Welding device for constructional engineering

Abstract

The invention discloses a welding device for constructional engineering, and relates to the technical field of welding, the welding device comprises a girth welding mechanism, and a first clamping conveying mechanism and a second clamping conveying mechanism which are symmetrically arranged on the two sides of the girth welding mechanism; the first clamping and conveying mechanism and the second clamping and conveying mechanism are the same in structure and each comprise a conveying frame and a dynamic pressing driving module. A V-shaped positioning conveying groove is formed in the conveying frame and used for restraining the central axis of the steel pipe to coincide with the vertical reference plane S1. The dynamic pressing driving module is used for pressing and conveying the steel pipe; the girth welding mechanism comprises a rack, a welding assembly and a servo driving assembly. An annular sliding rail is vertically installed on the rack in a sliding mode, and the central axis of the annular sliding rail coincides with the vertical reference plane S1. Steel pipe welding of large-size workpieces can be efficiently treated, frequent replacement or adjustment of the clamp is not needed, and the universality and adaptability of equipment are improved.

Description

Technical Field

[0001] The invention relates to the technical field of welding, in particular to a welding device for construction engineering. Background Art

[0002] In the field of construction engineering, steel pipe welding is the core link in steel structure construction. Traditional welding devices mostly use the operation mode of manual positioning + fixed fixtures, which has the following technical pain points: Low positioning efficiency: Traditional welding devices rely on manual adjustment of the steel pipe axis and the welding gun trajectory, which is cumbersome to operate. For example, the calibration of large-diameter (Φ≥200mm) steel pipes takes a long time and requires repeated measurement and adjustment.

[0003] Insufficient centering accuracy: It is difficult for the existing clamping device to quickly adjust the coincidence between the steel pipe axis and the welding mechanism axis, resulting in unstable weld quality. Especially for large-diameter or extra-long steel pipes, gravity can easily cause axis deviation; Poor equipment adaptability: Traditional welding mechanisms mostly use fixed slide rails or manual adjustments, which cannot adapt to the dynamic centering requirements of steel pipes of different sizes, and the adjustment load is large (the steel pipe itself needs to be moved) and the energy consumption is high.

[0004] Sensitive to environmental interference: Sensors (such as laser / vision) are susceptible to workshop dust and electromagnetic interference, which reduces detection accuracy and increases maintenance costs. Summary of the invention

[0005] The object of the present invention is to provide a welding device for construction engineering to solve the problems raised in the above background technology.

[0006] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme: The present invention provides a welding device for construction engineering, comprising a circumferential seam welding mechanism, and a first clamping and conveying mechanism and a second clamping and conveying mechanism symmetrically arranged on both sides of the circumferential seam welding mechanism; The annular seam welding mechanism comprises a frame, an annular slide rail vertically slidably mounted on the frame, and a welding assembly capable of rotating around the central axis of the annular slide rail to complete the annular seam welding; wherein, under normal conditions, the central axis of the annular slide rail coincides with the intersection line of the vertical reference plane and the horizontal reference plane; The first clamping and conveying mechanism and the second clamping and conveying mechanism have the same structure, and both include a V-shaped positioning and conveying groove for constraining the central axis of the steel pipe to coincide with the vertical reference plane; The welding device also includes a centering mechanism arranged between the first clamping and conveying mechanism and the annular seam welding mechanism, the centering mechanism includes a mechanical detection component for detecting the offset direction and offset amount of the center axis of the steel pipe relative to the horizontal reference plane, and a hydraulic push rod that drives the annular slide rail to rise and fall according to the offset direction and offset amount detected by the mechanical detection component to achieve coaxiality between the axis of the steel pipe and the axis of the annular slide rail.

[0007] Further, the mechanical detection assembly includes an upper swing rod, a lower swing rod and a linkage component; the upper swing rod and the lower swing rod are symmetrically rotated and assembled on the frame with the horizontal reference plane as the symmetry plane, wherein the upper swing rod is rotatably mounted on the frame through an upper swing shaft, and the lower swing rod is rotatably mounted on the frame through a lower swing shaft, and in normal state, the upper swing rod and the lower swing rod are kept vertical by a torsion spring; The linkage component includes a crank transmission structure and a lifting detection block; the crank transmission structure couples the rotation of the upper swing shaft and the lower swing shaft to drive the lifting detection block to move obliquely, the lifting detection block is horizontally slidably matched with the annular slide rail through a sliding pair, and an upper pressure detector and a lower pressure detector are respectively provided on the upper and lower sides of the lifting detection block; The hydraulic push rod synchronously drives the annular slide rail to rise and fall according to the pressure signals of the upper pressure detector and the lower pressure detector, so that the detection values ​​of the upper pressure detector and the lower pressure detector are kept at zero, thereby achieving the coaxiality of the steel pipe axis and the annular slide rail axis.

