Steel pipe pole flange welding robot and welding process thereof

Abstract

The invention relates to the technical field of welding equipment, and particularly discloses a steel pipe pole flange welding robot and a welding process thereof.The steel pipe pole flange welding robot comprises a rack, a clamping rotating mechanism, a submerged-arc welding device, a material receiving mechanism and a positioning mechanism, the submerged-arc welding device comprises an adjusting arm, a wire feeding machine head, a welding flux funnel and a contact tube, and the material receiving mechanism comprises a fixing plate and two telescopic plates; the fixing plate is arranged at the clamping center of the clamping assembly, the two telescopic plates are both installed at the upper end of the fixing plate and form a material containing groove, the length of the telescopic plates can be matched according to the distance between the fixing plate and the steel pipe pole or the inner wall of the flange, the positioning mechanism comprises two positioning rods and a second driving part, and the positioning rods are in corresponding sliding fit with the telescopic plates; butt joint positioning between the steel pipe rod and the flange can be achieved through the positioning rod, welding flux can be accumulated in the material containing groove to form a material lining through cooperation of the positioning rod and the telescopic plate, it is ensured that the welding flux evenly covers the welding seam, and then the welding quality is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of welding equipment, and in particular to a steel pipe rod flange welding robot and a welding process thereof. Background Art

[0002] Steel pipe poles, also known as power steel poles or steel towers, are mostly made of steel materials such as round steel pipes. They are mainly used for the erection of power lines and are alternatives to traditional cement poles. Flanges, as structural parts connecting steel pipe poles, can connect two steel pipe poles together through flanges to play a role in connection reinforcement. Therefore, it is necessary to connect the flange to the steel pipe pole in advance. When welding the flanges at both ends of the steel pipe pole, the steel pipe pole and the flange need to be coaxial and concentric, and then use welding equipment to weld the connection between the flange and the steel pipe pole.

[0003] The patent document with publication number CN216802042U discloses a submerged arc welding device with a rotating guide structure for a steel pipe tower neck flange, including a support frame and a base. A support frame is provided at the top of the base, and a power device is installed on one side of the clamping frame. The middle end of the flange is installed on the outer surface of the plug column, and the motor is started to make the threaded hole plate threadedly connected to the outer surface of the threaded rod. Since the threaded hole plate passes through the interior of the sliding groove and is connected to the outer surface of the bent clamping plate, the bent clamping plate moves downward, and the bent clamping plate is used to press the steel pipe. The rubber layer protects the steel pipe, and the wear-resistant layer protects the rubber layer. While protecting the flange, it can be submerged arc connected by an arc joint. The rubber pad arranged at the bottom of the sliding groove prevents the flange from falling and colliding with the corner of the round groove, thereby protecting the integrity of the flange and facilitating use.

[0004] When using the above device to dock and position the steel pipe and the flange, it is necessary to manually confirm the distance between the steel pipe and the flange in order to determine the weld gap, which is cumbersome. In addition, when welding the steel pipe and the flange, it is necessary to cover the outside of the weld with a layer of flux to isolate the air. However, the flux covering the weld may fall from the weld, making it impossible for the flux to evenly fill the weld, thereby affecting the welding quality. Summary of the invention

[0005] The present invention provides a steel pipe rod flange welding robot and a welding process thereof, aiming to solve the problem that when a submerged arc welding device in the related art performs docking and positioning of a steel pipe and a flange, it is necessary to manually confirm the distance between the steel pipe and the flange in order to determine the weld gap, which is cumbersome to operate. In addition, when welding the steel pipe and the flange, it is necessary to cover the outer side of the weld with a layer of flux to isolate the air, but the flux covering the weld may fall from the weld, making it impossible for the flux to evenly fill the weld, thereby affecting the welding quality.

