A steel pipe pole flange welding robot and its welding process

Abstract

The present invention relates to the technical field of welding equipment, and specifically discloses a steel pipe pole flange welding robot and its welding process, which includes a frame, a clamping and rotating mechanism, a submerged arc welding device, a material receiving mechanism and a positioning mechanism. The submerged arc welding device includes an adjusting arm, a wire feeding head, a flux hopper and a conductive nozzle. The material receiving mechanism includes a fixing plate and two telescopic plates. The fixing plate is arranged at the clamping center of the clamping assembly. Both telescopic plates are installed at the upper end of the fixing plate and form a material receiving groove. The length of the telescopic plate can be adapted according to the distance between the fixing plate and the inner wall of the steel pipe pole or flange. The positioning mechanism includes two positioning rods and a second driving member. The positioning rods are slidably matched with the telescopic plates correspondingly. The present invention can realize the butt joint positioning between the steel pipe pole and the flange through the positioning rods, and can, through the cooperation of the positioning rods and the telescopic plates, make the flux accumulate in the material receiving groove to form a flux lining, ensure that the flux evenly covers the weld, and further ensure the welding quality.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and particularly relates to a steel pipe pole flange welding robot and its welding process. Background Art

[0002] Steel pipe poles, also known as electric power steel poles or steel towers, are mostly made of steel materials such as round steel pipes, and are mainly used for power line erection. They are alternative products to traditional cement poles. As a structural component for connecting steel pipe poles, a flange can connect two steel pipe poles together through the flange, playing a role in connection and reinforcement. Therefore, it is necessary to pre-connect the flange to the steel pipe pole. When welding the flanges at both ends of the steel pipe pole, it is necessary to make the steel pipe pole and the flange coaxial and concentric, and then use welding equipment to weld the connection part of the flange and the steel pipe pole.

[0003] The patent document with the publication number CN216802042U discloses a submerged arc welding device for a steel pipe tower necked flange with a rotating guiding structure, 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 post. The motor is started, so that the threaded hole plate is threadedly connected to the outer surface of the threaded rod. Since the threaded hole plate penetrates through the inside of the sliding groove and is connected to the outer surface of the bent clamping plate, the bent clamping plate moves downward, and the steel pipe is pressed by the bent clamping plate. The rubber layer protects the steel pipe, and the provided wear-resistant layer protects the rubber layer. While protecting the flange, the arc joint can be used for submerged arc welding. The rubber pad provided at the bottom end of the through chute avoids the flange from falling and colliding with the corner of the round trough, protecting the integrity of the flange and facilitating use.

[0004] When using the above device to perform butt joint positioning on the steel pipe and the flange, it is necessary to manually confirm the distance between the steel pipe and the flange to determine the weld gap, and the operation is cumbersome. In addition, when welding the steel pipe and the flange, it is necessary to cover a layer of flux on the outside of the weld to isolate the air. However, the flux covered on the weld may fall off from the weld, making the flux unable to evenly fill the weld, thus affecting the welding quality. Summary of the Invention

[0005] The present invention provides a steel pipe pole flange welding robot and its welding process, aiming to solve the problems in the related art that when the submerged arc welding device performs butt joint positioning on the steel pipe and the flange, it is necessary to manually confirm the distance between the steel pipe and the flange to determine the weld gap, and the operation is cumbersome. In addition, when welding the steel pipe and the flange, it is necessary to cover a layer of flux on the outside of the weld to isolate the air. However, the flux covered on the weld may fall off from the weld, making the flux unable to evenly fill the weld, thus affecting the welding quality.

