Large steel pipe automatic assembly welding work device

Abstract

The application discloses a large-scale steel pipe automatic assembling and welding device, which comprises a walking assembly, a welding assembly, an assembling assembly, a turnover assembly connected with the walking assembly and the welding assembly respectively, and a telescopic assembly connected with the welding assembly and the assembling assembly respectively, the walking assembly is used for walking in the steel pipe and driving the welding assembly and the assembling assembly to rotate circumferentially, the welding assembly is used for welding longitudinal seams on single steel pipe and ring seams between two adjacent steel pipes, the assembling assembly is used for grabbing tiles and driving the tiles to rotate circumferentially, the telescopic assembly is used for telescoping the movable end to drive the assembling assembly to approach or move away from the welding assembly, and the turnover assembly is used for driving the welding assembly and the assembling assembly to turn over relative to the walking assembly to adjust the angle during the assembling of the steel pipe; compared with the prior art, the device realizes the automatic operation and mutual connection of tile assembling, longitudinal seam welding, steel pipe assembling, ring seam welding and other processes of the large-scale steel pipe in the installation site.

Description

Technical Field

[0001] The present invention relates to the technical field of steel pipe assembly and welding, and in particular to an automatic assembly and welding device for large steel pipes. Background Art

[0002] Steel pipes are commonly used in the water conservancy and hydropower sectors. During steel pipe installation, tiles are typically welded together into single sections. These sections are then transported to the installation site using specialized trailers or rail-mounted trolleys for assembly, welding, and installation. However, for large steel pipes with diameters greater than 6 meters, this installation method significantly increases transportation costs and the amount of auxiliary engineering work required. Furthermore, as the diameter of the pipe increases, the on-site welding workload increases significantly, making the welding process more difficult. Existing welding methods are no longer sufficient for on-site construction.

[0003] For example, Chinese invention patent CN104308413B discloses a steel pipe assembly welding device and a method for rapid installation and movement thereof. Although the device achieves mechanized assembly of single-section steel pipes on the construction site, the above solution has the following problems when installing water conservancy and hydropower steel pipes:

[0004] 1) There is no automated welding solution for the longitudinal seam formed after assembling a single section of steel pipe and the circumferential seam formed after assembling two adjacent sections of steel pipe. If traditional manual welding is still used, the welding quality and efficiency are low because manual welding cannot be continuous, there are many welded joints, and welding rods need to be replaced frequently and weld slag needs to be cleaned. In addition, manual welding requires manual hand-held welding guns to perform the operation, which is labor-intensive and has high safety risks.

[0005] 2) Automatic assembly of multiple sections of steel pipes has not been achieved. If the automatic assembly of multiple sections of steel pipes still relies on rail trolleys, the angle, roundness, assembly spacing and axis overlap of the two sections of steel pipes cannot be adjusted during the assembly process, resulting in different sizes of assembly gaps, misalignment of axes, and the roundness of the steel pipes not meeting the installation requirements.

[0006] For example, Chinese utility model patent CN216730166U discloses an automatic welding device for steel pipes in tunnels. By providing a circular sliding assembly, the welding gun can move circumferentially along the inner wall of the large steel pipe in the tunnel, thereby automatically welding the circular end face of the steel pipe. In other words, the automatic welding of the annular seam formed by assembling two sections of steel pipes in the tunnel is realized. However, the above solution has the following problems when installing water conservancy and hydropower steel pipes:

[0007] 1) The on-site automatic assembly of single-section steel pipes and the automatic assembly of multiple-section steel pipes have not been realized;

[0008] 2) No automated welding solution is provided for the longitudinal seams formed after the assembly of single-section steel pipes.

[0009] In summary, the existing technical solutions cannot realize on-site automatic assembly and automatic welding of large steel pipes, and the installation efficiency is low. Summary of the Invention

[0010] The present invention provides an automatic assembly and welding device for large steel pipes, which solves the technical problem that existing rail assembly and welding devices cannot realize automatic assembly and automatic welding of large steel pipes at the installation site and have low installation efficiency.

[0011] According to one aspect of the present invention, there is provided an automated assembly and welding device for large steel pipes, comprising a walking assembly, a welding assembly, an assembling assembly, a flipping assembly respectively connected to the walking assembly and the welding assembly, and a telescopic assembly respectively connected to the welding assembly and the assembling assembly, wherein the walking assembly is used to walk inside the steel pipe and drive the welding assembly and the assembling assembly to rotate circumferentially, the welding assembly is used to weld the longitudinal seam on a single section of steel pipe and the circumferential seam between two adjacent sections of steel pipe, the assembling assembly is used to grab tiles and drive the tiles to rotate circumferentially to assemble multiple tiles into a single section of steel pipe, the telescopic assembly is used to extend and retract the movable end to drive the assembling assembly to move closer to or away from the welding assembly, thereby docking two adjacent sections of steel pipes, and the flipping assembly is used to drive the welding assembly and the assembling assembly to flip relative to the walking assembly to adjust the angle of the steel pipes during assembly.

[0012] As a further improvement of the above technical solution:

[0013] Furthermore, the walking assembly includes a walking base, a plurality of walking parts arranged at circumferential intervals on the circumferential outer wall of the walking base for driving the walking base to move in the steel pipe, and a rotating part rotatably arranged on the axial end of the walking base and connected to the flip assembly for driving the welding assembly and the assembly assembly to rotate circumferentially.