[0006] In a first aspect, a steel pipe rod flange welding robot of the present invention comprises a frame, a clamping and rotating mechanism is provided on the frame, the clamping and rotating mechanism comprises two groups of clamping components for clamping the steel pipe rod and the flange respectively, the clamping centers of the two groups of clamping components are coaxially arranged, and a submerged arc welding device, a material receiving mechanism and a positioning mechanism are also provided on the frame; The submerged arc welding device comprises an adjusting arm, a wire feeder head, a flux funnel and a conductive nozzle, wherein the wire feeder head is used for feeding the welding wire into the welding area, and the flux funnel is used for covering the welding area with flux; The material receiving mechanism includes a fixed plate and two telescopic plates. The fixed plate is arranged at the clamping center of the clamping assembly and is located at the weld formed between the steel pipe rod and the flange when the two are butt-jointed. The two telescopic plates are both installed at the upper end of the fixed plate, and a material receiving groove for receiving the flux is formed between the two telescopic plates. The length of the telescopic plate can be adapted according to the distance between the fixed plate and the steel pipe rod or the inner wall of the flange. The positioning mechanism includes two positioning rods and a second driving member. The two positioning rods are respectively slidably matched with the two telescopic plates. The second driving member is used to drive the positioning rods to extend outward during docking, so that the two sides of the positioning rods are respectively in contact with the docking ends of the steel pipe rod and the flange to position the weld.

[0007] When the steel pipe rod and the flange are butt-jointed, the distance between the steel pipe rod and the flange can be determined by the positioning rod, thereby determining the weld gap; when welding the steel pipe rod and the flange, the flux can be blocked by the telescopic plate and the positioning rod, so that the flux falls into the material trough and accumulates to form a material lining, so that the flux can be evenly filled in the weld to ensure the welding quality.

[0008] Preferably, a slide groove is provided on the frame along its length direction, a slide seat is slidably provided in the slide groove, a driving member for driving the slide seat to move is provided on the frame, a clamping assembly for clamping the flange is installed on the slide seat, and a fixed plate is installed on the side of the slide seat facing the other clamping assembly.

[0009] Preferably, the submerged arc welding device is arranged on a sliding seat, and the center line of the wire feeder head and the center line of the positioning rod are located on the same longitudinal plane, so that when the two sides of the positioning rod are in contact with the butt ends of the steel pipe rod and the flange respectively, the wire feeder head and the flux funnel are both located in the middle of the weld width. Placing the wire feeder head in the middle of the weld width can ensure that the welding heat source is evenly distributed on both sides of the weld, which helps to form a uniform weld shape and size. Placing the flux funnel in the middle of the weld width can ensure that the flux evenly covers the weld area, thereby ensuring the welding quality.

[0010] Preferably, the telescopic plate includes an outer plate fixedly connected to the fixed plate, an inner plate slidably arranged inside the outer plate, and an elastic member arranged between the outer plate and the inner plate. A push block is provided at the end of the positioning rod extending outward. During the process of the positioning rod retracting into the interior of the telescopic plate, the push block can contact the inner plate and push the inner plate to move toward the outer plate, so that the telescopic plate can be in a shorter length in the initial state to facilitate subsequent adaptation to flanges of different sizes while avoiding obstruction to the clamping of the flange.

[0011] Preferably, one end of the material trough away from the slide is open and hinged with a sealing plate. A driving member three is installed on the slide. The output end of the driving member three is connected to a cleaning block so that the cleaning block can extend into the material trough. The shape of the cleaning block is adapted to the shape of the material trough. Through the reciprocating movement of the cleaning block, the flux accumulated in the material trough can be pushed out from the open end of the material trough.

[0012] Preferably, the material receiving mechanism also includes two baffles arranged on the wire feeder head, the two baffles are respectively located on both sides of the wire feeder head, and the opposite sides of the two baffles have a V-shaped surface. When the submerged arc welding device welds the weld, the lower ends of the two baffles are in contact with the outer walls of the steel pipe rod and the flange, and the tip of the V-shaped surface is aligned with the middle position of the weld width. By blocking the flux by the baffle, the coverage effect of the flux can be further ensured, and the slag shell formed during the welding process can be scraped off.