[0006] In a first aspect, a steel pipe pole flange welding robot of the present invention includes a frame. A clamping and rotating mechanism is provided on the frame. The clamping and rotating mechanism includes two clamping assemblies respectively used for clamping the steel pipe pole and the flange. The clamping centers of the two clamping assemblies are coaxially arranged. An submerged arc welding device, a material receiving mechanism, and a positioning mechanism are also provided on the frame;

[0007] The submerged arc welding device includes an adjusting arm, a wire feeding head, a flux hopper, and a conducting nozzle. The wire feeding head is used to feed the welding wire into the welding area, and the flux hopper is used to cover the flux on the welding area;

[0008] The material receiving mechanism includes a fixing plate and two telescopic plates. The fixing plate is arranged at the clamping center of the clamping assembly and is located at the weld formed between the two when the steel pipe pole and the flange are butted. Both telescopic plates are installed at the upper end of the fixing 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 fixing plate and the inner wall of the steel pipe pole or the flange;

[0009] 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 outwards during butting, so that the two sides of the positioning rods respectively contact the butting ends of the steel pipe pole and the flange to position the weld.

[0010] During the butting of the steel pipe pole and the flange, the distance between the steel pipe pole and the flange can be determined through the positioning rods, so as to determine the weld gap. When welding the steel pipe pole and the flange, the flux can be blocked by the telescopic plates and the positioning rods, so that the flux falls into the material receiving groove and accumulates to form a flux lining, so as to evenly fill the flux in the weld and ensure the welding quality.

[0011] Preferably, a chute is opened along the length direction of the frame. A sliding seat is slidably arranged in the chute. A first driving member for driving the sliding seat to move is provided on the frame. The clamping assembly for clamping the flange is installed on the sliding seat. The fixing plate is installed on the side of the sliding seat facing the other clamping assembly.

[0012] Preferably, the submerged arc welding device is arranged on the sliding seat, and the center line of the wire feeding head and the center line of the positioning rod are located in the same longitudinal plane. When the two sides of the positioning rod respectively contact the butting ends of the steel pipe pole and the flange, both the wire feeding head and the flux hopper are located at the middle position of the weld width. Making the wire feeding head located at the middle position 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. Making the flux hopper located at the middle position of the weld width can ensure that the flux evenly covers the weld area, thereby ensuring the welding quality.

[0013] Preferably, the telescopic plate includes an outer plate fixedly connected to the fixed plate, an inner plate slidably disposed within the outer plate, and an elastic member disposed between the outer plate and the inner plate. A push block is provided at one end of the positioning rod that extends outward. During the process of the positioning rod retracting into the telescopic plate, the push block can contact the inner plate and push the inner plate to move towards the outer plate, enabling the telescopic plate to be in a relatively short length in the initial state, so as to adapt to flanges of different sizes subsequently and avoid hindering the clamping of the flanges.

[0014] Preferably, one end of the material receiving groove away from the sliding seat is open, and a first sealing plate is hinged thereto. A third driving member is installed on the sliding seat, and the output end of the third driving member is connected to a cleaning block, enabling the cleaning block to extend into the material receiving groove. The shape of the cleaning block is adapted to the shape of the material receiving groove. By reciprocating movement of the cleaning block, the flux accumulated in the material receiving groove can be pushed out from the open end of the material receiving groove.

[0015] Preferably, the material receiving mechanism further includes two baffle plates provided on the wire feeding head. The two baffle plates are respectively located on both sides of the wire feeding head. One side of each of the two baffle plates has a V-shaped surface. When the submerged arc welding device welds the weld seam, the lower ends of the two baffle plates both contact 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 seam width. By blocking the flux with the baffle plates, the covering effect of the flux can be further ensured, and at the same time, the slag shell formed during the welding process can be scraped off.

[0016] Preferably, two sets of support components for respectively supporting the steel pipe rod and the flange are further provided on the frame. The support components include longitudinally arranged support plates and rollers horizontally disposed at the upper ends of the support plates. Moreover, the support plates are of an elastic telescopic structure. The support component for supporting the steel pipe rod is provided on the frame, and the support component for supporting the flange is provided on the sliding seat.

[0017] Preferably, a material receiving box with an open upper end is provided on the sliding 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 a second sealing plate is hinged thereto.

[0018] Preferably, the side of the inner plate away from the outer plate is in an arc shape.