[0008] Furthermore, the crank transmission structure has two groups symmetrically arranged on both sides of the annular slide rail, and each crank transmission structure includes an upper sliding member, a lower sliding member, a first crank and a second crank; The upper sliding member and the lower sliding member are fitted with each other and are vertically slidably installed on the frame; the upper sliding member is provided with a horizontal first coupling groove and a downwardly inclined first transmission groove, and the inclination angle is 30° to 45°; the lower sliding member is provided with a horizontal second coupling groove and an upwardly inclined second transmission groove; the first transmission groove and the second transmission groove are symmetrical about the horizontal reference plane and form an eight-shaped meshing channel; wherein a guide column is horizontally inserted in the eight-shaped meshing channel, and the central axis of the guide column intersects with the central axis of the annular slide rail, and the guide column is fixedly connected to the side wall of the lifting detection block; The first crank is fixed to the end of the upper swing shaft, and the free end of the first crank is slidably matched with the corresponding first coupling groove through the first sliding column; the second crank is fixed to the end of the lower swing shaft, and the free end of the second crank is slidably matched with the corresponding second coupling groove through the second sliding column; In the vertical reference plane, the center motion trajectory of the first sliding column and the motion trajectory of the free end of the upper swing rod are on the same circle, and the center motion trajectory of the second sliding column and the motion trajectory of the free end of the lower swing rod are on the same circle.

[0009] Furthermore, the upper pressure detector and the lower pressure detector are both piezoelectric sensors, and drive the hydraulic push rod through a closed-loop control module.

[0010] Furthermore, the sliding pair includes transverse sliding grooves arranged on both sides of the annular sliding rail, and sliding blocks slidably adapted in the transverse sliding grooves, the sliding block is provided with a receiving groove, and the lifting detection block is installed in the receiving groove.

[0011] Furthermore, an upper limit swing assembly is provided between the frame and the upper swing shaft; a lower limit swing assembly is provided between the frame and the lower swing shaft; the upper limit swing assembly comprises an upper swing block fixed on the upper swing shaft and an upper limit block fixed on the frame, and under normal conditions, the upper swing shaft is restricted from swinging clockwise; the lower limit swing assembly comprises a lower swing block fixed on the lower swing shaft and a lower limit block fixed on the frame, and under normal conditions, the lower swing shaft is restricted from swinging counterclockwise.

[0012] Furthermore, the contact ends of the upper swing rod and the lower swing rod are respectively provided with a nylon roller and a carbide contact, the nylon roller can rotate freely around the axis, and the contact surface of the carbide contact is an arc surface with a surface roughness Ra≤0.8μm.

[0013] Furthermore, the welding assembly includes a rotating ring, a connecting sheet metal, a welding gun adjustment component and a welding gun; the rotating ring is rotatably assembled on the annular slide rail through a harmonic reducer; the connecting sheet metal is fixed to the inner side of the rotating ring; the welding gun adjustment component includes a sliding base plate, a fine-adjustment block and a fine-adjustment screw, the sliding base plate is fixed on the connecting sheet metal, the fine-adjustment block is radially slidably arranged on the sliding base plate along the annular slide rail, the fine-adjustment screw is threadedly matched with the fine-adjustment block, and a fine-adjustment servo motor is fixed to one end of the fine-adjustment screw; the welding gun is fixed on the fine-adjustment block and is integrated with an infrared ranging sensor.

[0014] Furthermore, rotating roller groups are obliquely arranged on both sides of the V-shaped positioning conveying trough, and the rotating roller groups include a plurality of rollers arranged in parallel, and the surfaces of the rollers are covered with a polyurethane layer; a dynamic clamping module is also arranged above the V-shaped positioning conveying trough, and the dynamic clamping module includes a vertically liftable pressure roller group, an electric push rod for driving the pressure roller group to lift and lower, and a servo motor for driving the pressure roller group to rotate to convey the steel pipe.

[0015] Furthermore, it also includes an intelligent control module, which integrates: A data acquisition unit, used for acquiring pressure data of the upper pressure detector and the lower pressure detector in real time; The motion control unit controls the lifting displacement of the hydraulic push rod and the conveying speed of the dynamic clamping drive module through the PID algorithm; The human-computer interaction unit is used to set the steel pipe parameters and display the welding process status.

[0016] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects: 1. The present invention can efficiently handle the welding of steel pipes of large-sized workpieces without the need to frequently replace or adjust the fixtures, thereby improving the versatility and adaptability of the equipment.

[0017] 2. The present invention realizes fully automatic centering through V-shaped positioning grooves and mechanical detection closed-loop feedback, wherein the symmetrical inclined surfaces of the V-shaped grooves constrain the steel pipe axis to be projected onto the vertical reference plane, eliminating the deviation in the X / Y directions, and only needs to adjust the Z-axis height, thereby simplifying the control dimension; the mechanical detection closed-loop feedback converts the steel pipe height deviation ΔH into the oblique displacement of the lifting detection block through the upper / lower swing rod and crank transmission structure, triggering the hydraulic push rod to adjust the annular slide rail in real time, thereby realizing the coaxiality of the steel pipe axis and the slide rail axis.

