 drives the second lead screw 402 to rotate, so that the second movable plate 405 reciprocally slides along the second guide rod 403, and thus the two groups of second clamping members 415 reciprocally move along the second guide rod 403; the output end of the fourth driving motor 409 drives the rotating plate 408 to rotate, so that the two groups of second clamping members 415 can be in a horizontal state or a vertical state; the output end of the first servo motor 414 drives the first screw rod 412 to rotate, so that the two groups of second clamping members 415 approach or separate from each other. When separating, clamping the inner walls of the first pipe section 103 or the second pipe section 104 is realized, and when approaching, releasing the clamping of the first pipe section 103 or the second pipe section 104 is realized.

[0068] Embodiment 5

[0069] Please refer to Figure 8As shown, the second splicing mechanism 5 includes two groups of third fixing blocks 501. The bottoms of the two groups of third fixing blocks 501 are welded to the top of the machine body 1. A third lead screw 502 is rotatably connected inside the two groups of third fixing blocks 501. A first movable frame 505 is threadedly connected to the third lead screw 502. The outer end of the third lead screw 502 is fixedly installed at the output end of a third stepping motor 504. The third stepping motor 504 is arranged outside one of the third fixing blocks 501. A third guide rod 503 is installed between the two groups of third fixing blocks 501. The first movable frame 505 is slidably connected to the third guide rod 503. A fourth lead screw 506 is rotatably connected inside the first movable frame 505. A second movable frame 509 is threadedly connected to the fourth lead screw 506. The second movable frame 509 is slidably connected to a fourth guide rod 507. The fourth guide rod 507 is fixedly connected inside the first movable frame 505. A fourth stepping motor 508 is arranged outside the first movable frame 505. The output end of the fourth stepping motor 508 extends into the first movable frame 505 and is fixedly connected to the fourth lead screw 506.

[0070] Please refer to Figure 9 and Figure 10 As shown, a fifth guide rod 511 is fixedly connected inside the second movable frame 509. A lifting block 513 is slidably connected to the fifth guide rod 511. The lifting block 513 is threadedly connected to the outer surface of a fifth lead screw 510. The fifth lead screw 510 is rotatably connected inside the second movable frame 509, and the top of the fifth lead screw 510 is fixedly connected to the output end of a fifth stepping motor 512. The fifth stepping motor 512 is arranged on the top of the second movable frame 509. A sixth driving motor 514 is fixedly installed outside the lifting block 513. The output end of the sixth driving motor 514 is fixedly connected to a frame 515. A second screw rod 516 is rotatably connected inside the frame 515. The thread directions of the two ends of the second screw rod 516 are opposite. Both ends of the outer surface of the second screw rod 516 are threadedly connected to third clamping members 519. Both groups of third clamping members 519 are slidably connected to a second fixing rod 517. The second fixing rod 517 is welded inside the frame 515, and a second servo motor 518 is arranged outside the frame 515. The outer end of the second screw rod 516 is fixedly connected to the output end of the second servo motor 518. Second electric push rods 520 are installed on both groups of third clamping members 519. The output ends of the second electric push rods 520 are installed with first laser welding heads 521.

[0071] Those skilled in the art can understand that the output end of the second servo motor 518 drives the second screw rod 516 to rotate, so that the two groups of third clamping members 519 approach or move away from each other. When moving away, the inner wall of the first pipe section 103 is clamped, and when approaching, the clamping of the first pipe section 103 is released; the output end of the third stepping motor 504 drives the third lead screw 502 to rotate, so that the first movable frame 505 reciprocally slides along the third guide rod 503, and then the two groups of third clamping members 519 reciprocally move along the third guide rod 503. The output end of the fourth stepping motor 508 drives the fourth lead screw 506 to rotate, so that the second movable frame 509 reciprocally slides along the fourth guide rod 507, and then the two groups of third clamping members 519 reciprocally move along the fourth guide rod 507. And the output end of the fifth stepping motor 512 drives the fifth lead screw 510 to rotate, so that the lifting block 513 reciprocally slides along the fifth guide rod 511, and then the two groups of third clamping members 519 move along the fifth guide rod 511. In summary, the positions of the two groups of third clamping members 519 in the horizontal, vertical, and longitudinal directions can be changed; and the output end of the sixth driving motor 514 drives the frame 515 to rotate, so as to drive the clamped first pipe section 103 to rotate.