[0013] Preferably, the frame is also provided with two groups of support components for supporting the steel pipe rod and the flange respectively, the support components include a longitudinally arranged support plate and a roller horizontally arranged on the upper end of the support plate, and the support plate is an elastic telescopic structure. The support component for supporting the steel pipe rod is arranged on the frame, and the support component for supporting the flange is arranged on the slide.

[0014] Preferably, a material receiving box with an open upper end is provided on the slide seat, the bottom of the material receiving box is in an inclined shape, and one side of the material receiving box close to the lower end of the inclined surface is open and is hinged with a second sealing plate.

[0015] Preferably, the side of the inner plate away from the outer plate is in an arc shape.

[0016] In a second aspect, a steel pipe rod flange welding process of the present invention utilizes the above-mentioned steel pipe rod flange welding robot, which comprises the following steps: S1. Clamping: The steel pipe rod and the flange are clamped by two sets of clamping components respectively, so that the axes of the steel pipe rod and the flange are consistent; S2, weld positioning: drive the positioning rod outward through the second driving member, and move one set of clamping components until the butt ends of the steel pipe rod and the flange are in contact with the positioning rod, so as to position the weld; S3. Welding: welding the weld formed between the steel pipe rod and the flange by using a submerged arc welding device; S4. Material connection: When welding starts, the positioning rod and the telescopic plate can block the two sides of the flux funnel to block the flux, so that the flux falls into the material tank and accumulates in the material tank to form a material lining, so that the flux can evenly cover the weld in the subsequent welding process; S5. Material removal: After welding is completed, remove the steel pipe rod and flange.

[0017] When the steel pipe rod and the flange are butt-jointed, the positioning rod can be used to achieve the butt-jointing positioning between the two, and then the weld can be positioned. Then the flux can be blocked by the telescopic plate and the positioning rod, so that the flux accumulates in the material trough to form a material lining, so that the flux evenly covers the weld to ensure the welding quality.

[0018] The beneficial effects of the present invention are: 1. The present invention is provided with a positioning mechanism, which can determine the distance between the butted ends of the steel pipe rod and the flange through the positioning rod during the butt joint process between the steel pipe rod and the flange, and then determine the weld gap to ensure the welding quality and improve the welding efficiency.

[0019] 2. The present invention is provided with a material receiving mechanism, which can block the flux during the welding process through the cooperation of the telescopic plate and the positioning plate, so that the flux accumulates in the material storage tank and forms a material lining, so that the subsequent flux can evenly cover the weld to ensure the welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 It is a schematic diagram of the assembly structure of the submerged arc welding device, the material receiving mechanism and the positioning mechanism of the present invention.

[0022] Figure 3 It is a schematic diagram of the assembly structure of the material receiving mechanism and the positioning mechanism of the present invention.

[0023] Reference numerals: 1. Frame; 11. Slide; 12. Slide seat; 13. Driving member 1; 14. Support plate; 15. Roller; 16. Material receiving box; 17. Closing plate 2; 2. Submerged arc welding device; 21. Adjusting arm; 22. Wire feeder head; 23. Flux funnel; 31. Fixed plate; 32. Telescopic plate; 321. Outer plate; 322. Inner plate; 33. Closing plate 1; 34. Cleaning block; 35. Baffle; 41. Positioning rod; 42. Driving member 2; 43. Push block; 51. Steel pipe rod; 52. Flange. DETAILED DESCRIPTION

[0024] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0025] like Figures 1 to 3 As shown, a steel pipe rod flange welding robot of the present invention comprises a frame 1, on which a clamping and rotating mechanism, a submerged arc welding device 2, a material receiving mechanism and a positioning mechanism are arranged.

