High-precision automatic welding robot

Abstract

The invention discloses a high-precision automatic welding robot, and relates to the technical field of welding processing, the high-precision automatic welding robot comprises a supporting device and a welding device, the supporting device is provided with a fixing device I for externally clamping a three-way pipe to be processed, and the left part, the right part and the front part of the bottom wall of an upper pressing table are fixedly connected with U-shaped supporting frames; the U-shaped supporting frames are each provided with a second fixing device for conducting inner supporting on the three-way pipe to be machined, and the supporting devices and the U-shaped supporting frames are jointly provided with a butt joint device and a welding device. Through cooperation of the first fixing device and the second fixing device, the to-be-machined three-way pipe is fully limited, the stability is guaranteed, and machining deformation is prevented; the butt joint device is matched with the welding device, so that the feeding efficiency of the to-be-machined flange is improved, and butt joint is stable and accurate; and the cooling mechanism and the inner supporting piece are matched to cool the welding seam area and the inner supporting area correspondingly, and the cooling efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of welding processing, and in particular to a high-precision automatic welding robot. Background Art

[0002] Pipe fittings are widely used in petrochemical, electric power, food and beverage industries, especially when it is necessary to change the direction of the fluid or distribute the fluid. Pipe fittings are divided into elbows, tees, crosses, etc. according to their functions and shapes. The tee is in the shape of a "T". In order to facilitate installation, disassembly and maintenance and ensure the sealing and strength of the connection, flanges need to be welded to the three ports of the tee.

[0003] At present, in the process of high-precision welding flange of tee pipe, usually a support frame or a clamp is used to fix the non-welding position of the tee pipe from the outside. When welding each port, the flange is loaded and fixed for high-precision automatic welding in turn. During welding, it is necessary to ensure that the interface is stably aligned. After welding is completed, the weld is allowed to cool naturally to room temperature. However, for large tee pipes, a single support direction and support tool are difficult to ensure that the pipe fittings remain horizontal and stable during the welding process. Secondly, the multiple ports of the tee pipe are processed in sequence, and the efficiency of loading the processed flange pipes one by one and then welding is not high, and the movement stability and accuracy of the loading and docking need to be improved. Furthermore, for large tee pipes, due to the long weld, the heat accumulation generated by continuous welding will easily lead to welding deformation, and the cooling speed is slow after welding is completed.

[0004] Therefore, in order to improve the stability of the welding process and prevent welding deformation, the present invention provides a high-precision automatic welding robot. Summary of the invention

[0005] The purpose of the present invention is to solve the problems existing in the prior art and to propose a high-precision automatic welding robot.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a high-precision automatic welding robot, comprising a supporting device and a welding device, the supporting device comprising a lower base, and the top wall of the lower base is installed with a plurality of hydraulic rods 1 distributed in a matrix shape, the top walls of the output ends of the plurality of hydraulic rods 1 are commonly fixedly connected to an upper press platform, and a protrusion is arranged in the middle of the bottom wall of the upper press platform; the supporting device is provided with a fixing device 1 for externally clamping the tee to be processed, the left, right and front parts of the bottom wall of the upper press platform are all fixedly connected with a U-shaped supporting frame, and the U-shaped supporting frame is provided with a fixing device 2 for internally supporting the tee to be processed, and the supporting device and the U-shaped supporting frame are jointly provided with a docking device and a welding device; the welding device comprises a driving mechanism 3, and the upper press platform is provided with a driving mechanism 3 for assisting in surrounding welding of the port of the tee to be processed, the driving mechanism 3 is provided with a welding head, and the driving mechanism 3 and the fixing device 2 are jointly provided with a cooling mechanism for cooling the weld seam and the inner wall of the tee after welding.

[0007] In the above-mentioned high-precision automatic welding robot, the fixing device 1 includes a driving mechanism 1 and an external clamping mechanism, and the driving mechanism 1 includes a tooth plate 1, the rear portion of the bottom wall of the upper press platform is fixedly connected with the tooth plate 1, and the front portion of the bottom wall of the upper press platform is symmetrically fixed with a tooth plate 2, the tooth plate 1 and the tooth plate 2 are slidably connected to the inner wall of the lower base up and down, the front side wall of the tooth plate 1 and the rear side walls of the two tooth plates 2 are respectively meshed and connected with the corresponding gear 1, and the gear 1 is rotatably connected to the inner wall of the lower base.