[0072] Embodiment 6

[0073] Please refer to Figure 11 As shown, the welding mechanism 6 includes a frame body 602 and a third screw rod 603. A seventh driving motor 601 is fixedly connected to the top of the machine body 1. The bottom of the frame body 602 is fixedly installed at the output end of the seventh driving motor 601. The third screw rod 603 is rotatably connected inside the frame body 602. The thread directions of the two ends of the third screw rod 603 are opposite. A third fixing rod 604 is also welded inside the frame body 602. Two groups of fourth clamping members are slidably connected to the third fixing rod 604. The two groups of fourth clamping members are respectively threadedly connected to the two ends of the outer surface of the third screw rod 603. And a third servo motor 605 is arranged outside the frame body 602. The output end of the third servo motor 605 extends into the frame body 602 and is fixedly connected to the third screw rod 603.

[0074] Please refer to Figure 11As shown in the figure, the welding mechanism 6 further includes a vertical frame 606 and a sixth guide rod 608. The bottom of the vertical frame 606 is welded to the top of the machine body 1. A sixth lead screw 607 is rotatably connected inside the vertical frame 606. The sixth guide rod 608 is fixedly installed inside the vertical frame 606. A lifting frame 610 is threadedly connected to the sixth lead screw 607. The lifting frame 610 is slidably connected to the sixth guide rod 608. The top end of the sixth lead screw 607 is fixedly connected to the output end of a sixth stepping motor 609. The sixth stepping motor 609 is arranged on the top of the vertical frame 606. A second laser welding head 611 is rotatably connected inside the lifting frame 610. An eighth driving motor 612 for driving the second laser welding head 611 to rotate is arranged outside the lifting frame 610.

[0075] Those skilled in the art can understand that by driving the third lead screw 603 to rotate through the output end of the third servo motor 605, the two groups of fourth clamping members approach or move away from each other; by driving the sixth lead screw 607 to rotate through the output end of the sixth stepping motor 609, the lifting frame 610 slides up and down along the outer surface of the sixth guide rod 608; and the welding angle of the second laser welding head 611 can be changed through the output end of the eighth driving motor 612.

[0076] The working principle and usage process of this device: To clearly describe the working principle of the present invention, we will elaborate from the perspective of Figure 1 as follows:

[0077] S1. The first robotic arm 101 transfers one end of the external pipe 102 to the inside of the turntable 202. By driving the second gear 210 to rotate through the output end of the second driving motor 213, the external teeth 208, the rotating ring 206, and the internal teeth 207 rotate as a whole, and then all the first gears 209 rotate synchronously, so that all the first clamping members 211 move synchronously towards the position close to the center of the turntable 202 to clamp the pipe 102.

[0078] S2. The output end of the first electric push rod 306 extends to drive the laser cutting head 307 to move downward and approach the pipe 102. By driving the transmission gear 205 to rotate through the output end of the first driving motor 204, the fixed gear 203 and the turntable 202 rotate synchronously as a whole, driving the clamped pipe 102 to rotate. At the same time, under the action of the output end of the first stepping motor 304, the first movable plate 305 slides back and forth along the first guide rod 303, thereby driving the laser cutting head 307 to move back and forth. By controlling the rotational speeds of the output ends of the first driving motor 204 and the first stepping motor 304, the saddle opening can be formed.

[0079] S3. Under the action of the output end of the second stepper motor 404, two groups of second clamping members 415 extend into the interior of the pipe 102. The output end of the first servo motor 414 drives the first screw rod 412 to rotate, so that the two groups of second clamping members 415 move away from each other to clamp the inner wall of the pipe 102. The first driving motor 204 and the fifth driving motor 410 are started synchronously, and both their rotation speeds and rotation directions are the same, driving the pipe 102 to rotate together. At the same time, the laser cutting head 307 is started, so as to cut off a section of the pipe with a saddle opening, that is, the first pipe section 103. It should be noted that since the two groups of second clamping members 415 clamp the inner wall of the first pipe section 103, the first pipe section 103 will not fall to the ground;

[0080] S4. Under the action of the output end of the second stepper motor 404, the two groups of second clamping members 415 and the clamped first pipe section 103 move to the second splicing mechanism 5. The output end of the third driving motor 406 rotates to drive the clamped first pipe section 103 to rotate towards the second splicing mechanism 5. Secondly, under the action of the output end of the third stepper motor 504, two groups of third clamping members 519 extend into the interior of the first pipe section 103. Then, the output end of the second servo motor 518 drives the second screw rod 516 to rotate, so that the two groups of third clamping members 519 move away from each other to clamp the inner wall of the first pipe section 103 (the clamping state is as Figure 8 shown);