[0026] The clamping and rotating mechanism includes two groups of clamping components for clamping the steel pipe rod 51 and the flange 52 respectively, and the clamping centers of the two groups of clamping components are coaxially arranged. In this embodiment, a slide groove 11 is opened on the frame 1 along its length direction, and a slide seat 12 is slidably arranged in the slide groove 11. The frame 1 is provided with a driving member 13 for driving the slide seat 12 to move. The clamping component for clamping the steel pipe rod 51 is installed at one end of the frame 1, and the clamping component for clamping the flange 52 is installed on the slide seat 12. The movement of the slide seat 12 can drive the clamped flange 52 to move, thereby realizing the docking of the steel pipe rod 51 and the flange 52. The clamping component can be set as a three-jaw chuck, which can clamp and fix the steel pipe rod 51 and the flange 52, and drive them to rotate around the axis. The three-jaw chuck is a prior art and will not be described here.

[0027] The submerged arc welding device 2 includes an adjusting arm 21, a wire feeding head 22, a flux funnel 23 and a conductive nozzle. The adjusting arm 21 is used to adjust the positions of the wire feeding head 22 and the flux funnel 23. The wire feeding head 22 is used to continuously feed the welding wire into the welding area. The flux funnel 23 is used to evenly cover the welding area with flux. The conductive nozzle is used to transmit the welding current from the welding power source to the welding wire to ensure that the current can pass smoothly and melt the welding wire. The material receiving mechanism includes a fixed plate 31 and two telescopic plates 32. The fixed plate 31 is installed on the side of the slide 12 facing the other clamping component and is arranged at the clamping center of the clamping component for clamping the flange 52. When the steel pipe rod 51 is butt-jointed with the flange 52, the fixed plate 31 is located at the steel pipe rod 51. At the weld formed between the pipe rod 51 and the flange 52, two telescopic plates 32 are installed on the upper end of the fixed plate 31, and a material storage groove for receiving the flux is formed between the two telescopic plates 32. The telescopic plate 32 is an elastic telescopic structure, so that the length of the telescopic plate 32 can be adapted according to the distance between the fixed plate 31 and the inner wall of the steel pipe rod 51 or the flange 52. The positioning mechanism includes two positioning rods 41 and a second driving member 42. The two positioning rods 41 are respectively slidably matched with the two telescopic plates 32. The second driving member 42 is used to drive the positioning rod 41 to extend outward when the steel pipe rod 51 is docked with the flange 52, so that the two sides of the positioning rod 41 are respectively in contact with the docking ends of the steel pipe rod 51 and the flange 52, so as to position the weld.

[0028] Specifically, Figures 1 to 3As shown, before welding, the steel pipe rod 51 and the flange 52 are clamped by a rotating clamping mechanism. After the flange 52 is clamped, the positioning rod 41 is extended outward by the driving member 2 42, so that one side of the positioning rod 41 contacts the butt end of the flange 52, and at the same time, the telescopic plate 32 is telescoped so that the length of the telescopic plate 32 is adapted to the distance between the fixed plate 31 and the inner wall of the flange 52. Then, the steel pipe rod 51 and the flange 52 are moved closer to each other by the movement of the slide 12 until the other side of the positioning rod 41 contacts the butt end of the steel pipe rod 51, so that the butt joint between the two is achieved, and the welding gap formed between the steel pipe rod 51 and the flange 52 is positioned. At this time, a preliminary welding area can be separated between the two positioning rods 41. During welding, the two poles of the power supply are respectively connected to the guide nozzle and the workpiece, and the welding wire, the conductive nozzle and the workpiece are in contact through the flux to form a current loop, thereby generating an arc. The high temperature of the arc will melt the welding wire, the flux and the welding part of the workpiece together to form a molten pool. The arc and the workpiece move relative to each other, and the liquid metal cools and solidifies to form a weld, thereby connecting the workpieces. At the same time, the liquid slag floating on the surface of the workpiece also cools and forms a slag shell, and separates from the workpiece. After completing the welding of the preliminary welding area, one of the positioning rods 41 is retracted into the telescopic plate 32 under the action of the second driving member 42, and the steel pipe rod 51 and the flange 52 are rotated to a set angle under the action of the rotating clamping mechanism. At this time, a new welding area can be formed between the welded area and the other positioning rod 41, and the new welding area is continuously welded by the submerged arc welding device 2 until the steel pipe rod 51 and the flange 52 rotate one circle to achieve circumferential welding between the two. In the process of the flux funnel 23 evenly covering the welding area with flux, the flux will fall from the weld into the material trough formed between the two telescopic plates 32, and accumulate in the material trough to form a material lining. At this time, the newly fallen flux can gradually accumulate on the material lining, so that the flux is evenly covered at the weld, thereby ensuring the welding quality.