[0008] In the above-mentioned high-precision automatic welding robot, the external clamping mechanism includes a tooth plate three, the front side wall of the gear one on the rear side is meshedly connected with the tooth plate three, the rear side wall of the gear one on the front side is meshedly connected with the tooth plate four, and the rear side wall of the tooth plate four is fixed with a clamping part two that is slidably connected to the inner wall of the lower base up and down, and the front side wall of the tooth plate three is fixed with a clamping part one that is slidably connected to the inner wall of the lower base up and down.

[0009] In the above-mentioned high-precision automatic welding robot, the top walls of clamping part 1 and two clamping parts 2 are fixedly connected with positioning columns, and multiple positioning columns are engaged with the bottom wall of the upper pressure platform protrusion, and the side walls of clamping part 1, two clamping parts 2 and the protrusion of the upper pressure platform close to the three-way pipe to be processed are installed with rubber pads.

[0010] In the above-mentioned high-precision automatic welding robot, the second fixing device includes a U-shaped telescopic frame, and the outer wall of the U-shaped support frame on the side away from the three-way pipe to be processed is slidably connected to the U-shaped telescopic frame through an electric slider, the middle part of the U-shaped telescopic frame is fixedly connected to a hollow fixed table, and the inner wall of the hollow fixed table is slidably connected to the direction of the three-way pipe to be processed with an adjusting column, the outer wall of the adjusting column is hinged with a plurality of inner support members along the circumferential direction, the plurality of inner support members are hinged to the side wall of the hollow fixed table, and the outer wall of the inner support member on the side away from the hollow fixed table is fixed with a frosted convex strip.

[0011] In the above-mentioned high-precision automatic welding robot, the docking device includes a driving mechanism 2 and a feeding assembly, and the driving mechanism 2 includes a hydraulic rod 2, the bottom wall of the upper press table is slidably connected to a vertical plate in the direction of the three-way pipe to be processed, and a hydraulic rod 2 is installed on the side of the vertical plate close to the three-way pipe to be processed, a cross piece is fixed to the output end of the hydraulic rod 2, and the upper and lower branches of the cross piece are jointly fixed with an annular clamp, and the annular clamp is composed of an annular piece connected to the cross piece and three clamping plates fixed along the circumferential direction away from the side wall of the cross piece.

[0012] In the above-mentioned high-precision automatic welding robot, a balance column is symmetrically fixed to the side wall of the U-shaped telescopic frame away from the U-shaped support frame, and the two branches of the cross piece that are not connected to the annular clamp are slidably connected to the side walls of the balance column, and a spring rod that slides through the middle of the U-shaped telescopic frame is fixed to the middle of the cross piece.

[0013] In the above-mentioned high-precision automatic welding robot, the loading component includes a baffle bar 1, and the two vertical sections of the U-shaped support frame are fixedly provided with baffle bar 1 on the side close to each other, and the two vertical sections of the U-shaped support frame are slidingly connected with baffle bar 2 on the side close to each other through a spring, and baffle bar 1 and baffle bar 2 are distributed correspondingly, and the bottom wall of baffle bar 2 is fixedly connected with wedge block 1 through a rod, and the side wall of wedge block 1 close to the cross piece is inclined, and the side wall of the U-shaped support frame close to the cross piece is slidingly connected with an adjusting rod through a spring, the adjusting rod is an elastic and retractable structure, and the side wall of the adjusting rod away from the cross piece is fixedly connected with wedge block 2, and the side walls of wedge block 2 close to the two wedge blocks 1 are inclined.

[0014] In the above-mentioned high-precision automatic welding robot, the driving mechanism three includes gear two, and the U-shaped support frame is rotatably connected to the side wall of the three-way pipe to be processed, and the top walls of the three gears two are respectively meshed with gear three rotatably connected to the front side wall, left wall and right side wall of the upper press platform protrusion, and a double-headed motor is installed inside the upper press platform, and the two output ends of the double-headed motor are respectively connected to the gear three on the left side wall and right side wall of the upper press platform protrusion, and one of the gears three is coaxially connected with a No. 2 bevel gear, and the side wall of the No. 2 bevel gear is meshed and connected to the No. 1 bevel gear, and the No. 1 bevel gear is coaxially connected to the gear three on the front side wall of the upper press platform protrusion.

[0015] In the above-mentioned high-precision automatic welding robot, the welding head is installed on the inner wall of gear two, the cooling mechanism includes an air pump one, and the inner wall of gear two is installed with air pump one staggered with the welding head, the air outlet end of the air pump one is connected with a blowing head one, the end of the adjusting column close to the three-way pipe to be processed is installed with air pump two, and the air outlet end of the air pump two is connected with a plurality of telescopic air outlet pipes along the circumferential direction, and a plurality of transverse through holes are opened inside the inner support member, and the telescopic air outlet pipe is connected to one end of the through hole.