[0018] 3. The present invention realizes height adjustment by moving the annular slide rail (rather than the steel pipe itself), and the load is reduced from the steel pipe to the dead weight of the mechanism, which reduces energy consumption and improves response speed; 4. The pure mechanical detection assembly (swing rod, crank transmission) of the present invention cooperates with the piezoelectric sensor to avoid the influence of dust and oil on the detection accuracy. The reliability is higher than the laser / vision solution. No intermediate calculation link is required. The vertical displacement of the lifting detection block is directly equal to the offset of the steel pipe axis, realizing instant feedback of the offset.

[0019] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0021] Figure 1 It is a schematic diagram of the structure of the present invention from a first viewing angle; Figure 2 is a second viewing angle structural schematic diagram of the present invention; Figure 3 It is a schematic structural diagram of the annular seam welding mechanism and the centering mechanism of the present invention; Figure 4 yes Figure 3 Schematic diagram of the local structure at A; Figure 5 yes Figure 2 Schematic diagram of the local structure at B; Figure 6 It is a simplified schematic diagram of the positions of the upper and lower swing rods and the guide column in the normal state of the present invention; Figure 7It is a simplified schematic diagram of the positions of the upper and lower swing rods and the guide column when the axis of the steel pipe of the present invention deviates upward; Figure 8 It is a simplified schematic diagram of the positions of the upper and lower swing rods and the guide column when the axis of the steel pipe of the present invention deviates downward; Fig. 9 It is a schematic diagram of the structure of the upper swing rod of the present invention.

[0022] In the figure: 1-annular seam welding mechanism; 11-frame; 12-welding assembly; 121-rotating ring; 122-connecting sheet metal; 123-welding gun adjustment component; 1231-sliding base plate; 1232-fine adjustment block; 1233-fine adjustment screw; 124-welding gun; 13-servo drive assembly; 14-annular slide rail; 141-transverse slide groove; 142-sliding block; 1421-accommodating groove; 2-first clamping and conveying mechanism; 211-V-shaped positioning conveying groove; 212-roller; 3-second clamping and conveying mechanism; 4-centering mechanism; 41-upper swing rod; 411-upper swing shaft; 42-lower swing rod; 421-lower Swing shaft; 431-crank transmission structure; 4311-first crank; 4312-first sliding column; 4313-second crank; 4314-second sliding column; 432-lifting detection block; 433-upper pressure detector; 434-lower pressure detector; 441-upper sliding member; 4411-first coupling groove; 4412-first transmission groove; 442-lower sliding member; 4421-second coupling groove; 4422-second transmission groove; 443-guide column; 47-hydraulic push rod; 45-upper limit swing assembly; 46-lower limit swing assembly; S1-vertical reference plane; S2-horizontal reference plane. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0024] See also Figure 1-Figure 9The present invention provides a welding device for construction engineering, comprising a circumferential seam welding mechanism 1, and a first clamping and conveying mechanism 2 and a second clamping and conveying mechanism 3 symmetrically arranged on both sides of the circumferential seam welding mechanism 1; when in use, the first clamping and conveying mechanism 2 and the second clamping and conveying mechanism 3 each clamp a steel pipe and convey it to the circumferential seam welding mechanism 1, and the circumferential seam welding mechanism 1 automatically completes the welding of the two steel pipes. After the welding is completed, the first clamping and conveying mechanism 2 sends it out. The welding is fully automated without manual intervention, thereby reducing safety risks and improving welding efficiency.

[0025] like Figure 1 As shown, the annular seam welding mechanism 1 includes a frame 11, an annular slide rail 14 mounted on the frame 11, and a welding assembly 12 that can rotate around the central axis of the annular slide rail 14 to complete the annular seam welding; during welding, the central axis of the steel pipe is kept coincident with the central axis of the annular slide rail 14, and the welding assembly 12 rotates around the central axis of the annular slide rail 14 once, so that the automated welding of two steel pipes can be quickly completed.

[0026] In order to ensure the quick completion of the above-mentioned automated welding work (to keep the central axis of the steel pipes of different sizes coincident with the central axis of the annular slide rail 14), as Figure 1 As shown, in this embodiment, the annular slide rail 14 is vertically slidably mounted on the frame 11, and the first clamping and conveying mechanism 2 and the second clamping and conveying mechanism 3 have the same structure, both including a V-shaped positioning and conveying groove 211 for constraining the central axis of the steel pipe to coincide with the vertical reference plane S1; the welding device also includes a centering mechanism 4 arranged between the first clamping and conveying mechanism 2 and the annular seam welding mechanism 1, and the centering mechanism 4 includes a mechanical detection component for detecting the offset direction and offset amount of the central axis of the steel pipe relative to the horizontal reference plane S2, and a hydraulic push rod 47 (such as a hydraulic push rod 47) for driving the annular slide rail 14 to rise and fall according to the offset direction and offset amount detected by the mechanical detection component to achieve the coaxiality of the steel pipe axis and the axis of the annular slide rail 14. Figure 3 As shown), under normal conditions, the central axis of the annular slide rail 14 coincides with the intersection line of the vertical reference plane S1 and the horizontal reference plane S2.

