Multi-gun steel pipe flange automatic welding machine

Abstract

The invention provides a multi-gun steel pipe flange automatic welding machine which is characterized in that a bottom frame of a rack is arranged on the ground, and an assembling and welding sliding table is installed on the rack; a right-handed rotation nut of a positioning driving assembly and a left-handed rotation nut of a positioning driven assembly of the flange clamping device are both screwed into a lead screw, and the flange clamping device is installed on a bidirectional sliding block of the machine frame and the assembling and welding sliding table. A radial positioning assembly of the steel pipe positioning device is installed on a rack and an assembling and welding sliding table, and a positioning pipe pushing assembly is installed on a clamping table and the assembling and welding sliding table. The welding gun telescopic assembly is installed at the end of the inner welding sliding beam, and the outer welding gun assembly is installed on the clamping sliding beam through an outer welding frame. A lifting and transporting device of the steel pipe feeding and returning device is supported on a transporting guide rail of a rack, and two pipe racks are located on the two sides of the lifting and transporting device respectively. The flange feeding device is supported on a sliding table guide rail of the machine frame, a grabbing head is installed at the tail end of an overturning arm, and a flange frame is installed on a feeding sliding table. Feeding and discharging are convenient, clamping is accurate and rapid, and the automation degree is high.

Description

Technical Field

[0001] The invention provides a multi-gun steel pipe flange automatic welding machine, which belongs to the field of automatic welding equipment and is mainly used for automatic loading, clamping, welding and unloading of rotary workpieces. Background Art

[0002] Welding, an indispensable technical process in the manufacturing industry, plays a vital role in the manufacturing industry and constitutes an important part of the market. With the continuous development of industrialization, the competition in the welding market is becoming increasingly fierce, and various companies have emerged. The global welding market continues to show a steady growth momentum. The global welding market is growing steadily, but the distribution and welding level differences between regions cannot be ignored.

[0003] At present, some small and medium-sized machinery manufacturing enterprises still use manual welding, which not only has low welding efficiency, high labor intensity, poor working conditions, many safety hazards, but also makes it difficult to ensure welding quality. Especially for rotating workpieces, the positioning accuracy before welding is poor, the speed is slow, the clamping reliability is poor, and the uniformity of the weld is poor.

[0004] Looking at the current status of the automated welding equipment industry, there is an urgent need for a multi-gun steel pipe flange automatic welding machine that is convenient for loading and unloading, accurate and reliable in positioning and clamping, and has a high degree of welding automation. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-gun steel pipe flange automatic welding machine that can overcome the problems existing in the existing automated welding equipment industry, which not only has accurate and rapid positioning, convenient and reliable clamping, but also can automatically load and withdraw materials, has high welding efficiency and a good degree of automation.

[0006] The technical scheme is as follows: it includes a frame, a welding slide, a flange clamping device, a steel pipe positioning device, an inner welding gun assembly, an outer welding gun assembly, a steel pipe loading and unloading device and a flange loading device; the frame includes a base frame, a column, a clamping table, a slide guide rail, a transport guide rail, a clamping table linear rail, a column linear rail, a bidirectional slider and a double slide drive; one side frame plane of the base frame with a flat rectangular frame structure is placed on the ground, and a long frame of the other frame plane extends upward with a column; a clamping table is provided at the upward frame plane of the base frame near the column, a slide guide rail is provided above the two long frames of the frame plane of the base frame, and transport guide rails perpendicular to the long frames are provided between the middle and both sides of the two long frames; the plane of the clamping table and the side facing the column are A clamping table linear rail is provided, and the clamping table linear rail is perpendicular to the longitudinal symmetry plane of the frame, that is, the frame plane of the base frame, and the symmetry plane parallel to the long frame of the base frame plane. Column linear rails are provided on the two side planes of the column facing the clamping table and away from the clamping table; the front and back sides of the two-way slider are parallel to each other and are provided with mutually perpendicular slide grooves, and two two-way sliders equipped with double sliding drives are respectively clamped on the column linear rails on both sides of the column facing the clamping table and away from the clamping table through the slide grooves on one surface; the welding slide comprises a welding slide plate, rollers, welding table drive, a column, a clamping table linear rail, a column linear rail, a two-way slider and a double sliding drive, wherein a roller is installed on each of the four corners of one side of the welding slide plate, and is located on the same line of the welding slide plate The axes of the two rollers at both ends of the edge are coaxial, and the two rollers located on the same axis are symmetrically arranged relative to the symmetry plane of the welding slide plate perpendicular to the plate surface direction. The symmetry plane, that is, the center of the two rollers located on the same axis and the plane perpendicular to the plate surface of the welding slide plate is defined as the symmetry plane of the welding slide; the welding slide is supported on the slide rail arranged above the base frame of the frame through rollers, and the welding table drive installed on one side of the welding slide plate is connected to the roller; a column extends upward from the upward plate surface of the welding slide plate, and clamping table linear rails are provided on the plane of the welding slide plate and the side facing the column of the welding slide, and the clamping table linear rail of the welding slide is parallel to the clamping table linear rail of the frame, and the column of the welding slide faces the direction of the clamping table linear rail of the welding slide. and a plane away from the clamping table linear rail on one side; there are also two bidirectional sliders equipped with double sliding drives, which are respectively clamped on the column linear rail of the column of the welding slide through a sliding groove on one surface; the flange clamping device includes a flange positioning device and a flange clamping device, wherein the flange positioning device includes a lead screw, a lead screw drive, a positioning active component and a positioning driven component, one lead screw is supported at both ends of the clamping table linear rail on the plane of the clamping table of the frame, and the lead screw is symmetrically arranged relative to the longitudinal symmetry plane of the frame, and one end of the lead screw is connected to the lead screw drive; the other lead screw is supported at both ends of the clamping table linear rail on the plane of the welding slide plate of the welding slide, and the lead screw is symmetrically arranged relative to the symmetry plane of the welding slide, and one end of the lead screw is connected to the lead screw drive;The active positioning component includes an active box, a V-groove wheel, a right-handed nut, a positioning drive and a positioning transmission component. The active box with a 6-sided box structure has two adjacent box panels cut off. The outer surface of the V-groove wheel is in a V-shaped groove shape, and the two ends of the V-groove wheel are respectively supported on the plate surfaces adjacent to the active box and the two cut box panels; the active box is equipped with a right-handed nut on the outside of a box panel perpendicular to the axis of the V-groove wheel, and the active box is equipped with a positioning drive on the outside of a box panel equipped with the V-groove wheel, and the positioning drive is connected to the V-groove wheel through the positioning transmission component; the driven positioning component includes a driven box, a V-groove wheel and a left-handed nut. The shape of the driven box is symmetrical with that of the active box. Another V-groove wheel is installed between the two adjacent box panels that are cut off. The driven box and A left-handed nut is installed on the outer side of a box panel perpendicular to the axis of the V-groove wheel; the right-handed nut of the positioning active component of a flange positioning device is screwed into the lead screws at both ends of the clamping table linear rail supported on the plane of the clamping table of the frame, and the box panel of the positioning active component equipped with the right-handed nut is installed on the two clamping table linear rails; the left-handed nut of the positioning driven component of the flange positioning device is screwed into the lead screws at both ends of the clamping table linear rail supported on the plane of the clamping table of the frame, and the box panel of the positioning driven component equipped with the left-handed nut is installed on the two clamping table linear rails equipped with the positioning active component; the right-handed nut and the left-handed nut are screwed into the flange positioning device on the same lead screw, and the positioning active component and the positioning driven component are symmetrically arranged relative to the longitudinal symmetry plane of the frame; another flange positioning device The right-handed nut of the positioning active component is screwed into the lead screws at both ends of the clamping table linear rail supported on the plane of the welding slide plate of the welding slide, and the box plate of the positioning active component equipped with the right-handed nut is installed on the two clamping table linear rails; the left-handed nut of the positioning driven component of the flange positioning device is screwed into the lead screws at both ends of the clamping table linear rail supported on the plane of the welding slide, and the box plate of the positioning driven component equipped with the left-handed nut is installed on the two clamping table linear rails equipped with the positioning active component; the positioning active component and the positioning driven component of the flange positioning device installed on the welding slide are symmetrically arranged relative to the symmetrical plane of the welding slide; the flange clamping device includes a sliding beam cylinder, a clamping sliding beam, a clamping slider, a clamping cylinder and a V-groove wheel, among which the cylinder body of one sliding beam cylinder is installed on a vertical plate mounted on the frame. The column is on the two-way slider on the column linear rail on the side of the clamping table, and one clamping slide beam is slidably mounted on the two-way slider equipped with a slide beam cylinder; another slide beam cylinder body is installed on the two-way slider on the column linear rail on the side of the welding slide plate of the column mounted on the welding slide, and another clamping slide beam is slidably mounted on the two-way slider equipped with a slide beam cylinder of the welding slide; the end of the slide beam cylinder rod is connected to the clamping slide beam; two clamping slide blocks are respectively slidably mounted on one end of the clamping slide beam on the two-way slider mounted on the frame and the welding slide and connected to the end of the slide beam cylinder rod, two clamping cylinders are respectively mounted on one side of the clamping slide beam end of the frame and the welding slide, the ends of the cylinder rods of the two clamping cylinders are respectively connected to the two clamping slide blocks, and two V-groove wheels are respectively mounted on the two clamping slide blocks;The axes of the V-groove wheel installed on the frame and the two V-groove wheels of the positioning active component and the positioning driven component of the flange positioning device installed on the frame are parallel to each other and are located in the same plane perpendicular to the longitudinal symmetry plane of the frame; the axes of the V-groove wheel installed on the welding slide and the two V-groove wheels of the positioning active component and the positioning driven component of the flange positioning device installed on the welding slide are parallel to each other and are located in the same plane perpendicular to the symmetry plane of the welding slide; the steel pipe positioning device includes a radial positioning component and a positioning pipe pushing component, wherein the radial positioning component includes a steel pipe positioning table, a steel pipe positioning drive, a steel pipe positioning plate and a positioning roller, a table surface on one side of the steel pipe positioning table is provided with a support leg, the steel pipe positioning drive is installed on a plate surface on one side of the steel pipe positioning table with a support leg, and the steel pipe positioning drive The cylinder rod passes through the plate surface of the steel pipe positioning platform and extends in the direction away from the legs of the steel pipe positioning platform; two positioning rollers with mutually parallel axes are installed on the outer side of the steel pipe positioning plate surface, and the steel pipe positioning plate is installed at the end of the cylinder rod driven by the steel pipe positioning through the center of the plate surface on the side away from the positioning roller; one steel pipe positioning device is installed on the clamping table of the frame through the end of the legs of the steel pipe positioning platform, and the two positioning rollers of the steel pipe positioning device are arranged symmetrically with respect to the longitudinal symmetry plane of the frame, and another steel pipe positioning device is respectively installed on the welding slide plate of the welding slide through the end of the legs of the steel pipe positioning platform, and the two positioning rollers of the steel pipe positioning device are arranged symmetrically with respect to the symmetry plane of the welding slide; the positioning push tube assembly includes a positioning push tube frame, a positioning push tube cylinder, a positioning pin, a push tube rod and a positioning push tube frame cylinder. A positioning tube pushing cylinder is installed on the supporting plate at one end of the positioning tube pushing rack, and a positioning pin and a tube pushing rod are installed at the end of the cylinder rod of the positioning tube pushing cylinder, and the axis of the positioning pin is parallel to the cylinder rod of the positioning tube pushing cylinder; a positioning tube pushing rack of a positioning tube pushing assembly is installed on the clamping table linear rail on the side of the clamping table of the frame facing the column direction, the axis of the positioning pin is parallel to the long frame of the bottom frame of the frame, and the end of the positioning pin points to the direction of the welding slide; another positioning tube pushing rack of a positioning tube pushing assembly is installed on the clamping table linear rail on the side of the welding slide plate of the welding slide facing the column direction of the welding slide, the axis of the positioning pin is parallel to the symmetry plane of the welding slide and the surface of the welding slide plate, and the end of the positioning pin points to the column direction away from the welding slide; the cylinder bodies of the two positioning tube pushing racks are respectively installed on the clamping table of the frame. On the side facing the column direction and the side facing the column direction of the welding slide plate of the welding slide, the ends of the cylinder rods of two positioning push racks are respectively connected to the positioning push pipe rack; the inner welding gun assembly includes a welding gun telescopic assembly, an inner welding cylinder and an inner welding slide beam, wherein the welding gun telescopic assembly includes a telescopic slider, a telescopic frame, a welding cylinder, a horizontal adjustment assembly, a fine adjustment assembly and a welding wire clamp, wherein the telescopic slider is installed on the telescopic frame, and the telescopic slider is connected to the cylinder rod end of the welding cylinder installed on the outer side of the telescopic frame; the horizontal adjustment assembly is installed on the telescopic slider, and the end of the fine adjustment assembly installed on the horizontal adjustment assembly is equipped with a welding wire clamp; an inner welding cylinder body is installed on a two-way slider on the column linear rail on the side of the column away from the clamping platform that is clamped on the frame, and an inner welding slide beam is slidably mounted on the two-way slider equipped with the inner welding cylinder;Another inner welding cylinder body is installed on a two-way slide block on the column linear rail on the side of the welding slide plate that is clamped on the column of the welding slide, and another inner welding slide beam is slidably mounted on the two-way slide block of the welding slide with the inner welding cylinder, and the end of the inner welding cylinder rod is connected to the inner welding slide beam; two welding gun telescopic assemblies are respectively installed on the end portions of the inner welding slide beam and the end of the inner welding cylinder rod through telescopic frames; the external welding gun assembly includes a welding gun telescopic assembly and an external welding frame, and the welding gun telescopic assembly of the external welding gun assembly is installed on the external welding frame; one external welding gun assembly is installed on the plane of the column side of the clamping slide beam of the flange clamping device of the flange clamping device away from the frame through the external welding frame, and the other external welding gun assembly is installed on the flange clamping device of the flange clamping device installed on the welding slide through the external welding frame. The clamping slide beam of the device is on a plane away from the column side of the welding slide; the steel pipe loading and unloading device includes a lifting and transporting device and a pipe rack, wherein the lifting and transporting device includes a lifting seat, rollers, a transport drive, a lifting rod, a hinge shaft, a slider, a lifting drive and a supporting platform. The lifting seat with a flat rectangular frame structure has two parallel frame edges at the same end. The inner side is provided with a slide groove, and the four corners of the frame plane on one side of the lifting seat are each equipped with a roller. The axes of the two rollers located at the two ends of the same frame of the lifting seat are coaxial, and the transport drive installed on one side of the lifting seat is connected to the roller; the centers of the two lifting rods are hinged together, and the centers of another two lifting rods are hinged together; the two ends of the two lifting rods that are hinged together and located on the inner side are respectively hinged at the two ends of the hinge shafts, and one One slider is hinged at each end of the hinged shaft; two lifting rods hinged together at the center and located on the outside are hinged at both ends of the other two hinged shafts, and one slider is hinged at each end of one hinged shaft; the sliders hinged at both ends of the hinged shafts at one end of the two lifting rods hinged together and located on the outside are respectively slid into the slide grooves arranged on the inner side of the frame of the lifting seat, and the two ends of the hinged shafts at one end of the two lifting rods hinged together and located on the inside are hinged at the other end of the frame of the lifting seat away from the slide groove; two lifting drives are hinged on the hinged shafts slid into the slide groove of the lifting seat through the sliders, and the ends of the telescopic rods of the two lifting drives are respectively hinged to the middle parts of the two lifting rods located on the inside; the two parallel frames of the support platform with a flat rectangular frame structure are at the same end A slide groove is provided on the side, and two V-shaped grooves parallel to each other are provided on the frame plane of one side of the material supporting platform. The sliders hinged at both ends of the hinge shafts at one end of the two lifting rods hinged together and located on the inner side are respectively slidably mounted in the slide grooves arranged on the inner side of the frame of the material supporting platform, and the two ends of the hinge shafts at one end of the two lifting rods hinged together and located on the outer side are hinged at the other end of the frame of the material supporting platform away from the slide groove; the length direction of the V-shaped groove arranged on the material supporting platform is parallel to the axis of the roller installed on the lifting seat, and the lifting and moving device is supported on the moving guide rails arranged on the bottom frame of the frame through the rollers of the lifting seat; a U-shaped plane of the pipe material rack with a U-shaped space frame structure is placed on the ground, and the ends of the two U-shaped frames of the other upward U-shaped plane away from the U-shaped bottom frame are both extended upward with pipe retaining piles;The two pipe racks are respectively located on both sides of the vertical direction of the roller axis of the lifting and transporting device and the lifting seat, and the U-shaped openings of the two pipe racks are facing the lifting and transporting device; the flange loading device includes a loading slide, a grab head and a flange rack, wherein the loading slide includes a loading slide plate, rollers, a loading table drive, a loading column, a loading linear rail, an upper slide drive, a loading slider, a flip drive and a flip arm, and a roller is installed on each of the four corners of the plate surface of one side of the loading slide plate. The axes of the two rollers located at the two ends of the same side of the loading slide plate are coaxial, and the two rollers located on the same axis are symmetrically arranged relative to the symmetric plane of the loading slide plate perpendicular to the plate surface direction, defining the The symmetric plane, that is, the center of the two rollers located on the same axis and the plane perpendicular to the surface of the loading slide plate is the symmetric plane of the loading slide. The loading platform drive installed on one side of the loading slide plate is connected to the roller; a loading column extends out from the side of the loading slide plate away from the roller in a direction perpendicular to the plate surface, and a loading linear rail is provided on the side plane parallel to the axis of the roller. The loading slider equipped with the upper sliding drive is clamped on the loading linear rail; the flip drive is installed on the loading slider, and the axis of the flip arm inserted into the power output hole of the flip drive is perpendicular to the symmetric plane of the loading slide; the two loading slides are supported on the slide rail arranged above the bottom frame of the frame through rollers. One loading slide is located on the side of the frame column away from the slide, and the other loading slide is located on the side of the slide column away from the frame column; the grab head includes a grab rod, a grab drive, a double adjustment drive, a two-way adjustment component, an electromagnet and a grab pin, wherein one end of the grab rod is installed at the end of the flip arm of the loading slide, and the axis of the grab rod coincides with the symmetry plane of the loading slide, and the end of the flip arm is equipped with a grab drive on the side away from the grab rod, and the power output shaft of the grab drive is coaxial with the grab rod; the two-way adjustment component equipped with a two-way drive is installed at the end of the grab rod away from the grab drive, and the two grab pins equipped with electromagnets are installed on the side of the two-way adjustment component away from the grab rod; the flange frame is installed on the loading slide plate of the loading slide. ;