[0029] In some embodiments, the submerged arc welding device 2 is disposed on a slide 12, and the center line of the wire feeder head 22 and the center line of the positioning rod 41 are located on the same longitudinal plane, so that when the positioning rod 41 is simultaneously in contact with the butt ends of the steel pipe rod 51 and the flange 52, the wire feeder head 22 and the flux funnel 23 are both located in the middle position of the weld width.

[0030] Specifically, Figure 1 and Figure 2As shown, before welding the steel pipe rod 51 and the flange 52 of different specifications, it is necessary to adjust the position of the wire feeder head 22 and the flux funnel 23 through the adjusting arm 21 to ensure that the welding wire and flux can be accurately delivered to the welding area during welding. When adjusting the position of the wire feeder head 22, it is necessary to ensure that the center line of the wire feeder head 22 and the middle line of the positioning rod 41 are located on the same longitudinal plane, so that after the subsequent steel pipe rod 51 and the flange 52 are connected, the wire feeder head 22 and the flux funnel 23 are both located in the middle position of the weld width. The wire feeder head 22 is located in the middle position of the weld width, which can ensure that the welding heat source is evenly distributed on both sides of the weld, which helps to form a uniform weld shape and size. The flux funnel 23 is located in the middle position of the weld width, which can ensure that the flux evenly covers the weld area, forming a good protective atmosphere, avoiding air intrusion, and reducing welding defects such as pores, thereby ensuring welding quality.

[0031] In some embodiments, the telescopic plate 32 includes an outer plate 321 fixedly connected to the fixed plate 31, an inner plate 322 slidably arranged in the outer plate 321, and an elastic member arranged between the outer plate 321 and the inner plate 322. The side of the inner plate 322 away from the outer plate 321 is in an arc shape, and the elastic member can be set as a spring. The end of the positioning rod 41 extending outward is provided with a push block 43. In the process of the positioning rod 41 retracting to the inside of the telescopic plate 32, the push block 43 can contact the arc-shaped end of the inner plate 322 and push the inner plate 322 to move in a direction close to the outer plate 321.

[0032] Specifically, Figures 1 to 3As shown, in the initial state, the positioning rod 41 is driven by the driving member 2 42 to retract into the telescopic plate 32, and after the push block 43 on the positioning rod 41 contacts the inner plate 322, the inner plate 322 is pushed to move in the direction close to the outer plate 321, so that the elastic member is compressed to store force, so that the telescopic plate 32 is at a shorter length in the initial state, so as to be adapted to the steel pipe rod 51 and flange 52 of different sizes later. At this time, the steel pipe rod 51 is clamped by the clamping assembly provided on the frame 1, and the flange 52 is clamped by the clamping assembly provided on the slide seat 12. Since the telescopic plate 32 is in a retracted state at this time, it will not cause obstruction to the clamping of the flange 52. After the clamping is completed, the telescopic plate 32 is driven by the driving member 2 42 to retract into the inner plate 322. The movable part 2 42 drives the positioning rod 41 to extend outward, and the inner plate 322 will lose the obstruction of the push block 43, and move in the direction away from the outer plate 321 under the action of the elastic part until the arc-shaped end of the inner plate 322 contacts the inner wall of the flange 52, so that the inner plate 322 stops moving, and the positioning rod 41 can continue to extend under the action of the driving part 2 42. At this time, one side of the positioning rod 41 will directly contact the docking end of the flange 52, and then the slide 12 will be driven to move through the driving part 13, which can drive the clamped flange 52 and the positioning rod 41 arranged on the slide 12 to move, and stop moving when the other side of the positioning rod 41 contacts the docking end of the steel pipe rod 51, thereby realizing the positioning of the weld.

