Automatic welding device and method for marine pipe fittings

Abstract

The invention belongs to the technical field of marine pipe fitting welding, and discloses an automatic welding device and method for marine pipe fittings. The device comprises a positioner, a welding adjusting module, a welding seam induction tracking module and an operating console, and a pressing assembly of the positioner is used for clamping a to-be-welded pipeline component and can drive the to-be-welded pipeline component to rotate around the axis of the pressing assembly; a linear driving assembly of the welding adjusting module is used for driving a welding gun to move to a to-be-welded position; the welding seam induction tracking module is used for capturing data information of deviation of a welding seam and a welding gun of a to-be-welded pipeline part; the operation console can automatically call corresponding welding types according to pipe fitting characteristics of the to-be-welded pipeline part and convey the welding types to the welding gun, so that the welding gun automatically sets welding parameters, can drive the pressing assembly to control the to-be-welded pipeline part to rotate and can drive the linear driving assembly to control the welding gun to move to a to-be-welded position before welding and in the welding process, and the welding gun is driven to move to the to-be-welded position. The device can effectively improve the working efficiency and the welding quality, and meanwhile, excessive dependence on personnel is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of ship pipe welding, and in particular to an automatic welding device and method for ship pipe. Background Art

[0002] At present, the welding of ship piping fittings mainly involves welding seamless round pipes with flanges, sleeves, reducers and other pipe accessories to obtain pipelines with complex structures for the transportation of energy, gas, etc.

[0003] At present, many manufacturers use manual welding, which has low nitrogen welding efficiency, low welding quality uniformity and high labor costs. In order to speed up welding efficiency and reduce the labor intensity of workers, a method of combining pipe welding positioner with manual work has emerged in the market, but this method currently has some technical defects:

[0004] (1) The welder needs to hold the welding gun during the whole welding process, and most of the joints of the welded pipes need to be grooved. The welding filling volume is large, the labor intensity is high, and the personal welding skills are required to be high. There is an uneven weld, the welding quality is not stable enough, and the welding efficiency is low;

[0005] (2) The current pipe welding positioner only has the function of manually adjusting the rotation speed of the pipe. In addition, since the speed is adjusted by the speed regulator of the welding positioner, it is mainly controlled by the personal experience of the welder. The butt welding between pipes and the fillet welding between pipes and flanges require a professional welder to operate the machine alone. In addition, the welder needs to judge various welding parameters. Therefore, it is highly dependent on the welder's skill level and has high requirements. Any careless operation will cause quality rework problems and increase production costs.

[0006] Based on this, it is necessary to design an automatic welding device and method for marine pipe fittings to solve the problems existing in the prior art. Summary of the invention

[0007] The purpose of the present invention is to provide an automatic welding device and method for marine pipe fittings, which can effectively improve work efficiency and welding quality, while reducing excessive dependence on personnel, lowering the threshold requirements for operators, and reducing the impact of external factors on welding quality.

[0008] To achieve this object, the present invention adopts the following technical solutions:

[0009] Marine pipe automatic welding device, including:

[0010] The positioner comprises a bracket and a clamping assembly mounted on the bracket, wherein the clamping assembly is used to clamp the pipe component to be welded and can drive the pipe component to be welded to rotate around its axis;

[0011] A welding adjustment module, comprising a linear drive assembly and a welding gun, wherein the linear drive assembly is mounted on the clamping assembly, the welding gun is arranged on the linear drive assembly, and the linear drive assembly is used to drive the welding gun to move to a position to be welded;

[0012] A weld seam sensing tracking module is installed on the positioner and is used to capture data information of the weld seam of the pipe component to be welded and the offset of the welding gun;

[0013] An operation console is connected to the linear drive assembly and the weld sensing tracking module. The operation console can automatically retrieve the corresponding welding type according to the pipe characteristics of the pipeline component to be welded, and transmit it to the welding gun so that the welding gun automatically adjusts the welding parameters, and can drive the clamping assembly to control the rotation of the pipeline component to be welded, and can drive the linear drive assembly to control the welding gun to move to the welding position before and during welding.

[0014] Preferably, the operation console includes an operation display panel and a main controller, the operation display panel is used to display the pipe characteristics and the welding type, and the main controller is connected to the operation display panel, the linear drive assembly and the weld sensing tracking module.

[0015] Preferably, the positioner further comprises a control box, and the clamping assembly comprises a housing, a first clamping component, a second clamping component and a rotation driving component, wherein:

[0016] The housing is rotatably arranged on the bracket;

[0017] The first pressing component is disposed on the housing and is rotatable relative to the housing;

[0018] The second pressing component is arranged above the first pressing component and can rotate with the first pressing component. The second pressing component can move up and down relative to the first pressing component, so that the second pressing component can cooperate with the first pressing component to clamp or release the pipe component to be welded;

[0019] The output end of the rotation driving component is connected to the housing, and can drive the pipeline component to be welded clamped on the housing to rotate, so as to adjust the angle between the pipeline component to be welded and the horizontal plane;

[0020] The first pressing component, the second pressing component and the rotation driving component are all connected to the control box.