[0014] Furthermore, the walking member includes a slide rail mechanism whose movable end is slidably arranged on the outer wall of the walking base along the axial direction, and a tightening mechanism for tightening the inner wall of the steel pipe whose movable end is telescopically arranged on the movable end of the slide rail mechanism along the radial direction.

[0015] Furthermore, the slide rail mechanism includes a slide rail base arranged on the circumferential outer wall of the walking base, a slide rail upper plate slidably arranged on the slide rail base and equipped with a tightening mechanism, and a slide rail cylinder axially arranged on the slide rail base and with a movable end connected to the slide rail upper plate.

[0016] Furthermore, the welding assembly includes a welding base connected to the flip assembly and the telescopic assembly respectively, a circumferential seam welding part arranged circumferentially on the circumferential outer wall of the welding base for welding the circumferential seam between two adjacent steel pipes, a longitudinal seam welding part arranged axially on the axial end of the welding base for welding the longitudinal seam on a single steel pipe, and a plurality of welding lifting parts arranged axially and circumferentially on the circumferential outer wall of the welding base for supporting the inner wall of the steel pipe.

[0017] Furthermore, the annular seam welding component includes a swivel ring rotatably mounted on the circumferential outer wall of the welding base and a plurality of annular seam welding robot arms circumferentially spaced on the swivel ring.

[0018] Furthermore, the longitudinal seam welding part includes a transverse slide arranged on the axial end of the welding base for transverse movement, a longitudinal slide arranged on the transverse slide for longitudinal movement, a telescopic arm whose movable end is telescopically arranged on the longitudinal slide along the axial direction, and a longitudinal seam welding robot arm arranged on the movable end of the telescopic arm.

[0019] Furthermore, the assembly component includes an assembly base connected to the movable end of the telescopic component, a steel pipe assembly rotatably arranged on the assembly base for grabbing tiles and driving the tiles to rotate circumferentially, and an assembly lifting component arranged at circumferential intervals on the circumferential outer wall of the steel pipe assembly for supporting the inner wall of the steel pipe.

[0020] Furthermore, the steel pipe assembly includes a turntable arranged axially at intervals and rotatably on the assembly base, a driving mechanism arranged on the assembly base and with the output end connected to the turntable for driving the turntable to rotate relative to the assembly base, and a plurality of gripping mechanisms arranged circumferentially at intervals on the axial end of the turntable.

[0021] Furthermore, the flipping mechanism includes a connecting seat 1 and a connecting seat 2 arranged in parallel on the walking assembly, and a connecting seat 3 and a connecting seat 4 arranged in parallel on the welding assembly. The connecting seat 1 and the connecting seat 4 are hinged, and the connecting seat 2 and the connecting seat 3 are hinged. The opposite ends of the connecting seat 3 are respectively arranged on the angle adjustment cylinder 1 and the angle adjustment cylinder 2, and the opposite ends of the connecting seat 4 are respectively arranged on the angle adjustment cylinder 3 and the angle adjustment cylinder 4.

[0022] The present invention has the following beneficial effects:

[0023] The large-scale steel pipe automated assembly welding operation device of the present invention, after the tiles of the large steel pipe are transported to the corresponding assembling station, the assembling component grabs the tiles and drives the tiles to rotate circumferentially to provide space for grabbing the next tile, thereby gradually grabbing multiple tiles, assembling multiple tiles into a single-section steel pipe, and spot welding the single-section steel pipe through the welding component to connect the multiple tiles into a whole, and then weld all the longitudinal seams on the single-section steel pipe in sequence to complete the automated assembly and welding of the single-section steel pipe; the walking component walks inside the steel pipe and moves to the assembling station of the next section of steel pipe. At this time, the previous section of steel pipe moves to the welding component. After completing the assembly and welding of the section of steel pipe, the movable end of the telescopic component is retracted to drive the assembling component close to the welding component so that the two sections of steel pipe are butted into place. At this time, the welding component welds the circumferential seam between the two sections of steel pipe to weld the adjacent two sections of steel pipe into a whole. Then the movable end of the telescopic component is extended to drive the assembling component away from the welding component. At this time, the assembling component can proceed to the next section of pipe The assembly of the pieces can be repeated in a cycle to complete the automated assembly and welding of multiple sections of steel pipes; and in the process of assembling and welding the steel pipes, the welding assembly and the assembling assembly are driven to flip relative to the walking assembly by the flipping assembly, and then the welding assembly and the assembling assembly are driven to rotate circumferentially by the walking assembly. Under the cooperation of the flipping assembly and the walking assembly, the angle of the steel pipe assembly can be arbitrarily adjusted in the circumferential direction, so that the oblique pipe tile assembly, the oblique pipe and the flat pipe docking, the longitudinal seam welding when assembling a single section of the oblique pipe, and the circumferential seam welding when assembling the oblique pipe and the flat pipe can be carried out, thereby realizing the adjustment of the angle, roundness, assembly spacing and the coincidence degree of the axes of the two sections of the steel pipe, thereby improving the quality of the steel pipe after assembly and welding; compared with the existing technology, this scheme realizes the automated operation and mutual connection of the processes such as tile assembly, longitudinal seam welding, steel pipe assembly and circumferential seam welding of large steel pipes at the installation site, greatly improving the installation efficiency and installation quality of large steel pipes, reducing the labor intensity of installing large steel pipes, having strong practicality and being suitable for wide promotion and application.