[0081] S5. The first robotic arm 101 clamps the pipe 102, and all the first clamping members 211 release the clamping of the pipe 102. The first robotic arm 101 pushes the pipe 102 forward. After that, all the first clamping members 211 clamp the pipe 102 again. The output end of the first driving motor 204 drives the clamped pipe 102 to rotate forward and backward, and the laser cutting head 307 reciprocates back and forth synchronously, so as to realize the opening of the splicing groove corresponding to the saddle opening;

[0082] S6. Subsequently, under the action of the output end of the second stepping motor 404, the two groups of second clamping members 415 extend into the interior of the pipe 102 again. The two groups of second clamping members 415 move away from each other to clamp the inner wall of the pipe 102. The first driving motor 204 and the fifth driving motor 410 are started synchronously, and both their rotational speeds and directions are the same, driving the pipe 102 to rotate together. At the same time, the laser cutting head 307 is started, so as to cut off a section of the pipe with a splicing groove, that is, the second pipe section 104. Under the action of the output end of the second stepping motor 404, the two groups of second clamping members 415 and the clamped second pipe section 104 move to the second splicing mechanism 5, and the output end of the fourth driving motor 409 drives the two groups of second clamping members 415 to maintain a vertical state. Then, the output end of the fifth driving motor 410 drives the clamped second pipe section 104 to rotate, so that the splicing groove faces the second splicing mechanism 5;

[0083] S7. Change the positions of the two groups of third clamping members 519 in the horizontal, vertical and longitudinal directions, and under the cooperation of the output end of the sixth driving motor 514, align the saddle opening on the first pipe section 103 with the splicing groove on the second pipe section 104. Finally, under the action of the output end of the third stepping motor 504, splice the saddle opening on the first pipe section 103 and the splicing groove on the second pipe section 104 together, and the output end of the second electric push rod 520 extends to drive the first laser welding head 521 to approach the splicing position for welding to achieve preliminary welding;

[0084] S8. The second robotic arm 105 transfers the preliminarily welded first pipe section 103 and second pipe section 104 between the two groups of fourth clamping members. The output end of the third servo motor 605 drives the third screw 603 to rotate, so that the two groups of fourth clamping members approach each other to clamp both ends of the second pipe section 104, and the first pipe section 103 remains vertical;

[0085] S9. The output end of the seventh driving motor 601 drives the frame 602 to rotate, so that the second pipe section 104 and the first pipe section 103 rotate as a whole. The second laser welding head 611 moves up and down and changes the angle of the second laser welding head 611 synchronously, so as to achieve full welding at the splicing position of the second pipe section 104 and the first pipe section 103;

[0086] S10. After the full welding is completed, it is transferred to the external conveying machine again through the second robotic arm 105. Repeat the above operations to complete the automated production of the equal-diameter tee, without the need for staff to operate, saving labor costs, improving the production efficiency of the equal-diameter tee, and meeting the needs of the staff.

[0087] The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, various changes and improvements will occur to the present invention, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipe multi-angle cutting and welding integrated device for water conservancy projects, characterized in that, Comprising: Machine body (1); Clamping mechanism (2), which is arranged in the middle of the top of the machine body (1) and is used for clamping the pipeline (102); First robotic arm (101), which is installed at the left corner edge of the top of the machine body (1) and is used for transferring the external pipeline (102) into the clamping mechanism (2) and pushing the pipeline (102) in the clamping mechanism (2); Cutting mechanism (3), which is installed on the right side of the clamping mechanism (2) and is used for cutting the pipeline (102) into a first pipe section (103) and a second pipe section (104). A saddle opening is provided at the outer end of the first pipe section (103), and a splicing groove corresponding to the saddle opening is provided in the middle of the second pipe section (104); First splicing mechanism (4), which is arranged at the front side of the clamping mechanism (2) and is used for transferring the first pipe section (103) and clamping the second pipe section (104); Second splicing mechanism (5), which is installed on the right side of the first splicing mechanism (4) and is used for clamping the first pipe section (103) and preliminarily welding the first pipe section (103) and the second pipe section (104); Second robotic arm (105), which is arranged at the rear side of the second splicing mechanism (5) and is used for transferring the preliminarily welded first pipe section (103) and second pipe section (104); Welding mechanism (6), which is connected to the right corner edge of the top of the machine body (1) and is used for fully welding the first pipe section (103) and the second pipe section (104).