[0021] Preferably, the rotating drive component includes a rotating shaft and a first drive unit, one end of the rotating shaft is connected to the shell, the other end of the rotating shaft is connected to the output end of the first drive unit, the first drive unit is connected to the control box, and the first drive unit can drive the rotating shaft to rotate and drive the pipe component to be welded to rotate so as to adjust the angle between the pipe component to be welded and the horizontal plane.

[0022] Preferably, the first clamping component includes a second driving unit and a first clamping wheel unit, the shell has an opening at the top, and a rolling fitting surface is provided between the second clamping component and the pipe component to be welded. The first clamping wheel unit is arranged at the opening and is located below the second clamping component to cooperate with the second clamping component to clamp the pipe component to be welded. The second driving unit is connected to the control box and is transmission-connected to the first clamping wheel unit to drive the first clamping wheel unit to rotate and drive the pipe component to be welded to rotate around its axis.

[0023] Preferably, the second clamping component includes a supporting frame, a third driving unit and a second clamping wheel unit, the supporting frame is erected on the shell, the third driving unit is connected to the control box and is transmission-connected to the second clamping wheel unit, the second clamping wheel unit is located above the first clamping wheel unit, and the third driving unit can drive the second clamping wheel unit to move up and down along the supporting frame, so that the second clamping wheel unit can cooperate with the first clamping wheel unit to clamp or release the pipe component to be welded.

[0024] Preferably, the welding adjustment module includes a horizontal lateral movement module and a vertical lifting module, the horizontal lateral movement module is connected to the supporting frame, the vertical lifting module is transmission-connected to the horizontal lateral movement module so that the horizontal lateral movement module can drive the vertical lifting module to move in the horizontal direction, the vertical lifting module is transmission-connected to the welding gun so that the vertical lifting module can drive the welding gun to move up and down in the vertical direction, and the vertical lifting module and the horizontal lateral movement module are both connected to the operating console.

[0025] Preferably, the automatic welding device for marine pipe fittings further comprises an acoustic and optical reminder module, which is connected to the operation console and is used to indicate the working state of the positioner.

[0026] The automatic welding method for marine pipe fittings uses the above-mentioned automatic welding device for marine pipe fittings to weld the pipe parts to be welded, and comprises the following steps:

[0027] Clamp the pipeline component to be welded onto the clamping assembly of the positioner;

[0028] Inputting the pipe fitting features of the pipeline component to be welded into the operation console, and the operation console can display the welding type according to the pipe fitting features;

[0029] According to the confirmed welding type, the operation console can automatically adjust the welding parameters of the welding gun;

[0030] The weld seam sensing tracking module captures the offset distance before welding between the weld seam of the pipeline component to be welded and the welding gun. The operation console drives the welding gun to move to the welding position through the linear drive component according to the offset distance before welding, and automatically starts welding.

[0031] The clamping assembly drives the pipe component to be welded to rotate around its axis so that the welding gun continues to weld. At the same time, the weld sensing tracking module continuously captures the offset distance between the weld of the pipe component to be welded and the welding process of the welding gun. The operating console automatically adjusts the welding position of the welding gun through the linear drive assembly according to the offset distance of the welding process.

[0032] Preferably, the pipeline components to be welded include pipe fittings and pipe flanges to be welded, or pipe fittings and sleeves to be welded;

[0033] After the operation console automatically adjusts the welding parameters of the welding gun, the welding gun is manually controlled to move to the welding position through the operation console, and the pipeline component to be welded is manually controlled to rotate by rotating the driving component to adjust the angle between the weld on the pipeline component to be welded and the horizontal plane, and then the operation console controls the welding gun to automatically start welding.

[0034] Beneficial effects of the present invention:

[0035] The embodiment of the present invention provides an automatic welding device and method for marine pipe fittings, the device includes a positioner, a welding adjustment module, a weld seam sensing tracking module and an operation console, the clamping component of the positioner is used to clamp the pipe component to be welded, and can drive the pipe component to be welded to rotate around its axis; the linear drive component of the welding adjustment module is used to drive the welding gun to move to the welding position to be welded; the weld seam sensing tracking module is used to capture data information of the weld and welding gun offset of the pipe component to be welded; the operation console can automatically retrieve the corresponding welding type according to the pipe fitting feature confirmation of the pipe component to be welded, and transmit it to the welding gun, so that the welding gun automatically adjusts the welding parameters, and can drive the clamping component to control the rotation of the pipe component to be welded, and can drive the linear drive component to control the welding gun to move to the welding position before and during welding. The device and method can effectively improve work efficiency and welding quality, while reducing excessive dependence on personnel, lowering the threshold requirements for operators, and reducing the impact of external factors on welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of an automatic welding device for marine pipe fittings provided by an embodiment of the present invention;

[0037] Figure 2 It is a structural schematic diagram of a positioner provided in an embodiment of the present invention.

