A high-precision automatic welding robot

Abstract

The present invention discloses a high-precision automatic welding robot, which relates to the technical field of welding processing. It includes a support device and a welding device. A first fixing device for externally clamping the to-be-processed tee pipe is arranged on the support device. The left, right, and front parts of the bottom wall of the upper pressing table are fixedly connected with U-shaped support frames, and a second fixing device for internally supporting the to-be-processed tee pipe is arranged on each U-shaped support frame. A docking device and a welding device are jointly arranged on the support device and the U-shaped support frames. By the cooperation of the first fixing device and the second fixing device, the to-be-processed tee pipe is fully limited, ensuring stability and preventing processing deformation. By the cooperation of the docking device and the welding device, the feeding efficiency of the to-be-processed flange is improved, and the docking is stable and accurate. By the cooperation of the cooling mechanism and the internal support member, the weld area and the internal support area are respectively cooled, improving the cooling efficiency.

Description

Technical Field

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

[0002] Pipe fittings are widely used in industries such as petrochemical, power, food and beverage, etc. Especially in cases where the fluid direction needs to be changed or the fluid needs to be distributed, pipe fittings are classified into elbows, tees, crosses, etc. according to their functions and shapes. Among them, the tee pipe is in a "T" shape. In order to facilitate installation, disassembly and maintenance, and ensure the sealing performance and strength of the connection, flanges need to be welded to all three ports of the tee pipe.

[0003] Currently, during the high-precision welding of flanges to tee pipes, usually a support frame or fixture is first used to fix the non-welded position of the tee pipe from the outside. When welding each port, the flange is loaded and fixed, and then high-precision automatic welding is carried out in sequence. During welding, it is necessary to ensure that the interfaces are stably aligned. After welding, 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 welding. Secondly, the multiple ports of the tee pipe are processed in sequence. Loading the flange pipes to be processed one by one and then carrying out welding processing has low efficiency, and the moving stability and docking accuracy of the loading and docking need to be improved. Moreover, for large tee pipes, due to the long weld seam, the heat accumulation generated by continuous welding is likely to cause welding deformation, and the cooling speed after welding is slow.

[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] To achieve the above object, the present invention adopts the following technical solutions: A high-precision automatic welding robot includes a support device and a welding device. The support device includes a lower base, and the top wall of the lower base is provided with a plurality of hydraulic rods I distributed in a matrix. The top walls of the output ends of the plurality of hydraulic rods I are fixedly connected together to form an upper pressing platform, and a convex block is provided in the middle of the bottom wall of the upper pressing platform. A fixing device I for externally clamping the to-be-processed tee is provided on the support device. The left, right, and front parts of the bottom wall of the upper pressing platform are fixedly connected with U-shaped support frames, and fixing devices II for internally supporting the to-be-processed tee are provided on the U-shaped support frames. A docking device and a welding device are jointly provided on the support device and the U-shaped support frames. The welding device includes a driving mechanism III, and a driving mechanism III for assisting in circumferential welding of the ports of the to-be-processed tee is provided on the upper pressing platform. A welding head is provided on the driving mechanism III, and a cooling mechanism for cooling the welded weld and the inner wall of the tee is jointly provided on the driving mechanism III and the fixing device II.

[0007] In the above-mentioned high-precision automatic welding robot, the fixing device I includes a driving mechanism I and an external clamping mechanism. The driving mechanism I includes a toothed plate I. The toothed plate I is fixedly connected to the rear part of the bottom wall of the upper pressing platform, and toothed plates II are symmetrically fixed to the left and right of the front part of the bottom wall of the upper pressing platform. The toothed plate I and the toothed plates II are slidably connected up and down to the inner wall of the lower base. The front side wall of the toothed plate I and the rear side walls of the two toothed plates II are respectively meshed with corresponding gears I, and the gears I are 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 toothed plate III. The front side wall of the rear gear I is meshed with the toothed plate III. The rear side walls of the front gears I are both meshed with toothed plates IV, and clamping members II that are slidably connected up and down to the inner wall of the lower base are fixed to the rear side walls of the toothed plates IV. A clamping member I that is slidably connected up and down to the inner wall of the lower base is fixed to the front side wall of the toothed plate III.

