A welding device for construction engineering

Abstract

The present invention discloses a welding device for construction engineering, which relates to the technical field of welding. It includes 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 first clamping and conveying mechanism and the second clamping and conveying mechanism have the same structure, and both include a conveying frame and a dynamic pressing drive module; a V-shaped positioning and conveying groove is formed inside the conveying frame for constraining the central axis of the steel pipe to coincide with the vertical reference plane S1; the dynamic pressing drive module is used for pressing and conveying the steel pipe; the circumferential seam welding mechanism includes a frame, a welding component and a servo drive component; a ring-shaped slide rail is vertically slidably installed on the frame, and the central axis of the ring-shaped slide rail coincides with the vertical reference plane S1. The present invention can efficiently process the welding of steel pipes of large-sized workpieces, without frequently replacing or adjusting the fixture, and improves the versatility and adaptability of the equipment.

Description

Technical Field

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

[0002] In the field of construction engineering, steel pipe welding is a core link in steel structure construction. Traditional welding devices mostly adopt an operation mode of manual positioning + fixed fixtures, and there are the following technical pain points:

[0003] Low positioning efficiency: Traditional welding devices rely on manual adjustment to align the axis of the steel pipe with the trajectory of the welding torch, and the operation is cumbersome. For example, the calibration of large-diameter (Φ≥200mm) steel pipes takes a long time and requires repeated measurement and adjustment.

[0004] Insufficient centering accuracy: Existing clamping devices are difficult to quickly adjust the coincidence degree of the axis of the steel pipe and the axis of the welding mechanism, resulting in unstable weld quality. Especially for large-diameter or extra-long steel pipes, the gravity effect is likely to cause axis deviation;

[0005] Poor equipment adaptability: Traditional welding mechanisms mostly adopt fixed slide rails or manual adjustment, which cannot adapt to the dynamic centering requirements of steel pipes of different sizes, and the adjustment load is large (it is necessary to move the steel pipe itself), and the energy consumption is high.

[0006] Sensitive to environmental interference: Sensors (such as lasers / visions) are easily affected by workshop dust and electromagnetic interference, resulting in a decline in detection accuracy and an increase in maintenance costs. Summary of the Invention

[0007] The purpose of the present invention is to provide a welding device for construction engineering to solve the problems raised in the above background art.

[0008] To achieve the above invention purpose, the present invention adopts the following technical solutions:

[0009] A welding device for construction engineering provided by the present invention includes a circumferential welding mechanism, and a first clamping and conveying mechanism and a second clamping and conveying mechanism symmetrically arranged on both sides of the circumferential welding mechanism;

[0010] The circumferential welding mechanism includes a frame, a circular slide rail vertically slidably assembled on the frame, and a welding assembly capable of rotating around the central axis of the circular slide rail to complete circumferential welding; wherein, under normal conditions, the central axis of the circular slide rail coincides with the intersection line of the vertical reference plane and the horizontal reference plane;

[0011] 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 restricting the central axis of the steel pipe to coincide with the vertical reference plane;

[0012] The welding device further includes a centering mechanism disposed between the first clamping and conveying mechanism and the circumferential seam welding mechanism. The centering mechanism 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, and a hydraulic push rod that drives the ring-shaped slide rail to lift according to the offset direction and offset amount detected by the mechanical detection component, so as to make the axis of the steel pipe coaxial with the axis of the ring-shaped slide rail.

[0013] Further, the mechanical detection component includes an upper swing rod, a lower swing rod and a linkage component; the upper swing rod and the lower swing rod are symmetrically and rotationally assembled on the frame with the horizontal reference plane as the symmetry plane. Among them, the upper swing rod is rotatably installed on the frame through an upper swing shaft, and the lower swing rod is rotatably installed on the frame through a lower swing shaft. And in the normal state, the upper swing rod and the lower swing rod are kept vertical by a torsion spring;

[0014] The linkage component includes a crank drive structure and a lifting detection block; the crank drive structure couples the rotation of the upper swing shaft and the lower swing shaft, drives the lifting detection block to move obliquely, the lifting detection block is horizontally slidably matched with the ring-shaped slide rail through a sliding pair, and upper and lower pressure detectors are respectively arranged on the upper and lower sides of the lifting detection block;

[0015] The hydraulic push rod synchronously drives the ring-shaped slide rail to lift according to the pressure signals of the upper pressure detector and the lower pressure detector, so that the detected values of the upper pressure detector and the lower pressure detector are kept zero, and the axis of the steel pipe is made coaxial with the axis of the ring-shaped slide rail.