[0016] Compared with the existing technology, the advantages of the present invention are: 1. Through the cooperation of the fixing device 1 and the fixing device 2, the three-way pipe to be processed is fully limited to ensure stability and prevent processing deformation; the clamping member 1, the clamping member 2 and the upper pressure platform form a clamping stable state for multiple directions of the three-way pipe to be processed; the three-way pipe to be processed is lifted away from the top wall of the lower base, which is convenient for subsequent circumferential welding of the three ports of the three-way pipe to be processed; multiple internal support members move in the circumferential direction to be close to the inner wall of the port of the three-way pipe to be processed, and the multiple internal support members play an internal support role on the inner wall of the port of the three-way pipe to be processed, preventing the port area of ​​the three-way pipe adjacent to the weld from being deformed during subsequent welding operations.

[0017] 2. Through the coordination of the docking device and the welding device, the feeding efficiency of the flange to be processed is improved, the docking is stable and accurate, and the welding is carried out in sections around the flange; the first and second baffles and the U-shaped support frame limit the flange to be processed, which is convenient for subsequent accurate docking; the annular clamp simultaneously pushes multiple flanges to be processed to move together until they are tightly docked with the corresponding ports of the tee pipe to be processed, thereby improving the processing efficiency; the cross piece is convenient for maintaining the balance of the annular clamp during movement, which helps to improve the movement stability and docking accuracy of the flange pipe to be processed; the second gear drives the welding head to perform the surrounding section welding operation, gradually completing the entire circumferential welding and reducing welding stress.

[0018] 3. Through the coordination of the cooling mechanism and the inner support, the weld area and the inner support area are cooled respectively to improve the cooling efficiency and prevent deformation; the air blowing head blows air to the area where the welding head has been welded to accelerate the cooling of the weld, and the telescopic air outlet pipe blows air into the through hole of the inner support to accelerate the air flow in the through hole of the inner support, and at the same time accelerates the cooling of the three-way pipe port to reduce deformation and prevent cracks in the weld and heat-affected area. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings, wherein: Figure 1 This is a schematic diagram of the overall structure of a high-precision automatic welding robot proposed by the present invention.

[0020] Figure 2This is a partial structural schematic diagram of a high-precision automatic welding robot proposed by the present invention.

[0021] Figure 3 This is a partial schematic diagram of a fixing device 1 of a high-precision automatic welding robot proposed by the present invention.

[0022] Figure 4 This is another partial structural schematic diagram of a fixing device of a high-precision automatic welding robot proposed by the present invention.

[0023] Figure 5 This is a left side schematic diagram of a driving mechanism 1 and an external clamping mechanism of a high-precision automatic welding robot proposed by the present invention.

[0024] Figure 6 This is a structural schematic diagram of a fixing device 2, a docking device and a welding device of a high-precision automatic welding robot proposed by the present invention.

[0025] Figure 7 This is a schematic structural diagram of a fixing device 2 of a high-precision automatic welding robot proposed by the present invention.

[0026] Figure 8 This is a partial structural schematic diagram of a docking device for a high-precision automatic welding robot proposed by the present invention.

[0027] Fig. 9 This is another partial structural schematic diagram of a docking device for a high-precision automatic welding robot proposed by the present invention.

[0028] Fig.10 The schematic diagram of the top view of a part of the feeding assembly of a high-precision automatic welding robot proposed by the present invention.

[0029] Fig.11 This is a schematic diagram of the three structures of the driving mechanism of a high-precision automatic welding robot proposed in the present invention.

[0030] Fig.12 This is a diagram of the process changes before and after the tee pipe and flange welding.