[0024] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0026] Figure 1 This is a schematic structural diagram of a large steel pipe automated assembly and welding device according to a preferred embodiment of the present invention;

[0027] Figure 2This is a structural diagram of a walking assembly and a flip assembly in a large steel pipe automated assembly and welding device according to a preferred embodiment of the present invention;

[0028] Figure 3 This is a schematic structural diagram of a welding assembly and a telescopic assembly in a large steel pipe automated assembly welding device according to a preferred embodiment of the present invention;

[0029] Figure 4 This is a structural diagram of a welding assembly and a flip assembly in a large steel pipe automated assembly welding device according to a preferred embodiment of the present invention;

[0030] Figure 5 This is a partial structural diagram of a large steel pipe automatic assembly and welding operation device according to a preferred embodiment of the present invention;

[0031] Figure 6 This is a structural diagram of the assembly components in the large steel pipe automatic assembly and welding operation device according to the preferred embodiment of the present invention;

[0032] Figure 7 This is a structural diagram of a large steel pipe automated assembly welding device for assembling a single steel pipe according to a preferred embodiment of the present invention;

[0033] Figure 8 This is a structural diagram of a large steel pipe automated assembly welding device for splicing two flat pipes according to a preferred embodiment of the present invention;

[0034] Figure 9 It is a structural schematic diagram of a large steel pipe automated assembly and welding device for splicing oblique pipes with flat pipes according to a preferred embodiment of the present invention.

[0035] Legend:

[0036] 100. Traveling assembly; 110. Traveling base; 120. Traveling parts; 121. Slide rail mechanism; 1211. Slide rail base; 1212. Slide rail upper plate; 1213. Slide rail cylinder; 1214. Limit block; 122. Jacking mechanism; 1221. Jacking cylinder; 1222. Jacking plate; 130. Rotating parts; 200. Welding assembly; 210. Welding base; 220. Circumferential weld parts; 221. Rotating ring; 222. Circumferential weld robot arm; 230. Longitudinal weld parts; 231. Horizontal slide; 232. Longitudinal slide; 233. Telescopic arm; 234. Longitudinal weld robot arm; 240. Welding lifting parts; 300. Assembling assembly; 310. Assembling base; 311. Connecting hole; 320. Assembling lifting parts; 330. Rotating disk; 340. Driving mechanism; 350. Grabbing mechanism; 351. Gripper; 3511. Fixing part; 3512. Grabbing hook; 3513. Driving member; 352. Grabbing cylinder; 353. Magnetic part; 400. Flipping assembly; 410. Connecting seat one; 411. Base one; 412. Earring one; 413. Cylinder hinge hole one; 420. Connecting seat two; 421. Base two; 422. Earring two; 423. Cylinder hinge hole two; 430. Connecting seat three; 431. Angle adjustment cylinder one; 432. Angle adjustment cylinder two; 433. Base three; 434. Earring three; 440. Connecting seat four; 441. Angle adjustment cylinder three; 442. Angle adjustment cylinder four; 443. Base four; 444. Earring four; 500. Telescopic assembly. DETAILED DESCRIPTION

[0037] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0038] like Figure 1 As shown, the large-scale steel pipe automated assembly and welding operation device of this embodiment includes a walking component 100, a welding component 200, an assembling component 300, a flipping component 400 connected to the walking component 100 and the welding component 200 respectively, and a telescopic component 500 connected to the welding component 200 and the assembling component 300 respectively. The walking component 100 is used to walk inside the steel pipe and drive the welding component 200 and the assembling component 300 to rotate circumferentially. The welding component 200 is used to weld the longitudinal seam on a single section of steel pipe and the circumferential seam between two adjacent sections of steel pipe. The assembling component 300 is used to grab tiles and drive the tiles to rotate circumferentially to assemble multiple tiles into a single section of steel pipe. The telescopic component 500 is used to extend and retract the movable end to drive the assembling component 300 to move closer to or away from the welding component 200, thereby docking two adjacent sections of steel pipes. The flipping component 400 is used to drive the welding component 200 and the assembling component 300 to flip relative to the walking component 100 to adjust the angle when the steel pipes are assembled.