[0007] Compared with the existing status in the art, the present invention has high welding efficiency, good quality and high automation because the multi-gun steel pipe flange automatic welding machine is equipped with a program control system, and each step and action is controlled by the program; since the flange positioning device of the flange clamping device is provided with a lead screw, the positioning active component and the positioning driven component are respectively equipped with a right-handed nut and a left-handed nut screwed with the same lead screw, so when the lead screw drives the lead screw to rotate, the right-handed nut and the left-handed nut will be driven to move toward or away from the longitudinal symmetry plane of the frame at the same time, that is, the positioning active component and the positioning driven component of the flange positioning device are driven to reciprocate along the axial direction of the lead screw, thereby always ensuring the longitudinal alignment of the workpiece relative to the frame. The weighing surface remains "centered", which not only realizes the precise positioning of the workpiece, but also adapts to the positioning requirements of flanges of different diameters; since the outer circumferential surface of the V-groove wheel of the flange clamping device is in the shape of a V-groove, it can adapt to the precise positioning of flanges of different thicknesses; since the positioning tube pusher assembly of the steel pipe positioning device is slidably installed on the clamping table linear rail on the welding slide plate of the clamping table and the welding slide set on the frame through the positioning tube pusher frame, the distance between the positioning pin and the tube pusher rod of the positioning tube pusher assembly relative to the longitudinal symmetry plane of the frame is adjustable, thereby realizing the precise positioning of the flange in the circumferential direction, and adapting to the positioning requirements of the circle where the bolt holes of different diameters of the flange are located; since the steel pipe positioning device is installed on the positioning tube pusher assembly on the welding slide The component is provided with a pipe pushing rod, so it can push the steel pipe to move axially toward the clamping table of the frame, so that the axial automatic positioning of the steel pipe can be realized; since the pipe pushing rod of the positioning pipe pushing assembly of the steel pipe positioning device installed on the frame has a trigger function, the pipe pushing rod of the positioning pipe pushing assembly installed on the welding slide table pushes the steel pipe to be welded to move until the end face of the steel pipe to be welded contacts the pipe pushing rod of the positioning pipe pushing assembly installed on the frame, the control system can send an instruction to the welding table drive to stop moving, so the positioning of the steel pipe is accurate and reliable; since the flange clamping device is installed on the two-way slider of the frame and the welding slide table through the clamping slide beam, the two-way slider and the flange clamping device installed on the two-way slider can be driven to move along the vertical The column linear rail moves up and down, so it can adapt to the clamping requirements of flanges with different diameters; since the extension length of the steel pipe positioning drive cylinder rod of the radial positioning assembly of the steel pipe positioning device is adjustable, the height of the positioning roller of the steel pipe positioning device can be adjusted, so as to ensure the accurate position of the positioning roller relative to the outer circle of the steel pipe to be welded, and adapt to the positioning requirements of steel pipes with different diameters; since the welding slide is equipped with a slide roller and a welding drive, the welding slide and the various devices installed on the welding slide can be driven to reciprocate along the slide guide rails arranged on the bottom frame of the frame, so as to adapt to the clamping requirements of steel pipes with different lengths to be welded, and promote the axial movement of the steel pipe to be welded, so as to achieve accurate axial positioning of the steel pipe to be welded;Since the loading slide of each flange loading device is equipped with a slide roller and a loading slide drive, the loading slide and the grabbing head installed on the loading slide and the flange to be welded can be driven to move back and forth longitudinally. An upward sliding drive and a loading slider can be provided to drive the grabbing head to move up and down. A flip drive and a flip arm can be provided to drive the grabbing head to rotate around the axis of the flip arm to facilitate the grabbing and pushing of the flange to be welded. Since the grabbing head of each flange loading device is provided with a two-way adjustment component, the left-hand and right-hand screws can be driven by the double-adjustment drive to adjust the two grabbing pins to the same When approaching or moving away from the center of the two-way adjustment component, it can adapt to the grabbing requirements of the different diameters of the bolt holes of the flange; since the grabbing head of each flange feeding device is provided with a grabbing drive, the two grabbing pins can be rotated at a low speed through the double-adjustment drive belt to facilitate the grabbing pins to find and insert the bolt holes of the flange to be welded; since the internal welding slide beam of each internal welding gun assembly is installed on the clamping table linear rail on the welding slide plate of the clamping table and the welding slide set on the frame, the internal welding gun assembly is convenient to advance and retreat in the welding state and the non-welding state; since the internal welding gun assembly and The relative position and angle between the welding gun telescopic assembly of the outer welding gun assembly and the inner welding slide beam and the outer welding frame are adjustable, so it is easy to obtain the optimal position and angle of the welding wire clamp of the welding gun telescopic assembly relative to the weld to be welded; because the lateral position of the welding wire clamp of the welding gun telescopic assembly is adjustable and a fine-tuning assembly is provided, the accurate position of the welding wire clamp relative to the weld to be welded can be finely adjusted, further ensuring the welding quality; because a steel pipe feeding and withdrawing device is provided, from the feeding and positioning of the steel pipe to be welded to the withdrawing after welding, no manual operation is required throughout the whole process, and the welding wire clamp can be automatically adjusted. High degree of automation freedom; since the lifting drive of the lifting and transporting device of the steel pipe feeding and unloading device is hinged on the hinged shaft equipped with a slider, the lifting drive can slide with the slider during the lifting process of the support platform, so the telescopic stroke required by the lifting drive is short and the lifting efficiency is high. When it descends to the extreme position, the lifting rod, hinged shaft, slider and lifting drive can all be hidden in the lifting seat and the support platform, that is, the height at the lowest extreme position is the sum of the heights of the lifting seat and the support platform, so it can meet the transportation requirements when the height is limited to the maximum extent. ; BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is an axonometric view of an embodiment of the present invention in which the flange clamping device is in a clamping state, the positioning and pushing tube assembly of the steel pipe positioning device is in a positioning state, the welding gun telescopic assemblies of the inner welding gun assembly and the outer welding gun assembly are in a welding state, the flange feeding device is in a state of waiting to grab the flange, and the steel pipe feeding and unloading device is in a state of waiting to unload; Figure 2 The present invention Figure 1An axonometric view of the embodiment shown in which the flange clamping device is in a non-clamping state, the positioning and pushing tube assembly of the steel pipe positioning device is in a retracted state, the welding gun telescopic assemblies of the inner welding gun assembly and the outer welding gun assembly are in a retracted state, the flange feeding device is in a state of pushing the flange into the V-groove of the V-groove wheel, the steel pipe feeding and withdrawing device is in a state of pushing the steel pipe to contact with the positioning surface of the steel pipe positioning device, and the welded workpiece is withdrawn to one side of the frame at the same time; Figure 3 The present invention Figure 1 An axonometric view of the frame of the illustrated embodiment; Figure 4 The present invention Figure 1 Axonometric view of the welding slide of the illustrated embodiment; Figure 5 The present invention Figure 1 An axonometric view of the flange clamping device of the illustrated embodiment; Figure 6 The present invention Figure 5 Axonometric view of the flange positioning device of the illustrated embodiment; Figure 7 The present invention Figure 6 An isometric view of the positioning active assembly of the illustrated embodiment; Figure 8 The present invention Figure 6 An isometric view of the illustrated embodiment positioning the driven assembly; Fig. 9 The present invention Figure 5 An axonometric view of the flange clamping device of the illustrated embodiment; Fig.10 The present invention Figure 1 Axonometric view of the steel pipe positioning device of the illustrated embodiment; Fig.11 The present invention Fig.10 An axonometric view of the radial positioning assembly of the illustrated embodiment; Fig.12 The present invention Fig.10 An isometric view of the illustrated embodiment positioning the push tube assembly; Fig.13 The present invention Figure 1 an isometric view of the welding gun assembly in the illustrated embodiment; Fig.14 The present invention Fig.13 An axonometric view of the welding gun telescoping assembly of the illustrated embodiment; Fig.15 The present invention Figure 1 An isometric view of a welding gun assembly according to the illustrated embodiment; Fig.16 The present invention Figure 1 Axonometric view of the steel pipe feeding and withdrawing device of the illustrated embodiment; Fig.17 The present invention Fig.16 An axonometric view of the lifting and moving device of the illustrated embodiment; Fig.18 The present invention Figure 1 Axonometric view of the flange loading device of the illustrated embodiment; Fig.19 The present invention Fig.18 An axonometric view of the loading slide of the illustrated embodiment; Fig. 20 The present invention Fig.18 An axonometric view of the grab head of the illustrated embodiment; Fig.21 The present invention Figure 1 Axonometric view of workpieces being welded according to the illustrated embodiment. DETAILED DESCRIPTION