[0031] In the figure: 1, supporting device; 11, lower base; 12, hydraulic rod 1; 13, upper pressing table; 2, fixing device 1; 21, driving mechanism 1; 211, tooth plate 1; 212, tooth plate 2; 213, gear 1; 22, outer clamping mechanism; 221, tooth plate 3; 222, tooth plate 4; 223, clamping piece 1; 224, clamping piece 2; 225, positioning column; 3, U-shaped supporting frame; 4, fixing device 2; 41, U-shaped telescopic frame; 42, hollow fixing table; 43, adjusting column; 44, inner supporting piece; 45, frosted convex strip; 5, docking device; 51, driving mechanism 2; 51 1. Hydraulic rod 2; 512. Cross piece; 513. Balance column; 514. Ring clamp; 515. Spring rod; 52. Feeding assembly; 521. Baffle bar 1; 522. Baffle bar 2; 523. Wedge block 1; 524. Wedge block 2; 525. Adjustment rod; 6. Welding device; 61. Driving mechanism 3; 611. Gear 2; 612. Gear 3; 613. Bevel gear No. 1; 614. Double-head motor; 615. Bevel gear No. 2; 62. Welding head; 63. Cooling mechanism; 631. Air pump 1; 632. Blowing head 1; 633. Air pump 2; 634. Telescopic air outlet pipe. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Reference Figure 1 and Figure 2 A high-precision automatic welding robot comprises a supporting device 1 and a welding device 6, wherein the supporting device 1 comprises a lower base 11, and a plurality of hydraulic rods 12 distributed in a matrix are installed on the top wall of the lower base 11, and an upper pressing platform 13 is fixedly connected to the top walls of the output ends of the plurality of hydraulic rods 12, and a protrusion is arranged in the middle of the bottom wall of the upper pressing platform 13; a fixing device 2 for externally clamping a three-way pipe to be processed is arranged on the supporting device 1, and a U-shaped supporting frame 3 is fixedly connected to the left, right and front parts of the bottom wall of the upper pressing platform 13, and a fixing device 2 4 for internally supporting the three-way pipe to be processed is arranged on the U-shaped supporting frame 3, and a docking device 5 and a welding device 6 are arranged on the supporting device 1 and the U-shaped supporting frame 3.

[0034] Place the tee to be processed on the middle of the top wall of the lower base 11, with the three ports facing the left and right sides and the front respectively, and place the flange to be processed on the docking device 5. The top wall of the output end of the hydraulic rod 12 moves downward to drive the upper press table 13 to move downward, and the U-shaped support frame 3 supports the fixing device 2 4, the docking device 5 and the welding device 6. The upper press table 13 drives the U-shaped support frame 3, the fixing device 2 4, the docking device 5 and the welding device 6 to move downward to the processing position as a whole. When the upper press table 13 moves downward, the fixing device 1 2 is adjusted to clamp the tee to be processed externally; the inner wall of the tee to be processed is supported and clamped by the fixing device 2 4, the tee to be processed and the flange to be processed are docked by the docking device 5, and the docking part of the tee to be processed and the flange is welded and cooled by the welding device 6.

[0035] Reference Figures 3 to 5 The fixing device 2 includes a driving mechanism 21 and an external clamping mechanism 22. The driving mechanism 21 includes a tooth plate 211. The rear part of the bottom wall of the upper pressing platform 13 is fixedly connected with a tooth plate 211. The front part of the bottom wall of the upper pressing platform 13 is symmetrically fixed with a tooth plate 212. The tooth plate 211 and the tooth plate 212 are slidably connected to the inner wall of the lower base 11 up and down. The front side wall of the tooth plate 211 and the rear side walls of the two tooth plates 212 are respectively meshed and connected with corresponding gears 213. The gear 213 is rotatably connected to the inner wall of the lower base 11.

[0036] Reference Figures 3 to 5 The outer clamping mechanism 22 includes a tooth plate three 221, and the front side wall of the rear gear 1 213 is meshedly connected with the tooth plate three 221, and the rear side walls of the front gear 1 213 are meshedly connected with the tooth plate four 222, and the rear side walls of the tooth plate four 222 are fixed with a clamping piece 224 that is slidably connected to the inner wall of the lower base 11 up and down, and the front side wall of the tooth plate three 221 is fixed with a clamping piece 1 223 that is slidably connected to the inner wall of the lower base 11 up and down, and the top walls of the clamping piece 1 223 and the two clamping pieces 224 are fixedly connected with positioning columns 225, and multiple positioning columns 225 are engaged with the bottom wall of the protrusion of the upper press platform 13, and the side walls of the clamping piece 1 223, the two clamping pieces 224 and the protrusion of the upper press platform 13 close to the three-way pipe to be processed are all installed with rubber pads (not shown in the figure).