[0009] In the above-mentioned high-precision automatic welding robot, positioning columns are fixedly connected to the top walls of the clamping member I and the two clamping members II. The plurality of positioning columns are snap-fitted to the bottom wall of the convex block of the upper pressing platform. Rubber pads are installed on the side walls of the clamping member I, the two clamping members II, and the convex block of the upper pressing platform close to the to-be-processed tee.

[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 one side of the U-shaped support frame away from the three-way pipe to be processed is slidably connected with a U-shaped telescopic frame through an electric slider. A hollow fixing platform is fixedly connected to the middle of the U-shaped telescopic frame, and an adjusting column is slidably connected to the inner wall of the hollow fixing platform in the direction of the three-way pipe to be processed. A plurality of inner support members are hinged to the outer wall of the adjusting column along the circumferential direction. The plurality of inner support members are hinged to the side wall of the hollow fixing platform, and a frosted convex strip is fixed to the outer wall of one side of the inner support member away from the hollow fixing platform.

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

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

[0013] In the above-mentioned high-precision automatic welding robot, the feeding component includes a first stop bar. The first stop bars are fixedly arranged on one side of the two vertical sections of the U-shaped support frame close to each other. The first stop bars are slidably connected to the two vertical sections of the U-shaped support frame close to each other through springs. The first stop bar and the second stop bar are correspondingly distributed. A first wedge block is fixedly connected to the bottom wall of the second stop bar through a rod. The side wall of the first wedge block close to the cross member is inclined. An adjusting rod is slidably connected to the side wall of the U-shaped support frame close to the cross member through a spring. The adjusting rod is an elastic telescopic structure, and a second wedge block is fixedly connected to the side wall of the adjusting rod away from the cross member. The side walls of the second wedge block close to the two first wedge blocks are both inclined.

[0014] In the above-mentioned high-precision automatic welding robot, the third driving mechanism includes a second gear. The second gear is rotatably connected to the side wall of the U-shaped support frame close to the three-way pipe to be processed. The top walls of the three second gears are respectively meshed with a third gear rotatably connected to the front side wall, the left side wall and the right side wall of the convex block of the upper pressing platform. A double-headed motor is installed inside the upper pressing platform. The two output ends of the double-headed motor are respectively connected to the third gears on the left side wall and the right side wall of the convex block of the upper pressing platform. A second bevel gear is coaxially connected to one of the third gears. The side wall of the second bevel gear is meshed with a first bevel gear, and the first bevel gear is coaxially connected to the third gear on the front side wall of the convex block of the upper pressing platform.

[0015] In the above-mentioned high-precision automatic welding robot, the welding head is installed on the inner wall of Gear II. The cooling mechanism includes Air Pump I, and Air Pump I is installed on the inner wall of Gear II and is distributed alternately with the welding head. The air outlet end of Air Pump I is connected to Blowing Head I. One end of the adjusting column close to the to-be-processed tee pipe is installed with Air Pump II, and the air outlet end of Air Pump II is connected with a plurality of telescopic air outlet pipes along the circumferential direction. A plurality of laterally penetrating through holes are opened inside the inner support members, and the telescopic air outlet pipes are connected to one end of the through holes.

[0016] Compared with the existing technology, the advantages of the present invention are as follows: 1. Through the cooperation of Fixing Device I and Fixing Device II, the to-be-processed tee pipe is fully limited, ensuring stability and preventing processing deformation; Clamping Member I, Clamping Member II and the upper pressing table form a stable clamping state for the to-be-processed tee pipe in multiple directions; Lift the to-be-processed tee pipe away from the top wall of the lower base to facilitate subsequent circumferential welding of the three ports of the to-be-processed tee pipe; A plurality of inner support members move circumferentially to closely adhere to the inner wall of the port of the to-be-processed tee pipe, and the plurality of inner support members play an inner support role on the inner wall of the port of the to-be-processed tee pipe to prevent deformation in the port area of the tee pipe near the weld during subsequent welding operations.