[0009] 1. Frame 11, base frame 12, column 13, clamping table 14, slide rail 15, transport rail 16, clamping table linear rail 17, column linear rail 18, bidirectional slider 19, double slide drive 2, welding slide 21, welding slide plate 22, roller 23, welding table drive 3, flange clamping device 31, flange positioning device 311, lead screw 312, lead screw drive 313, positioning active component 3131, active box 3132, V-groove wheel 3133, right-hand screw nut 3134, fixed Positioning drive 3135, positioning transmission assembly 314, positioning driven assembly 3141, driven box 3142, left-handed nut 32, flange clamping device 321, slide beam cylinder 322, clamping slide beam 323, clamping slide block 324, clamping cylinder 4, steel pipe positioning device 41, radial positioning assembly 411, steel pipe positioning platform 412, steel pipe positioning drive 413, steel pipe positioning plate 414, positioning roller 42, positioning pipe push assembly 421, positioning pipe push frame 422, positioning pipe push cylinder 42 3. Positioning pin 424, pipe push rod 425, positioning push frame cylinder 5, inner welding gun assembly 51, welding gun telescopic assembly 511, telescopic slide block 512, telescopic frame 513, welding cylinder 514, horizontal adjustment assembly 515, fine adjustment assembly 516, welding wire clamp 52, inner welding cylinder 53, inner welding slide beam 6, outer welding gun assembly 61, outer welding frame 7, steel pipe feeding and unloading device 71, lifting and transporting device 711, lifting seat 712, transport drive 713, lifting rod 714, hinge shaft 715, Slider 716, lifting drive 717, supporting platform 72, pipe rack 8, flange loading device 81, loading slide 811, loading slide plate 812, loading platform drive 813, loading column 814, loading linear rail 815, upper sliding drive 816, loading slider 817, flip drive 818, flip arm 82, grabbing head 821, grabbing rod 822, grabbing drive 823, double adjustment drive 824, two-way adjustment assembly 825, electromagnet 826, grabbing pin 83, flange rack.