[0039] like Figure 1 As shown, specifically, the large steel pipe automatic assembly welding operation device of the present invention, after the tiles of the large steel pipe are transported to the corresponding assembly station, the assembly component 300 grabs the tiles and drives the tiles to rotate circumferentially to provide space for grabbing the next tile, thereby gradually grabbing multiple tiles, assembling multiple tiles into a single steel pipe, spot welding the single steel pipe through the welding component 200 to connect the multiple tiles into a whole, and then welding all the longitudinal seams on the single steel pipe in sequence to complete the automatic assembly and welding of the single steel pipe; the walking component 100 is inside the steel pipe The upper section of the steel pipe moves to the assembly station of the next section of the steel pipe. At this time, the upper section of the steel pipe moves to the welding assembly 200. After the assembly and welding of the steel pipe section is completed, the movable end of the telescopic assembly 500 is retracted to drive the assembling assembly 300 close to the welding assembly 200 so that the two sections of the steel pipe are butted in place. At this time, the welding assembly 200 welds the annular seam between the two sections of the steel pipe to weld the two adjacent sections of the steel pipe into a whole. Then the movable end of the telescopic assembly 500 is extended to drive the assembling assembly 300 away from the welding assembly 200. At this time, the assembling assembly 300 0 can assemble the next section of the pipe segment, thus repeating the cycle to complete the automated assembly and welding of multiple sections of steel pipes; and in the process of assembling and welding the steel pipes, the turning assembly 400 drives the welding assembly 200 and the assembling assembly 300 to flip relative to the walking assembly 100, and then the walking assembly 100 drives the welding assembly 200 and the assembling assembly 300 to rotate circumferentially. Under the cooperation of the turning assembly 400 and the walking assembly 100, the angle of the steel pipe assembly can be adjusted arbitrarily in the circumferential direction, so that the oblique pipe tile assembly and the oblique pipe and flat pipe can be connected. , longitudinal seam welding when assembling a single section of inclined pipe, circumferential seam welding when assembling an inclined pipe and a flat pipe, to achieve the adjustment of the angle, roundness, assembly spacing and axis overlap of the two sections of steel pipes, thereby improving the quality of the steel pipes after assembly and welding; compared with the existing technology, this solution simultaneously realizes the automation and mutual connection of tile assembly, longitudinal seam welding, steel pipe assembly, circumferential seam welding and other processes of large steel pipes at the installation site, greatly improving the installation efficiency and quality of large steel pipes, reducing the labor intensity of installing large steel pipes, and having strong practicality and being suitable for wide promotion and application.

[0040] It should be understood that the radial, axial and circumferential directions in this embodiment are all based on the steel pipe to be installed.

[0041] like Figure 2 As shown, in this embodiment, the walking assembly 100 includes a walking base 110, a plurality of walking parts 120 arranged at circumferential intervals on the circumferential outer wall of the walking base 110 for driving the walking base 110 to move in the steel pipe, and a rotating part 130 rotatably arranged on the axial end of the walking base 110 and connected to the flip assembly 400 for driving the welding assembly 200 and the assembly assembly 300 to rotate circumferentially.

[0042] like Figure 2 As shown, specifically, a plurality of walking parts 120 are driven to move inside the steel pipe to drive the rotating part 130, the flip assembly 400, the welding assembly 200 and the assembling assembly 300 to move synchronously, thereby sequentially assembling and welding multiple sections of steel pipes, and then the rotating part 130 drives the welding assembly 200 and the assembling assembly 300 to rotate circumferentially to realize the adjustment of the steel pipe assembly and welding angle in any circumferential direction.

[0043] like Figure 2 As shown, in this embodiment, the walking member 120 includes a slide rail mechanism 121 whose movable end is slidably arranged on the outer wall of the walking base 110 along the axial direction, and a tightening mechanism 122 whose movable end is telescopically arranged on the movable end of the slide rail mechanism 121 along the radial direction for tightening the inner wall of the steel pipe.

[0044] like Figure 2 As shown, specifically, after the movable end of the tightening mechanism 122 is extended to tighten the inner wall of the steel pipe, the movable end of the slide rail mechanism 121 slides axially. Since the top rail mechanism is fixed, under the reaction force, the walking base 110 moves to drive the overall movement. After moving into place, the movable end of the tightening mechanism 122 contracts and the movable end of the slide rail mechanism 121 is reset. Then, the movable end of the tightening mechanism 122 is extended, and the movable end of the tightening mechanism 122 slides axially to drive the overall movement, thereby repeating the cycle to achieve free movement in the steel pipe.

[0045] like Figure 2 As shown, in this embodiment, the sliding rail mechanism 121 includes a sliding rail base 1211 arranged on the circumferential outer wall of the walking base 110, a sliding rail upper plate 1212 slidably arranged on the sliding rail base 1211 and equipped with a tightening mechanism 122, and a sliding rail cylinder 1213 axially arranged on the sliding rail base 1211 and with a movable end connected to the sliding rail upper plate 1212.

[0046] like Figure 2 As shown, specifically, the slide rail upper plate 1212 and the slide rail cylinder 1213 are installed through the slide rail base 1211, and then the movable end of the slide rail cylinder 1213 drives the slide rail upper plate 1212 to slide axially, thereby synchronously driving the axial sliding of the pressing mechanism 122, and pressing the inner wall of the steel pipe with the pressing mechanism 122. The reaction force drives the walking base 110 to move axially, thereby achieving walking in the steel pipe. Optionally, the slide rail mechanism 121 also includes a limit block 1214 arranged on the slide rail base 1211 for axially limiting the slide rail upper plate 1212.

[0047] like Figure 2As shown, in this embodiment, the tightening mechanism 122 includes a tightening cylinder 1221 radially arranged on the upper plate 1212 of the slide rail, and a top plate 1222 connected to the movable end of the tightening cylinder 1221. Specifically, the movable end of the tightening cylinder 1221 extends to drive the top plate 1222 to tighten the inner wall of the steel pipe, thereby achieving reliable fixation of the walking component 100, and then the movable end of the tightening cylinder 1221 is extended to cooperate with the slide rail mechanism 121 to drive the walking base 110 to move inside the steel pipe. Optionally, the top plate 1222 is arranged in an arc shape, and the diameter of the arc is the same as the diameter of the inner wall of the steel pipe, so that when tightening the inner wall of the steel pipe, it fits tightly with the inner wall of the steel pipe, thereby improving the structural stability after tightening.