[0027] The welding device realizes the centering of the steel pipe and the annular slide rail 14 through the geometric constraints of the V-shaped positioning conveying groove 211 and the hydraulic lifting adjustment of the annular slide rail 14, thereby ensuring that the annular seam welding mechanism 1 can quickly complete the automated welding work and improve the welding efficiency; compared with the method of realizing the axis centering by moving the steel pipe itself in the prior art, the response speed of this solution and when processing large-size (large diameter, heavy weight) or super-long steel pipes have significant advantages, specifically: Self-centering constraint of steel pipe (vertical reference plane S1): When the staff puts the steel pipe into the V-shaped positioning conveying trough 211, the steel pipe rolls to the bottom of the trough along the symmetrical inclined surfaces on both sides under the action of gravity, and the center of its cross section (i.e., the projection of the central axis) is automatically aligned with the vertical reference plane S1. The symmetrical structure of the V-shaped positioning conveying trough 211 limits the freedom of the steel pipe to only axial translation, and the vertical height deviation is eliminated through subsequent adjustment; that is, the V-shaped trough constrains the projection of the steel pipe axis on the vertical reference plane S1 through the symmetrical inclined surfaces, eliminating the deviation in the X direction, and only needs to adjust the height in the Z direction, reducing the control dimension; Height deviation adjustment (adjustment relative to the horizontal reference plane S2): The mechanical detection component detects the offset direction and offset amount of the central axis of the steel pipe relative to the horizontal reference plane S2, and then the hydraulic push rod 47 drives the annular slide rail 14 to rise and fall until the axis of the steel pipe is coaxial with the axis of the annular slide rail 14. The hydraulic push rod 47 drives the annular slide rail 14 to rise and fall (rather than moving the steel pipe), and the load is adjusted from the heavy (large size or extra-long) steel pipe to the dead weight of the annular seam welding mechanism 1.

[0028] In some embodiments, the mechanical detection component can be detected by using sensors of existing technology, such as high-precision sensors such as laser / vision. The sensor detects the height deviation ΔH of the steel pipe axis relative to the horizontal reference plane S2. If the center axis of the steel pipe is higher than the axis of the annular slide rail 14 (ΔH>0), the annular slide rail 14 is triggered to rise; otherwise, it will fall.

[0029] Taking into account that the sensor is easily interfered by other factors such as workshop dust, which in turn affects the detection data, and at the same time in order to reduce manufacturing costs, as well as control and detection complexity.

[0030] like Figure 3 As shown, in this embodiment, the mechanical detection component includes an upper swing rod 41, a lower swing rod 42 and a linkage component; the upper swing rod 41 and the lower swing rod 42 are symmetrically rotated and assembled on the frame 11 with the horizontal reference plane S2 as the symmetry plane, wherein the upper swing rod 41 is rotatably mounted on the frame 11 through an upper swing shaft 411, and the lower swing rod 42 is rotatably mounted on the frame 11 through a lower swing shaft 421, and under normal conditions, the upper swing rod 41 and the lower swing rod 42 are kept vertical by torsion springs.

[0031] Combination Figure 3 and Figure 4As shown, the linkage component includes a crank transmission structure 431 and a lifting detection block 432. The crank transmission structure 431 couples the rotation of the upper swing shaft 411 and the lower swing shaft 421 to drive the lifting detection block 432 to move obliquely. The lifting detection block 432 is horizontally slidably matched with the annular slide rail 14 through a sliding pair, and an upper pressure detector 433 and a lower pressure detector 434 are respectively provided on the upper and lower sides of the lifting detection block 432; the hydraulic push rod 47 synchronously drives the annular slide rail 14 to rise and fall through the pressure signals of the upper pressure detector 433 and the lower pressure detector 434, so that the detection values ​​of the upper pressure detector 433 and the lower pressure detector 434 are kept at zero, so that the axis of the steel pipe is coaxial with the axis of the annular slide rail 14.

[0032] Based on the above design, this solution realizes height deviation detection and adjustment through a mechanical closed-loop mechanism: that is, the physical contact between the upper swing rod 41 and the lower swing rod 42 triggers the movement of the crank transmission structure 431, drives the lifting detection block 432 to generate a displacement deviation ΔH, and the hydraulic push rod 47 adjusts the height of the annular slide rail 14 in real time according to the pressure signal. This purely mechanical feedback mechanism does not require electronic sensors, improves the ability to resist dust interference and reduces manufacturing costs; specifically: In the initial state, the upper swing rod 41 and the lower swing rod 42 are kept vertical by the torsion spring and are symmetrically distributed on both sides of the horizontal reference plane S2. Figure 6 As shown, the horizontal thick solid line is the horizontal reference plane S2, which can also be understood as the central axis of the annular slide rail 14. When the steel pipe is moving toward the welding mechanism, the end of the steel pipe will push the upper swing rod 41 to deflect counterclockwise and the lower swing rod 42 to deflect clockwise until the free ends of the upper swing rod 41 and the lower swing rod 42 respectively contact the upper side surface and the lower side surface of the steel pipe to form two-point contact. In this process, the rotation of the upper swing shaft 411 and the lower swing shaft 421 is coupled by the crank transmission structure 431, and the rotation of the upper swing shaft 411 and the lower swing shaft 421 is converted into the oblique displacement of the lifting detection block 432.