[0010] exist Figure 1-Figure 20In the embodiment shown: the base frame 11 of the frame 1 is a planar rectangular frame structure, one side of the frame plane of the base frame 11 is placed on the ground, and a long side frame of the other frame plane extends upward with a column 12; a clamping platform 13 is provided near the column 12 on the upward frame plane of the base frame 11, and a slide rail 14 is provided above the two long sides of the frame plane of the base frame 11, and a transfer rail 15 perpendicular to the long sides is provided between the middle and both sides of the two long sides; a clamping platform linear rail 16 is provided on the upper plane of the clamping platform 13 and on the side facing the column 12, and the clamping platform linear rail 16 is symmetrical with the longitudinal direction of the frame 1 The two sides of the column 12 facing the clamping platform 13 and away from the clamping platform 13 are provided with column linear rails 17; the two sides of the two-way sliding block 18 are parallel to each other and are provided with mutually perpendicular sliding grooves. The two two-way sliding blocks 18 equipped with double sliding drives 19 are respectively mounted on the column linear rails 17 on both sides of the column 12 facing the clamping platform 13 and away from the clamping platform 13 through the sliding grooves on one surface. Therefore, the two double sliding drives 19 can drive the two two-way sliding blocks 18 to slide up and down respectively. A roller 22 is installed on each of the four corners of the plate surface of one side of the welding slide plate 21 of the welding slide 2. The axes of the two rollers 22 located at the two ends of the same side of the welding slide plate 21 are coaxial, and the two rollers 22 located on the same axis are arranged symmetrically relative to the symmetry plane of the welding slide plate 21 perpendicular to the plate surface direction. The symmetry plane, that is, the center of the two rollers 22 located on the same axis and the plane perpendicular to the plate surface of the welding slide plate 21 is defined as the symmetry plane of the welding slide 2; the welding slide 2 is supported on the slide guide rail 14 arranged above the base frame 11 of the frame 1 through the roller 22, so the symmetry plane of the welding slide 2 coincides with the longitudinal symmetry plane of the frame 1, and the welding table drive 23 installed on one side of the welding slide plate 21 is connected to the roller 22. A column 12 extends upward from the upward plate surface of the welding slide plate 21, and clamping table linear rails 16 are provided on the plane on the welding slide plate 21 and the side facing the column 12 of the welding slide 2, and the clamping table linear rails 16 of the welding slide 2 are parallel to the clamping table linear rails 16 of the frame 1, and column linear rails 17 are provided on the plane of the column 12 of the welding slide 2 facing the clamping table linear rail 16 of the welding slide 2 and away from the clamping table linear rail 16; the two bidirectional sliding blocks 18 of the welding slide 2 equipped with double sliding drives 19 are respectively mounted on the column linear rails 17 of the column 12 of the welding slide 2 through a slide groove on one surface, so that the two double sliding drives 19 can respectively drive the two bidirectional sliding blocks 18 to slide up and down.Both ends of a lead screw 311 of the flange positioning device 31 of the flange clamping device 3 are supported at both ends of the clamping table linear rail 16 on the plane of the clamping table 13 of the frame 1, and the lead screw 311 is symmetrically arranged relative to the longitudinal symmetry plane of the frame 1, and one end of the lead screw 311 is connected to the lead screw driver 312; both ends of another lead screw 311 are supported at both ends of the clamping table linear rail 16 on the plane of the welding slide plate 21 of the welding slide 2, and the lead screw 311 is symmetrically arranged relative to the symmetry plane of the welding slide 2, and one end of the lead screw 311 is connected to the lead screw driver 312. The active box 3131 of the positioning active component 313 is a 6-sided box structure, the active box 3131 cuts off two adjacent box panels, the outer circumferential surface of the V-groove wheel 3132 is in a V-groove shape, and the two ends of the V-groove wheel 3132 are respectively supported on the plate surfaces of the active box 3131 adjacent to the two cut box panels; a right-handed nut 3133 is installed on the outer side of a box panel of the active box 3131 that is perpendicular to the axis of the V-groove wheel 3132, and a positioning drive 3134 is installed on the outer side of a box panel of the active box 3131 equipped with the V-groove wheel 3132, and the positioning drive 3134 is driven by the positioning sensor The driven assembly 3135 is connected to the V-groove wheel 3132; the shape of the driven box 3141 of the positioning driven assembly 314 is symmetrical to the active box 3131, and another V-groove wheel 3132 is installed between the driven box 3141 and the two adjacent panels of the cut-off box body panels, and a left-handed screw nut 3142 is installed on the outer side of a box body panel perpendicular to the axis of the driven box 3141 and the V-groove wheel 3132. The right-handed screw nut 3133 of the positioning active assembly 313 of the flange positioning device 31 is screwed into the lead screw 311 at both ends of the clamping table linear rail 16 supported on the upper plane of the clamping table 13 of the frame 1, and the fixed The box panel of the positioning active component 313 equipped with a right-handed nut 3133 is installed on the two-piece clamping table linear rail 16; the left-handed nut 3142 of the positioning driven component 314 of the flange positioning device 31 is screwed into the screw 311 at both ends of the clamping table linear rail 16 supported on the plane of the clamping table 13 of the frame 1, and the box panel of the positioning driven component 314 equipped with a left-handed nut 3142 is installed on the two-piece clamping table linear rail 16 equipped with the positioning active component 313; the right-handed nut 3133 and the left-handed nut 3142 are screwed into the positioning active component of the flange positioning device 31 on the same screw 311 313 and the positioning driven component 314 are symmetrically arranged relative to the longitudinal symmetry plane of the frame 1; when the screw 311 rotates, it can simultaneously drive the right-handed nut 3133 and the left-handed nut 3142 to move toward or away from the longitudinal symmetry plane of the frame 1, that is, drive the positioning active component 313 and the positioning driven component 314 of the flange positioning device 31 to reciprocate along the axial direction of the screw 311, so that the two V-groove wheels 3132 respectively installed on the positioning active component 313 and the positioning driven component 314 have a "centering" function relative to the longitudinal symmetry plane of the frame 1.The right-handed nut 3133 of the positioning active component 313 of another flange positioning device 31 is screwed into the screw 311 at both ends of the clamping table linear rail 16 supported on the plane of the welding slide plate 21 of the welding slide 2, and the box panel of the positioning active component 313 equipped with the right-handed nut 3133 is installed on the two-piece clamping table linear rail 16; the left-handed nut 3142 of the positioning driven component 314 of the flange positioning device 31 is screwed into the screw 311 at both ends of the clamping table linear rail 16 supported on the plane of the welding slide 2, and the box panel of the positioning driven component 314 equipped with the left-handed nut 3142 is installed on the two-piece clamping table linear rail 16 equipped with the positioning active component 313; the positioning active component 313 and the positioning driven component 314 of the flange positioning device 31 installed on the welding slide 2 are symmetrically arranged relative to the symmetrical plane of the welding slide 2, and therefore also have a "centering" function relative to the longitudinal symmetrical plane of the frame 1. One sliding beam cylinder 321 of the flange clamping device 32 is installed on a two-way slider 18 on the column linear rail 17 on the side of the clamping platform 13 of the column 12 clamped on the frame 1, and one clamping sliding beam 322 is slidably mounted on the two-way slider 18 equipped with the sliding beam cylinder 321; another sliding beam cylinder 321 cylinder body is installed on the two-way slider 18 on the column linear rail 17 on the side of the welding slide 2 of the column 12 clamped on the welding slide 2, and another clamping sliding beam 322 is slidably mounted on the two-way slider 18 of the welding slide 2 equipped with the sliding beam cylinder 321; the end of the cylinder rod of the sliding beam cylinder 321 is connected to the clamping sliding beam 322, so that the extension and retraction of the cylinder rod of the sliding beam cylinder 321 can drive the clamping sliding beam 322 to move horizontally. Two clamping slide blocks 323 are respectively slidably mounted on one end of the clamping slide beam 322 on the bidirectional slide block 18 slidably mounted on the frame 1 and the welding slide 2 and connected to the end of the cylinder rod of the slide beam cylinder 321, and two clamping cylinders 324 are respectively mounted on one side of the end of the clamping slide beam 322 of the frame 1 and the welding slide 2, and the ends of the cylinder rods of the two clamping cylinders 324 are respectively connected to the two clamping slide blocks 323, and two V-groove wheels 3132 are respectively mounted on the two clamping slide blocks 323; the V-groove wheels 3132 of the flange clamping device 32 mounted on the frame 1 and the axes of the two V-groove wheels 3132 of the positioning active component 313 and the positioning driven component 314 of the flange positioning device 31 mounted on the frame 1 are parallel to each other. The axes of the V-groove wheels 3132 of the flange clamping device 32 installed on the welding slide 2 and the two V-groove wheels 3132 of the positioning active component 313 and the positioning driven component 314 of the flange positioning device 31 installed on the welding slide 2 are parallel to each other, and the three V-groove wheels 3132 are located in the same plane perpendicular to the symmetry plane of the welding slide 2; in the clamping workpiece state, the V-groove wheel 3132 of the flange clamping device 32 installed on the frame 1 coincides with the longitudinal symmetry plane of the frame 1, and the V-groove wheel 3132 of the flange clamping device 32 installed on the welding slide 2 coincides with the symmetry plane of the welding slide 2.A side surface of the steel pipe positioning platform 411 of the radial positioning assembly 41 of the steel pipe positioning device 4 is provided with a support leg, and a steel pipe positioning drive 412 is installed on a side surface of the steel pipe positioning platform 411 provided with the support leg. The cylinder rod of the steel pipe positioning drive 412 passes through the plate surface of the steel pipe positioning platform 411 and extends in a direction away from the support leg of the steel pipe positioning platform 411; two positioning rollers 414 with mutually parallel axes are installed on the outer side of the plate surface of the steel pipe positioning plate 413, and the steel pipe positioning plate 413 passes through the center of the side surface away from the positioning roller 414. Installed at the end of the cylinder rod of the steel pipe positioning drive 412; one steel pipe positioning device 4 is installed on the clamping table 13 of the frame 1 through the end of the leg of the steel pipe positioning platform 411, and the two positioning rollers 414 of the steel pipe positioning device 4 are symmetrically arranged relative to the longitudinal symmetry plane of the frame 1, and another steel pipe positioning device 4 is installed on the welding slide plate 21 of the welding slide 2 through the end of the leg of the steel pipe positioning platform 411, and the two positioning rollers 414 of the steel pipe positioning device 4 are symmetrically arranged relative to the symmetry plane of the welding slide 2. A positioning tube push cylinder 422 is installed on the supporting plate at one end of the positioning tube push frame 421 of the positioning tube push assembly 42, and a positioning pin 423 and a tube push rod 424 are installed at the end of the cylinder rod of the positioning tube push cylinder 422, and the axis of the positioning pin 423 is parallel to the cylinder rod of the positioning tube push cylinder 422; the positioning tube push frame 