[0016] Further, the crank drive structure has two groups symmetrically arranged on both sides of the ring-shaped slide rail. Each side of the crank drive structure includes an upper sliding part, a lower sliding part, a first crank and a second crank;

[0017] The upper sliding part and the lower sliding part are mutually attached and vertically slidably installed on the frame; a horizontal first coupling groove and a downwardly inclined first transmission groove with an inclination angle of 30° - 45° are formed on the upper sliding part; a horizontal second coupling groove and an upwardly inclined second transmission groove are formed on the lower sliding part; the first transmission groove and the second transmission groove are symmetric about the horizontal reference plane and form an eight-shaped meshing channel; wherein, a guide post is horizontally inserted in the eight-shaped meshing channel, and the central axis of the guide post intersects with the central axis of the ring-shaped slide rail, and the guide post is fixedly connected to the side wall of the lifting detection block;

[0018] The first crank is fixed at 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 a first sliding column; the second crank is fixed at 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 a second sliding column;

[0019] In the vertical reference plane, the circular motion trajectory of the center of the first sliding column is on the same circle as the motion trajectory of the free end of the upper swing rod, and the circular motion trajectory of the center of the second sliding column is on the same circle as the motion trajectory of the free end of the lower swing rod.

[0020] Further, both the upper pressure detector and the lower pressure detector are piezoelectric sensors, and the hydraulic push rod is driven by a closed-loop control module.

[0021] Further, the sliding pair includes transverse chutes arranged on both sides of the annular slide rail, and sliding blocks slidably fitted in the transverse chutes. A receiving groove is formed in the sliding block, and the lifting detection block is installed in the receiving groove.

[0022] Further, 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 includes an upper swing block fixed on the upper swing shaft and an upper limit block fixed on the frame. Under normal conditions, the clockwise swing of the upper swing shaft is restricted; the lower limit swing assembly includes a lower swing block fixed on the lower swing shaft and a lower limit block fixed on the frame. Under normal conditions, the counterclockwise swing of the lower swing shaft is restricted.

[0023] Further, nylon rollers and cemented carbide contacts are respectively provided at the contact ends of the upper swing rod and the lower swing rod. The nylon rollers can rotate freely around the axis, and the contact surface of the cemented carbide contact is an arc surface with a surface roughness Ra≤0.8μm.

[0024] Further, the welding assembly includes a rotating ring, a connecting sheet metal, a welding torch adjusting component and a welding torch; the rotating ring is rotationally 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 torch adjusting 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 slidably arranged on the sliding base plate along the radial direction of the annular slide rail, the fine adjustment screw is in threaded cooperation with the fine adjustment block, and a fine adjustment servo motor is fixed at one end of the fine adjustment screw; the welding torch is fixed on the fine adjustment block and is integrated with an infrared distance measuring sensor.

[0025] Further, rotating roller groups are inclinedly arranged on both sides of the V-shaped positioning and conveying groove. The rotating roller groups include a plurality of rollers arranged in parallel, and the surfaces of the rollers are coated with polyurethane layers; a dynamic pressing module is further provided above the V-shaped positioning and conveying groove. The dynamic pressing module includes a roller group that can be vertically lifted, an electric push rod for driving the lifting of the roller group, and a servo motor for driving the rotation of the roller group to convey the steel pipe.