[0037] The hydraulic rod 12 drives the upper press table 13 to move downward, and then drives the tooth plate 1 211 and the tooth plate 212 to move downward. When the tooth plate 1 211 and the tooth plate 4 222 slide downward inside the lower base 11, the gear 1 213 is driven to rotate inside the lower base 11, and then drives the tooth plate 3 221 and the tooth plate 4 222 to slide upward. The clamping piece 1 223 and the clamping piece 224 slide from bottom to top inside the lower base 11 accordingly, and the clamping piece 1 223 and the clamping piece 224 approach the upper press table 13 until the positioning column 225 is engaged with the upper press table 13; During the upward movement, the holding piece 223 and the clamping piece 224 push the three-way pipe to be processed upward and lift the three-way pipe to be processed away from the top wall of the lower base 11, so as to facilitate the subsequent circumferential welding of the three ports of the three-way pipe to be processed; the clamping piece 223, the clamping piece 224 and the upper press platform 13 form a stable clamping state in multiple directions for the three-way pipe to be processed, and the clamping piece 223, the clamping piece 224 and the upper press platform 13 are all provided with rubber pads near the side walls of the three-way pipe to be processed, so as to reduce the wear on the three-way pipe fittings and increase the friction to improve the stability.

[0038] Reference Figure 6 to Figure 7 The fixing device 2 4 includes a U-shaped telescopic frame 41. The outer wall of the U-shaped support frame 3 on the side away from the tee pipe to be processed is slidably connected to the U-shaped telescopic frame 41 through an electric slider. A hollow fixed platform 42 is fixedly connected to the middle of the U-shaped telescopic frame 41. An adjusting column 43 is slidably connected to the inner wall of the hollow fixed platform 42 in the direction of the tee pipe to be processed. The outer wall of the adjusting column 43 is hinged with multiple inner support members 44 along the circumferential direction. The multiple inner support members 44 are hinged to the side wall of the hollow fixed platform 42. A frosted convex strip 45 is fixed to the outer wall of the inner support member 44 on the side away from the hollow fixed platform 42.

[0039] Reference Figure 1 , Figures 6 to 9 The docking device 5 includes a driving mechanism 2 51 and a feeding assembly 52. ​​The driving mechanism 2 51 includes a hydraulic rod 2 511. The bottom wall of the upper press table 13 is slidably connected to a vertical plate in the direction of the three-way pipe to be processed. A hydraulic rod 2 511 is installed on the side of the vertical plate close to the three-way pipe to be processed. A cross piece 512 is fixed to the output end of the hydraulic rod 2 511. The upper and lower branches of the cross piece 512 are jointly fixed with an annular clamp 514. The annular clamp 514 consists of an annular piece connected to the cross piece 512 and three clamping pieces fixed along the circumferential direction of the annular piece away from the side wall of the cross piece 512; a balancing column 513 is symmetrically fixed to the side wall of the U-shaped telescopic frame 41 away from the U-shaped support frame 3. The two branches of the cross piece 512 that are not connected to the annular clamp 514 are slidably connected to the side wall of the balancing column 513. A spring rod 515 that slides through the middle of the U-shaped telescopic frame 41 is fixed to the middle of the cross piece 512.

[0040] Reference Figures 8 to 10The feeding assembly 52 includes a baffle 521, and the two vertical sections of the U-shaped support frame 3 are fixedly provided with a baffle 521 on one side close to each other. The two vertical sections of the U-shaped support frame 3 are slidably connected with a baffle 522 on one side close to each other through a spring (not shown in the figure). The baffle 521 and the baffle 522 are correspondingly distributed. The bottom wall of the baffle 522 is fixedly connected with a wedge 523 through a rod. The side wall of the wedge 523 close to the cross piece 512 is inclined. The side wall of the U-shaped support frame 3 close to the cross piece 512 is slidably connected with an adjusting rod 525 through a spring (not shown in the figure). The adjusting rod 525 is an elastic and retractable structure. The side wall of the adjusting rod 525 away from the cross piece 512 is fixedly connected with a wedge 524, and the side walls of the wedge 524 close to the two wedges 523 are inclined.

[0041] Before processing, the three flanges to be processed are placed from top to bottom between the baffle 1 521 and the baffle 2 522 on the corresponding three U-shaped support frames 3, and the flanges to be processed are limited by the baffle 1 521, the baffle 2 522 and the U-shaped support frame 3 to facilitate subsequent accurate docking; the U-shaped support frame 3 moves downward to drive the fixing device 2 4, the docking device 5 and the welding device 6 to move to the three ports of the tee to be added, and the three flanges and the tee are welded together at the same time, and the welding processing efficiency is relatively high.

[0042] The U-shaped telescopic frame 41 is driven to slide by the electric slider, driving the hollow fixed platform 42, the adjustment column 43 and the inner support 44 to gradually approach the three-way pipe to be processed, moving from the side away from the flange to be processed to the middle of the flange to be processed, and then entering the port of the three-way pipe to be processed.