[0033] like Figure 7 As shown, the horizontal thin dotted line is the center axis of the steel pipe. If the swing angle of the upper swing rod 41 is greater than the swing angle of the lower swing rod 42, the lifting detection block 432 moves obliquely upward, wherein the displacement in the horizontal direction is offset by the horizontal sliding of the lifting detection block 432 relative to the annular slide rail 14, and the lifting detection block 432 feeds back the upward displacement (the distance of the upward movement is the offset of the center axis of the steel pipe), the upper pressure detector 433 is compressed, and the hydraulic push rod 47 pushes the annular slide rail 14 to move upward. When the axis of the steel pipe is coaxial with the axis of the annular slide rail 14, the lifting detection block 432 is in the middle position, the signals of the upper pressure detector 433 and the lower pressure detector 434 are both zero, and the hydraulic push rod 47 stops moving; conversely, similarly, if Figure 8As shown, the lifting detection block 432 feeds back the downward displacement, the lower pressure detector 434 is compressed, and the hydraulic push rod 47 of the lifting component pushes the annular slide rail 14 to move downward until the lower pressure detector 434 is zero. When the axis of the steel pipe is coaxial with the axis of the annular slide rail 14, the lifting detection block 432 is in the middle position, the signals of the upper pressure detector 433 and the lower pressure detector 434 are both zero, and the hydraulic push rod 47 stops moving.

[0034] The present invention uses pure mechanical contact detection + pressure feedback, which is not affected by workshop dust, oil pollution, and electromagnetic interference. The reliability is higher than that of laser / visual sensors, and high-precision optical sensors are eliminated, reducing costs. The crank transmission structure 431 and the upper pressure detector 433 and the lower pressure detector 434 are all standardized electromechanical devices. The mechanical detection components have no precision electronic components. Daily only lubrication and torsion spring tension calibration are required, and the maintenance cycle is extended to at least twice the original.

[0035] Combination Figure 3 and Figure 4 As shown, specifically, the crank transmission structure 431 has two groups symmetrically arranged on both sides of the annular slide rail 14, and the crank transmission structure 431 on each side includes an upper sliding member 441, a lower sliding member 442, a first crank 4311 and a second crank 4313; the upper sliding member 441 and the lower sliding member 442 are fitted with each other and are vertically slidably installed on the frame 11; the upper sliding member 441 is provided with a horizontal first coupling groove 4411 and a downwardly inclined first transmission groove 4412, with an inclination angle The angle is 30°-45°; a horizontal second coupling groove 4421 and an upwardly inclined second transmission groove 4422 are provided on the lower sliding member 442; the first transmission groove 4412 and the second transmission groove 4422 are symmetrical about the horizontal reference plane S2 and form an eight-shaped meshing channel; a guide column 443 is horizontally inserted in the eight-shaped meshing channel, and the central axis of the guide column 443 intersects with the central axis of the annular slide rail 14, and the guide column 443 is fixedly connected to the side wall of the lifting detection block 432.

[0036] The first crank 4311 is fixed at the end of the upper swing shaft 411, and the free end of the first crank 4311 is slidingly matched with the corresponding first coupling groove 4411 through the first sliding column 4312; the second crank 4313 is fixed at the end of the lower swing shaft 421, and the free end of the second crank 4313 is slidingly matched with the corresponding second coupling groove 4421 through the second sliding column 4314.

[0037] In the vertical reference plane S1, the center movement trajectory of the first sliding column 4312 and the movement trajectory of the free end of the upper swing rod 41 are on the same circle, and the center movement trajectory of the second sliding column 4314 and the movement trajectory of the free end of the lower swing rod 42 are on the same circle.

[0038] Based on the above design, this solution converts the rotational motion of the upper swing rod 41 and the lower swing rod 42 into the oblique displacement of the lifting detection block 432 through the upper sliding member 441, the lower sliding member 442, the first crank 4311 and the second crank 4313, so as to realize the precise detection of the height deviation of the steel pipe axis and the lifting and lowering adjustment of the annular slide rail 14. The specific working principle is as follows: When the steel pipe enters the welding station, the upper swing rod 41 is pushed to deflect counterclockwise and the lower swing rod 42 is pushed to deflect clockwise to form two-point contact. The deflection of the upper swing rod 41 and the lower swing rod 42 drives the first crank 4311 and the second crank 4313 to rotate, and the first sliding column 4312 and the second sliding column 4314 make circular motions. The first sliding column 4312 and the second sliding column 4314 slide in the first coupling groove 4411 and the second coupling groove 4421 respectively to offset their horizontal displacement, so that the upper sliding member 441 and the lower sliding member 442 move up and down. The upper sliding member 441 and the lower sliding member 442 move in the vertical direction respectively, and the first transmission groove 4412 and the second transmission groove 4422 form an eight-shaped meshing channel, and the guide column 443 slides in the eight-shaped meshing channel.