421 of the positioning tube push assembly 42 is installed on the clamping table linear rail 16 on the side of the clamping table 13 facing the column 12 set on the frame 1, and the tube push rod 424 of the positioning tube push assembly 42 has a trigger function, the axis of the positioning pin 423 is parallel to the long frame of the base frame 11 of the frame 1, and the end of the positioning pin 423 points to the direction of the welding slide 2; the other positioning tube push frame 421 of the positioning tube push assembly 42 is installed on the clamping table linear rail 16 on the side of the clamping table 13 facing the column 12, and the tube push rod 424 of the positioning tube push assembly 42 has a trigger function, the axis of the positioning pin 423 is parallel to the long frame of the base frame 11 of the frame 1, and the end of the positioning pin 423 points to the direction of the welding slide 2; The positioning tube pusher rack 421 of component 42 is installed on the clamping table linear rail 16 which is arranged on the side of the welding slide plate 21 of the welding slide 2 facing the column 12 of the welding slide 2. The axis of the positioning pin 423 is parallel to the symmetry plane of the welding slide 2 and the plate surface of the welding slide plate 21, and the end of the positioning pin 423 points to the direction of the column 12 away from the welding slide 2; the cylinder bodies of the two positioning pusher rack cylinders 425 are respectively installed on the side of the clamping table 13 of the frame 1 facing the column 12 and the side of the welding slide plate 21 of the welding slide 2 facing the column 12 of the welding slide 2, and the ends of the cylinder rods of the two positioning pusher rack cylinders 425 are respectively connected to the positioning tube pusher rack 421. The telescopic slider 511 of the welding gun telescopic assembly 51 of the inner welding gun assembly 5 is installed on the telescopic frame 512, and the telescopic slider 511 is connected to the end of the cylinder rod of the welding cylinder 513 installed on the outside of the telescopic frame 512; the horizontal adjustment assembly 514 is installed on the telescopic slider 511, and the end of the fine-tuning assembly 515 installed on the horizontal adjustment assembly 514 is equipped with a welding wire clamp 516.The cylinder body of one internal welding cylinder 52 is installed on the two-way slider 18 on the column linear rail 17 on the side of the column 12 mounted on the frame 1 away from the clamping platform 13, and one internal welding slide beam 53 is slidably mounted on the two-way slider 18 equipped with the internal welding cylinder 52; the cylinder body of another internal welding cylinder 52 is installed on the two-way slider 18 on the column linear rail 17 on the side of the column 12 mounted on the welding slide 2 away from the welding slide plate 21, and another internal welding slide beam 53 is slidably mounted on the two-way slider 18 of the welding slide 2 equipped with the internal welding cylinder 52; the end of the cylinder rod of the internal welding cylinder 52 is connected to the internal welding slide beam 53, so that the extension and retraction of the cylinder rod of the internal welding cylinder 52 can drive the internal welding slide beam 53 to move horizontally; two welding gun telescopic assemblies 51 are respectively installed on the end portions of the internal welding slide beam 53 connected to the end of the cylinder rod of the internal welding cylinder 52 through the telescopic frame 512. The welding gun telescopic assembly 51 of the external welding gun assembly 6 is installed on the external welding frame 61 through the telescopic frame 512; one external welding gun assembly 6 is installed on the plane of the clamping slide beam 322 of the flange clamping device 32 of the flange clamping device 3 through the external welding frame 61, which is away from the column 12 of the frame 1, and the other external welding gun assembly 6 is installed on the plane of the clamping slide beam 322 of the flange clamping device 3 installed on the welding slide 2 through the external welding frame 61, so that the external welding gun assembly 6 can slide laterally following the clamping slide beam 322. The lifting seat 711 of the lifting and transporting device 71 of the steel pipe loading and unloading device 7 is a flat rectangular frame structure. A slide groove is provided on the inner side of the same end of the two parallel frame frames of the lifting seat 711. A roller 22 is installed on each of the four corners of the frame plane on one side of the lifting seat 711. The axes of the two rollers 22 located at the two ends of the same frame of the lifting seat 711 are coaxial, and the transport drive 712 installed on one side of the lifting seat 711 is connected to the roller 22. Two lifting rods 713 are hinged together at the center, and another two lifting rods 713 are hinged together at the center; the two lifting rods 713 hinged together at the center and located on the inner side are respectively hinged at the two ends of two hinge shafts 714, and the two ends of one hinge shaft 714 are respectively hinged to a slider 715; the two lifting rods 713 hinged together at the center and located on the outer side are respectively hinged at the two ends of another two hinge shafts 714, and the two ends of one hinge shaft 714 are respectively hinged to a slider 715; the two lifting rods 713 hinged together and located on the outer side are respectively hinged at the two ends of the other two hinge shafts 714, and the two ends of the hinge shaft 714 are respectively hinged to a slider 715; The sliders 715 hinged at both ends of the hinge shaft 714 at one end of the lifting rod 713 are respectively slidably mounted in the sliding grooves arranged on the inner side of the frame of the lifting seat 711, and the hinge shafts 714 at one end of the two lifting rods 713, which are hinged together and located on the inner side, are hinged at both ends of the hinge shaft 714 at one end of the lifting rod 713, which are hinged at the other end of the frame of the lifting seat 711 away from the sliding groove; the two lifting drives 716 are hinged on the hinge shaft 714 slidably mounted in the sliding groove of the lifting seat 711 through the sliders 715, and the ends of the telescopic rods of the two lifting drives 716 are respectively hinged at the middle part of the two lifting rods 713 located on the inner side.The support platform 717 with a planar rectangular frame structure has two parallel frames at the same end thereof provided with a slide groove on the inner side, and two parallel V-shaped grooves are provided on the frame plane on one side of the support platform 717. The sliders 715 hinged at both ends of the hinge shaft 714 at one end of the two lifting rods 713 hinged together and located on the inner side are respectively slidably mounted in the slide grooves arranged on the inner side of the frame of the support platform 717, and the hinge shaft 714 at one end of the two lifting rods 713 hinged together and located on the outer side are hinged at both ends of the frame of the support platform 717 away from the slide groove; the length direction of the V-shaped groove arranged on the support platform 717 is parallel to the axis of the roller 22 installed on the lifting seat 711, and the lifting and transporting device 71 is supported on the transport guide rail 15 arranged on the bottom frame 11 of the frame 1 through the roller 22 of the lifting seat 711, so the symmetry plane of the lifting and transporting device 71 in the direction perpendicular to the axis of the roller 22 is perpendicular to the longitudinal symmetry plane of the frame 1. A U-shaped plane of a pipe rack 72 with a U-shaped space frame structure is placed on the ground, and the ends of the two U-shaped frames of the other upward U-shaped plane away from the U-shaped bottom frame are both extended upward with pipe retaining piles to prevent the steel pipes to be welded or workpieces on the pipe rack 72 from slipping; the two pipe racks 72 are respectively located on both sides of the lifting and transporting device 71 and the roller 22 axis of the lifting seat 711 in a direction perpendicular to the axis, and the U-shaped openings of the two pipe racks 72 are both facing the lifting and transporting device 71. A roller 22 is installed on each of the four corners of the board surface of one side of the loading slide plate 811 of the loading slide 81 of the flange loading device 8. The axes of the two rollers 22 located at the two ends of the same side of the loading slide plate 811 are coaxial, and the two rollers 22 located on the same axis are arranged symmetrically relative to the symmetry plane of the loading slide plate 811 perpendicular to the board surface direction. The symmetry plane, that is, the center of the two rollers 22 located on the same axis and the plane perpendicular to the board surface of the loading slide plate 811 is defined as the symmetry plane of the loading slide 81, and the loading table drive 812 installed on one side of the loading slide plate 811 is connected to the roller 22. A loading column 813 extends out from the side of the loading slide plate 811 away from the roller 22 in a direction perpendicular to the plate surface, and a loading linear rail 814 is provided on the side plane parallel to the axis of the loading column 813 and the roller 22, and a loading slider 816 equipped with an upward sliding drive 815 is clamped on the loading linear rail 814, so that the upward sliding drive 815 can drive the loading slider 816 to slide along the length direction of the loading column 813; the flipping drive 817 is installed on the loading slider 816, and the axis of the flipping arm 818 inserted into the power output hole of the flipping drive 817 is perpendicular to the symmetry plane of the loading slide 81, so the flipping drive 817 can drive the flipping arm 818 to rotate reciprocatingly. Two loading slides 81 are supported on the slide rails 14 arranged above the base frame 11 of the frame 1 through rollers 22, so the symmetry plane of the loading slides 81 coincides with the longitudinal symmetry plane of the frame 1, one loading slide 81 is located on the side of the column 12 of the frame 1 away from the slide 2, and the other loading slide 81 is located on the side of the column 12 of the slide 2 away from the column 12 of the frame 1.One end of the grabbing rod 821 of the grabbing head 82 is installed at the end of the flip arm 818 of the loading slide 81, and the axis of the grabbing rod 821 coincides with the symmetry plane of the loading slide 81. The end of the flip arm 818 is equipped with a grabbing drive 822 on the side away from the grabbing rod 821, and the power output shaft of the grabbing drive 822 is coaxial with the grabbing rod 821; a two-way adjustment assembly 824 equipped with a two-way drive 824 is installed at the end of the grabbing rod 821 away from the grabbing drive 822, and two grabbing pins 826 equipped with an electromagnet 825 are installed. On the side of the two-way adjustment component 824 away from the grabbing rod 821; therefore, the two-way drive 824 can adjust the two grabbing pins 826 to be close to or away from the center of the two-way adjustment component 824 through the left-hand and right-hand screws of the two-way adjustment component 824 to meet the grabbing requirements of the different bolt hole diameters of the flange to be welded; in addition, the grabbing drive 822 can drive the two grabbing pins 826 to rotate around the grabbing drive 822 axis through the two-way adjustment component 824, so as to align with the bolt hole of the flange and insert it into the hole. The flange frame 83 is installed on the loading slide plate 811 of the loading slide 81, and the flange to be welded is placed horizontally in the flange frame 83. When the flipping drive 817 of the loading slide 81 drives the grabbing head 82 to rotate through the flipping arm 818 until the axis of the grabbing rod 821 is perpendicular to the surface of the loading slide plate 811, that is, it is in a grabbing state, the upward sliding drive 815 of the loading slide 81 drives the flipping drive 817, the flipping arm 818 and the entire grabbing head 82 to move down through the loading slider 816 until the ends of the two grabbing pins 826 contact the end faces of the flange, the grabbing drive 822 of the grabbing head 82 drives the two grabbing pins 826 to rotate around the axis of the grabbing drive 822 through the two-way adjustment assembly 824, and when the ends of the two grabbing pins 826 are aligned with the bolt holes of the flange, the two grabbing pins 826 are respectively inserted into the bolt holes of the flange; at the same time, the electromagnet 825 is energized to adsorb and grab the flange to be welded and send it to the clamping station.