[0019] In a second aspect, a welding process for a steel pipe rod flange of the present invention uses the above-mentioned steel pipe rod flange welding robot, and it includes the following steps:

[0020] S1. Clamping: Clamp the steel pipe rod and the flange respectively through two sets of clamping components to make the axes of the steel pipe rod and the flange consistent;

[0021] S2. Weld seam positioning: Drive the positioning rod to extend outward through the second driving member, and make one of the sets of clamping components move until the butt ends of the steel pipe rod and the flange both contact the positioning rod to position the weld seam;

[0022] S3. Welding: Weld the weld formed between the steel pipe pole and the flange through a submerged arc welding device;

[0023] S4. Flux feeding: At the start of welding, the positioning rod and the telescopic plate can block on both sides of the flux hopper to block the flux, causing the flux to fall into the material receiving groove and accumulate to form a flux lining in the material receiving groove, so that the flux can evenly cover the weld during the subsequent welding process;

[0024] S5. Material taking: After welding is completed, remove the steel pipe pole and the flange.

[0025] When the steel pipe pole and the flange are butt - jointed, the butt - joint positioning between the two can be realized through the positioning rod, 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 receiving groove to form a flux lining, so that the flux evenly covers the weld, ensuring the welding quality.

[0026] The beneficial effects of the present invention are as follows:

[0027] 1. The present invention is provided with a positioning mechanism, which can determine the distance between the butt - joint ends of the steel pipe pole and the flange through the positioning rod during the butt - joint process of the steel pipe pole and the flange, and then determine the weld gap to ensure the welding quality and improve the welding efficiency.

[0028] 2. The present invention is provided with a flux - feeding mechanism, which can block the flux through the cooperation of the telescopic plate and the positioning plate during the welding process, so that the flux accumulates in the material receiving groove and forms a flux lining, so that the subsequent flux evenly covers the weld, ensuring the welding quality. Description of the Drawings

[0029] Figure 1 is the overall structural schematic diagram of the present invention.

[0030] Figure 2 is the assembly structural schematic diagram of the submerged arc welding device, the flux - feeding mechanism and the positioning mechanism of the present invention.

[0031] Figure 3 is the assembly structural schematic diagram of the flux - feeding mechanism and the positioning mechanism of the present invention.

[0032] Reference Signs:

[0033] 1. Frame; 11. Slide groove; 12. Slide block; 13. First driving member; 14. Support plate; 15. Roller; 16. Material receiving box; 17. Second sealing plate; 2. Submerged arc welding device; 21. Adjusting arm; 22. Wire feeding head; 23. Flux hopper; 31. Fixed plate; 32. Telescopic plate; 321. Outer plate; 322. Inner plate; 33. First sealing plate; 34. Cleaning block; 35. Baffle; 41. Positioning rod; 42. Second driving member; 43. Pushing block; 51. Steel pipe rod; 52. Flange. Detailed implementation manners

[0034] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0035] As Figures 1 to 3 shown, a steel pipe rod flange welding robot of the present invention includes a frame 1, and a clamping and rotating mechanism, a submerged arc welding device 2, a material receiving mechanism and a positioning mechanism are arranged on the frame 1.

[0036] The clamping and rotating mechanism includes two groups of clamping components respectively used for clamping the steel pipe rod 51 and the flange 52. The clamping centers of the two groups of clamping components are coaxially arranged. In this embodiment, a slide groove 11 is opened along the length direction of the frame 1, a slide block 12 is slidably arranged in the slide groove 11, and a first driving member 13 for driving the slide block 12 to move is arranged on the frame 1. 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 block 12. The clamped flange 52 can be driven to move by the movement of the slide block 12, so as to realize the butt joint of the steel pipe rod 51 and the flange 52. Among them, 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 in detail here.