[0048] like Figure 2 As shown, in this embodiment, a plurality of walking parts 120 can be divided into a first walking group and a second walking group in half, and the walking parts 120 in the first walking group and the second walking group are alternately arranged along the circumference of the walking base 110. When performing automatic assembly and welding operations, the tightening oil cylinders 1221 in the first walking group and the second walking group are both extended radially to make the top plate 1222 press against the inner wall of the steel pipe to reliably fix the whole; after the assembly and welding operations are completed, the tightening oil cylinder 1221 in the first walking group contracts and resets, and the tightening oil cylinder 1221 in the second group of walking parts 120 remains in place to provide a reaction force for the subsequent overall walking, and then the slide rail cylinder 1213 in the second walking group contracts to drive the device to walk as a whole: then the slide rail cylinder 1213 in the first walking group The cylinder 1213 is extended so that the tightening cylinder 1221 in the first walking group is at the front end of the overall device. The tightening cylinder 1221 in the first walking group is extended to reliably fix the overall device for assembly and welding operations. After the assembly and welding operations are completed, the tightening cylinder 1221 in the second walking group is retracted and reset, and the slide cylinder 1213 in the first walking group is retracted to drive the overall device to move; then the slide cylinder 1213 in the second walking group is extended to make the tightening cylinder 1221 in the second walking group be at the front end of the overall device. The tightening cylinder 1221 in the second walking group is extended to reliably fix the overall device. This cycle is repeated to achieve free movement of the device in the steel pipe, and the alternating movement of the first walking group and the second walking group increases the walking speed.

[0049] like Figure 2 As shown, in this embodiment, the number of the walking members 120 is six, which are equally divided into two walking groups, and the interval between two adjacent walking groups in the circumferential direction is 60°.

[0050] like Figure 3As shown, in this embodiment, the welding assembly 200 includes a welding base 210 respectively connected to the flip assembly 400 and the telescopic assembly 500, a circumferential seam welding part 220 arranged circumferentially on the circumferential outer wall of the welding base 210 for welding the circumferential seam between two adjacent steel pipes, a longitudinal seam welding part 230 arranged axially on the axial end of the welding base 210 for welding the longitudinal seam on a single steel pipe, and a plurality of welding lifting parts 240 arranged axially and circumferentially on the circumferential outer wall of the welding base 210 for supporting the inner wall of the steel pipe.

[0051] like Figure 3 As shown, specifically, the flip assembly 400 and the telescopic assembly 500 are respectively connected through the welding base 210, so that when the walking assembly 100 drives the flip assembly 400 to move, the welding assembly 200 and the assembling assembly 300 can be driven to move synchronously, and then the longitudinal seam welding part 230 is used to realize automatic welding of the longitudinal seam on a single section of steel pipe, and the circumferential seam welding part 220 is used to realize automatic welding of the circumferential seam between two adjacent sections of steel pipe. During the welding operation, a plurality of welding jacks arranged on the circumferential outer wall of the welding base 210 at intervals along the axial and circumferential directions are used to push against the inner wall of the steel pipe to realize reliable fixation of the welding assembly 200.

[0052] like Figure 3 As shown, in this embodiment, the telescopic assembly 500 includes a plurality of telescopic cylinders arranged at intervals along the circumferential direction on the axial end of the welding base 210. The telescopic cylinders are extended and retracted to drive the assembling assembly 300 away from or close to the welding assembly 200.

[0053] like Figure 3 As shown, in this embodiment, the circumferential seam welding member 220 includes a swivel ring 221 rotatably mounted on the circumferential outer wall of the welding base 210 and a plurality of circumferential seam welding robotic arms 222 arranged on the swivel ring 221 at intervals along the circumference.

[0054] like Figure 3 As shown, specifically, the girth welding robot arm 222 automatically welds a portion of the girth seam, and then the slewing ring 221 drives the girth welding robot arm 222 to weld the entire girth seam. Multiple girth welding robots 222 simultaneously weld, greatly improving welding efficiency. Optionally, the girth welding robot arm 222 is equipped with a weld seam vision positioning sensor to automatically locate the weld seam, achieving automated welding while ensuring that the weld bead does not deviate, thereby improving welding quality.

[0055] like Figure 3As shown, in this embodiment, the number of the girth welding robot arms 222 is four. After the four welding robot arms complete the automated welding construction of a certain section of the entire girth weld, the rotary ring 221 performs a circular motion to rotate the four girth welding robot arms 222 to the next operating position and continue the welding construction. The operation is repeated in this way, thereby completing the automated welding construction of the girth weld when assembling two sections of steel pipes.

[0056] like Figure 3 As shown, in this embodiment, the longitudinal seam welding part 230 includes a transverse slide 231 arranged on the axial end of the welding base 210 for transverse movement, a longitudinal slide 232 arranged on the transverse slide 231 for longitudinal movement, a telescopic arm 233 whose movable end is telescopically arranged on the longitudinal slide 232 along the axial direction, and a longitudinal seam welding robot arm 234 arranged on the movable end of the telescopic arm 233.

[0057] like Figure 3 As shown, specifically, the longitudinal seam welding robot arm 234 can be driven to move horizontally and vertically by the horizontal slide 231 and the vertical slide 232, and then the telescopic arm 233 is extended and retracted to drive the robot arm to move axially. After the assembly component 300 assembles multiple tiles into a single-section steel pipe, the longitudinal seam welding robot arm 234 is transported to the longitudinal seam welding position by the horizontal slide 231, the vertical slide 232 and the telescopic arm 233 to weld the longitudinal seam. After the longitudinal seam welding robot arm 234 completes the automated welding construction of a certain section of the weld of the entire longitudinal seam, the telescopic arm 233 is extended and retracted to transport the longitudinal seam welding robot arm 234 to the next working position to continue the welding construction, thereby completing the automated welding construction of the longitudinal seam during the assembly of the single-section steel pipe.