[0026] Further, it also includes an intelligent control module, which integrates:

[0027] A data acquisition unit for real-time acquisition of the pressure data of the upper pressure detector and the lower pressure detector;

[0028] A motion control unit that controls the lifting displacement of the hydraulic push rod and the conveying speed of the dynamic pressing drive module through a PID algorithm;

[0029] A human-machine interaction unit for setting steel pipe parameters and displaying the status of the welding process.

[0030] Compared with the prior art, the above one or more technical solutions have the following beneficial effects:

[0031] 1. The present invention can efficiently process the steel pipe welding of large-sized workpieces, without the need to frequently replace or adjust jigs, improving the versatility and adaptability of the equipment.

[0032] 2. The present invention realizes full-automatic centering through the V-shaped positioning groove and mechanical detection closed-loop feedback. Among them, the symmetric inclined planes of the V-shaped groove constrain the axis projection of the steel pipe on the vertical reference plane, eliminating the deviation in the X / Y direction. Only the height of the Z-axis needs to be adjusted, simplifying the control dimension; the mechanical detection closed-loop feedback converts the height deviation ΔH of the steel pipe into the oblique displacement of the lifting detection block through the upper / lower swing rod and the crank drive structure, triggering the hydraulic push rod to adjust the annular slide rail in real time to make the axis of the steel pipe coaxial with the axis of the slide rail.

[0033] 3. The present invention realizes height adjustment by moving the annular slide rail (instead of the steel pipe itself), and the load is reduced from the steel pipe to the self-weight of the mechanism, reducing energy consumption and improving the response speed;

[0034] 4. The pure mechanical detection components (swing rod, crank drive) of the present invention cooperate with piezoelectric sensors to avoid the influence of dust and oil on the detection accuracy. The reliability is higher than that of the laser / vision scheme. Without an intermediate calculation link, the vertical displacement of the lifting detection block is directly equal to the offset of the axis of the steel pipe, realizing the instant feedback of the offset.

[0035] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The schematic diagrams in the specification forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0037] Figure 1 is a schematic structural diagram of the first perspective of the present invention;

[0038] Figure 2 is a schematic structural diagram of the second perspective of the present invention;

[0039] Figure 3 is a schematic structural diagram of the circumferential welding mechanism and centering mechanism of the present invention;

[0040] Figure 4 is Figure 3 a partial structural schematic diagram of part A of

[0041] Figure 5 is Figure 2 a partial structural schematic diagram of part B of

[0042] Figure 6 a simplified schematic diagram of the positions of the upper and lower swing rods and the guide posts under normal conditions of the present invention;

[0043] Figure 7 a simplified schematic diagram of the positions of the upper and lower swing rods and the guide posts when the axis of the steel pipe of the present invention deviates upward;

[0044] Figure 8 a simplified schematic diagram of the positions of the upper and lower swing rods and the guide posts when the axis of the steel pipe of the present invention deviates downward;

[0045] Figure 9 is a structural schematic diagram of the upper swing rod of the present invention.

[0046] In the figure:

[0047] 1 - circumferential seam welding mechanism; 11 - frame; 12 - welding assembly; 121 - rotating ring; 122 - connecting sheet metal; 123 - welding torch adjusting component; 1231 - sliding base plate; 1232 - fine adjustment block; 1233 - fine adjustment screw; 124 - welding torch; 13 - servo drive assembly; 14 - annular slide rail; 141 - transverse chute; 142 - sliding block; 1421 - receiving groove; 2 - first clamping and conveying mechanism; 211 - V-shaped positioning and 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 drive 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 part; 4411 - first coupling groove; 4412 - first transmission groove; 442 - lower sliding part; 4421 - second coupling groove; 4422 - second transmission groove; 443 - guide post; 47 - hydraulic push rod; 45 - upper limit swing assembly; 46 - lower limit swing assembly; S1 - vertical reference plane; S2 - horizontal reference plane. Detailed implementation manners

[0048] To enable those skilled in the art to better understand the solution of this application, the following will clearly and completely describe the technical solutions in the embodiments of this application in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0049] Please refer to Figures 1 - 9 , the present invention provides a welding device for construction engineering, including 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; during use, the first clamping and conveying mechanism 2 and the second clamping and conveying mechanism 3 each clamp a steel pipe and convey it into 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, it is sent out by the first clamping and conveying mechanism 2. The whole process is automated welding, without manual intervention, reducing safety risks and improving welding efficiency.