[0037] The submerged arc welding device 2 includes an adjusting arm 21, a wire feeding head 22, a flux hopper 23 and a contact tip. The adjusting arm 21 is used to adjust the positions of the wire feeding head 22 and the flux hopper 23. The wire feeding head 22 is used to continuously feed the welding wire into the welding area. The flux hopper 23 is used to evenly cover the flux on the welding area. The contact tip 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 fixing plate 31 and two telescopic plates 32. The fixing plate 31 is installed on one side of the sliding seat 12 facing the other clamping assembly and is located at the clamping center of the clamping assembly for clamping the flange 52. When the steel pipe pole 51 is butt-jointed with the flange 52, the fixing plate 31 is located at the weld formed between the steel pipe pole 51 and the flange 52. The two telescopic plates 32 are both installed at the upper end of the fixing plate 31, and a material receiving 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 fixing plate 31 and the inner wall of the steel pipe pole 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 in sliding fit with the two telescopic plates 32. The second driving member 42 is used to drive the positioning rods 41 to extend outwards when the steel pipe pole 51 is butt-jointed with the flange 52, so that both sides of the positioning rods 41 are in contact with the butt-jointed ends of the steel pipe pole 51 and the flange 52 to position the weld.

[0038] Specifically, as Figures 1 to 3As shown, before welding, the steel pipe pole 51 and the flange 52 are clamped by the rotary clamping mechanism. After the clamping of the flange 52 is completed, the positioning rod 41 is driven by the second driving member 42 to extend outwards, so that one side of the positioning rod 41 contacts the docking end of the flange 52. At the same time, the telescopic plate 32 expands and contracts, 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, through the movement of the sliding seat 12, the steel pipe pole 51 and the flange 52 approach each other until the other side of the positioning rod 41 contacts the docking end of the steel pipe pole 51, realizing the docking of the two, and positioning the welding gap formed between the steel pipe pole 51 and the flange 52. 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 guiding nozzle and the workpiece. The welding wire, the conducting nozzle and the workpiece are in contact through the welding flux to form an electric current loop, thereby generating an arc. The high temperature of the arc will melt the welding wire, the welding flux and the welding joint of the workpiece together to form a molten pool. With the relative movement between the arc and the workpiece, the molten metal cools and solidifies to form a weld seam, realizing the connection between the workpieces. At the same time, the molten slag floating on the surface of the workpiece also cools to form a slag shell and detaches from the workpiece. After the welding of the preliminary welding area is completed, one of the positioning rods 41 retracts into the telescopic plate 32 under the action of the second driving member 42. At the same time, the steel pipe pole 51 and the flange 52 rotate by a set angle under the action of the rotary clamping mechanism. At this time, a new welding area can be formed between the welded area and the other positioning rod 41. The submerged arc welding device 2 continues to weld the new welding area until the steel pipe pole 51 and the flange 52 rotate one week to realize the circumferential welding between the two. During the process of the flux hopper 23 evenly covering the welding area with the flux, the flux will fall into the material receiving groove formed between the two telescopic plates 32 from the weld seam and accumulate in the material receiving groove to form a material lining. At this time, the newly fallen flux can gradually accumulate on the material lining, so that the flux evenly covers the weld seam to ensure the welding quality.

[0039] In some embodiments, the submerged arc welding device 2 is arranged on the sliding seat 12, and the center line of the wire feeding head 22 and the center line of the positioning rod 41 are located in the same longitudinal plane, so that when the positioning rod 41 is simultaneously in contact with the docking ends of the steel pipe pole 51 and the flange 52, both the wire feeding head 22 and the flux hopper 23 are located at the middle position of the weld width.

[0040] Specifically, as Figure 1 and Figure 2As shown, before welding steel pipe poles 51 and flanges 52 of different specifications, the positions of the wire feeding head 22 and the flux hopper 23 need to be adjusted through the adjusting arm 21 to ensure that the welding wire and flux can be accurately sent to the welding area during welding. When adjusting the position of the wire feeding head 22, it is necessary to ensure that the center line of the wire feeding head 22 and the center line of the positioning rod 41 are in the same longitudinal plane. Thus, after the subsequent butt joint of the steel pipe pole 51 and the flange 52 is completed, both the wire feeding head 22 and the flux hopper 23 are located at the middle position of the weld width. Making the wire feeding head 22 located at the middle position 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. Making the flux hopper 23 located at the middle position of the weld width can ensure that the flux evenly covers the weld area, forming a good protective atmosphere, preventing air intrusion, reducing welding defects such as pores, and thus ensuring the welding quality.