[0043] The output end of the hydraulic rod 511 pushes the spring rod 515 to move on the inner wall of the hollow fixed platform 42 toward the adjusting column 43, and pushes the adjusting column 43 to slide on the inner wall of the hollow fixed platform 42. The hinge adapts and the multiple inner support members 44 move outward synchronously until the inner support members 44 and the frosted convex strips 45 are in close contact with the inner wall of the port of the tee pipe to be processed. The multiple inner support members 44 play an internal supporting role on the inner wall of the port of the tee pipe to be processed, so as to prevent the port area of ​​the tee pipe adjacent to the weld from being deformed under the action of stress during subsequent welding operations.

[0044] When the inner support member 44 is in close contact with the inner wall of the tee pipe, the output end of the hydraulic rod 2 511 continues to push the cross member 512 to move, and the cross member 512 pushes the adjusting rod 525 to slide into the inside of the U-shaped support frame 3, and the spring connected between the adjusting rod 525 and the U-shaped support frame 3 is stretched, and the spring rod 515 contracts, and the adjusting rod 525 drives the wedge block 2 524 to move close to the wedge block 1 523, and the inclined surface of the wedge block 2 524 contacts the inclined surface of the wedge block 1 523, pushing the two wedge blocks 1 523 to move in opposite directions, and the spring connected between the wedge block 1 523 and the U-shaped support frame 3 is stretched, and the wedge block 1 523 pushes the baffle bar 2 522 to slide into the inside of the U-shaped support frame 3 through the rod, so as to facilitate the discharge of the flange to be processed and the docking with the tee pipe to be processed.

[0045] When the second retaining bar 522 makes way for the discharge position of the flange to be processed, the second hydraulic rod 511 drives the circular ring of the annular clamp 514 to move to close to the side wall of the non-welded end of the flange to be processed. During this process, the adjusting rod 525 contracts, and the clamping piece of the annular clamp 514 is engaged with the side wall of the non-welded end of the flange to be processed. The annular clamp 514 continues to push the flange to be processed until it is tightly docked with the corresponding port of the three-way pipe to be processed, but the flange does not leave the U-shaped support frame 3. When moving, the cross piece 512 slides along the outer wall of the balance column 513, which is convenient for maintaining the balance of the annular clamp 514 when moving, and helps to improve the stability when pushing the flange pipe to be processed and the accuracy of docking.

[0046] Reference Figure 1 , Figure 6 and Figure 7 The welding device 6 includes a driving mechanism 3 61. The upper pressing platform 13 is provided with a driving mechanism 3 61 for assisting in the surrounding welding of the three-way pipe port to be processed. The driving mechanism 3 61 is provided with a welding head 62. The driving mechanism 3 61 and the fixing device 2 4 are jointly provided with a cooling mechanism 63 for cooling the weld seam and the inner wall of the three-way pipe.

[0047] Reference Fig. 9 and Fig.11 The driving mechanism three 61 includes a gear two 611. The side wall of the U-shaped support frame 3 close to the three-way pipe to be processed is rotatably connected with the gear two 611. The top walls of the three gear twos 611 are respectively meshed with gear threes 612 rotatably connected to the front side wall, left side wall and right side wall of the upper press platform 13 protrusion. A double-headed motor 614 is installed inside the upper press platform 13. The two output ends of the double-headed motor 614 are respectively connected to the gear threes 612 on the left side wall and the right side wall of the protrusion of the upper press platform 13. One of the gear threes 612 is coaxially connected with a second bevel gear 615. The side wall of the second bevel gear 615 is meshed with a first bevel gear 613. The first bevel gear 613 is coaxially connected to the gear three 612 on the front side wall of the protrusion of the upper press platform 13.

[0048] Reference Figure 6 , Figure 7 , Fig. 9 and Fig.12 The welding head 62 is installed on the inner wall of the gear 2 611, the cooling mechanism 63 includes an air pump 1 631, the inner wall of the gear 2 611 is installed with air pump 1 631 staggered with the welding head 62, the air outlet end of the air pump 1 631 is connected with a blowing head 1 632, the adjusting column 43 is installed with an air pump 2 633 at one end close to the three-way pipe to be processed, the air outlet end of the air pump 2 633 is connected with a plurality of telescopic air outlet pipes 634 along the circumferential direction, and a plurality of transverse through holes are opened inside the inner support 44, and the telescopic air outlet pipe 634 is connected to one end of the through hole.