[0017] 2. Through the cooperation of the docking device and the welding device, the feeding efficiency of the to-be-processed flange is improved, the docking is stable and accurate, and circumferential segmented welding is carried out; Stop Bar I, Stop Bar II and the U-shaped support frame limit the to-be-processed flange to facilitate subsequent accurate docking; The annular fixture simultaneously pushes a plurality of to-be-processed flanges to move together until they are tightly docked with the corresponding ports of the to-be-processed tee pipe, improving the processing efficiency; The cross member facilitates maintaining the balance during the movement of the annular fixture, helping to improve the movement stability of the to-be-processed flange pipe and the docking accuracy; Gear II drives the welding head to carry out circumferential segmented welding operations, gradually completing the welding of the entire circumference and reducing welding stress.

[0018] 3. Through the cooperation of the cooling mechanism and the inner support members, the weld area and the inner support area are respectively cooled, improving the cooling efficiency and preventing deformation; Blowing Head I blows air to the area where the welding head has welded to accelerate the cooling of the weld. The telescopic air outlet pipes blow air into the through holes of the inner support members to accelerate the air flow in the through holes of the inner support members, and at the same time accelerate the cooling of the tee pipe ports, reducing the deformation situation and preventing cracks in the weld and the heat affected area. Description of the Drawings

[0019] The following further details the specific embodiments of the present invention in conjunction with the drawings, where: Figure 1 is a schematic structural diagram of the overall high-precision automatic welding robot proposed by the present invention.

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

[0021] Figure 3 Partial schematic diagram of a first fixing device of a high-precision automatic welding robot proposed by the present invention.

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

[0023] Figure 5 Left view schematic diagram of a first driving mechanism and an outer clamping mechanism of a high-precision automatic welding robot proposed by the present invention.

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

[0025] Figure 7 Structural schematic diagram of a second fixing device of a high-precision automatic welding robot proposed by the present invention.

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

[0027] Figure 9 Another partial structural schematic diagram of a docking device of a high-precision automatic welding robot proposed by the present invention.

[0028] Figure 10 Top view structural schematic diagram of a partial loading component of a high-precision automatic welding robot proposed by the present invention.

[0029] Figure 11 Structural schematic diagram of a third driving mechanism of a high-precision automatic welding robot proposed by the present invention.

[0030] Figure 12 Process change diagram before and after the welding process of a tee and a flange.

[0031] In the figure: 1. Support device; 11. Lower base; 12. First hydraulic rod; 13. Upper pressing table; 2. First fixing device; 21. First driving mechanism; 211. First toothed plate; 212. Second toothed plate; 213. First gear; 22. Outer clamping mechanism; 221. Third toothed plate; 222. Fourth toothed plate; 223. First clamping piece; 224. Second clamping piece; 225. Positioning column; 3. U-shaped support frame; 4. Second fixing device; 41. U-shaped telescopic frame; 42. Hollow fixing table; 43. Adjusting column; 44. Inner support piece; 45. Frosted convex strip; 5. Docking device; 51. Second driving mechanism; 511. Second hydraulic rod; 512. Cross piece; 513. Balance column; 514. Ring clamp; 515. Spring rod; 52. Feeding assembly; 521. First stop bar; 522. Second stop bar; 523. First wedge block; 524. Second wedge block; 525. Adjusting rod; 6. Welding device; 61. Third driving mechanism; 611. Second gear; 612. Third gear; 613. First bevel gear; 614. Double-headed motor; 615. Second bevel gear; 62. Welding head; 63. Cooling mechanism; 631. First air pump; 632. First air blowing head; 633. Second air pump; 634. Telescopic air outlet pipe. Detailed implementation mode