[0041] In some embodiments, the telescopic plate 32 includes an outer plate 321 fixedly connected to the fixed plate 31, an inner plate 322 slidably disposed within the outer plate 321, and an elastic member disposed between the outer plate 321 and the inner plate 322. The side of the inner plate 322 away from the outer plate 321 is arc-shaped. The elastic member can be set as a spring. One end of the positioning rod 41 extending outward is provided with a push block 43. During the process of the positioning rod 41 retracting into 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 closer to the outer plate 321.

[0042] Specifically, as Figures 1 to 3As shown, in the initial state, the positioning rod 41 is driven by the second driving member 42 to contract into the telescopic plate 32. After the pushing block 43 on the positioning rod 41 contacts the inner plate 322, the inner plate 322 is pushed to move towards the outer plate 321, compressing the elastic member to store energy, so that the telescopic plate 32 is in a relatively short length in the initial state, so as to be adapted to steel pipe rods 51 and flanges 52 of different sizes in the subsequent process. At this time, the steel pipe rod 51 is clamped by the clamping assembly provided on the machine frame 1, and the flange 52 is clamped by the clamping assembly provided on the sliding seat 12. Since the telescopic plate 32 is in a contracted state at this time, it will not block the clamping of the flange 52. After the clamping is completed, the positioning rod 41 is driven by the second driving member 42 to extend outwards. The inner plate 322 will lose the block of the pushing block 43 and move away from the outer plate 321 under the action of the elastic member until the arc end of the inner plate 322 contacts the inner wall of the flange 52, causing the inner plate 322 to stop moving. The positioning rod 41 can continue to extend under the action of the second driving member 42. At this time, one side of the positioning rod 41 will directly contact the docking end of the flange 52, and then the sliding seat 12 is driven to move by the first driving member 13, which can drive the clamped flange 52 and the positioning rod 41 provided on the sliding seat 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, realizing the positioning of the weld.

[0043] In some embodiments, one end of the material receiving groove away from the sliding seat 12 is open, and a first sealing plate 33 is hinged. A third driving member is installed on the sliding seat 12. The third driving member can be an electric push rod. The output end of the electric push rod is connected with a cleaning block 34, so that the cleaning block 34 can extend into the material receiving groove, and the shape of the cleaning block 34 is adapted to the shape of the material receiving groove.

[0044] Specifically, as Figure 1 and Figure 3 shown, when welding steel pipe rods 51 and flanges 52 of different specifications, the size of the flux lining formed in the material receiving groove is different. Therefore, before welding another specification of steel pipe rod 51 and flange 52, the flux in the material receiving groove needs to be cleaned out, and a new flux lining is piled up according to the sizes of the steel pipe rod 51 and the flange 52 during welding. When cleaning the material receiving groove, the cleaning block 34 is driven to move by the third driving member, so that the cleaning block 34 extends into the material receiving groove and pushes the flux in the material receiving groove to be discharged from the open end of the material receiving groove. 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 receiving groove, this part of the flux will fall back into the material receiving groove again and be pushed out when the cleaning block 34 extends into the material receiving groove next time. Therefore, by driving the cleaning block 34 to reciprocally extend into the material receiving groove several times by the third driving member, the flux in the material receiving groove can be cleaned up.

[0045] In some embodiments, the material receiving mechanism further includes two baffles 35 provided on the wire feeding head 22. The two baffles 35 are respectively located on both sides of the wire feeding head 22. One side of the two baffles 35 facing each other has a V-shaped surface. When the submerged arc welding device 2 welds the weld seam, the lower ends of the two baffles 35 are in contact with the outer walls of the steel pipe pole 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 seam width.

[0046] Specifically, as Figure 1 and Figure 2 shown, during the process of the flux hopper 23 evenly covering the flux on the welding area, some flux may directly fall on the outside of the steel pipe pole 51 or the flange 52 and fall off from the steel pipe pole 51 or the flange 52, resulting in waste. By providing the baffles 35, the flux can be intercepted between the two baffles 35 and slide down to the weld seam through the V-shaped surface provided on the baffle 35, ensuring the covering effect of the flux. In addition, during the welding process, through the rotation of the steel pipe pole 51 or the flange 52, the baffle 35 located in front of the flux hopper 23 can clean the outer wall of the welding end of the steel pipe pole 51 and the flange 52, and at the same time, the baffle 35 located behind the flux hopper 23 can scrape the formed slag shell.