[0050] As Figure 1 shown, the circumferential seam welding mechanism 1 includes a frame 11, an annular slide rail 14 assembled on the frame 11, and a welding assembly 12 that can rotate around the central axis of the annular slide rail 14 to complete circumferential 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 for one week, then the automated welding work of the two steel pipes can be quickly completed.

[0051] In order to ensure the quick completion of the above-mentioned automated welding work (making the central axes of steel pipes of different sizes coincide with the central axis of the annular slide rail 14), as Figure 1 shown, in this embodiment, the annular slide rail 14 is vertically slidably installed 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 restricting the central axis of the steel pipe to coincide with the vertical reference plane S1; the welding device further includes a centering mechanism 4 arranged between the first clamping and conveying mechanism 2 and the circumferential seam welding mechanism 1. The centering mechanism 4 includes a mechanical detection component for detecting the deviation direction and deviation amount of the central axis of the steel pipe relative to the horizontal reference plane S2, and a hydraulic push rod 47 that drives the annular slide rail 14 to rise and fall according to the deviation direction and deviation amount detected by the mechanical detection component to make the axis of the steel pipe coaxial with the axis of the annular slide rail 14 (as Figure 3 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.

[0052] This welding device realizes the centering of the steel pipe and the annular slide rail 14 through the geometric constraint of the V-shaped positioning and conveying groove 211 and the hydraulic lifting adjustment of the annular slide rail 14, thereby ensuring that the circumferential seam welding mechanism 1 can quickly complete the automated welding work and improving the welding efficiency. Compared with the method of realizing axis centering by moving the steel pipe itself in the prior art, this solution has significant advantages in terms of response speed and when dealing with large-size (large diameter, heavy weight) or extra-long steel pipes. Specifically:

[0053] Self-centering constraint of the steel pipe (vertical reference plane S1): When the staff places the steel pipe into the V-shaped positioning and conveying groove 211, under the action of gravity, the steel pipe rolls along the symmetric inclined planes on both sides to the bottom of the groove, and the center of its cross-section (i.e., the projection of the central axis) automatically aligns with the vertical reference plane S1. The symmetric structure of the V-shaped positioning and conveying groove 211 restricts the degrees of freedom of the steel pipe to only translational motion along the axial direction, and the height deviation in the vertical direction is eliminated through subsequent adjustment. That is, the V-shaped groove constrains the axis projection of the steel pipe onto the vertical reference plane S1 through the symmetric inclined planes, eliminating the deviation in the X direction, and only the height in the Z direction needs to be adjusted, reducing the control dimensions;

[0054] Adjustment of height deviation (adjustment relative to the horizontal reference plane S2): The mechanical detection component detects the deviation direction and deviation 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 central axis of the steel pipe is coaxial with the axis of the annular slide rail 14. By driving the annular slide rail 14 to rise and fall (instead of moving the steel pipe) through the hydraulic push rod 47, the load is reduced from the heavy (large-size or extra-long) steel pipe to the self-weight of the circumferential seam welding mechanism 1.

[0055] In some embodiments, the mechanical detection component can use sensors in the prior art for detection, such as high-precision sensors such as lasers / visions. The height deviation ΔH of the central axis of the steel pipe relative to the horizontal reference plane S2 is detected through the sensor. If the central 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 descends.

[0056] Considering that the sensor is vulnerable to interference from other factors such as workshop dust, which in turn affects the detected data, and at the same time to reduce the manufacturing cost, as well as the control and detection complexity.