[0038] In the figure:

[0039] 100. Pipeline components to be welded;

[0040] 1. Positioner; 11. Bracket; 12. Pressing assembly; 121. Housing; 1221. First pressing wheel unit; 123. Second pressing component; 1231. Support stand; 1232. Third driving unit; 1233. Second pressing wheel unit; 1241. Rotating shaft; 125. Control box;

[0041] 2. Welding adjustment module; 21. Linear drive assembly; 211. Horizontal traverse module; 212. Vertical lifting module; 22. Welding gun;

[0042] 3. Welding seam sensing tracking module;

[0043] 4. Operation console;

[0044] 5. Sound and light reminder module. DETAILED DESCRIPTION

[0045] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0046] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0048] In the description of this embodiment, the terms "upper", "lower", "right", "left" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0049] The technical solution provided by the present invention is introduced below in conjunction with the accompanying drawings and specific implementation methods.

[0050] Combination Figure 1 to Figure 2 As shown, an embodiment of the present invention provides an automatic welding device for marine pipe fittings, including a positioner 1, a welding adjustment module 2, a weld induction tracking module 3 and an operation console 4. The positioner 1 includes a bracket 11, and a clamping assembly 12 installed on the bracket 11, the clamping assembly 12 is used to clamp the pipe component 100 to be welded, and can drive the pipe component 100 to be welded to rotate around its axis; the welding adjustment module 2 includes a linear drive assembly 21 and a welding gun 22, the linear drive assembly 21 is installed on the clamping assembly 12, the welding gun 22 is arranged on the linear drive assembly 21, and the linear drive assembly 21 is used to drive the welding gun 22 to move to the position to be welded; the weld induction tracking module 3 is installed on the positioner 1, and is used to To capture the data information of the weld of the pipe component 100 to be welded and the offset of the welding gun 22; the operation console 4 is connected to the linear drive component 21 and the weld sensing tracking module 3, the operation console 4 can automatically call the corresponding welding type according to the pipe characteristics of the pipe component 100 to be welded, and transmit it to the welding gun 22, so that the welding gun 22 automatically adjusts the welding parameters, and can drive the clamping component 12 to control the rotation of the pipe component 100 to be welded, and can drive the linear drive component 21 to control the welding gun 22 to move to the welding position before and during welding.

[0051] Specifically, the operation console 4 includes an operation display panel and a main controller. The operation display panel can display the characteristics of the pipe and the welding type. The main controller is connected to the operation display panel, the clamping assembly 12, the linear drive assembly 21 and the weld sensing tracking module 3.

[0052] After adopting the above-mentioned device, the circular tubular pipe component 100 to be welded can be clamped on the positioner 1 by the clamping assembly 12; then the operator can input the pipe characteristic information (for example: pipe diameter, wall thickness, material, etc.) of the pipe component 100 to be welded into the operation console 4 through the operation display panel. The operation console 4 pre-stores a welding database (the welding database can be provided by the operation console 4, or can be entered into the operation console 4 by the user according to its own welding process assessment data). The welding database can display the appropriate welding type (for example, base welding, filling welding, cap welding, etc.) on the operation display panel according to the input pipe characteristic information. The main controller can automatically adjust the welding parameters (for example, current, voltage, etc.) of the welding gun 22 according to the finally confirmed welding type, thereby eliminating the need for the welder to manually adjust the welding parameters of the welding gun 22 in real time, reducing the threshold requirements for operators, and avoiding the problem of quality rework caused by parameter adjustment errors, thereby ensuring welding quality.

[0053] In addition, through the setting of the weld induction tracking module 3, the operation console 4 can automatically control the welding gun 22 to move to the welding position before welding according to the captured information of the weld induction tracking module 3, so as to ensure the smooth start of the welding process, and can also automatically control the welding gun 22 to compensate for the distance between the welding gun and the weld during welding, so as to ensure that the welding gun 22 can always be aligned with the weld. Compared with manually holding the welding gun 22 for welding, the embodiment controls the welding gun 22 for welding through the operation console 4, which can greatly reduce the possibility of being restricted by external factors, such as the influence of gestures, the influence of work quality caused by hot weather, and the need for continuous welding during welding, so that rest time is required when the labor load is high; during the welding process, the clamping assembly 12 can adjust the rotation speed of the pipe component 100 to be welded to the optimal according to the pre-confirmed welding type, avoiding the unstable welding quality caused by artificially relying on personal experience to control the rotation speed of the pipe component 100 to be welded, thereby effectively ensuring the stability of the welding process and improving the welding efficiency.