[0047] In some embodiments, the frame 1 is further provided with two groups of support components respectively used for supporting the steel pipe pole 51 and the flange 52. 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 used for supporting the steel pipe pole 51 is provided on the frame 1, and the support component used for supporting the flange 52 is provided on the sliding seat 12.

[0048] Specifically, as Figure 1 and Figure 2 shown, when welding the steel pipe pole 51 and the flange 52 through the clamping component, the support component can provide a supporting force for the steel pipe pole 51 and the flange 52, further ensuring the clamping stability and thus ensuring the subsequent welding effect. By providing the roller 15 at the upper end of the support plate 14, the smooth rotation of the steel pipe pole 51 and the flange 52 can be ensured. The support plate 14 is set as an elastic telescopic structure, so that the support component can adapt to steel pipe poles 51 and flanges 52 of different sizes, improving the applicability.

[0049] In some embodiments, the sliding seat 12 is provided with a material receiving box 16 with an open upper end. 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 hinged with a second sealing plate 17. Specifically, as Figure 1 and Figure 2As shown, after the flux in the flux storage tank is discharged through the cleaning block 34, this part of the flux will fall into the lower material receiving box 16 for collection. In addition, the slag shell formed outside the welding area will also fall into the material receiving box 16 for collection after falling off.

[0050] As Figures 1 to 3 shown, the present invention also provides a welding process using the above-mentioned steel pipe pole flange welding robot, which specifically includes the following steps:

[0051] S1. Clamping: The steel pipe pole 51 and the flange 52 are respectively clamped by two groups of clamping components so that the axes of the steel pipe pole 51 and the flange 52 are aligned;

[0052] S2. Weld seam positioning: The positioning rod 41 is driven by the second driving member 42 to extend outwards so that one side of the positioning rod 41 contacts the butt end of the flange 52. Then, the sliding seat 12 is driven by the first driving member 13 to move, and the clamping component and the flange 52 provided on the sliding seat 12 are driven to move, so that the steel pipe pole 51 and the flange 52 approach each other until the other side of the positioning rod 41 contacts the butt end of the steel pipe pole 51, realizing the butt joint positioning between the steel pipe pole 51 and the flange 52, and positioning the welding gap formed between the steel pipe pole 51 and the flange 52;

[0053] S3. Welding: The welding wire is continuously sent to the welding area through the wire feeding head 22, and at the same time, the flux is evenly covered on the welding area through the flux hopper 23. The weld seam formed between the steel pipe pole 51 and the flange 52 is welded by the submerged arc welding method, and the clamped steel pipe pole 51 and flange 52 are driven to rotate by the clamping and rotating mechanism to realize the circumferential welding of the steel pipe pole 51 and the flange 52;

[0054] S4. Material receiving: During the welding process, the positioning rod 41 and the telescopic plate 32 can block both sides of the flux hopper 23 to block the flux, so that the flux falls into the flux storage tank and accumulates to form a flux lining in the flux storage tank. In the subsequent welding process, the flux can accumulate on the flux lining to evenly cover the weld seam and ensure the welding quality;

[0055] S5. Material taking: After the welding is completed, the welded steel pipe pole 51 and flange 52 are removed from the clamping component.