[0011] Its working principle is as follows: turn on the power, start the double adjustment drive of the grabbing head of each flange feeding device of the multi-gun steel pipe flange automatic welding machine according to the diameter of the flange to be welded, and adjust the two grabbing pins to approach or move away from the center of the two-way adjustment component at the same time through the left-hand and right-hand screws of the two-way adjustment component to meet the grabbing requirements of the circle diameters of the different bolt holes of the flange. Start the screw drive of the flange positioning device of each flange clamping device, and drive the right-hand nut and the left-hand nut to move toward or away from the longitudinal symmetry plane of the frame through the rotation of the screw, that is, drive the positioning active component and the positioning driven component of the flange positioning device to move back and forth along the axial direction of the screw, so as to always ensure that the flange to be welded is "centered" relative to the longitudinal symmetry plane of the frame during the adjustment process, thereby ensuring the positioning accuracy of the flange and adapting to the positioning requirements of flanges of different diameters. Since the outer surface of the V-groove wheel is in the shape of a V-groove, it can meet the positioning requirements of flanges of different thicknesses to be welded.

[0012] The welding platform driver installed on the welding slide is started according to the length of the steel pipe to be welded, and the welding slide is driven to move along the slide rail set on the bottom frame of the frame to meet the clamping requirements of steel pipes of different lengths. According to the diameter of the flange to be welded, the distance between the positioning pusher frame of the positioning pusher assembly of each steel pipe positioning device and the longitudinal symmetric plane of the frame is adjusted to ensure that the positioning pin of the positioning pusher assembly can smoothly pass through the bolt hole on the flange to be welded, and the end of the pusher rod of the positioning pusher assembly is just aligned with the end face of the steel pipe.

[0013] According to the diameter of the flange to be welded, the double sliding drive of the bidirectional slider on the column linear track of the frame column towards the clamping table direction and the column of the welding slide towards the welding slide direction is started, and the bidirectional slider and the flange clamping device and the external welding gun assembly installed on the bidirectional slider are driven to move up and down along the column linear track on the column to meet the clamping requirements of flanges to be welded with different diameters and the welding requirements of flanges to be welded with different diameters and steel pipes. According to the diameter of the steel pipe to be welded, the extension length of the steel pipe positioning drive cylinder rod of the radial positioning assembly of each steel pipe positioning device is adjusted to ensure the accurate position of the positioning roller of the steel pipe positioning device relative to the outer circle of the steel pipe to be welded. The double sliding drive of the two-way slider installed on the column linear rail of the frame column away from the clamping table direction and the column of the welding slide table away from the welding slide table direction is started, and the two-way slider and each inner welding gun assembly installed on the two-way slider are driven to move up and down along the column linear rail on the column to adapt to the welding requirements of flanges and steel pipes to be welded with different diameters; the relative position and angle between the welding gun telescopic assembly of each inner welding gun assembly and the inner welding slide beam and the outer welding frame are adjusted to obtain the optimal position and angle of the welding wire clamp of the welding gun telescopic assembly relative to the weld to be welded; the lateral adjustment drive of the welding gun telescopic assembly is started to adjust the lateral position of the welding wire clamp; the welding wire clamp is finely adjusted by the fine-tuning assembly to obtain the accurate position of the welding wire clamp relative to the weld to be welded.