[0057] As Figure 3 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 rotatably assembled on the frame 11 with the horizontal reference plane S2 as the symmetry plane. Among them, the upper swing rod 41 is rotatably installed on the frame 11 through the upper swing shaft 411, the lower swing rod 42 is rotatably installed on the frame 11 through the lower swing shaft 421, and in the normal state, the upper swing rod 41 and the lower swing rod 42 are kept vertical by the torsion spring.

[0058] CombinedFigure 3 and Figure 4 As shown, the linkage component includes a crank drive structure 431 and a lifting detection block 432. The crank drive structure 431 is coupled to the rotation of the upper swing shaft 411 and the lower swing shaft 421, driving the lifting detection block 432 to move obliquely. The lifting detection block 432 is horizontally slidably engaged 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 lift 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 zero, realizing the coaxiality of the axis of the steel pipe and the axis of the annular slide rail 14.

[0059] 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 drive structure 431, driving 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 pure mechanical feedback mechanism does not require an electronic sensor, improving the anti-dust interference ability and reducing the manufacturing cost; specifically:

[0060] In the initial state, the upper swing rod 41 and the lower swing rod 42 are kept vertical under the action of the torsion spring and are symmetrically distributed on both sides of the horizontal reference plane S2, as Figure 6 shown, where 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 moves towards 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 abut against the upper and lower sides of the steel pipe to form two-point contact. During this process, through the crank drive structure 431 coupled to the rotation of the upper swing shaft 411 and the lower swing shaft 421, 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.

[0061] As Figure 7As shown in the figure, the horizontal thin dashed line is the central axis of the steel pipe. If the swing angle of the upper swing rod 41 is greater than that of the lower swing rod 42, the lifting detection block 432 moves obliquely upward. Among them, in the horizontal direction, the displacement is offset by the horizontal sliding of the lifting detection block 432 relative to the annular slide rail 14. The lifting detection block 432 feeds back the upward displacement (the distance of this upward movement is the offset of the central axis of the steel pipe), the upper pressure detector 433 is compressed, and the hydraulic push rod 47 pushes the annular slide rail 14 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, and the signals of both the upper pressure detector 433 and the lower pressure detector 434 are zero, and the hydraulic push rod 47 stops operating; conversely, similarly, as Figure 8 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 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, and the signals of both the upper pressure detector 433 and the lower pressure detector 434 are zero, and the hydraulic push rod 47 stops operating.

[0062] The present invention uses pure mechanical contact detection + pressure feedback, which is not affected by workshop dust, oil stains, and electromagnetic interference. Its reliability is higher than that of laser / vision sensors, and it eliminates high-precision optical sensors, reducing costs. The crank drive structure 431, the upper pressure detector 433, and the lower pressure detector 434 are all standardized electromechanical components. The mechanical detection component has no precision electronic components, and only lubrication and torsion spring tension calibration are required in daily use, and the maintenance period is extended to at least twice the original.

[0063] Combined with Figure 3 and Figure 4 shown, specifically, the crank drive structure 431 has two groups symmetrically arranged on both sides of the annular slide rail 14. Each side of the crank drive structure 431 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 mutually attached and vertically slidably installed on the frame 11; a horizontal first coupling groove 4411 and a downwardly inclined first transmission groove 4412 with an inclination angle of 30° - 45° are provided on the upper sliding member 441; 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 symmetric about the horizontal reference plane S2 and form an eight-shaped meshing channel; a guide post 443 is horizontally inserted into the eight-shaped meshing channel, and the central axis of the guide post 443 intersects the central axis of the annular slide rail 14, and the guide post 443 is fixedly connected to the side wall of the lifting detection block 432.

[0064] 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 in sliding fit with the corresponding first coupling groove 4411 through the 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 in sliding fit with the corresponding second coupling groove 4421 through the second sliding column 4314.

[0065] In the vertical reference plane S1, the circular motion trajectory of the center of the first sliding column 4312 is on the same circle as the motion trajectory of the free end of the upper swing rod 41, and the circular motion trajectory of the center of the second sliding column 4314 is on the same circle as the motion trajectory of the free end of the lower swing rod 42.