[0056] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations of the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A steel pipe pole flange welding robot, comprising a frame, on which a clamping and rotating mechanism is provided. The clamping and rotating mechanism includes two groups of clamping components respectively used for clamping the steel pipe pole and the flange, and the clamping centers of the two groups of clamping components are coaxially arranged. It is characterized in that, The rack is also provided with a submerged arc welding device, a material receiving mechanism and a positioning mechanism; The submerged arc welding device includes an adjusting arm, a wire feeding head, a flux hopper and a conducting nozzle. The wire feeding head is used to feed the welding wire into the welding area, and the flux hopper is used to cover the flux on the welding area; The material receiving mechanism includes a fixing plate and two telescopic plates. The fixing plate is arranged at the clamping center of the clamping assembly and is located at the weld formed between the steel pipe pole and the flange when they are butted. The two telescopic plates are both installed at the upper end of the fixing 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 fixing plate and the inner wall of the steel pipe pole or the flange; The positioning mechanism includes two positioning rods and a second driving member. The two positioning rods are respectively in sliding fit with the two telescopic plates. The second driving member is used to drive the positioning rods to extend outwards during butt joint, so that the two sides of the positioning rods respectively contact the butting ends of the steel pipe pole and the flange to position the weld; A chute is opened along the length direction of the rack. A sliding seat is slidably arranged in the chute. The rack is provided with a first driving member for driving the sliding seat to move. The clamping assembly for clamping the flange is installed on the sliding seat, and the fixing plate is installed on the side of the sliding seat facing the other clamping assembly; The telescopic plate includes an outer plate fixedly connected to the fixing plate, an inner plate slidably arranged in the outer plate, and an elastic member arranged between the outer plate and the inner plate. A push block is arranged at one end of the positioning rod extending outwards. During the process of the positioning rod retracting into the telescopic plate, the push block can contact the inner plate and push the inner plate to move towards the direction close to the outer plate; One end of the material receiving groove away from the sliding seat is open and is hinged with a first sealing plate. A third driving member is installed on the sliding seat. The output end of the third driving member is connected with a cleaning block, so that the cleaning block can extend into the material receiving groove, and the shape of the cleaning block is adapted to the shape of the material receiving groove.

2. The steel pipe pole flange welding robot according to claim 1, characterized in that, The submerged arc welding device is arranged on the sliding seat, and the center line of the wire feeding head and the center line of the positioning rod are located in the same longitudinal plane, so that when the two sides of the positioning rod respectively contact the butting ends of the steel pipe pole and the flange, the wire feeding head and the flux hopper are both located at the middle position of the weld width.

3. The steel pipe pole flange welding robot according to claim 1, wherein The material receiving mechanism also includes two baffles arranged on the wire feeding head. The two baffles are respectively located on both sides of the wire feeding head. One side of the two baffles facing each other has a V-shaped surface. When the submerged arc welding device welds the weld, the lower ends of the two baffles both contact the outer walls of the steel pipe pole and the flange, and the tip of the V-shaped surface is aligned with the middle position of the weld width.

4. A steel pipe pole flange welding robot according to claim 1, characterized in that, The rack is also provided with two groups of supporting components respectively used for supporting the steel pipe pole and the flange. The supporting component includes a longitudinally arranged supporting plate and a roller horizontally arranged at the upper end of the supporting plate. And the supporting plate is an elastic telescopic structure. The supporting component for supporting the steel pipe pole is arranged on the rack, and the supporting component for supporting the flange is arranged on the sliding seat.

5. A steel pipe pole flange welding robot according to claim 1, characterized in that, A material receiving box with an open upper end is arranged on the sliding seat. The bottom of the material receiving box is in an inclined shape. 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.

6. The steel pipe pole flange welding robot according to claim 1, wherein, One side of the inner plate away from the outer plate is in an arc shape.

7. A steel pipe pole flange welding process, characterized in that, Using the steel pipe pole flange welding robot according to any one of the above claims 1-6, it includes the following steps: S1. Clamping: Clamp the steel pipe pole and the flange respectively through two groups of clamping components to make the axes of the steel pipe pole and the flange consistent; S2. Weld positioning: Drive the positioning rod to extend outwards through the second driving part and make one group of clamping components move until the butt ends of the steel pipe pole and the flange both contact the positioning rod to position the weld; S3. Welding: Weld the weld formed between the steel pipe pole and the flange through the submerged arc welding device; S4. Flux feeding: During the start of welding, the positioning rod and the telescopic plate can block both sides of the flux hopper to block the flux, so that the flux drops into the material receiving groove and accumulates to form a flux lining in the material receiving groove, so that the flux can evenly cover the weld during the subsequent welding process; S5. Material taking: After welding is completed, remove the steel pipe pole and the flange.

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