[0033] In some embodiments, one end of the material trough away from the slide 12 is open and hinged with a closing plate 33. A driving member 3 is installed on the slide 12. The driving member 3 can be set as an electric push rod. The output end of the electric push rod is connected to a cleaning block 34 so that the cleaning block 34 can be extended into the material trough. The shape of the cleaning block 34 is adapted to the shape of the material trough.

[0034] Specifically, Figure 1 and Figure 3 As shown, when welding steel pipe rods 51 and flanges 52 of different specifications, the sizes of the material linings formed in the material tank are different, so that before welding steel pipe rods 51 and flanges 52 of another specification, it is necessary to clean out the flux in the material tank, and pile up a new material lining according to the sizes of the steel pipe rods 51 and flanges 52 during welding. When cleaning the material tank, the cleaning block 34 is driven to move by the driving member 3, so that the cleaning block 34 is extended into the material tank and the flux in the material tank is pushed out from the open end of the material tank. The flux exceeding the height of the cleaning block 34 will fall on the cleaning block 34, and after the cleaning block 34 is withdrawn from the material tank, this part of the flux will fall back into the material tank and be pushed out the next time the cleaning block 34 is extended into the material tank. Therefore, by driving the cleaning block 34 to reciprocate into the material tank several times by the driving member 3, the flux in the material tank can be cleaned.

[0035] In some embodiments, the material receiving mechanism also includes two baffles 35 provided on the wire feeder head 22, and the two baffles 35 are respectively located on both sides of the wire feeder head 22. The two baffles 35 have V-shaped surfaces on the opposite sides. When the submerged arc welding device 2 welds the weld, the lower ends of the two baffles 35 are in contact with the outer walls of the steel pipe rod 51 and the flange 52, and the tip of the V-shaped surface on the baffle 35 is aligned with the middle position of the weld width.

[0036] Specifically, Figure 1 and Figure 2 As shown, in the process of the flux funnel 23 uniformly covering the welding area with flux, part of the flux may fall directly on the outside of the steel pipe rod 51 or the flange 52, and fall off the steel pipe rod 51 or the flange 52, causing waste. By setting the baffle 35, the flux can be intercepted between the two baffles 35 and slide to the weld through the V-shaped surface provided on the baffle 35, thereby ensuring the coverage effect of the flux. In addition, during the welding process, through the rotation of the steel pipe rod 51 or the flange 52, the baffle 35 located on the front side of the flux funnel 23 can clean the outer wall of the welding end of the steel pipe rod 51 and the flange 52, and the baffle 35 located on the rear side of the flux funnel 23 can scrape off the formed slag shell.

[0037] In some embodiments, the frame 1 is also provided with two groups of support components for supporting the steel pipe rod 51 and the flange 52 respectively, each group of support components includes a longitudinally arranged support plate 14 and a roller 15 horizontally arranged at the upper end of the support plate 14, the support plate 14 is an elastic telescopic structure, the support component for supporting the steel pipe rod 51 is arranged on the frame 1, and the support component for supporting the flange 52 is arranged on the slide 12.

[0038] Specifically, Figure 1 and Figure 2 As shown, when the steel pipe rod 51 and the flange 52 are welded by the clamping assembly, the support assembly can provide support force for the steel pipe rod 51 and the flange 52, further ensuring the clamping stability, and then ensuring the subsequent welding effect. By setting a roller 15 at the upper end of the support plate 14, the smooth rotation of the steel pipe rod 51 and the flange 52 can be ensured. The support plate 14 is set as an elastic telescopic structure, so that the support assembly can adapt to steel pipe rods 51 and flanges 52 of different sizes, thereby improving applicability.

[0039] In some embodiments, a receiving box 16 with an open upper end is provided on the slide 12, the bottom of the receiving box 16 is in a slope shape, and the side of the receiving box 16 close to the lower end of the slope is open and hinged with a sealing plate 17. Specifically, Figure 1 and Figure 2As shown, after the flux in the material tank is discharged by the cleaning block 34, this part of the flux will fall into the material receiving box 16 below for collection. In addition, the slag shell formed outside the welding area will also fall into the material receiving box 16 for collection.