[0066] Based on the above design, in this solution, through the upper sliding member 441, the lower sliding member 442, the first crank 4311 and the second crank 4313, the rotational motion of the upper swing rod 41 and the lower swing rod 42 is converted into the oblique displacement of the lifting detection block 432, realizing the precise detection of the height deviation of the steel pipe axis and the lifting adjustment of the annular slide rail 14. The specific working principle is as follows:

[0067] When the steel pipe enters the welding station, it pushes the upper swing rod 41 to deflect counterclockwise and the lower swing rod 42 to deflect clockwise, forming 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. The first sliding column 4312 and the second sliding column 4314 perform circular motion, and 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, causing the upper sliding member 441 and the lower sliding member 442 to move upward and downward. The upper sliding member 441 and the lower sliding member 442 move along 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 post 443 slides in the eight-shaped meshing channel.

[0068] When the moving distances of the upper sliding member 441 and the lower sliding member 442 are equal, the guide post 443 only moves horizontally, and the lifting detection block 432 slides horizontally to offset the displacement. When the moving distances of the upper sliding member 441 and the lower sliding member 442 are not equal, the guide post 443 moves obliquely, causing the lifting detection block 432 to generate a vertical displacement ΔH.

[0069] 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.

[0070] 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.

[0071] In the present invention, the horizontal and vertical displacement components are separated by an eight-shaped meshing channel. 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 without external force to prevent the annular slide rail 14 from drifting.

[0072] In this embodiment, both the upper pressure detector 433 and the lower pressure detector 434 are 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 deforms due to the contact pressure, generating a charge signal proportional to the pressure. 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.

[0073] If the voltage of the upper pressure detector 433 > 0.5 V → it is determined that ΔH > 0 (the axis of the steel pipe is on the high side), the annular slide rail 14 needs to be raised.

[0074] If the voltage of the lower pressure detector 434 > 0.5 V → it is determined that ΔH < 0 (the axis of the steel pipe is on the low side), the annular slide rail 14 needs to be lowered. The closed-loop control module (such as a 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 is internally provided with a magnetostrictive displacement sensor to provide real-time position feedback, realizing position-pressure double closed-loop control.

[0075] In this embodiment, the sliding pair includes transverse sliding grooves 141 provided on both sides of the annular slide rail 14, and sliding blocks 142 slidably fitted in the transverse sliding grooves 141. A receiving groove 1421 is formed on the sliding block 142, and the lifting detection block 432 is installed in the receiving groove 1421.

[0076] In this embodiment, 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 includes an upper swing block fixed to the upper swing shaft 411 and an upper limit block fixed to the frame 11. Under normal conditions, the clockwise swing of the upper swing shaft 411 is restricted; the lower limit swing assembly 46 includes a lower swing block fixed to the lower swing shaft 421 and a lower limit block fixed to the frame 11. Under normal conditions, the counterclockwise swing of the lower swing shaft 421 is restricted.

[0077] As Figure 9As shown, in this embodiment, nylon rollers and cemented carbide contacts are respectively provided at the contact ends of the upper swing rod 41 and the lower swing rod 42. The nylon rollers can rotate freely around the axis, the contact surface of the cemented carbide contacts is an arc surface, and the surface roughness Ra ≤ 0.8μm. This can extend the service life of the upper swing rod 41 and the lower swing rod 42 and avoid precision deviation caused by wear.

[0078] As Figure 5 As shown, in this embodiment, the welding assembly 12 includes a rotating ring 121, a connecting sheet metal 122, a welding torch adjusting component 123 and a welding torch 124; the rotating ring 121 is rotationally 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 torch adjusting 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 slidably arranged on the sliding base plate 1231 along the radial direction of the annular slide rail 14, the fine adjustment screw 1233 is in threaded cooperation 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 torch 124 is fixed on the fine adjustment block 1232 and is integrated with an infrared distance measuring sensor.