[0039] When the upper sliding member 441 and the lower sliding member 442 move the same distance, the guide column 443 only moves horizontally, and the lifting detection block 432 slides horizontally to offset the displacement. When the upper sliding member 441 and the lower sliding member 442 move different distances, the guide column 443 moves obliquely, causing the lifting detection block 432 to produce a vertical displacement ΔH.

[0040] When the lifting detection block 432 moves upward, the upper pressure detector 433 detects the pressure, and the hydraulic push rod 47 synchronously pushes the annular slide rail 14 upward until the pressure returns to zero, and the annular slide rail 14 moves upward by ΔH.

[0041] When the lifting detection block 432 moves downward, the lower pressure detector 434 detects the pressure, and the hydraulic push rod 47 synchronously pushes the annular slide rail 14 downward until the pressure returns to zero, and the annular slide rail 14 moves downward by ΔH.

[0042] The present invention separates the horizontal and vertical displacement components through an eight-shaped meshing channel, and only the vertical component triggers pressure feedback to avoid lateral interference. The wedge effect of the inclined transmission groove (30°-45°) locks the position of the lifting detection block 432 when there is no external force, preventing the annular slide rail 14 from drifting.

[0043] In this embodiment, the upper pressure detector 433 and the lower pressure detector 434 are both piezoelectric sensors, and the hydraulic push rod 47 is driven by a closed-loop control module. When the lifting detection block 432 moves obliquely, the piezoelectric crystal (such as quartz or PZT ceramic) of the piezoelectric sensor is deformed due to the contact pressure, generating a charge signal proportional to the pressure, and the signal conditioning circuit (such as a charge amplifier) ​​converts the charge signal of the piezoelectric sensor into a voltage signal, and its output range is 0-10V.

[0044] If the voltage of the upper pressure detector 433 is greater than 0.5 V, it is determined that ΔH>0 (the axis of the steel pipe is too high), and the annular slide rail 14 needs to be raised.

[0045] If the voltage of the lower pressure detector 434 is greater than 0.5V, it is determined that ΔH is less than 0 (the steel pipe axis is too low), and the annular slide rail 14 needs to be lowered. The closed-loop control module (such as PLC) calculates the target displacement according to the pressure signal and outputs a PWM signal to drive the hydraulic proportional valve. The hydraulic push rod 47 has a built-in magnetostrictive displacement sensor to provide real-time position feedback to achieve position-pressure dual closed-loop control.

[0046] In this embodiment, the sliding pair includes a transverse sliding groove 141 arranged on both sides of the annular sliding rail 14, and a sliding block 142 slidably adapted in the transverse sliding groove 141. The sliding block 142 is provided with a receiving groove 1421, and the lifting detection block 432 is installed in the receiving groove 1421.

[0047] In this embodiment, an upper limit swing assembly 45 is arranged between the frame 11 and the upper swing shaft 411; a lower limit swing assembly 46 is arranged between the frame 11 and the lower swing shaft 421; the upper limit swing assembly 45 includes an upper swing block fixed on the upper swing shaft 411 and an upper limit block fixed on the frame 11, and under normal conditions, the upper swing shaft 411 is restricted from swinging clockwise; the lower limit swing assembly 46 includes a lower swing block fixed on the lower swing shaft 421 and a lower limit block fixed on the frame 11, and under normal conditions, the lower swing shaft 421 is restricted from swinging counterclockwise.

[0048] like Fig. 9 As shown, in this embodiment, the contact ends of the upper swing rod 41 and the lower swing rod 42 are respectively provided with a nylon roller and a carbide contact, the nylon roller can rotate freely around the axis, and the contact surface of the carbide contact is an arc surface with a surface roughness Ra≤0.8μm. The service life of the upper swing rod 41 and the lower swing rod 42 can be extended to avoid precision deviation caused by wear.

[0049] like Figure 5As shown, in this embodiment, the welding assembly 12 includes a rotating ring 121, a connecting sheet metal 122, a welding gun adjustment component 123 and a welding gun 124; the rotating ring 121 is rotatably assembled on the annular slide rail 14 through a harmonic reducer; the connecting sheet metal 122 is fixed to the inner side of the rotating ring 121; the welding gun adjustment component 123 includes a sliding base plate 1231, a fine-adjustment block 1232 and a fine-adjustment screw 1233, the sliding base plate 1231 is fixed on the connecting sheet metal 122, the fine-adjustment block 1232 is radially slidably arranged on the sliding base plate 1231 along the annular slide rail 14, the fine-adjustment screw 1233 is threadedly matched with the fine-adjustment block 1232, and a fine-adjustment servo motor is fixed to one end of the fine-adjustment screw 1233; the welding gun 124 is fixed on the fine-adjustment block 1232 and an infrared ranging sensor is integrated.