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0033] Refer to Figure 1 and Figure 2 , a high-precision automatic welding robot, including a support device 1 and a welding device 6. The support device 1 includes a lower base 11. A plurality of first hydraulic rods 12 distributed in a matrix are installed on the top wall of the lower base 11. The top walls of the output ends of the plurality of first hydraulic rods 12 are fixedly connected together with an upper pressing table 13. A convex block is arranged in the middle of the bottom wall of the upper pressing table 13. A first fixing device 2 for externally clamping the to-be-processed tee pipe is arranged on the support device 1. U-shaped support frames 3 are fixedly connected to the left, right, and front parts of the bottom wall of the upper pressing table 13. Second fixing devices 4 for internally supporting the to-be-processed tee pipe are arranged on the U-shaped support frames 3. A docking device 5 and a welding device 6 are jointly arranged on the support device 1 and the U-shaped support frames 3.

[0034] Place the tee to be processed in 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. Place the flange to be processed on the docking device 5. The output end top wall of the hydraulic rod 12 moves downward to drive the upper pressing table 13 to move downward. The U-shaped support frame 3 supports the fixing device 2, the docking device 5, and the welding device 6. The upper pressing table 13 drives the U-shaped support frame 3, the fixing device 2, the docking device 5, and the welding device 6 to move downward as a whole to the processing position. While the upper pressing table 13 moves downward, adjust the fixing device 1 to externally clamp the tee to be processed; internally support and clamp the inner wall of the tee to be processed through the fixing device 2, dock the tee to be processed and the flange to be processed through the docking device 5, and weld and cool the docking part of the tee to be processed and the flange through the welding device 6.

[0035] Refer to Figures 3 to 5 , the fixing device 1 includes a driving mechanism 1 and an external clamping mechanism 22. The driving mechanism 1 includes a first toothed plate 211. The rear part of the bottom wall of the upper pressing table 13 is fixedly connected to the first toothed plate 211. The left and right sides of the front part of the bottom wall of the upper pressing table 13 are symmetrically fixed with second toothed plates 212. The first toothed plate 211 and the second toothed plates 212 are slidably connected up and down to the inner wall of the lower base 11. The front side wall of the first toothed plate 211 and the rear side walls of the two second toothed plates 212 are respectively meshed and connected with corresponding first gears 213. The first gears 213 are rotatably connected to the inner wall of the lower base 11.

[0036] Refer to Figures 3 to 5 , the external clamping mechanism 22 includes a third toothed plate 221. The front side wall of the rear first gear 213 is meshed and connected with the third toothed plate 221. The rear side walls of the front first gears 213 are both meshed and connected with fourth toothed plates 222. The rear side walls of the fourth toothed plates 222 are both fixedly provided with clamping members 224 that are slidably connected up and down to the inner wall of the lower base 11. The front side wall of the third toothed plate 221 is fixedly provided with a clamping member 223 that is slidably connected up and down to the inner wall of the lower base 11. The top walls of the clamping member 223 and the two clamping members 224 are both fixedly connected with positioning columns 225. The multiple positioning columns 225 are snap-fitted with the bottom wall of the convex block of the upper pressing table 13. Rubber pads (not shown in the figure) are installed on the side walls of the clamping member 223, the two clamping members 224, and the convex block of the upper pressing table 13 close to the tee to be processed.

[0037] The hydraulic rod 12 drives the upper pressing table 13 to move downward, thereby driving the first toothed plate 211 and the second toothed plate 212 to move downward. When the first toothed plate 211 and the fourth toothed plate 222 slide downward inside the lower base 11, they drive the first gear 213 to rotate inside the lower base 11, thereby driving the third toothed plate 221 and the fourth toothed plate 222 to slide upward. The first clamping member 223 and the second clamping member 224 then slide upward from bottom to top inside the lower base 11. The first clamping member 223 and the second clamping member 224 approach the upper pressing table 13 until the positioning post 225 is engaged and connected with the upper pressing table 13. During the upward movement of the first clamping member 223 and the second clamping member 224, they push the to-be-processed tee pipe upward, lifting the to-be-processed tee pipe away from the top wall of the lower base 11, facilitating subsequent circumferential welding of the three ports of the to-be-processed tee pipe. The first clamping member 223, the second clamping member 224, and the upper pressing table 13 form a clamping stable state in multiple directions for the to-be-processed tee pipe. Rubber pads are provided on the side walls of the first clamping member 223, the second clamping member 224, and the upper pressing table 13 close to the to-be-processed tee pipe, reducing wear on the tee pipe fittings and increasing friction to improve stability.