[0079] The infrared distance measuring sensor (such as Keyence IL-065) monitors the distance between the welding torch 124 and the surface of the steel pipe in real time, feeds back the signal to the PLC, and drives the fine adjustment servo motor to adjust the radial position of the welding torch 124 to compensate for thermal deformation or assembly error.

[0080] As Figure 1 As shown, in this embodiment, rotating roller groups are inclinedly arranged on both sides of the V-shaped positioning and conveying groove 211. The rotating roller groups include a plurality of rollers 212 arranged in parallel, and the surfaces of the rollers 212 are coated with a polyurethane layer; a dynamic pressing module (not shown) is further arranged above the V-shaped positioning and conveying groove 211. The dynamic pressing module can adopt a dynamic pressing mechanism in conventional technologies. For example, the dynamic pressing module can include a pressing roller group that can be vertically lifted and lowered, an electric push rod that drives the pressing roller group to lift and lower, and a servo motor that drives the pressing roller group to rotate to convey the steel pipe. This design realizes the efficient, non-damaging conveying and precise positioning of the steel pipe in the V-shaped positioning and conveying groove 211 through the flexible conveying of the rotating roller groups and the active control of the dynamic pressing module, and is especially suitable for continuous automated production lines of large-sized and long pipes.

[0081] In this embodiment, it further includes an intelligent control module, which integrates: a data acquisition unit for obtaining 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 pressing drive module through the PID algorithm; and a human-computer interaction unit for setting the steel pipe parameters and displaying the welding process status.

[0082] This intelligent control module realizes the full-process automation and intelligent management of the welding device through multi-source data fusion, adaptive PID control, and human-machine collaborative interaction.

[0083] The above is only a preferred specific implementation of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes should be covered within the protection scope of the present invention.

Claims

1. A welding device for construction engineering, characterized in that, It includes 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 circumferential seam welding mechanism (1) includes a frame (11), an annular slide rail (14) vertically slidably assembled on the frame (11), and a welding assembly (12) capable of rotating around the central axis of the annular slide rail (14) to complete circumferential seam welding; wherein, 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); The first clamping and conveying mechanism (2) and the second clamping and conveying mechanism (3) have the same structure, and both include 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 further includes a centering mechanism (4) arranged between the first clamping and conveying mechanism (2) and the circumferential seam welding mechanism (1). The centering mechanism (4) includes a mechanical detection component for detecting the deviation direction and deviation amount of the central axis of the steel pipe relative to the horizontal reference plane (S2), and a hydraulic push rod (47) that drives the annular slide rail (14) to lift or lower according to the detected deviation direction and deviation amount of the mechanical detection component to make the axis of the steel pipe coaxial with the axis of the annular slide rail (14); 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 rotatably assembled on the frame (11) with the horizontal reference plane (S2) as the symmetry plane. Among them, the upper swing rod (41) is rotatably installed on the frame (11) through an upper swing shaft (411), the lower swing rod (42) is rotatably installed 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 a torsion spring; The linkage component includes a crank transmission structure (431) and a lifting detection block (432); the crank transmission structure (431) couples the rotations 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 upper and lower pressure detectors (433) and (434) are respectively arranged 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 lift or lower according to the pressure signals of the upper pressure detector (433) and the lower pressure detector (434), so that the detected values of the upper pressure detector (433) and the lower pressure detector (434) are kept zero, realizing the coaxiality of 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, wherein, The crank transmission structure (431) has two groups symmetrically arranged on both sides of the annular slide rail (14). Each side of the crank transmission structure (431) includes an upper sliding part (441), a lower sliding part (442), a first crank (4311) and a second crank (4313); The upper sliding member (441) and the lower sliding member (442) are vertically slidably mounted on the frame (11) in a mutually attached manner; a horizontal first coupling groove (4411) and a downwardly inclined first transmission groove (4412) with an inclination angle of 30° - 45° are formed on the upper sliding member (441); a horizontal second coupling groove (4421) and an upwardly inclined second transmission groove (4422) are formed on the lower sliding member (442); the first transmission groove (4412) and the second transmission groove (4422) are symmetric about the horizontal reference plane (S2) and form an eight-shaped meshing channel; wherein, a guide post (443) is horizontally inserted into the eight-shaped meshing channel, and the central axis of the guide post (443) intersects with the central axis of the annular slide rail (14), and the guide post (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 matched with the corresponding first coupling groove (4411) through 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 matched with the corresponding second coupling groove (4421) through a second sliding column (4314). In the vertical reference plane (S1), the circular motion trajectory of the center of the first sliding column (4312) is on the same circle as the motion trajectory of the free end of the upper swing rod (41), and the circular motion trajectory of the center of the second sliding column (4314) is on the same circle as the motion trajectory of the free end of the lower swing rod (42).