[0049] When the flange pipe to be processed and the flange to be processed are connected, the two output ends of the double-headed motor 614 rotate to drive the gear three 612 on the left and right sides to rotate, and at the same time, the second bevel gear 615 drives the first bevel gear 613 and the front gear three 612 to rotate, and multiple gear threes 612 drive the corresponding gear two 611 to rotate, and the welding head 62 then performs a circumferential welding operation. After the welding head 62 welds a small section each time, the gear two 611 stops rotating, waits for cooling, and then welds the next section. The segmented welding method is used to gradually complete the entire circumferential welding to reduce welding stress.

[0050] Air pump 1 631 is started, and blowing head 1 632 blows air toward the area welded by welding head 62 to accelerate the cooling of the weld. At the same time, air pump 2 633 is started, and telescopic air outlet pipe 634 blows air into the through hole of inner support member 44. The gas is blown vertically from the through hole to the end of the three-way pipe to accelerate the cooling of the three-way pipe port to be processed, reduce deformation, and prevent cracks in the weld and heat-affected zone.

[0051] Reference Figure 1-Figure 12 The specific operation steps of the high-precision automatic welding robot are as follows: place the three-way pipe to be processed on the middle of the top wall of the lower base 11, with the three ports facing the left and right sides and the front side respectively, and place the three flanges to be processed from top to bottom between the baffles 1 521 and the baffles 2 522 on the corresponding three U-shaped support frames 3, and the hydraulic rod 12 drives the upper press table 13 to move downward, driving the clamping piece 1 223 and the clamping piece 2 224 to form a clamping stable state with the upper press table 13 for the three-way pipe to be processed; the U-shaped support frame 3 moves downward to drive the fixing device 2 4, the docking device 5 and the welding device 6 to move to the three ports of the three-way pipe to be processed, and the output end of the hydraulic rod 2 511 drives the multiple inner support members 44 to move in the circumferential direction, which plays an inner support role on the inner wall of the port of the three-way pipe to be processed.

[0052] The hydraulic rod 2 511 drives the annular clamp 514 to push the flange to be processed to move until it is tightly connected with the corresponding port of the tee pipe to be processed. The rotation of multiple gear three 612 drives the corresponding gear two 611 to rotate on the side wall of the U-shaped support frame 3, and drives the welding head 62 to perform a circumferential welding operation using a segmented welding method; the blowing head 1 632 blows air toward the area where the welding head 62 has been welded, and the telescopic air outlet pipe 634 blows air into the through hole of the inner support member 44 to accelerate cooling.

[0053] 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 high-precision automatic welding robot, comprising a supporting device and a welding device, characterized in that: The support device includes a lower base, and a plurality of hydraulic rods 1 distributed in a matrix are installed on the top wall of the lower base, the top walls of the output ends of the plurality of hydraulic rods 1 are commonly fixedly connected to an upper press platform, and a convex block is arranged in the middle of the bottom wall of the upper press platform; The support device is provided with a fixing device 1 for externally clamping the tee pipe to be processed, the left, right and front parts of the bottom wall of the upper press table are fixedly connected with U-shaped support frames, and the U-shaped support frames are provided with fixing devices 2 for internally supporting the tee pipe to be processed, and the support device and the U-shaped support frame are jointly provided with a docking device and a welding device; The welding device includes a driving mechanism three, and the upper pressing platform is provided with a driving mechanism three for assisting in segmented surrounding welding of the three-way pipe port to be processed, the driving mechanism three is provided with a welding head, and the driving mechanism three and the fixing device two are jointly provided with a cooling mechanism for cooling the welded weld and the inner wall of the three-way pipe.

2. A high-precision automatic welding robot according to claim 1, characterized in that: The fixing device 1 includes a driving mechanism 1 and an external clamping mechanism, and the driving mechanism 1 includes a tooth plate 1. The rear part of the bottom wall of the upper pressing platform is fixedly connected with the tooth plate 1, and the front part of the bottom wall of the upper pressing platform is symmetrically fixed with a tooth plate 2. The tooth plate 1 and the tooth plate 2 are slidably connected to the inner wall of the lower base up and down, and the front side wall of the tooth plate 1 and the rear side walls of the two tooth plates 2 are respectively meshed and connected with the corresponding gear 1, and the gear 1 is rotatably connected to the inner wall of the lower base.

3. A high-precision automatic welding robot according to claim 2, characterized in that: The external clamping mechanism includes a tooth plate three, the front side wall of the gear one on the rear side is meshedly connected with the tooth plate three, the rear side wall of the gear one on the front side is meshedly connected with the tooth plate four, and the rear side wall of the tooth plate four is fixed with a clamping member two that is slidably connected to the inner wall of the lower base up and down, and the front side wall of the tooth plate three is fixed with a clamping member one that is slidably connected to the inner wall of the lower base up and down.