[0058] Optionally, a weld seam visual positioning sensor is arranged on the longitudinal seam welding robot arm 234 to automatically find the weld seam and realize automated welding, while ensuring that the weld does not deviate and improving the welding quality.

[0059] Optionally, the welding jacking member 240 is a jacking cylinder. The welding jacking member 240 can also adjust the roundness of the steel pipe when the steel pipe is assembled and docked. Rollers are arranged on the movable end of the welding jacking member 240 to reduce friction during walking.

[0060] Optionally, the welding robot arm has an arc tracking function to ensure that the weld does not deviate.

[0061] like Figure 2 、 Figure 4 、 Figure 5 、 Figure 8 and Figure 9As shown, the flipping mechanism in this embodiment includes a connecting seat 1 410 and a connecting seat 2 420 arranged in parallel on the walking assembly 100, and a connecting seat 3 430 and a connecting seat 440 arranged in parallel on the welding assembly 200. The connecting seat 1 410 and the connecting seat 4 440 are hinged, and the connecting seat 2 420 and the connecting seat 3 430 are hinged. The opposite ends of the connecting seat 3 430 are respectively arranged on the angle adjustment cylinder 1 431 and the angle adjustment cylinder 2 432, and the opposite ends of the connecting seat 4 440 are respectively arranged on the angle adjustment cylinder 3 441 and the angle adjustment cylinder 4 442. Specifically, when the angle needs to be adjusted, the movable ends of the angle adjustment cylinder 1 431 and the angle adjustment cylinder 3 441 are extended, and the movable ends of the angle adjustment cylinder 2 and the angle adjustment cylinder 4 442 are retracted, so that the axis between the assembly component 300 and the welding component 200 and the walking component 100 forms an angle, and then the rotating part 130 of the walking component 100 is used to make the welding component 200 and the assembly component 300 rotate circumferentially, thereby controlling the assembly component 300 and the welding component 200 to rotate in any direction, thereby realizing the assembly of inclined tube segments, the docking of inclined tubes with flat tubes, the longitudinal seam welding during the assembly of inclined tubes, the circumferential seam welding during the assembly of inclined tubes with flat tubes, and the adjustable angle of the steel pipes during the assembly of steel pipes. Optionally, the connecting seat 1 410 and the connecting seat 4 440 are hinged by earrings and pins. Optionally, the connecting seat 2 420 and the connecting seat 3 430 are hinged by earrings and pins. Optionally, connecting base 1 410 includes a base 1 411, an earring 1 412 disposed on base 1 411, and a cylinder hinge hole 1 413 provided on base 1 411. Optionally, connecting base 2 420 includes a base 2 421, an earring 2 422 disposed on base 2 421, and a cylinder hinge hole 2 423 provided on base 2 421. Optionally, connecting base 3 430 also includes a base 3 433 and an earring 3 434 disposed on base 3 433. Optionally, connecting base 4 440 also includes a base 4 443 and an earring 444 disposed on base 4 443.

[0062] like Figure 6 and Figure 7 As shown, in this embodiment, the assembly component 300 includes an assembly base 310 connected to the movable end of the telescopic component 500, a steel pipe assembly rotatably arranged on the assembly base 310 for grabbing tiles and driving the tiles to rotate circumferentially, and an assembly lifting component 320 arranged at intervals along the circumference on the circumferential outer wall of the steel pipe assembly for supporting the inner wall of the steel pipe.

[0063] like Figure 6 and Figure 7Specifically, the steel pipe assembly is installed through the assembly base 310. The steel pipe assembly grasps the tiles and drives them to rotate circumferentially, thereby assembling multiple tiles into a single steel pipe. The assembly lifting member 320 then abuts against the inner wall of the steel pipe to support and secure the assembly 300 and adjust the roundness of the steel pipe when the two sections are connected. Optionally, the assembly base 310 is arranged in an annular shape and has a connection hole 311 connected to the movable end of the telescopic assembly 500.

[0064] like Figure 6 and Figure 7 As shown, in this embodiment, the steel pipe assembly includes a rotating disk 330 rotatably arranged at intervals along the axial direction on the assembly base 310, a driving mechanism 340 arranged on the assembly base 310 and connected to the rotating disk 330 at its output end for driving the rotating disk 330 to rotate relative to the assembly base 310, and a plurality of gripping mechanisms 350 arranged circumferentially and spaced apart at the axial ends of the rotating disk 330. Specifically, the gripping mechanism 350 grasps a tile, and the rotating disk 330 is then driven by the driving mechanism 340 to rotate, thereby driving the tile to rotate circumferentially and driving the next gripping mechanism 350 to grasp a tile. The plurality of gripping mechanisms 350, the rotating disk 330, and the driving mechanism 340 cooperate to automatically assemble multiple tiles into a single section of steel pipe. Optionally, the driving mechanism 340 is a combination of a servo motor and a reducer.