[0054] Specifically, in this embodiment, refer to Figure 2As shown, the bracket 11 is in a U-shaped structure; the positioner 1 also includes a control box 125; the clamping assembly 12 includes a shell 121, a first clamping component, a second clamping component 123 and a rotation drive component. Among them, the shell 121 is rotatably arranged in the U-shaped notch of the bracket 11; the first clamping component is arranged on the shell 121 and can rotate relative to the shell 121; the second clamping component 123 is arranged above the first clamping component and can rotate with the first clamping component, and the second clamping component 123 can move up and down relative to the first clamping component, so that the second clamping component 123 can cooperate with the first clamping component to clamp or release the pipe component 100 to be welded. That is to say, for pipe components 100 to be welded with different pipe diameters, the embodiment provided The clamping components 12 can all be clamped; the output end of the rotating drive component is connected to the shell 121, and can drive the pipe component 100 to be welded clamped on the shell 121 to rotate, so as to adjust the angle between the pipe component 100 to be welded and the horizontal plane; the first clamping component, the second clamping component 123 and the rotating drive component are all connected to the control box 125, so as to control the first clamping component to rotate relative to the shell 121, control the second clamping component 123 to move up and down relative to the first clamping component, and control the rotating drive component to drive the shell 121 to rotate.

[0055] Through the above-mentioned arrangement, after the first clamping component and the second clamping component 123 jointly clamp the pipe component 100 to be welded, the rotating driving component rotates through the driving shell 121, so that the pipe component 100 to be welded clamped on the first clamping component and the second clamping component 123 can be adjusted to the optimal welding angle, thereby meeting the welding requirements of various pipe components 100 to be welded.

[0056] In a specific embodiment, the shell 121 has an opening at the top; the first clamping component includes a second driving unit and a first clamping wheel unit 1221, wherein the first clamping wheel unit 1221 is arranged at the opening at the top of the shell 121 and is located below the second clamping component 123, and there is a gap between the second clamping component 123 and the first clamping wheel unit 1221 for clamping the pipe component 100 to be welded, so that the first clamping wheel unit 1221 can cooperate with the second clamping component 123 to clamp the belt-sensing pipe component, the second driving unit is connected to the control box 125, and is transmission-connected to the first clamping wheel unit 1221 to drive the first clamping wheel unit 1221 to rotate, and a rolling fitting surface is provided between the second clamping component 123 and the pipe component 100 to be welded. Through the above-mentioned arrangement, the operation console 4 can drive the first clamping wheel unit 1221 to actively rotate through the second driving unit. Since the two sides of the pipe component 100 to be welded are respectively rollingly fitted and connected to the first clamping wheel unit 1221 and the second clamping component 123, when the first clamping wheel unit 1221 rotates, the first clamping wheel unit 1221 drives the pipe component 100 to be welded to rotate around its axis by relying on the rolling friction between the first clamping wheel unit 1221 and the pipe component 100 to be welded. The second clamping component 123 can ensure the stable rotation of the pipe component 100 to be welded, and prevent the pipe component 100 to be welded from falling off the clamping assembly 12.

[0057] Preferably, the second driving unit adopts a driving motor, and the first clamping wheel unit 1221 includes multiple first clamping rollers and a first clamping roller shaft that runs through the multiple first clamping rollers. The driving motor is connected to the first clamping roller shaft, so that the first clamping roller shaft can drive the multiple first clamping rollers to rotate forward or reverse at the same time. The driving motor works reliably and has a simple structure. It can accurately control the rotation speed of the first clamping roller, and thus accurately control the rotation speed of the pipe component 100 to be welded.

[0058] Further preferably, the first clamping component includes two first clamping wheel units 1221, and the two first clamping wheel units 1221 are arranged at intervals on both sides of the pipe component 100 to be welded, and cooperate with the second clamping component 123 to ensure that the pipe component 100 to be welded is firmly clamped in a triangular clamping manner. At the same time, by increasing the number of first clamping wheel units 1221, the stability and reliability of the rotation speed of the pipe component 100 to be welded is further enhanced.

[0059] In a specific embodiment, the second clamping component 123 includes a support frame 1231, a third drive unit 1232 and a second clamping wheel unit 1233. The support frame 1231 is fixed on the shell 121 in a vertical direction. The third drive unit 1232 is connected to the control box 125 and is transmission-connected to the second clamping wheel unit 1233. The second clamping wheel unit 1233 is located above the first clamping wheel unit 1221 and has a rolling fitting surface that can be fitted and connected to the pipe component 100 to be welded. Under the action of the third drive unit 1232, the second clamping wheel unit 1233 can move up and down along the support frame 1231 to achieve the clamping of the pipe component 100 to be welded after cooperating with the first clamping wheel unit 1221 in the first clamping component.

[0060] In addition, since the support frame 1231 is fixed on the shell 121, and the third drive unit 1232 and the second pressure wheel unit 1233 are both connected to the support frame 1231, when the shell 121 rotates, the support frame 1231, the third drive unit 1232, the second pressure wheel unit 1233, the first pressure wheel unit 1221 and the second drive unit will all rotate accordingly, so that at any angle, the first pressure wheel unit 1221 and the second pressure wheel unit 1233 can maintain an upper and lower relationship, thereby being able to achieve the compression of the pipe component 100 to be welded.