[0050] The infrared distance measuring sensor (such as Keyence IL-065) monitors the distance between the welding gun 124 and the steel pipe surface in real time, feeds back the signal to the PLC, drives the fine-tuning servo motor to adjust the radial position of the welding gun 124, and compensates for thermal deformation or assembly errors.

[0051] like Figure 1 As shown, in this embodiment, rotating roller groups are obliquely arranged on both sides of the V-shaped positioning conveying trough 211, and the rotating roller groups include a plurality of rollers 212 arranged in parallel, and the surface of the rollers 212 is coated with a polyurethane layer; a dynamic clamping module (not shown) is also arranged above the V-shaped positioning conveying trough 211, and the dynamic clamping module can adopt a dynamic clamping mechanism in conventional technology, for example, the dynamic clamping module can include a vertically lifting roller group, an electric push rod driving the lifting of the roller group, and a servo motor driving the roller group to rotate to convey the steel pipe. This design realizes efficient, non-damaging conveying and precise positioning of steel pipes in the V-shaped positioning conveying trough 211 through the flexible conveying of the rotating roller group and the active control of the dynamic clamping module, which is particularly suitable for continuous automated production lines of large-sized and long pipes.

[0052] In this embodiment, an intelligent control module is also included, which integrates: a data acquisition unit for acquiring the pressure data of the upper pressure detector 433 and the lower pressure detector 434 in real time; a motion control unit for controlling the lifting displacement of the hydraulic push rod 47 and the conveying speed of the dynamic clamping drive module through a PID algorithm; and a human-computer interaction unit for setting steel pipe parameters and displaying the welding process status.

[0053] This intelligent control module realizes full-process automation and intelligent management of welding equipment through multi-source data fusion, adaptive PID control and human-machine collaborative interaction.

[0054] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A welding device for construction engineering, characterized in that: It comprises a circumferential seam welding mechanism (1), and a first clamping and conveying mechanism (2) and a second clamping and conveying mechanism (3) symmetrically arranged on both sides of the circumferential seam welding mechanism (1); The annular seam welding mechanism (1) comprises a frame (11), an annular slide rail (14) vertically slidably mounted on the frame (11), and a welding assembly (12) capable of rotating around the central axis of the annular slide rail (14) to complete annular seam welding; wherein, under normal conditions, the central axis of the annular slide rail (14) coincides with the intersection of a vertical reference plane (S1) and a horizontal reference plane (S2); The first clamping and conveying mechanism (2) and the second clamping and conveying mechanism (3) have the same structure, and both comprise a V-shaped positioning and conveying groove (211) for constraining the central axis of the steel pipe to coincide with the vertical reference plane (S1); The welding device also includes a centering mechanism (4) arranged between the first clamping and conveying mechanism (2) and the annular seam welding mechanism (1), the centering mechanism (4) including a mechanical detection component for detecting the offset direction and offset amount of the center axis of the steel pipe relative to the horizontal reference plane (S2), and a hydraulic push rod (47) for driving the annular slide rail (14) to rise and fall according to the offset direction and offset amount detected by the mechanical detection component to achieve coaxiality between the axis of the steel pipe and the axis of the annular slide rail (14).

2. The welding device for construction engineering according to claim 1, characterized in that: The mechanical detection assembly comprises an upper swing rod (41), a lower swing rod (42) and a linkage component; the upper swing rod (41) and the lower swing rod (42) are symmetrically mounted on the frame (11) with a horizontal reference plane (S2) as a symmetry plane, wherein the upper swing rod (41) is rotatably mounted on the frame (11) via an upper swing shaft (411), and the lower swing rod (42) is rotatably mounted on the frame (11) via a lower swing shaft (421), and in a normal state, the upper swing rod (41) and the lower swing rod (42) are kept vertical by a torsion spring; The linkage component comprises a crank transmission structure (431) and a lifting detection block (432); the crank transmission structure (431) couples the rotation of the upper swing shaft (411) and the lower swing shaft (421) to drive the lifting detection block (432) to move obliquely; the lifting detection block (432) slides horizontally with the annular slide rail (14) via a sliding pair, and an upper pressure detector (433) and a lower pressure detector (434) are respectively provided on the upper and lower sides of the lifting detection block (432); The hydraulic push rod (47) synchronously drives the annular slide rail (14) to rise and fall according to the pressure signals of the upper pressure detector (433) and the lower pressure detector (434), so that the detection values ​​of the upper pressure detector (433) and the lower pressure detector (434) are kept at zero, thereby achieving the coaxiality of the steel pipe axis and the annular slide rail (14).