[0065] like Figure 6 and Figure 7 As shown, in this embodiment, the grabbing mechanism 350 includes a grabber 351 arranged on the axial end of the turntable 330, a grabber cylinder 352 arranged radially on the fixed end of the grabber 351, and a magnetic part 353 arranged on the movable end of the grabber cylinder 352. The tile is grabbed by the grabber 351, and then extended through the movable end of the grabber cylinder 352 to adsorb the inner wall of the tile through the magnetic part 353, thereby completely fixing the tile, and then the turntable 330 rotates to rotate the tile to a suitable installation position, and then other grabber mechanisms 350 work synchronously to assemble multiple tiles into a single section of steel pipe.

[0066] like Figure 6 and Figure 7 As shown, in this embodiment, the number of the gripping mechanisms 350 is six.

[0067] like Figure 6 and Figure 7 As shown, in this embodiment, the gripper 351 includes a fixed portion 3511, a grab hook 3512 rotatably disposed on the fixed portion 3511, and a driving member 3513 for driving the grab hook 3512 to rotate relative to the fixed portion 3511. The driving member 3513 drives the grab hook 3512 to rotate to grab or release the tile. Optionally, the driving member 3513 is a cylinder.

[0068] like Figures 1-9 As shown, in one embodiment, the working process of the large steel pipe automatic assembly welding operation device is as follows:

[0069] The tiles of the large steel pipe are transferred to the assembly work. The assembly component 300 grabs the tile through the gripper 351 in the gripping mechanism 350, and then fixes the tile through the gripping cylinder 352 and the magnetic part 353. Then the driving mechanism 340 drives the rotating disk 330 to rotate to rotate the tile to the appropriate position. Then other gripping mechanisms 350 repeat the above process, so that multiple tiles are assembled into a single section of steel pipe;

[0070] The driving mechanism 340 drives the rotary disk 330 to rotate so that a longitudinal seam on the single-section steel pipe is rotated to the welding position. Then, the telescopic member in the longitudinal seam welding part 230 is extended to allow the longitudinal seam welding robot arm 234 to reach the longitudinal seam welding station. The position of the longitudinal seam welding robot arm 234 is adjusted by the horizontal slide 231 and the vertical slide 232 so that the longitudinal seam welding robot arm 234 can perform the spot welding operation in the optimal posture. After the spot welding of a certain section of the longitudinal seam is completed, the telescopic arm 233 is retracted for a distance and continues to perform electric welding on the next section of the longitudinal seam until the spot welding operation of the entire weld is completed. After the spot welding of the entire weld is completed, the telescopic arm 233 is retracted to the initial position, and the driving mechanism 340 drives the rotary disk 330 to rotate, rotating the next longitudinal seam to the flat welding position. The above process is repeated until the spot welding of all longitudinal seams is completed.

[0071] After all the longitudinal seam spot welding is completed, the longitudinal seam welding robot arm 234 will stay near the longitudinal seam spot welding station where the last spot welding is completed, and the weld seam visual positioning sensor on the longitudinal seam welding robot arm 234 will automatically locate the longitudinal seam, thereby completing the multi-layer and multi-pass welding construction of the weld seam of the starting section of the longitudinal seam. The telescopic arm 233 will retract a certain distance and automatically weld the next weld seam of the longitudinal seam until the entire longitudinal seam welding operation is completed. After the welding construction of the entire longitudinal seam is completed, the telescopic arm 233 will retract and reset, and the driving mechanism 340 will drive the turntable 330 to rotate, and rotate the next longitudinal seam to the flat welding position. The above process is repeated until all the longitudinal seam welding construction is completed.

[0072] After the longitudinal seam welding construction on the two adjacent steel pipes is completed, the movable end of the telescopic assembly 500 is retracted to open the pre-assembly of the two adjacent steel pipes, and then the welding jacking piece 240 and the assembly jacking piece 320 are synchronously and uniformly linked to adjust the roundness of the two steel pipes respectively to ensure that the roundness of the two steel pipes is consistent and meets the requirements; if there is a certain angle between the axes of the two steel pipes, the steel pipe angle is adjusted by the turning mechanism; if the heights of the steel pipes are inconsistent, the gripper 351 in the grasping mechanism 350 is loosened, and the height of the steel pipe is adjusted by the welding jacking piece 240 and the assembly jacking piece 320 to make the heights of the two steel pipes consistent. After the adjustment, the gripper 351 in the grasping mechanism 350 grasps the steel pipe to butt the two steel pipes, achieving high-quality butt jointing, thereby ensuring the welding quality;

[0073] The weld seam vision positioning sensor on the longitudinal seam welding robot arm 234 automatically locates the circumferential seam, thereby completing the multi-layer and multi-pass welding construction of the local weld of the circumferential seam. The slewing ring 221 rotates to transfer the robot arm to the next working position of the circumferential seam, and automatically welds the next section of the circumferential seam until the entire circumferential seam welding operation is completed.

[0074] The entire device is moved to the next operating position by assembling the assembly 300, and the above process is repeated until the automatic assembly and automatic welding operations of all steel pipes are completed.

[0075] It should be understood that, in this embodiment, all longitudinal seam welding is converted into flat welding by the rotary disk 330, which greatly reduces the difficulty of the welding process and improves the welding quality.