[0061] Specifically, the second clamping wheel unit 1233 includes a second clamping roller and a second clamping roller shaft, the second clamping roller is inserted into the second clamping roller setting, and both ends of the second clamping roller shaft are rotatably set on the supporting frame 1231, so that when the pipe component 100 to be welded rotates, the second clamping roller can roll with the pipe component 100 to be welded and can always maintain the clamping state of the pipe component 100 to be welded.

[0062] Further preferably, the third driving unit 1232 preferably adopts a driving motor, the second clamping wheel unit 1233 is fixedly connected to the supporting frame 1231 through a U-shaped connecting block, the driving motor is transmission-connected to the U-shaped connecting block, and the two ends of the second clamping roller are rotatably arranged on the opposite side walls of the U-shaped connecting block. By adopting the driving motor, the third driving unit 1232 can accurately control the descending speed and distance of the second clamping wheel unit 1233, thereby ensuring that the second clamping wheel unit 1233 can maintain a tight and fitting relationship with the pipe component 100 to be welded, and can further fine-tune the height of the second clamping wheel unit 1233 to prevent the second clamping wheel unit 1233 from causing damage to the pipe component 100 to be welded due to excessive pressure.

[0063] In a specific embodiment, the rotation drive component includes a rotation shaft 1241 and a first drive unit, one end of the rotation shaft 1241 is connected to the housing 121, the other end of the rotation shaft 1241 is connected to the output end of the first drive unit, and the first drive unit is connected to the control box 125. Under the action of the first drive unit, the rotation shaft 1241 drives the housing 121 to rotate, and then drives the pipe component 100 to be welded mounted on the housing 121 to rotate, so as to achieve the purpose of adjusting the angle between the pipe to be welded and the horizontal plane. Further preferably, there are two rotation shafts 1241, one end of the two rotation shafts 1241 is fixedly connected to both sides of the housing 121, the other end of the two rotation shafts 1241 is rotatably connected to the bracket 11, and one of the two rotation shafts 1241 is connected to the first drive unit in a transmission connection. By providing two rotation shafts 1241, both ends of the housing 121 can be stably connected to the bracket 11, ensuring the overall balance of the housing 121, and avoiding the situation where one side of the housing 121 tilts, resulting in a decrease in the alignment accuracy of the welding gun 22 and the weld.

[0064] Further preferably, the first drive unit adopts a drive motor. Referring to the second drive unit and the third drive unit 1232, by adopting the drive motor, the working performance of the first drive unit is more stable and reliable, and the precise control of the rotation angle of the pipe component 100 to be welded is effectively enhanced, and the speed and accuracy of rotating the pipe component 100 to be welded to the optimal welding angle are improved.

[0065] In a specific embodiment, reference Figure 1 As shown, the welding adjustment module 2 includes a horizontal lateral movement module 211 and a vertical lifting module 212, wherein the horizontal lateral movement module 211 is extended in the horizontal direction, and the horizontal lateral movement module 211 is connected to the supporting frame 1231, the vertical lifting module 212 is transmission-connected to the horizontal lateral movement module 211, so that the horizontal lateral movement module 211 can drive the vertical lifting module 212 to move in the horizontal direction, and the vertical lifting module 212 is transmission-connected to the welding gun 22, so that the vertical lifting module 212 can drive the welding gun 22 to move up and down in the vertical direction.

[0066] In this embodiment, the horizontal traverse module 211 and the vertical lifting module 212 are both connected to the operation console 4. This allows the operation console 4 to first drive the horizontal traverse module 211 according to the distance between the weld and the welding gun 22 after receiving the capture signal sent by the weld sensing tracking module 3 before welding, so that the horizontal traverse module 211 drives the vertical lifting module 212 and the welding gun 22 to move in the horizontal direction, so that the welding gun 22 moves to the top of the weld. After the weld sensing tracking module 3 detects that the welding gun 22 moves to the top of the weld, it sends a signal to start the vertical lifting module 212 to the operation console 4. The operation console 4 then drives the vertical lifting module 212, so that the vertical lifting module 212 drives the welding gun 22 to adjust its position in the vertical direction, so that the welding gun 22 moves to a position close to the weld, i.e., the welding position. During the welding process, based on the displacement difference between the welding gun 22 and the weld detected by the weld sensing tracking module 3, the operating console 4 can control only the horizontal lateral movement module 211, the vertical lifting module 212, or both at the same time to ensure that the welding gun 22 is always in the best welding position, thereby achieving the purpose of automatic welding and automatic adjustment of the position of the welding gun 22, ensuring the welding quality.