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

[0039] Refer to Figure 1 , Figures 6 to 9 , the docking device 5 includes a driving mechanism two 51 and a feeding component 52. The driving mechanism two 51 includes a hydraulic rod two 511. A vertical plate is slidably connected to the bottom wall of the upper pressing table 13 in the direction of the to-be-processed tee pipe. A hydraulic rod two 511 is installed on one side of the vertical plate close to the to-be-processed tee pipe. An output end of the hydraulic rod two 511 is fixed with a cross member 512. A circular clamp 514 is jointly fixed to the upper and lower branches of the cross member 512. The circular clamp 514 is composed of an annular member connected to the cross member 512 and three clamping pieces fixedly arranged along the circumferential direction on the side wall of the annular member away from the cross member 512. Balancing columns 513 are symmetrically fixed to the side wall of the U-shaped telescopic frame 41 away from the U-shaped support frame 3. Two branches of the cross member 512 not connected to the circular clamp 514 are slidably connected to the side walls of the balancing columns 513. A spring rod 515 that slidably penetrates through the middle of the U-shaped telescopic frame 41 is fixed to the middle of the cross member 512.

[0040] Refer to Figures 8 to 10, the feeding component 52 includes a first stop bar 521. The first stop bar 521 is fixedly arranged on one side of each of the two vertical sections of the U-shaped support frame 3 that are close to each other. On one side of each of the two vertical sections of the U-shaped support frame 3 that are close to each other, a second stop bar 522 is slidably connected through a spring (not shown in the figure). The first stop bar 521 and the second stop bar 522 are correspondingly distributed. The bottom wall of the second stop bar 522 is fixedly connected with a first wedge block 523 through a rod. The side wall of the first wedge block 523 close to the cross member 512 is inclined. The side wall of the U-shaped support frame 3 close to the cross member 512 is slidably connected with an adjusting rod 525 through a spring (not shown in the figure). The adjusting rod 525 is an elastic telescopic structure. The side wall of the adjusting rod 525 away from the cross member 512 is fixedly connected with a second wedge block 524. The side walls of the second wedge block 524 close to the two first wedge blocks 523 are both inclined.

[0041] Before processing, first place the three flanges to be processed from top to bottom between the first stop bar 521 and the second stop bar 522 on the corresponding three U-shaped support frames 3. Limit the flanges to be processed through the first stop bar 521, the second stop bar 522 and the U-shaped support frame 3, which is convenient for subsequent accurate docking; the downward movement of the U-shaped support frame 3 drives the second fixing device 4, the docking device 5 and the welding device 6 to move to the processing positions of the three ports of the tee to be processed, and the three flanges and the tee are simultaneously welded integrally, and the welding processing efficiency is relatively high.

[0042] Drive the U-shaped telescopic frame 41 to slide through the electric slider, drive the hollow fixed platform 42, the adjusting column 43 and the inner support member 44 to gradually approach the tee to be processed, move from the side far away from the flange to be processed through the middle of the flange to be processed, and then enter the inside of the port of the tee to be processed.

[0043] The output end of the second hydraulic rod 511 pushes the spring rod 515 to move in the inner wall of the hollow fixed platform 42 towards the adjusting column 43, pushes the adjusting column 43 to slide in the inner wall of the hollow fixed platform 42, the hinge joint changes adaptively, and multiple inner support members 44 move outwards synchronously until the inner support members 44 and the abrasive ridges 45 are closely attached to the inner wall of the port of the tee to be processed. The multiple inner support members 44 play an inner support role on the inner wall of the port of the tee to be processed, preventing the port area of the tee near the weld from deforming under the action of stress during subsequent welding operations.