2. The integrated device for multi-angle cutting and welding of pipelines used in water conservancy projects according to claim 1, characterized in that: The clamping mechanism (2) includes a fixed seat (201), the fixed seat (201) is welded to the top of the machine body (1), a turntable (202) is rotatably connected inside the fixed seat (201), a fixed gear (203) is fixedly installed on the outer side of the turntable (202), a first driving motor (204) is also connected to the fixed seat (201), and an output end of the first driving motor (204) is fixedly connected to a transmission gear (205) meshing with the fixed gear (203).

3. The multi-angle cutting and welding integrated device for pipelines used in water conservancy projects according to claim 2, wherein: A rotating ring (206) is rotatably connected inside the turntable (202), internal teeth (207) and external teeth (208) are respectively fixedly installed on the inner and outer circumferential surfaces of the rotating ring (206), a set of second gears (210) and several sets of first gears (209) are also rotatably connected inside the turntable (202), the second gears (210) are meshed with the external teeth (208), several sets of first gears (209) are all meshed with the internal teeth (207), and several sets of first clamping members (211) are slidably connected inside the turntable (202). Bottoms of the several sets of first clamping members (211) are all fixedly installed with racks (212), the several sets of racks (212) are respectively meshed with the several sets of first gears (209), and an inner wall of the turntable (202) is fixedly connected with a second driving motor (213), and an output end of the second driving motor (213) is fixedly connected to the second gears (210).

4. A multi-angle cutting and welding integrated device for pipelines in water conservancy projects according to claim 1, characterized in that: The cutting mechanism (3) includes a first fixed block (301) and a first lead screw (302). Two groups of the first fixed blocks (301) are provided and are both welded to the top of the machine body (1). The first lead screw (302) is rotatably connected between the two groups of first fixed blocks (301). A first movable plate (305) is threadedly connected to the first lead screw (302). The first movable plate (305) is L-shaped. A first electric push rod (306) is installed on the horizontal plate of the first movable plate (305). The output end of the first electric push rod (306) is fixedly connected to a laser cutting head (307). A first guide rod (303) is also welded between the two groups of first fixed blocks (301). The vertical plate of the first movable plate (305) is slidably connected to the first guide rod (303). A first stepping motor (304) is arranged outside one of the first fixed blocks (301). The outer end of the first lead screw (302) is fixedly installed at the output end of the first stepping motor (304).

5. The integrated device for multi-angle cutting and welding of pipelines used in water conservancy projects according to claim 1, wherein: The first splicing mechanism (4) includes a second fixed block (401), a second lead screw (402), a second guide rod (403) and a second movable plate (405). Two groups of the second fixed blocks (401) are provided and are both welded to the top of the machine body (1). The second lead screw (402) is rotatably connected between the two groups of second fixed blocks (401). The second guide rod (403) is fixedly connected between the two groups of second fixed blocks (401). The second movable plate (405) is slidably connected to the second guide rod (403), and the second movable plate (405) is threadedly connected to the second lead screw (402). The outer end of the second lead screw (402) is fixedly installed at the output end of a second stepping motor (404). The second stepping motor (404) is connected to the outside of one of the second fixed blocks (401).

6. The multi-angle cutting and welding integrated device for pipelines used in water conservancy projects according to claim 5, characterized in that: A third driving motor (406) is fixedly installed on the top of the second movable plate (405). The output end of the third driving motor (406) is connected to a connecting frame (407). A rotating plate (408) is rotatably connected inside the connecting frame (407). A fourth driving motor (409) for driving the rotating plate (408) to rotate is arranged outside the connecting frame (407). A fifth driving motor (410) is arranged outside the rotating plate (408). The output end of the fifth driving motor (410) penetrates through the outer wall of the rotating plate (408) and is welded to a fixed frame (411). A first screw rod (412) is rotatably connected inside the fixed frame (411). The thread directions of the two ends of the first screw rod (412) are opposite. A first fixed rod (413) is also connected inside the fixed frame (411). Two groups of second clamping members (415) are slidably connected to the first fixed rod (413). The two groups of second clamping members (415) are respectively threadedly connected to the two ends of the outer surface of the first screw rod (412). A first servo motor (414) is arranged outside the fixed frame (411). The outer end of the first screw rod (412) is fixedly installed at the output end of the first servo motor (414).