[0040] like Figures 1 to 3 As shown, the present invention also provides a welding process using the above-mentioned steel pipe rod flange welding robot, which specifically includes the following steps: S1. Clamping: Clamp the steel pipe rod 51 and the flange 52 respectively by two sets of clamping components, so that the axes of the steel pipe rod 51 and the flange 52 are consistent; S2, welding seam positioning: the positioning rod 41 is driven to extend outward by the driving member 2 42, so that one side of the positioning rod 41 contacts the butt end of the flange 52, and then the slide 12 is driven to move by the driving member 13, and the clamping assembly and the flange 52 provided on the slide 12 are driven to move, so that the steel pipe rod 51 and the flange 52 are brought close to each other, until the other side of the positioning rod 41 contacts the butt end of the steel pipe rod 51, so as to realize the butt positioning between the steel pipe rod 51 and the flange 52, and to position the welding gap formed between the steel pipe rod 51 and the flange 52; S3, welding: the welding wire is continuously fed to the welding area by the wire feeder head 22, and the flux is evenly covered on the welding area by the flux funnel 23, and the weld formed between the steel pipe rod 51 and the flange 52 is welded by submerged arc welding, and the clamped steel pipe rod 51 and the flange 52 are driven to rotate by the clamping rotating mechanism to achieve circumferential welding of the steel pipe rod 51 and the flange 52; S4, material connection: At the beginning of welding, the positioning rod 41 and the telescopic plate 32 can block the two sides of the flux funnel 23 to block the flux, so that the flux falls into the material storage tank and accumulates in the material storage tank to form a material lining, so that in the subsequent welding process, the flux can be accumulated on the material lining to evenly cover the weld to ensure the welding quality; S5, taking out the materials: after the welding is completed, the welded steel pipe rod 51 and flange 52 are taken out from the clamping assembly.

[0041] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A steel pipe rod flange welding robot, comprising a frame (1), the frame (1) being provided with a clamping and rotating mechanism, the clamping and rotating mechanism comprising two groups of clamping assemblies for clamping the steel pipe rod (51) and the flange (52) respectively, the clamping centers of the two groups of clamping assemblies being coaxially arranged, and characterized in that: The frame (1) is also provided with a submerged arc welding device (2), a material receiving mechanism and a positioning mechanism; The submerged arc welding device (2) comprises an adjusting arm (21), a wire feeder head (22), a flux funnel (23) and a conductive nozzle, wherein the wire feeder head (22) is used to feed the welding wire into the welding area, and the flux funnel (23) is used to cover the welding area with flux; The material receiving mechanism comprises a fixed plate (31) and two telescopic plates (32); the fixed plate (31) is arranged at the clamping center of the clamping assembly and is located at the weld formed between the steel pipe rod (51) and the flange (52) when the two are butt-jointed; the two telescopic plates (32) are both mounted on the upper end of the fixed plate (31) and a material receiving groove for receiving flux is formed between the two telescopic plates (32); the length of the telescopic plate (32) can be adapted according to the distance between the fixed plate (31) and the inner wall of the steel pipe rod (51) or the flange (52); The positioning mechanism comprises two positioning rods (41) and a second driving member (42). The two positioning rods (41) are respectively slidably matched with the two telescopic plates (32). The second driving member (42) is used to drive the positioning rods (41) to extend outward during docking, so that the two sides of the positioning rods (41) are respectively in contact with the docking ends of the steel pipe rod (51) and the flange (52), thereby positioning the weld.

2. A steel pipe rod flange welding robot according to claim 1, characterized in that: A slide groove (11) is provided on the frame (1) along its length direction, a slide seat (12) is slidably provided in the slide groove (11), a driving member (13) for driving the slide seat (12) to move is provided on the frame (1), a clamping assembly for clamping the flange (52) is installed on the slide seat (12), and a fixing plate (31) is installed on a side of the slide seat (12) facing the other clamping assembly.