4. A high-precision automatic welding robot according to claim 3, characterized in that: The top walls of the clamping piece 1 and the two clamping pieces 2 are fixedly connected with positioning columns, and the multiple positioning columns are snap-connected with the bottom wall of the upper press platform protrusion. The clamping piece 1, the two clamping pieces 2 and the protrusion of the upper press platform are all installed with rubber pads near the side walls of the three-way pipe to be processed.

5. The high-precision automatic welding robot according to claim 1, characterized in that: The second fixing device includes a U-shaped telescopic frame, and the outer wall of the U-shaped support frame on one side away from the three-way pipe to be processed is slidably connected to the U-shaped telescopic frame through an electric slider, the middle part of the U-shaped telescopic frame is fixedly connected to a hollow fixing platform, and the inner wall of the hollow fixing platform is slidably connected to an adjusting column in the direction of the three-way pipe to be processed, the outer wall of the adjusting column is hinged with multiple inner support members along the circumferential direction, the multiple inner support members are hinged to the side wall of the hollow fixing platform, and the outer wall of the inner support member on one side away from the hollow fixing platform is fixed with a frosted convex strip.

6. A high-precision automatic welding robot according to claim 5, characterized in that: The docking device includes a second driving mechanism and a feeding assembly, and the second driving mechanism includes a second hydraulic rod. The bottom wall of the upper press table is slidably connected to a vertical plate in the direction of the three-way pipe to be processed, and a second hydraulic rod is installed on the side of the vertical plate close to the three-way pipe to be processed. A cross piece is fixed to the output end of the second hydraulic rod, and the upper and lower branches of the cross piece are jointly fixed with an annular clamp, and the annular clamp consists of an annular piece connected to the cross piece and three clamping pieces fixed along the circumferential direction of the annular piece away from the side wall of the cross piece.

7. A high-precision automatic welding robot according to claim 6, characterized in that: The U-shaped telescopic frame is symmetrically fixed with a balance column on the side wall away from the U-shaped support frame, and the two branches of the cross piece not connected to the annular clamp are slidably connected to the side wall of the balance column. The middle part of the cross piece is fixed with a spring rod that slides through the middle part of the U-shaped telescopic frame.

8. The high-precision automatic welding robot according to claim 6, characterized in that: The feeding assembly includes a baffle bar 1, and a baffle bar 1 is fixedly provided on one side of the two vertical sections of the U-shaped support frame that are close to each other, and a baffle bar 2 is slidably connected to the other side of the two vertical sections of the U-shaped support frame through a spring, and the baffle bar 1 and the baffle bar 2 are distributed correspondingly, and the bottom wall of the baffle bar 2 is fixedly connected to a wedge block 1 through a rod, and the side wall of the wedge block 1 close to the cross piece is inclined, and the side wall of the U-shaped support frame close to the cross piece is slidably connected to an adjusting rod through a spring, the adjusting rod is an elastic and retractable structure, and the side wall of the adjusting rod away from the cross piece is fixedly connected to a wedge block 2, and the side walls of the wedge block 2 close to the two wedge blocks 1 are inclined.

9. The high-precision automatic welding robot according to claim 1, characterized in that: The driving mechanism three includes gear two, and the U-shaped support frame is rotatably connected to the side wall of the three-way pipe to be processed, and the top walls of the three gears two are respectively meshed with gear threes which are rotatably connected to the front side wall, left side wall and right side wall of the upper press platform protrusion, and a double-headed motor is installed inside the upper press platform, and the two output ends of the double-headed motor are respectively connected to gear threes on the left side wall and right side wall of the upper press platform protrusion, and one of the gears three is coaxially connected to a number two bevel gear, and the side wall of the number two bevel gear is meshed with a number one bevel gear, and the number one bevel gear is coaxially connected to gear three on the front side wall of the upper press platform protrusion.

10. A high-precision automatic welding robot according to claim 9, characterized in that: The welding head is installed on the inner wall of gear 2, the cooling mechanism includes an air pump 1, and the inner wall of gear 2 is installed with air pump 1 staggered with the welding head, the air outlet end of the air pump 1 is connected with a blowing head 1, the end of the adjusting column close to the three-way pipe to be processed is installed with air pump 2, and the air outlet end of the air pump 2 is connected with a plurality of telescopic air outlet pipes along the circumferential direction, and a plurality of transverse through holes are opened inside the inner support, and the telescopic air outlet pipe is connected to one end of the through hole.

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