[0076] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A large steel pipe automatic assembly welding device, characterized in that: The invention comprises a walking assembly (100), a welding assembly (200), an assembling assembly (300), a flip assembly (400) respectively connected to the walking assembly (100) and the welding assembly (200), and a telescopic assembly (500) respectively connected to the welding assembly (200) and the assembling assembly (300). The walking assembly (100) is used to walk inside the steel pipe and drive the welding assembly (200) and the assembling assembly (300) to rotate circumferentially. The welding assembly (200) is used to weld the longitudinal seam on a single section of the steel pipe. and the annular seam between two adjacent sections of steel pipes, the assembling assembly (300) is used to grab the tiles and drive the tiles to rotate circumferentially, so as to assemble multiple tiles into a single section of steel pipe, the telescopic assembly (500) is used to telescope the movable end to drive the assembling assembly (300) to approach or move away from the welding assembly (200), thereby docking the two adjacent sections of steel pipes, and the flipping assembly (400) is used to drive the welding assembly (200) and the assembling assembly (300) to flip relative to the walking assembly (100), so as to adjust the angle when the steel pipes are assembled.

2. The large steel pipe automated assembly and welding device according to claim 1, characterized in that: The walking assembly (100) comprises a walking base (110), a plurality of walking parts (120) arranged at intervals along the circumference on the circumferential outer wall of the walking base (110) for driving the walking base (110) to move in a steel pipe, and a rotating part (130) rotatably arranged on the axial end of the walking base (110) and connected to the flip assembly (400) for driving the welding assembly (200) and the assembling assembly (300) to rotate circumferentially.

3. The large steel pipe automated assembly and welding device according to claim 2, characterized in that: The walking member (120) comprises a slide rail mechanism (121) whose movable end is slidably arranged on the outer wall of the walking base (110) in the axial direction, and a tightening mechanism (122) whose movable end is telescopically arranged on the movable end of the slide rail mechanism (121) in the radial direction and is used for tightening the inner wall of the steel pipe.

4. The large steel pipe automated assembly and welding device according to claim 3, characterized in that: The slide rail mechanism (121) comprises a slide rail base (1211) arranged on the circumferential outer wall of the walking base (110), a slide rail upper plate (1212) slidably arranged on the slide rail base (1211) and equipped with a tightening mechanism (122), and a slide rail oil cylinder (1213) axially arranged on the slide rail base (1211) and having a movable end connected to the slide rail upper plate (1212).

5. The large steel pipe automated assembly and welding device according to any one of claims 1 to 4, characterized in that: The welding assembly (200) comprises a welding base (210) connected to a flip assembly (400) and a telescopic assembly (500) respectively, a circumferential seam welding member (220) arranged circumferentially on the circumferential outer wall of the welding base (210) for welding the circumferential seam between two adjacent sections of steel pipes, a longitudinal seam welding member (230) arranged axially on the axial end of the welding base (210) for welding the longitudinal seam on a single section of steel pipe, and a plurality of welding lifting members (240) arranged axially and circumferentially at intervals on the circumferential outer wall of the welding base (210) for supporting the inner wall of the steel pipe.

6. The large steel pipe automated assembly and welding device according to claim 5, characterized in that: The annular seam welding member (220) comprises a swivel ring (221) rotatably sleeved on the circumferential outer wall of the welding base (210) and a plurality of annular seam welding mechanical arms (222) circumferentially spaced and arranged on the swivel ring (221).

7. The large steel pipe automated assembly and welding device according to claim 5, characterized in that: The longitudinal seam welding part (230) comprises a transverse slide (231) arranged on the axial end of the welding base (210) for transverse movement, a longitudinal slide (232) arranged on the transverse slide (231) for longitudinal movement, a telescopic arm (233) whose movable end is telescopically arranged on the longitudinal slide (232) along the axial direction, and a longitudinal seam welding mechanical arm (234) arranged on the movable end of the telescopic arm (233).

8. The large steel pipe automated assembly and welding device according to any one of claims 1 to 4, characterized in that: The assembling assembly (300) comprises an assembling base (310) connected to the movable end of the telescopic assembly (500), a steel pipe assembling piece rotatably arranged on the assembling base (310) for grabbing tiles and driving the tiles to rotate circumferentially, and an assembling lifting piece (320) arranged at intervals along the circumference on the circumferential outer wall of the steel pipe assembling piece for supporting the inner wall of the steel pipe.

9. The large steel pipe automated assembly and welding device according to claim 8, characterized in that: The steel pipe assembly comprises a rotary disk (330) rotatably arranged on an assembly base (310) at intervals along the axial direction, a driving mechanism (340) arranged on the assembly base (310) and having an output end connected to the rotary disk (330) for driving the rotary disk (330) to rotate relative to the assembly base (310), and a plurality of gripping mechanisms (350) arranged at intervals along the circumferential direction on the axial end of the rotary disk (330).

10. The large steel pipe automated assembly and welding device according to any one of claims 1 to 4, characterized in that: The flip mechanism includes a connecting seat 1 (410) and a connecting seat 2 (420) arranged in parallel on the walking assembly (100), and a connecting seat 3 (430) and a connecting seat 4 (440) arranged in parallel on the welding assembly (200). The connecting seat 1 (410) and the connecting seat 4 (440) are hinged, and the connecting seat 2 (420) and the connecting seat 3 (430) are hinged. The opposite ends of the connecting seat 3 (430) are respectively arranged on the angle adjustment cylinder 1 (431) and the angle adjustment cylinder 2 (432), and the opposite ends of the connecting seat 4 (440) are respectively arranged on the angle adjustment cylinder 3 (441) and the angle adjustment cylinder 4 (442).

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