7. A multi-angle cutting and welding integrated device for pipelines in water conservancy projects according to claim 1, characterized in that: The second splicing mechanism (5) includes two groups of third fixing blocks (501). The bottoms of the two groups of third fixing blocks (501) are welded to the top of the machine body (1). A third lead screw (502) is rotatably connected inside the two groups of third fixing blocks (501). A first movable frame (505) is threadedly connected to the third lead screw (502). The outer end of the third lead screw (502) is fixedly installed at the output end of a third stepping motor (504). The third stepping motor (504) is arranged outside one of the two groups of third fixing blocks (501). A third guide rod (503) is installed between the two groups of third fixing blocks (501). The first movable frame (505) is slidably connected to the third guide rod (503). A fourth lead screw (506) is rotatably connected inside the first movable frame (505). A second movable frame (509) is threadedly connected to the fourth lead screw (506). The second movable frame (509) is slidably connected to a fourth guide rod (507). The fourth guide rod (507) is fixedly connected inside the first movable frame (505). A fourth stepping motor (508) is arranged outside the first movable frame (505). The output end of the fourth stepping motor (508) extends into the first movable frame (505) and is fixedly connected to the fourth lead screw (506).

8. The integrated device for multi-angle cutting and welding of pipelines used in water conservancy projects according to claim 7, characterized in that: A fifth guide rod (511) is fixedly connected inside the second movable frame (509). A lifting block (513) is slidably connected to the fifth guide rod (511). The lifting block (513) is threadedly connected to the outer surface of a fifth lead screw (510). The fifth lead screw (510) is rotatably connected inside the second movable frame (509). The top of the fifth lead screw (510) is fixedly connected to the output end of a fifth stepping motor (512). The fifth stepping motor (512) is arranged at the top of the second movable frame (509). A sixth driving motor (514) is fixedly installed outside the lifting block (513). The output end of the sixth driving motor (514) is fixedly connected to a frame (515). A second screw rod (516) is rotatably connected inside the frame (515). The thread directions of the two ends of the second screw rod (516) are opposite. Two groups of third clamping members (519) are threadedly connected to the two ends of the outer surface of the second screw rod (516). Both groups of third clamping members (519) are slidably connected to a second fixing rod (517). The second fixing rod (517) is welded inside the frame (515). A second servo motor (518) is arranged outside the frame (515). The outer end of the second screw rod (516) is fixedly connected to the output end of the second servo motor (518). Second electric push rods (520) are installed on both groups of third clamping members (519). The output ends of the second electric push rods (520) are installed with first laser welding heads (521).

9. The integrated device for multi-angle cutting and welding of pipelines used in water conservancy projects according to claim 1, wherein: The welding mechanism (6) includes a frame body (602) and a third screw rod (603). A seventh driving motor (601) is fixedly connected to the top of the machine body (1). The bottom of the frame body (602) is fixedly installed at the output end of the seventh driving motor (601). The third screw rod (603) is rotatably connected inside the frame body (602). The thread directions of the two ends of the third screw rod (603) are opposite. A third fixing rod (604) is also welded inside the frame body (602). Two groups of fourth clamping members are slidably connected to the third fixing rod (604). The two groups of fourth clamping members are respectively threadedly connected to the two ends of the outer surface of the third screw rod (603). And a third servo motor (605) is arranged outside the frame body (602). The output end of the third servo motor (605) extends into the frame body (602) and is fixedly connected to the third screw rod (603).

10. A multi-angle cutting and welding integrated device for pipelines in water conservancy projects according to claim 9, characterized in that: The welding mechanism (6) further includes a vertical frame (606) and a sixth guide rod (608). The bottom of the vertical frame (606) is welded to the top of the machine body (1). A sixth lead screw (607) is rotatably connected inside the vertical frame (606). The sixth guide rod (608) is fixedly installed inside the vertical frame (606). A lifting frame (610) is threadedly connected to the sixth lead screw (607). The lifting frame (610) is slidably connected to the sixth guide rod (608). The top end of the sixth lead screw (607) is fixedly connected to the output end of a sixth stepping motor (609). The sixth stepping motor (609) is arranged at the top of the vertical frame (606). A second laser welding head (611) is rotatably connected inside the lifting frame (610). An eighth driving motor (612) for driving the second laser welding head (611) to rotate is arranged outside the lifting frame (610).

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