3. A steel pipe rod flange welding robot according to claim 2, characterized in that: The submerged arc welding device (2) is arranged on a slide seat (12), and the center line of the wire feeder head (22) and the center line of the positioning rod (41) are located on the same longitudinal plane, so that when the two sides of the positioning rod (41) are in contact with the butt ends of the steel pipe rod (51) and the flange (52), respectively, the wire feeder head (22) and the flux funnel (23) are both located in the middle of the weld width.

4. The steel pipe rod flange welding robot according to claim 1, characterized in that: The telescopic plate (32) comprises an outer plate (321) fixedly connected to the fixed plate (31), an inner plate (322) slidably arranged in the outer plate (321), and an elastic member arranged between the outer plate (321) and the inner plate (322). A push block (43) is provided at one end of the positioning rod (41) extending outward. When the positioning rod (41) is retracted into the interior of the telescopic plate (32), the push block (43) can contact the inner plate (322) and push the inner plate (322) to move in a direction close to the outer plate (321).

5. The steel pipe rod flange welding robot according to claim 2, characterized in that: One end of the material storage trough away from the slide seat (12) is open and hingedly connected with a sealing plate (33). A driving member (3) is mounted on the slide seat (12). The output end of the driving member (3) is connected with a cleaning block (34) so ​​that the cleaning block (34) can extend into the material storage trough. The shape of the cleaning block (34) is adapted to the shape of the material storage trough.

6. The steel pipe rod flange welding robot according to claim 1, characterized in that: The material receiving mechanism also includes two baffles (35) arranged on the wire feeder head (22), the two baffles (35) are respectively located on both sides of the wire feeder head (22), and the two baffles (35) have V-shaped surfaces on opposite sides. When the submerged arc welding device (2) welds the weld, the lower ends of the two baffles (35) are in contact with the outer walls of the steel pipe rod (51) and the flange (52), and the tip of the V-shaped surface is aligned with the middle position of the weld width.

7. The steel pipe rod flange welding robot according to claim 2, characterized in that: The frame (1) is also provided with two groups of support components for supporting the steel pipe rod (51) and the flange (52) respectively. The support components include a support plate (14) arranged longitudinally and a roller (15) arranged horizontally on the upper end of the support plate (14). The support plate (14) is an elastic telescopic structure. The support component for supporting the steel pipe rod (51) is arranged on the frame (1), and the support component for supporting the flange (52) is arranged on the slide seat (12).

8. The steel pipe rod flange welding robot according to claim 2, characterized in that: A material receiving box (16) with an open upper end is provided on the slide seat (12). The bottom of the material receiving box (16) is in an inclined shape. One side of the material receiving box (16) close to the lower end of the inclined surface is open and is hingedly connected to a second sealing plate (17).

9. The steel pipe rod flange welding robot according to claim 4, characterized in that: The side of the inner plate (322) away from the outer plate (321) is in an arc shape.

10. A steel pipe rod flange welding process, characterized in that: A steel pipe rod flange welding robot according to any one of claims 1 to 9 is used, comprising the following steps: S1. Clamping: Clamping the steel pipe rod (51) and the flange (52) respectively by two sets of clamping components so that the axes of the steel pipe rod (51) and the flange (52) are aligned; S2, welding seam positioning: driving the positioning rod (41) to extend outward through the second driving member (42), and causing one set of clamping components to move until the butting ends of the steel pipe rod (51) and the flange (52) are in contact with the positioning rod (41), thereby positioning the welding seam; S3, welding: welding the weld formed between the steel pipe rod (51) and the flange (52) using a submerged arc welding device (2); S4, material connection: at the beginning of welding, the positioning rod (41) and the telescopic plate (32) can block the two sides of the flux funnel (23) to block the flux, so that the flux falls into the material storage tank and accumulates in the material storage tank to form a material lining, so that the flux can evenly cover the weld in the subsequent welding process; S5, removing the material: after welding is completed, the steel pipe rod (51) and the flange (52) are removed.

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