[0014] Start the control program of the multi-gun steel pipe flange automatic welding machine, the welding table drive of the welding slide of the multi-gun steel pipe flange automatic welding machine starts, and drives the welding slide and the various devices and components installed on the welding slide to return to the farthest distance from the frame. The loading table drive of the loading slide of each flange loading device starts, and drives the flange loading device to return to the frame and the welding slide away from the column; the flipping drive of the loading slide of the flange loading device starts, and drives the flipping arm and its grab head to rotate until the axis of the grab head is in a plumb state. The cylinder rod of the positioning push frame cylinder of the positioning push tube assembly of each steel pipe positioning device retracts, and drives the positioning push tube assembly to return to one side of the equipment; the cylinder rod of the positioning push tube cylinder of the positioning push tube assembly retracts, and drives the positioning pin and the push tube rod to return to the non-positioning state. The cylinder rod of the slide beam cylinder of the flange clamping device of each flange clamping device retracts, and drives the clamping slide block, clamping cylinder and V-groove wheel as well as each external welding gun assembly to return to one side of the equipment through the clamping slide beam; the cylinder rod of the clamping cylinder of the flange clamping device retracts, and drives the V-groove wheel to return to the state of loosening the flange to be welded through the clamping slide block. The cylinder rod of the inner welding cylinder of each inner welding gun assembly retracts, and drives the welding gun telescopic assembly to return to one side of the equipment through the inner welding slide beam; the cylinder rod of the welding cylinder of the welding gun telescopic assembly of the inner welding gun assembly and the outer welding gun assembly retracts, and drives the welding wire clamp to return to the non-welding state through the telescopic slide block.

[0015] The telescopic rod of the lifting drive of the lifting and moving device of the steel pipe feeding and unloading device is retracted, and the supporting platform is driven to descend through the lifting rod and the slider until the plane on the supporting platform is lower than the plane on the pipe rack, that is, the lower busbar of the steel pipe to be welded on the pipe rack; the moving drive of the lifting and moving device is started, and the lifting and moving device is driven to move toward the pipe rack with the steel pipe to be welded; when the supporting platform is close to a V-shaped groove on one side of the pipe rack with the steel pipe to be welded, it is aligned with a steel pipe to be welded on the pipe rack close to the pipe retaining pile. When the telescopic rod of the lifting drive extends out, it drives the support platform to rise and lift the steel pipe to be welded; when the lower busbar of the lifted steel pipe to be welded is higher than the highest point of the pipe retaining pile of the support platform and higher than the upper busbar of the positioning roller of the radial positioning assembly of the steel pipe positioning device, another steel pipe to be welded is placed on another V-shaped groove of the support platform; the transport drive is started again, driving the lifting and transporting device and the two steel pipes to be welded to move toward the longitudinal symmetric plane of the frame to the support platform to leave the pipe rack with the steel pipes to be welded. The flange racks of each flange loading device are filled with flanges to be welded, and the loading side of the pipe rack of the steel pipe loading and unloading device is filled with steel pipes to be welded.

[0016] The upward sliding drive of each flange feeding device drives the feeding slide block mounted on the feeding linear rail of the feeding slide table and the flip drive and flip arm slidably mounted on the feeding slide block to move downward, thereby driving the grabbing head to move downward together; at the same time, the grabbing drive of the grabbing head drives the two-way adjustment component, the electromagnet and the grabbing pin to rotate at a low speed; when the grabbing pin gradually approaches the flange to be welded in the flange frame and aligns with the bolt hole of the flange to be welded, the grabbing pin is inserted into the bolt hole of the flange to be welded, and the grabbing drive rotates in the opposite direction and stops at the set position; at the same time, the electromagnet is energized, thereby adsorbing the flange to be welded on the two-way adjustment component. The flipping drive of each grabbing head drives the grabbing head and the flange to be welded to rotate toward the flange positioning device of the flange clamping device through the flipping arm, and gradually rotates until the axis of the grabbing head tends to be horizontal; the upward sliding drive of the loading slide of each flange loading device is started again, and drives the grabbing head and the flange to be welded to move downward through the loading slider; the loading table drive of the loading slide of each flange loading device rotates in the opposite direction, and drives the flange loading device and the grabbed flange to be welded to be pushed toward the flange positioning device; when pushed to the top of the V-groove wheels of the positioning active component and the positioning driven component, the upward sliding drive is started again, and drives the loading slider as well as the grabbing head and the flange to be welded to move downward, and directly places the flange to be welded on the two V-groove wheels of the positioning active component and the positioning driven component.

[0017] At the same time, the cylinder rod of the clamping cylinder of the flange clamping device of each flange clamping device extends out, and drives the V-groove wheel to move downward through the clamping slider, thereby clamping the flange to be welded. The loading platform drive of the loading slide of each flange loading device starts in reverse, and drives the flange loading device to retreat to the frame and the welding slide away from the column; the flipping drive of the loading slide of the flange loading device starts in reverse, and drives the flipping arm and its grabbing head to rotate again until the axis of the grabbing head is in a plumb state, waiting to grab the flange to be welded again. At the same time, the cylinder rods of the positioning push frame cylinder and the positioning push tube cylinder of the positioning push tube assembly of each steel pipe positioning device extend out, and while driving the positioning push tube assembly to move toward the longitudinal symmetry plane of the frame, it drives the positioning pin to extend and insert into the bolt hole of the flange to be welded, and the push tube rod is aligned with the end face of the steel pipe to be welded. At the same time, the transport drive of the lifting and transporting device of the steel pipe loading and unloading device is started again, and drives the lifting and transporting device together with the steel pipe to be welded toward the longitudinal symmetry plane of the frame. When the axis of a steel pipe to be welded on the supporting platform close to the longitudinal symmetry plane of the frame coincides with the longitudinal symmetry plane of the frame, the telescopic rod of the lifting drive retracts again, and drives the steel pipe to be welded on the supporting platform to descend until the steel pipe to be welded is placed on the positioning roller of the radial positioning assembly of the steel pipe positioning device, and the radial positioning of the steel pipe to be welded is completed; the supporting platform continues to descend until it stops when the supporting platform leaves the steel pipe to be welded. The welding table drive of the welding slide table starts in reverse, and drives the welding slide table and the positioning pin and the pipe pushing rod of the positioning push tube assembly of the steel pipe positioning device installed on the welding slide table to move toward the clamping table direction of the frame, and the pipe pushing rod of the positioning push tube assembly pushes the steel pipe to be welded to move toward the clamping table direction of the frame; when the other end of the steel pipe to be welded contacts the pipe pushing rod of the positioning push tube assembly of the steel pipe positioning device installed on the clamping table of the frame, the axial positioning of the steel pipe to be welded is completed and stops moving.

[0018] The cylinder rod of the welding cylinder of the welding gun telescopic assembly of each inner welding gun assembly and outer welding gun assembly extends, and drives the welding wire clamp to extend through the telescopic slider. When the welding wire clamped by the welding wire clamp touches the workpiece to be welded, it "sparks" and spot welds the two flanges of the workpiece to be welded with the steel pipe. The cylinder rod of the welding cylinder quickly retracts and "extinguishes the fire". At the same time, the cylinder rod of the positioning and pushing cylinder of each steel pipe positioning device retracts again, and drives the positioning pin and the pushing rod to return to the non-positioning state. The positioning drive of the positioning active component of the flange positioning device installed on the clamping table of the frame and the welding slide plate of the welding slide is started, and the V-groove wheel of the positioning active component is driven by the positioning transmission component, and then the flange of the workpiece to be welded is rotated together with the steel pipe by "360° / set number of spot welding". The cylinder rod of the welding cylinder of the welding gun telescopic assembly extends again, and drives the welding wire clamp to extend to the welding state through the telescopic slider to spot weld again, until the set number of spot welding is reached and the continuous welding operation begins. At the same time, the positioning drive starts again, and drives the flange and steel pipe of the workpiece to be welded to rotate 360° at a constant speed through the V-groove wheel and then stops, completing the welding operation of the workpiece.

[0019] The cylinder rod of the welding cylinder of the welding gun telescopic assembly of each inner welding gun assembly and the outer welding gun assembly retracts again, and drives the wire clamp to return to the non-welding state through the telescopic slider; the cylinder rod of the clamping cylinder of each flange clamping device retracts again, and drives the V-groove wheel to return to the workpiece release state through the clamping slider. The telescopic rod of the lifting and transporting device of the steel pipe loading and unloading device is extended again, and drives the supporting platform to move upward, lifts the welded workpiece until the lower generatrix of the steel pipe of the workpiece is higher than the upper generatrix of the positioning roller of the radial positioning assembly, and at the same time higher than the highest point of the pipe retaining pile of the supporting platform; the transport drive is started again, and drives the lifting and transporting device together with a steel pipe to be welded and a finished workpiece to continue to move toward the side of the pipe rack away from the steel pipe to be welded; when the axis of the steel pipe to be welded on the supporting platform coincides with the longitudinal symmetry plane of the frame, the finished workpiece on the supporting platform just passes the highest point of the pipe retaining pile of another pipe rack without the steel pipe to be welded, the telescopic rod of the lifting drive is retracted again, and the steel pipe to be welded is lowered to place the steel pipe to be welded on the positioning roller, and the finished workpiece is placed on the pipe rack at the same time. The support platform continues to descend until the plane on the support platform is lower than the lower generatrix of the steel pipe to be welded on the positioning roller and lower than the upper plane of the pipe rack, the transport drive starts in the reverse direction and drives the lifting and transporting device to move toward the side of the pipe rack close to the steel pipe to be welded; when a V-shaped groove on the side of the pipe rack close to the steel pipe to be welded is aligned with a steel pipe to be welded close to the pipe rack, the telescopic rod of the lifting drive extends again and drives the support platform to lift the steel pipe to be welded; when the lower generatrix of the steel pipe to be welded is higher than the highest point of the pipe retaining pile ... The drive is started again, driving the lifting and transporting device and the steel pipe to be welded to move toward the longitudinal symmetry plane of the frame to the supporting platform and leave the pipe rack with the steel pipe to be welded; the telescopic rod of the lifting drive is retracted again, and when the supporting platform descends to the upper plane below the lower busbar of the steel pipe to be welded on the positioning roller, the transport drive is started again, and drives the lifting and transporting device and the steel pipe to be welded to move toward the longitudinal symmetry plane of the frame. When a V-shaped groove on the supporting platform where the steel pipe to be welded is not placed is aligned with the longitudinal symmetry plane of the frame, it stops and waits for material return.