[0067] It should be noted that, in this embodiment, the weld sensing tracking module 3 uses a camera to capture image information. The camera can capture high-resolution images. Combined with the image processing algorithm, it can accurately identify the relative position between the weld and the welding gun 22, thereby achieving high-precision measurement of the distance between the two.

[0068] Optionally, the automatic welding device for marine pipe fittings provided in this embodiment also includes an acoustic and light reminder module 5. In a specific embodiment, the acoustic and light reminder module 5 is installed on the supporting stand 1231. When the operating console 4 or the positioner 1 is in operation, standby or alarm state, the acoustic and light reminder module 5 can emit green, red and orange acoustic and light signals respectively to indicate that the device is in operation, standby and alarm state respectively, so as to promptly notify the operator of the working state of the device at this time, so that the operator can quickly make feedback to ensure the smooth progress and safety of the welding process.

[0069] This embodiment also provides a method for automatically welding marine pipe fittings applicable to the above-mentioned automatic welding device for marine pipe fittings, and the above-mentioned automatic welding device for marine pipe fittings can be used to weld the pipeline component 100 to be welded. The method for automatically welding marine pipe fittings includes the following steps:

[0070] Clamp the pipe component 100 to be welded onto the clamping assembly 12 of the positioner 1;

[0071] Input the key characteristics of the pipe component 100 to be welded into the operation console 4, and the operation console 4 can display the welding type according to the characteristics of the pipe component;

[0072] According to the confirmed welding type, the operating console 4 can automatically adjust the welding parameters of the welding gun 22;

[0073] The weld seam sensing tracking module 3 captures the pre-welding offset distance between the weld seam of the pipe component 100 to be welded and the welding gun 22. The operation console 4 drives the welding gun 22 to the welding position to be welded through the linear drive assembly 21 according to the pre-welding offset distance, and automatically starts welding.

[0074] The clamping assembly 12 drives the pipe component 100 to be welded to rotate around its axis so that the welding gun 22 continues to weld. At the same time, the weld sensing tracking module 3 continuously captures the welding process offset distance between the weld of the pipe component 100 to be welded and the welding gun 22. The operating console 4 automatically adjusts the welding position of the welding gun 22 through the linear drive assembly 21 according to the welding process offset distance.

[0075] In this embodiment, the device can weld pipes with a diameter of 76mm-325mm. For example, a comparative analysis is performed by taking an operator welding a pipe component 100 with a diameter of 159mm (the pipe component 100 includes two pipes with a diameter of 159mm, the pipes can be straight pipes or curved pipes, and two welds are continuously welded between the two pipes): theoretically, the circumference of the circumferential weld is 500mm, the welding speed is calculated at 7mm / s, and it takes about 73 seconds to weld one circle, and about 150s to weld two welds.

[0076] When the existing manual welding technology using the positioner 1 is used for welding: the welder manually clamps the two pipes for an average of 15 seconds, adjusts the parameters of the welding gun 22 for an average of 5 seconds, reaches the welding position for an average of 4 seconds, reaches the specified rotation speed for an average of 15 seconds, and removes the pipe after welding for an average of 8 seconds, with the entire process taking approximately 210 seconds.

[0077] When the marine pipe automatic welding method provided in this embodiment is used to weld pipe fittings: the welder uses the clamping assembly 12 to clamp the pipe fitting for an average of 8 seconds, the operation console 4 inputs the pipe feature for an average of 5 seconds (the welding gun 22 parameters are instantaneously set by the operation console 4), the welding gun 22 moves to the welding position for an average of 20 seconds, the pipe reaches the specified rotation speed for an average of 6 seconds, and the pipe is removed after welding for an average of 5 seconds, and the whole process takes about 200 seconds.

[0078] By comparing the above two methods, it can be seen that the time difference between the two methods is not obvious under the same work. After using the automatic welding method for marine pipe fittings of this embodiment, the welding time of pipe fittings is shortened by about 5%, but from the perspective of the proportion of welding time to the overall time, a large amount of time is occupied by welding. After using the automatic welding method for marine pipe fittings of this embodiment, the operator of the positioner 1 can leave the workstation during the welding stage and go to the next set of workstations to perform operations such as pipe clamping, welding gun 22 adjustment, and welding parameters of welding gun 22, thereby realizing one person operating 2 to 3 devices. Compared with the single-person single-device welding operation, the work efficiency is greatly improved. At the same time, by adjusting the welding parameters of the welding gun 22 and the welding position of the welding gun 22 through the operating console 4, the quality of welding can also be effectively ensured.