3. The welding device for construction engineering according to claim 2, characterized in that: The crank transmission structure (431) has two groups symmetrically arranged on both sides of the annular slide rail (14), and each crank transmission structure (431) comprises an upper sliding member (441), a lower sliding member (442), a first crank (4311) and a second crank (4313); The upper sliding member (441) and the lower sliding member (442) are fitted together and vertically slidably installed on the frame (11); the upper sliding member (441) is provided with a horizontal first coupling groove (4411) and a downwardly inclined first transmission groove (4412), and the inclination angle is 30° to 45°; the lower sliding member (442) is provided with a horizontal second coupling groove (4421) and an upwardly inclined second transmission groove (4422); the first transmission groove (4412) and the second transmission groove (4422) are symmetrical about the horizontal reference plane (S2) and form an eight-shaped meshing channel; wherein a guide column (443) is horizontally inserted into the eight-shaped meshing channel, and the central axis of the guide column (443) intersects with the central axis of the annular slide rail (14), and the guide column (443) is fixedly connected to the side wall of the lifting detection block (432); The first crank (4311) is fixed to the end of the upper swing shaft (411), and the free end of the first crank (4311) is slidably engaged with the corresponding first coupling groove (4411) via a first sliding column (4312); the second crank (4313) is fixed to the end of the lower swing shaft (421), and the free end of the second crank (4313) is slidably engaged with the corresponding second coupling groove (4421) via a second sliding column (4314); In the vertical reference plane (S1), the center-of-circle motion trajectory of the first sliding column (4312) and the motion trajectory of the free end of the upper swing rod (41) are on the same circle, and the center-of-circle motion trajectory of the second sliding column (4314) and the motion trajectory of the free end of the lower swing rod (42) are on the same circle.

4. The welding device for construction engineering according to claim 2, characterized in that: The upper pressure detector (433) and the lower pressure detector (434) are both piezoelectric sensors, and drive the hydraulic push rod (47) through a closed-loop control module.

5. The welding device for construction engineering according to claim 2, characterized in that: The sliding pair comprises transverse sliding grooves (141) arranged on both sides of the annular sliding rail (14), and a sliding block (142) slidably adapted in the transverse sliding grooves (141); a receiving groove (1421) is provided on the sliding block (142), and the lifting detection block (432) is installed in the receiving groove (1421).

6. The welding device for construction engineering according to claim 2, characterized in that: An upper limit swing assembly (45) is provided between the frame (11) and the upper swing shaft (411); a lower limit swing assembly (46) is provided between the frame (11) and the lower swing shaft (421); the upper limit swing assembly (45) comprises an upper swing block fixed to the upper swing shaft (411) and an upper limit block fixed to the frame (11), and in a normal state, limits the upper swing shaft (411) from swinging clockwise; the lower limit swing assembly (46) comprises a lower swing block fixed to the lower swing shaft (421) and a lower limit block fixed to the frame (11), and in a normal state, limits the lower swing shaft (421) from swinging counterclockwise.

7. The welding device for construction engineering according to claim 2, characterized in that: The contact ends of the upper swing rod (41) and the lower swing rod (42) are respectively provided with a nylon roller and a hard alloy contact; the nylon roller can rotate freely around an axis; the contact surface of the hard alloy contact is an arc surface with a surface roughness Ra≤0.8μm.

8. The welding device for construction engineering according to claim 1, characterized in that: The welding assembly (12) comprises a rotating ring (121), a connecting sheet metal (122), a welding gun adjustment component (123) and a welding gun (124); the rotating ring (121) is rotatably assembled on the annular slide rail (14) through a harmonic reducer; the connecting sheet metal (122) is fixed to the inner side of the rotating ring (121); the welding gun adjustment component (123) comprises a sliding base plate (1231), a fine adjustment block (1232) and a fine adjustment screw (1234); 33), the sliding base (1231) is fixed on the connecting sheet metal (122), the fine-adjustment block (1232) is radially slidably arranged on the sliding base (1231) along the annular slide rail (14), the fine-adjustment screw (1233) is threadedly matched with the fine-adjustment block (1232), and a fine-adjustment servo motor is fixed to one end of the fine-adjustment screw (1233); the welding gun (124) is fixed on the fine-adjustment block (1232) and is integrated with an infrared ranging sensor.

9. The welding device for construction engineering according to claim 2, characterized in that: Rotating roller groups are obliquely arranged on both sides of the V-shaped positioning conveying trough (211), the rotating roller groups comprising a plurality of rollers (212) arranged in parallel, the surfaces of the rollers (212) being coated with a polyurethane layer; a dynamic pressing module is also arranged above the V-shaped positioning conveying trough (211), the dynamic pressing module comprising a pressing roller group capable of vertically ascending and descending, an electric push rod for driving the pressing roller group to ascend and descend, and a servo motor for driving the pressing roller group to rotate to convey the steel pipe.

10. The welding device for construction engineering according to claim 9, characterized in that: Also included is an intelligent control module that integrates: A data acquisition unit, used for acquiring pressure data of an upper pressure detector (433) and a lower pressure detector (434) in real time; A motion control unit controls the lifting displacement of the hydraulic push rod (47) and the conveying speed of the dynamic clamping drive module through a PID algorithm; The human-computer interaction unit is used to set the steel pipe parameters and display the welding process status.

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