3. The welding device for construction engineering according to claim 1, characterized in that, Both the upper pressure detector (433) and the lower pressure detector (434) are piezoelectric sensors, and the hydraulic push rod (47) is driven by a closed-loop control module.

4. The welding device for construction engineering according to claim 1, characterized in that, The sliding pair includes transverse sliding grooves (141) arranged on both sides of the annular slide rail (14), and sliding blocks (142) slidably fitted in the transverse sliding grooves (141). A receiving groove (1421) is formed on the sliding block (142), and the lifting detection block (432) is installed in the receiving groove (1421).

5. The welding device for construction engineering according to claim 1, 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) includes an upper swing block fixed to the upper swing shaft (411) and an upper limit block fixed to the frame (11). Under normal conditions, the clockwise swing of the upper swing shaft (411) is restricted; the lower limit swing assembly (46) includes a lower swing block fixed to the lower swing shaft (421) and a lower limit block fixed to the frame (11). Under normal conditions, the counterclockwise swing of the lower swing shaft (421) is restricted.

6. The welding device for construction engineering according to claim 1, characterized in that, Nylon rollers and cemented carbide contacts are respectively provided at the contact ends of the upper swing rod (41) and the lower swing rod (42). The nylon rollers can rotate freely around the axis, and the contact surface of the cemented carbide contact is an arc surface with a surface roughness Ra ≤ 0.8 μm.

7. The welding device for construction engineering according to claim 1, wherein The welding assembly (12) includes a rotating ring (121), a connecting sheet metal (122), a welding torch adjusting component (123) and a welding torch (124); the rotating ring (121) is rotationally 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 torch adjusting component (123) includes a sliding substrate (1231), a fine-tuning block (1232) and a fine-tuning screw (1233), the sliding substrate (1231) is fixed on the connecting sheet metal (122), the fine-tuning block (1232) is slidably arranged on the sliding substrate (1231) along the radial direction of the annular slide rail (14), the fine-tuning screw (1233) is in threaded cooperation with the fine-tuning block (1232), and one end of the fine-tuning screw (1233) is fixed with a fine-tuning servo motor; the welding torch (124) is fixed on the fine-tuning block (1232) and is integrated with an infrared distance measuring sensor.

8. The welding device for construction engineering according to claim 1, wherein, Rotating roller groups are inclinedly arranged on both sides of the V-shaped positioning and conveying groove (211), the rotating roller groups include a plurality of rollers (212) arranged in parallel, and the surfaces of the rollers (212) are coated with polyurethane layers; a dynamic pressing module is further arranged above the V-shaped positioning and conveying groove (211), and the dynamic pressing module includes a pressing roller group that can be vertically lifted and lowered, an electric push rod for driving the pressing roller group to lift and lower, and a servo motor for driving the pressing roller group to rotate to convey the steel pipe.

9. The welding device for construction engineering according to claim 8, characterized in that, It further includes an intelligent control module, which integrates: A data acquisition unit for real-time obtaining the pressure data of the upper pressure detector (433) and the lower pressure detector (434); A motion control unit for controlling the lifting displacement of the hydraulic push rod (47) and the conveying speed of the dynamic pressing drive module through a PID algorithm; A human-computer interaction unit for setting the steel pipe parameters and displaying the welding process status.

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