[0079] For ease of understanding, the following uses two automatic welding devices for marine pipe fittings provided in this embodiment to simultaneously weld two pipe fittings with a diameter of 273 mm as an example to illustrate the operation flow of the automatic welding method for marine pipe fittings provided in this embodiment:

[0080] Operation 1: Worker A uses the workshop crane to install the first butt joint fitting on the first positioner 1;

[0081] Operation 2: Worker A uses the control box 125 on the first positioner 1 to clamp the first pipe fitting through the first clamping component and the second clamping component 123 connected to the control box 125;

[0082] Operation 3: Worker A walks to the operating console 4, inputs the pipe diameter, wall thickness and other pipe characteristic parameters of the first butt joint pipe on the operating display panel of the operating console 4, and presses the "Start" button on the operating display panel, so that the main controller of the operating console 4 can drive the horizontal lateral movement module 211 and the vertical lifting module 212 to operate respectively, so that the welding gun 22 can automatically search for welds, and when the welding gun 22 is in the welding position and finds the first weld, welding starts automatically.

[0083] Operation 4: The first butt joint pipe continues to rotate under the control of the first clamping component, so that the welding gun 22 can continue welding along the weld. At this time, worker A can leave and come to the second positioner 1.

[0084] Operation 5: Worker A comes to the second positioner 1 and begins to prepare to weld the second butt-jointed pipe fitting. The operation process repeats operations 1, 2 and 3. The second butt-jointed pipe fitting also begins to rotate continuously under the control of the first clamping component on the second positioner 1, so that the welding gun 22 continues to weld. At this time, Worker A can leave and return to the first positioner 1.

[0085] Operation 6: Worker A comes to the first positioner 1. After the welding of the first butt-jointed pipe is completed, he uses a crane to move the pipe away and checks the welding condition of the weld. If it is qualified, he can proceed to the next process.

[0086] Operation 7: Worker A comes to the second positioner 1. After the welding of the second butt-jointed pipe is completed, he uses a crane to move the pipe away and checks the welding condition. If it is qualified, he can proceed to the next process.

[0087] It should be noted that, in this embodiment, when the pipeline component 100 to be welded includes a pipe fitting and a pipe flange, or a pipe fitting and a casing, after the operation console 4 automatically adjusts the welding parameters of the welding gun 22, the operator needs to manually remotely control the welding gun 22 to a specified position through the operation console, and manually control the angle between the pipeline component 100 to be welded and the horizontal plane by rotating the driving component. In this way, the weld of the pipeline component 100 to be welded can be adjusted in a semi-automatic manner, making up for the defect that the operation console 4 cannot accurately adjust the weld angle of the pipeline component 100 to be welded. By combining the automatic control program of the operation console 4 automatically adjusting the parameters of the welding gun 22, selecting the welding type, and adjusting the position of the welding gun 22, and manually manipulating the welding angle of the weld, it can be ensured that the welding gun 22 can be aligned with the weld at the best angle, thereby ensuring the welding quality and efficiency of non-standardized welding scenes such as between the pipe fitting and the pipe flange or between the pipe fitting and the casing.

[0088] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0089] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. Automatic welding device for marine pipe fittings, characterized in that: include: A positioner (1) comprises a bracket (11) and a clamping assembly (12) mounted on the bracket (11), wherein the clamping assembly (12) is used to clamp a pipe component (100) to be welded and can drive the pipe component (100) to be welded to rotate around its axis. A welding adjustment module (2), comprising a linear drive component (21) and a welding gun (22), wherein the linear drive component (21) is mounted on the clamping component (12), the welding gun (22) is arranged on the linear drive component (21), and the linear drive component (21) is used to drive the welding gun (22) to move to a position to be welded; A weld seam sensing tracking module (3) is installed on the positioner (1) and is used to capture data information on the weld seam of the pipe component (100) to be welded and the offset of the welding gun (22); An operation console (4) is connected to the linear drive component (21) and the weld sensing tracking module (3). The operation console (4) can automatically retrieve the corresponding welding type according to the pipe characteristics of the pipe component (100) to be welded, and transmit it to the welding gun (22) so that the welding gun (22) automatically adjusts the welding parameters, and can drive the clamping component (12) to control the rotation of the pipe component (100) to be welded, and can drive the linear drive component (21) to control the welding gun (22) to move to the welding position before and during welding.

2. The automatic welding device for marine pipe fittings according to claim 1 is characterized in that: The operation console (4) comprises an operation display panel and a main controller, wherein the operation display panel is used to display the pipe characteristics and the welding type, and the main controller is connected to the operation display panel, the linear drive component (21) and the weld induction tracking module (3).

3. The automatic welding device for marine pipe fittings according to claim 1 is characterized in that: The positioner (1) further comprises a control box (125), the clamping assembly (12) comprises a housing (121), a first clamping component, a second clamping component (123) and a rotation driving component, wherein: The housing (121) is rotatably arranged on the bracket (11); The first pressing component is arranged on the housing (121) and is rotatable relative to the housing (121); The second pressing component (123) is arranged above the first pressing component and can rotate with the first pressing component. The second pressing component (123) can move up and down relative to the first pressing component, so that the second pressing component (123) can cooperate with the first pressing component to clamp or release the pipe component (100) to be welded; The output end of the rotation driving component is connected to the housing (121), and can drive the pipeline component (100) to be welded clamped on the housing (121) to rotate, so as to adjust the angle between the pipeline component (100) to be welded and the horizontal plane; The first pressing component, the second pressing component (123) and the rotation driving component are all connected to the control box (125).