[0020] Then, after repeating the loading, positioning and clamping of the flange and the steel pipe of the workpiece to be welded, the welding operation is carried out again, and so on.

Claims

1. A multi-gun steel pipe flange automatic welding machine, comprising a frame (1), a welding slide (2), a flange clamping device (3), a steel pipe positioning device (4), an inner welding gun assembly (5), an outer welding gun assembly (6), a steel pipe feeding and unloading device (7) and a flange feeding device (8), characterized in that: The frame (1) comprises a base frame (11), a column (12), a clamping platform (13), a slide guide rail (14), a transport guide rail (15), a clamping platform linear rail (16), a column linear rail (17), a bidirectional slider (18) and a double slide drive (19), wherein the base frame (11) has a rectangular frame structure, one side of which is placed on the ground, and a long frame of the other frame is extended upwardly with a column (12); a clamping platform (13) is provided on the upward frame plane of the base frame (11) near the column (12), a slide guide rail (14) is provided above the two long frames of the frame plane of the base frame (11), and transport guide rails (15) perpendicular to the long frames are provided between the middle and both sides of the two long frames; the upper plane of the clamping platform (13) and the long frame are arranged on the upper plane of the clamping platform (13). The side surfaces of the column (12) are provided with clamping platform linear rails (16), and the clamping platform linear rails (16) are perpendicular to the longitudinal symmetry plane of the frame (1), that is, perpendicular to the frame plane of the base frame (11), and perpendicular to the symmetry plane parallel to the long frame of the frame plane of the base frame (11). The column (12) is provided with column linear rails (17) on both side planes facing the clamping platform (13) and away from the clamping platform (13); the two-way slider (18) is provided with mutually perpendicular sliding grooves on the front and back sides parallel to each other, and two two-way sliders (18) equipped with double sliding drives (19) are respectively clamped on the column linear rails (17) on both sides of the column (12) facing the clamping platform (13) and away from the clamping platform (13) through the sliding grooves on one surface; the welding slide (2) includes a welding slide A slide plate (21), a roller (22), a welding table drive (23), a column (12), a clamping table linear rail (16), a column linear rail (17), a bidirectional slider (18) and a double slide drive (19), wherein one roller (22) is installed at each of the four corners of a plate surface on one side of the welding slide plate (21), the axes of the two rollers (22) located at the two ends of the same side of the welding slide plate (21) are coaxial, and the two rollers (22) located on the same axis are symmetrically arranged relative to a symmetry plane of the welding slide plate (21) perpendicular to the plate surface direction, and the symmetry plane, that is, the center of the two rollers (22) located on the same axis and the plane perpendicular to the plate surface of the welding slide plate (21) is defined as the symmetry plane of the welding slide plate (2); the welding slide plate (2) The welding platform drive (23) is connected to the roller (22) by being supported on a slide rail (14) arranged above the bottom frame (11) of the frame (1); the welding platform drive (23) installed on one side of the welding slide plate (21) is connected to the roller (22); a column (12) extends upward from the upward plate surface of the welding slide plate (21); a clamping platform linear rail (16) is provided on the upper plane of the welding slide plate (21) and the side facing the column (12) of the welding slide (2); the clamping platform linear rail (16) of the welding slide (2) is parallel to the clamping platform linear rail (16) of the frame (1); a column linear rail (17) is provided on the plane of the column (12) of the welding slide (2) facing the clamping platform linear rail (16) of the welding slide (2) and away from the clamping platform linear rail (16);In addition, two bidirectional slide blocks (18) equipped with double slide drives (19) are respectively mounted on the column linear rail (17) of the column (12) of the welding slide table (2) through a slide groove on one surface; the flange clamping device (3) includes a flange positioning device (31) and a flange clamping device (32), wherein the flange positioning device (31) includes a lead screw (311), a lead screw drive (312), a positioning active component (313) and a positioning driven component (314), and the two ends of a lead screw (311) are supported on the two ends of the clamping table linear rail (16) on the plane of the clamping table (13) of the frame (1), and the lead screw (311) is symmetrically arranged relative to the longitudinal symmetric plane of the frame (1), and the lead screw (311) is arranged on the longitudinal symmetric plane of the frame (1). 11) one end is connected to the lead screw drive (312); the other lead screw (311) is supported at both ends of the clamping platform linear rail (16) on the upper plane of the welding slide plate (21) of the welding slide (2), and the lead screw (311) is symmetrically arranged relative to the symmetric surface of the welding slide (2), and one end of the lead screw (311) is connected to the lead screw drive (312); the positioning active component (313) includes an active box (3131), a V-groove wheel (3132), a right-handed nut (3133), a positioning drive (3134) and a positioning transmission component (3135), the active box (3131) having a 6-sided box structure has two adjacent box plate surfaces cut off, and the outer circumferential surface of the V-groove wheel (3132) is The V-groove is in the shape of a V-groove wheel (3132), and the two ends of the V-groove wheel (3132) are respectively supported on the plate surfaces of the driving box (3131) adjacent to the two cut-off box plate surfaces; a right-hand screw nut (3133) is installed on the outer side of a box plate surface of the driving box (3131) perpendicular to the axis of the V-groove wheel (3132); a positioning drive (3134) is installed on the outer side of a box plate surface of the driving box (3131) equipped with the V-groove wheel (3132), and the positioning drive (3134) is connected to the V-groove wheel (3132) through a positioning transmission assembly (3135); the positioning driven assembly (314) comprises a driven box (3141), a V-groove wheel (3132) and a left-hand screw nut (3142), and the driven box (3141) ) is symmetrical in shape with the active box (3131); another V-groove wheel (3132) is installed between the two adjacent panels of the driven box (3141) and the two cut-off panel surfaces; a left-handed nut (3142) is installed on the outer side of a panel surface of the driven box (3141) perpendicular to the axis of the V-groove wheel (3132); a right-handed nut (3133) of a positioning active component (313) of a flange positioning device (31) is screwed into the lead screw (311) at both ends of a clamping table linear rail (16) supported on the upper plane of a clamping table (13) of the frame (1); and the panel surface of the positioning active component (313) equipped with the right-handed nut (3133) is installed on the two clamping table linear rails (16);The left-handed nut (3142) of the positioning driven component (314) of the flange positioning device (31) is screwed into the lead screw (311) at both ends of the clamping table linear rail (16) supported on the upper plane of the clamping table (13) of the frame (1); the box body panel of the positioning driven component (314) equipped with the left-handed nut (3142) is installed on the two clamping table linear rails (16) equipped with the positioning active component (313); the right-handed nut (3133) and the left-handed nut (3142) are screwed into the longitudinal symmetric surface of the positioning active component (313) and the positioning driven component (314) of the flange positioning device (31) on the same lead screw (311) relative to the frame (1). The flange positioning device (31) is arranged symmetrically; the right-handed nut (3133) of the positioning active component (313) of the other flange positioning device (31) is screwed into the lead screw (311) at both ends of the clamping platform linear rail (16) supported on the upper plane of the welding slide plate (21) of the welding slide (2); the box body plate surface of the positioning active component (313) equipped with the right-handed nut (3133) is installed on the two clamping platform linear rails (16); the left-handed nut (3142) of the positioning driven component (314) of the flange positioning device (31) is screwed into the lead screw (311) at both ends of the clamping platform linear rail (16) supported on the upper plane of the welding slide plate (21); the positioning driven component (314) is equipped with the left-handed nut (3143) The box body plate of the mother (3142) is installed on two clamping table linear rails (16) equipped with a positioning active component (313); the positioning active component (313) and the positioning driven component (314) of the flange positioning device (31) installed on the welding slide (2) are symmetrically arranged relative to the symmetrical surface of the welding slide (2); the flange clamping device (32) includes a slide beam cylinder (321), a clamping slide beam (322), a clamping slider (323), a clamping cylinder (324) and a V-groove wheel (3132), wherein the cylinder body of one slide beam cylinder (321) is installed on a column (12) mounted on the frame (1) toward the column linear rail (17) on one side of the clamping table (13) On the bidirectional slider (18) on the welding slide (2), a clamping slide beam (322) is slidably mounted on the bidirectional slider (18) equipped with the slide beam cylinder (321); another slide beam cylinder (321) is installed on the bidirectional slider (18) on the column linear rail (17) on the side of the welding slide plate (21) that is clamped on the column (12) of the welding slide (2), and another clamping slide beam (322) is slidably mounted on the bidirectional slider (18) equipped with the slide beam cylinder (321) of the welding slide (2); the end of the cylinder rod of the slide beam cylinder (321) is connected to the clamping slide beam (322), so that the extension and contraction of the cylinder rod of the slide beam cylinder (321) can drive the clamping slide beam (322) to move horizontally;Two clamping slide blocks (323) are respectively slidably mounted on the clamping slide beam (322) on the bidirectional slide block (18) mounted on the frame (1) and the welding slide table (2), and one end of the clamping slide beam (322) is connected to the end of the cylinder rod of the slide beam cylinder (321); two clamping cylinders (324) are respectively mounted on one side of the end of the clamping slide beam (322) of the frame (1) and the welding slide table (2); the ends of the cylinder rods of the two clamping cylinders (324) are respectively connected to the two clamping slide blocks (323); two V-groove wheels (3132) are respectively mounted on the two clamping slide blocks (323); the V-groove wheels (3132) of the flange clamping device (32) mounted on the frame (1) are connected to the flange positioning device (32) mounted on the frame (1); The axes of the two V-grooved wheels (3132) of the positioning active component (313) and the positioning driven component (314) of the device (31) are parallel to each other, and the three V-grooved wheels (3132) are located in the same plane perpendicular to the longitudinal symmetry plane of the frame (1); the axes of the V-grooved wheels (3132) of the flange clamping device (32) installed on the welding slide (2) and the two V-grooved wheels (3132) of the positioning active component (313) and the positioning driven component (314) of the flange positioning device (31) installed on the welding slide (2) are parallel to each other, and the three V-grooved wheels (3132) are located in the same plane perpendicular to the symmetry plane of the welding slide (2); the steel pipe positioning device (4 ) comprises a radial positioning component (41) and a positioning push tube component (42), wherein the radial positioning component (41) comprises a steel pipe positioning platform (411), a steel pipe positioning drive (412), a steel pipe positioning plate (413) and a positioning roller (414), a side surface of the steel pipe positioning platform (411) is provided with a support leg, the steel pipe positioning drive (412) is installed on a side surface of the steel pipe positioning platform (411) provided with a support leg, and the output shaft of the steel pipe positioning drive (412) passes through the plate surface of the steel pipe positioning platform (411) and extends in a direction away from the support leg of the steel pipe positioning platform (411); two positioning rollers (414) whose axes are parallel to each other are installed on the outer side of the plate surface of the steel pipe positioning plate (413), and the steel pipe The positioning plate (413) is installed at the end of the output shaft of the steel pipe positioning drive (412) through the center of the plate surface on one side away from the positioning roller (414); a steel pipe positioning device (4) is installed on the clamping table (13) of the frame (1) through the end of the leg of the steel pipe positioning platform (411), and the two positioning rollers (414) of the steel pipe positioning device (4) are symmetrically arranged with respect to the longitudinal symmetric plane of the frame (1); another steel pipe positioning device (4) is installed on the welding slide plate (21) of the welding slide (2) through the end of the leg of the steel pipe positioning platform (411), and the two positioning rollers (414) of the steel pipe positioning device (4) are symmetrically arranged with respect to the symmetric plane of the welding slide (2);The positioning tube pusher assembly (42) comprises a positioning tube pusher frame (421), a positioning tube pusher cylinder (422), a positioning pin (423), a tube pusher rod (424) and a positioning tube pusher frame cylinder (425). The positioning tube pusher cylinder (422) is mounted on a support plate at one end of the positioning tube pusher frame (421). The end of the cylinder rod of the positioning tube pusher cylinder (422) is equipped with a positioning pin (423) and a tube pusher rod (424). The axis of the positioning pin (423) is parallel to the cylinder rod of the positioning tube pusher cylinder (422). The positioning tube pusher frame (421) of the positioning tube pusher assembly (42) is mounted on a clamping table linear rail (16) on the side of a clamping table (13) of a frame (1) facing the column (12). The axis of the positioning pin (423) is parallel to the bottom frame (12) of the frame (1). 1), and the end of the positioning pin (423) points to the direction of the welding slide (2); the positioning push tube frame (421) of the other positioning push tube assembly (42) is installed on the clamping platform linear rail (16) arranged on the side of the welding slide plate (21) of the welding slide (2) facing the column (12) of the welding slide (2), the axis of the positioning pin (423) is parallel to the symmetry plane of the welding slide (2) and the plate surface of the welding slide plate (21), and the end of the positioning pin (423) points to the direction away from the column (12) of the welding slide (2); the cylinder bodies of the two positioning push frame cylinders (425) are respectively installed on the side of the clamping platform (13) of the frame (1) facing the column (12) and the welding slide plate (21) of the welding slide (2) ) is on the side of the column (12) of the welding slide (2), and the cylinder rod ends of the two positioning push frame cylinders (425) are respectively connected to the positioning push pipe frame (421); the inner welding gun assembly (5) includes a welding gun telescopic assembly (51), an inner welding cylinder (52) and an inner welding slide beam (53), wherein the welding gun telescopic assembly (51) includes a telescopic slide block (511), a telescopic frame (512), a welding cylinder (513), a horizontal adjustment assembly (514), a fine adjustment assembly (515) and a welding wire clamp (516), wherein the telescopic slide block (511) is installed on the telescopic frame (512), and the telescopic slide block (511) is connected to the cylinder rod end of the welding cylinder (513) installed outside the telescopic frame (512); the horizontal adjustment assembly (514) is installed on the telescopic frame (512) and the inner welding cylinder (513) is connected to the inner welding cylinder (513) and the inner welding slide beam (5 ... A welding wire clamp (516) is installed on the slider (511), and the end of the fine adjustment component (515) installed on the horizontal adjustment component (514) is installed; a cylinder body of an internal welding cylinder (52) is installed on a bidirectional slider (18) on a column linear rail (17) on a side of a column (12) mounted on the frame (1) away from the clamping platform (13), and an internal welding slide beam (53) is slidably mounted on the bidirectional slider (18) on which the internal welding cylinder (52) is installed; another cylinder body of an internal welding cylinder (52) is installed on a bidirectional slider (18) on a column linear rail (17) on a side of a column (12) mounted on the welding slide (2) away from the welding slide plate (21), and another internal welding slide beam (53) is slidably mounted on the bidirectional slider (18) on which the internal welding cylinder (52) is installed on the welding slide (2);The end of the cylinder rod of the inner welding cylinder (52) is connected to the inner welding slide beam (53), so that the extension and retraction of the cylinder rod of the inner welding cylinder (52) can drive the inner welding slide beam (53) to move horizontally; two welding gun telescopic assemblies (51) are respectively installed at one end of the inner welding slide beam (53) connected to the end of the cylinder rod of the inner welding cylinder (52) through a telescopic frame (512); the outer welding gun assembly (6) includes a welding gun telescopic assembly (51) and an outer welding frame (61), and the welding gun telescopic assembly (51) of the outer welding gun assembly (6) is installed on the outer welding frame (61) through the telescopic frame (512); an outer welding gun assembly (6) is installed on the side of the clamping slide beam (322) of the flange clamping device (32) of the flange clamping device (3) away from the column (12) of the frame (1) through the outer welding frame (61). The outer welding gun assembly (6) is mounted on a plane of the clamping slide beam (322) of the flange clamping device (32) of the flange clamping device (3) installed on the welding slide (2) through the outer welding frame (61) on the plane of the side away from the column (12) of the welding slide (2); the steel pipe feeding and unloading device (7) includes a lifting and transporting device (71) and a pipe rack (72), wherein the lifting and transporting device (71) includes a lifting seat (711), a roller (22), a transport drive (712), a lifting rod (713), a hinge shaft (714), a slider (715), a lifting drive (716) and a supporting platform (717), and the lifting seat (711) with a planar rectangular frame structure has two parallel frames at the same end thereof provided with a slide groove, and the lifting seat (711) has two parallel frames at the same end thereof. A roller (22) is installed at each of the four corners of the frame plane on one side of the transport seat (711); the axes of the two rollers (22) located at the two ends of the same frame of the transport seat (711) are coaxial; the transport drive (712) installed on one side of the transport seat (711) is connected to the roller (22); the two lifting rods (713) are hinged together at the center, and another two lifting rods (713) are hinged together at the center; the two ends of the two lifting rods (713) hinged together at the center and located on the inner side are respectively hinged to the two ends of two hinge shafts (714), and the two ends of one hinge shaft (714) are each hinged to a slider (715); the two ends of the two lifting rods (713) hinged together at the center and located on the outer side are respectively hinged to the other two hinge shafts (714) ) at both ends, and two end ends of a hinge shaft (714) are respectively hinged to a slider (715); the sliders (715) hinged at both ends of the hinge shaft (714) at one end of the two lifting rods (713) hinged together and located on the outside are respectively slidably mounted in the slide grooves arranged on the inner side of the frame of the lifting seat (711); the hinge shaft (714) at one end of the two lifting rods (713) hinged together and located on the inside are hinged at both ends to the other end of the frame of the lifting seat (711) away from the slide groove; two lifting drives (716) are hinged on the hinge shaft (714) slidably mounted in the slide groove of the lifting seat (711) through the sliders (715), and the ends of the telescopic rods of the two lifting drives (716) are respectively hinged to the middle parts of the two lifting rods (713) located on the inside;A support platform (717) with a planar rectangular frame structure has two parallel frames at the same end thereof, and a slide groove is arranged on the inner side thereof; two V-shaped grooves are arranged on the frame plane of one side of the support platform (717); two sliders (715) are hinged at both ends of a hinge shaft (714) at one end of two lifting rods (713) hinged together and located on the inner side, and are respectively slidably mounted in the slide groove arranged on the inner side of the frame of the support platform (717); two ends of a hinge shaft (714) at one end of two lifting rods (713) hinged together and located on the outer side are hinged at the other end of the frame of the support platform (717) away from the slide groove; the length direction of the V-shaped groove arranged on the support platform (717) is parallel to the axis of the roller (22) installed on the lifting seat (711), and the lifting and transporting The transfer device (71) is supported on a transfer guide rail (15) arranged on a bottom frame (11) of the frame (1) through a roller (22) of a lifting seat (711); a U-shaped plane of a pipe rack (72) in a U-shaped space frame structure is placed on the ground, and two U-shaped frames of another upwardly-facing U-shaped plane are provided with pipe retaining piles extending upward at the ends away from the U-shaped bottom frame; the two pipe racks (72) are respectively located on both sides of the lifting and transfer device (71) and the axis of the roller (22) of the lifting seat (711) in a vertical direction, and the U-shaped openings of the two pipe racks (72) are both facing the lifting and transfer device (71); the flange loading device (8) comprises a loading slide (81), a grab head (82) and a flange frame (83), wherein the loading slide ( The invention relates to a material loading slide plate (811), a roller (22), a loading platform drive (812), a loading column (813), a loading linear rail (814), an upper sliding drive (815), a loading slider (816), a flip drive (817) and a flip arm (818). A roller (22) is installed at each of the four corners of a plate surface on one side of the material loading slide plate (811). The axes of the two rollers (22) located at the two ends of the same side of the material loading slide plate (811) are coaxial, and the two rollers (22) located on the same axis are symmetrically arranged relative to a symmetry plane of the material loading slide plate (811) perpendicular to the plate surface direction. The symmetry plane, i.e., the center of the two rollers (22) located on the same axis and the symmetry plane of the material loading slide plate (811) are defined. ) The plane perpendicular to the plate surface is the symmetry plane of the loading slide (81), and the loading platform drive (812) installed on one side of the loading slide plate (811) is connected to the roller (22); a loading column (813) extends from the side of the loading slide plate (811) away from the roller (22) in a direction perpendicular to the plate surface, and a loading linear rail (814) is provided on a side plane parallel to the axis of the loading column (813) and the roller (22), and a loading slider (816) equipped with an upward sliding drive (815) is clamped on the loading linear rail (814); a flip drive (817) is installed on the loading slider (816), and the axis of the flip arm (818) inserted into the power output hole of the flip drive (817) is perpendicular to the symmetry plane of the loading slide (81);Two loading slides (81) are supported on a slide rail (14) arranged above a bottom frame (11) of a frame (1) through rollers (22), one loading slide (81) is located on a side of a column (12) of the frame (1) away from the slide (2), and the other loading slide (81) is located on a side of a column (12) of the slide (2) away from the column (12) of the frame (1); the grabbing head (82) comprises a grabbing rod (821), a grabbing drive (822), a double adjustment drive (823), a two-way adjustment component (824), an electromagnet (825) and a grabbing pin (826), wherein one end of the grabbing rod (821) is mounted on a flip arm (826) of the loading slide (81). 18), and the axis of the grabbing rod (821) coincides with the symmetric plane of the loading slide (81); the end of the flip arm (818) is equipped with a grabbing drive (822) on the side away from the grabbing rod (821), and the power output shaft of the grabbing drive (822) is coaxial with the grabbing rod (821); a two-way adjustment component (824) equipped with a two-way drive (824) is installed on the end of the grabbing rod (821) away from the grabbing drive (822), and two grabbing pins (826) equipped with an electromagnet (825) are installed on the side of the two-way adjustment component (824) away from the grabbing rod (821); the flange frame (83) is installed on the loading slide plate (811) of the loading slide (81). ;

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