4. The automatic welding device for marine pipe fittings according to claim 3 is characterized in that: The rotating drive component comprises a rotating shaft (1241) and a first drive unit, one end of the rotating shaft (1241) is connected to the housing (121), and the other end of the rotating shaft (1241) is connected to the output end of the first drive unit, the first drive unit is connected to the control box (125), and the first drive unit is capable of driving the rotating shaft (1241) to rotate and driving the pipe component (100) to be welded to rotate, so as to adjust the angle between the pipe component (100) to be welded and a horizontal plane.

5. The automatic welding device for marine pipe fittings according to claim 3 is characterized in that: The first clamping component includes a second driving unit and a first clamping wheel unit (1221); the shell (121) has an opening at the top; the second clamping component (123) and the pipe component to be welded (100) have a rolling contact surface; the first clamping wheel unit (1221) is arranged at the opening and is located below the second clamping component (123) to cooperate with the second clamping component (123) to clamp the pipe component to be welded (100); the second driving unit is connected to the control box (125) and is transmission-connected to the first clamping wheel unit (1221) to drive the first clamping wheel unit (1221) to rotate and drive the pipe component to be welded (100) to rotate around its axis.

6. The automatic welding device for marine pipe fittings according to claim 5, characterized in that: The second clamping component (123) includes a supporting frame (1231), a third driving unit (1232) and a second clamping wheel unit (1233); the supporting frame (1231) is erected on the shell (121); the third driving unit (1232) is connected to the control box (125) and is transmission-connected to the second clamping wheel unit (1233); the second clamping wheel unit (1233) is located above the first clamping wheel unit (1221); the third driving unit (1232) can drive the second clamping wheel unit (1233) to move up and down along the supporting frame (1231), so that the second clamping wheel unit (1233) can cooperate with the first clamping wheel unit (1221) to clamp or release the pipe component (100) to be welded.

7. The automatic welding device for marine pipe fittings according to claim 6, characterized in that: The welding adjustment module (2) comprises a horizontal lateral movement module (211) and a vertical lifting module (212); the horizontal lateral movement module (211) is connected to the supporting stand (1231); the vertical lifting module (212) is connected to the horizontal lateral movement module (211) in a transmission manner so that the horizontal lateral movement module (211) can drive the vertical lifting module (212) to move in a horizontal direction; the vertical lifting module (212) is connected to the welding gun (22) in a transmission manner so that the vertical lifting module (212) can drive the welding gun (22) to move in a vertical direction; and the vertical lifting module (212) and the horizontal lateral movement module (211) are both connected to the operating console (4).

8. The automatic welding device for marine pipe fittings according to claim 1, characterized in that: The automatic welding device for marine pipe fittings further comprises an acoustic and optical reminder module (5), which is connected to the operating console (4) and is used to indicate the working state of the positioner (1).

9. Automatic welding method for marine pipe fittings, characterized in that: The automatic welding device for marine pipe fittings according to any one of claims 1 to 8 is used to weld the pipe component (100) to be welded, comprising the following steps: Clamping the pipeline component (100) to be welded onto the clamping assembly (12) of the positioner (1); Inputting the pipe fitting features of the pipe component (100) to be welded into an operation console (4), wherein the operation console (4) can display the welding type according to the pipe fitting features; According to the confirmed welding type, the operation console (4) can automatically adjust the welding parameters of the welding gun (22); The weld seam sensing tracking module (3) captures the pre-welding offset distance between the weld seam of the pipeline component (100) to be welded and the welding gun (22); the operation console (4) drives the welding gun (22) to move to the welding position through the linear drive component (21) according to the pre-welding offset distance, and automatically starts welding; The clamping assembly (12) drives the pipe component (100) to be welded to rotate around its axis so that the welding gun (22) continues to weld, and at the same time, the weld seam sensing tracking module (3) continuously captures the welding process offset distance between the weld seam of the pipe component (100) to be welded and the welding gun (22), and the operating console (4) automatically adjusts the welding position of the welding gun (22) through the linear drive assembly (21) according to the welding process offset distance.

10. The automatic welding method for marine pipe fittings according to claim 9, characterized in that: The pipeline components to be welded (100) include pipe fittings and pipe flanges to be welded, or pipe fittings and sleeves to be welded; After the operation console (4) automatically adjusts the welding parameters of the welding gun (22), the operation console (4) is manually used to control the welding gun (22) to move to the welding position, and the rotation of the pipeline component (100) to be welded is manually controlled by a rotation drive component to adjust the angle between the weld on the pipeline component (100) to be welded and the horizontal plane, and then the operation console (4) controls the welding gun (22) to automatically start welding.

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