[0044] After the inner support member 44 is in close contact with the inner wall of the tee pipe, the output end of the second hydraulic rod 511 continues to push the cross member 512 to move. The cross member 512 pushes the adjusting rod 525 to slide into the U-shaped support frame 3. The spring connected between the adjusting rod 525 and the U-shaped support frame 3 is stretched, the spring rod 515 contracts, and the adjusting rod 525 drives the second wedge block 524 to move closer to the first wedge block 523. The inclined surface of the second wedge block 524 contacts the inclined surface of the first wedge block 523, and the two first wedge blocks 523 are pushed to move in opposite directions. The spring connected between the first wedge block 523 and the U-shaped support frame 3 is stretched, and the first wedge block 523 pushes the second retaining bar 522 to slide into the U-shaped support frame 3 through a rod, facilitating the discharging of the flange to be processed and the docking with the tee pipe to be processed.

[0045] After the second retaining bar 522 vacates the discharging position for the flange to be processed, the second hydraulic rod 511 drives the circular member of the circular clamp 514 to move to closely contact 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 pieces of the circular clamp 514 are clamped on the side wall of the non-welded end of the flange to be processed. The circular clamp 514 continues to push the flange to be processed until it is in close docking with the corresponding port of the tee pipe to be processed, but the flange does not leave the U-shaped support frame 3. When moving, the cross member 512 slides along the outer wall of the balance column 513, facilitating the maintenance of the balance when the circular clamp 514 moves, and contributing to improving the stability and docking accuracy when pushing the flange pipe to be processed.

[0046] Refer to Figure 1 、 Figure 6 and Figure 7 As shown in

[0047] Refer to Figure 9 and Figure 11 As shown in

[0048] Refer to Figure 6 、Figure 7 , Figure 9 and Figure 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 Figures 1 - 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 II 511 drives the annular fixture 514 to push the flange to be machined until it is tightly butted against the corresponding port of the tee to be machined. Multiple gears III 612 rotate to drive the corresponding gears II 611 to rotate on the side wall of the U-shaped support frame 3, driving the welding head 62 to perform circumferential welding operations in a segmented welding manner; the air blowing head I 632 blows air to the area welded by the welding head 62, 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 is only a preferred specific embodiment 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 high-precision automatic welding robot, comprising a support device and a welding device, characterized in that, The support device includes a lower base. A plurality of hydraulic rods I 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 I are jointly fixed with an upper pressing table, and a convex block is arranged in the middle of the bottom wall of the upper pressing table. A fixing device I for externally clamping the to-be-processed three-way pipe is arranged on the support device. U-shaped support frames are respectively fixed on the left, right, and front parts of the bottom wall of the upper pressing table. A fixing device II for internally supporting the to-be-processed three-way pipe is arranged on each U-shaped support frame. A docking device and a welding device are jointly arranged on the support device and the U-shaped support frames. The welding device includes a driving mechanism III arranged on the upper pressing table for assisting in segmental circumferential welding of the ports of the to-be-processed three-way pipe. A welding head is arranged on the driving mechanism III. A cooling mechanism for cooling the welded weld and the inner wall of the three-way pipe is jointly arranged on the driving mechanism III and the fixing device II. The fixing device I includes a driving mechanism I and an external clamping mechanism. The driving mechanism I includes a toothed plate I. The toothed plate I is fixed on the rear part of the bottom wall of the upper pressing table. Toothed plates II are symmetrically fixed on the left and right of the front part of the bottom wall of the upper pressing table. The toothed plate I and the toothed plates II slide up and down on the inner wall of the lower base. The front side wall of the toothed plate I and the rear side walls of the two toothed plates II are respectively meshed with corresponding gears I, and the gears I rotate on the inner wall of the lower base. The external clamping mechanism includes a toothed plate III meshed and connected to the front side wall of the rear-side gear I. The rear side walls of the front-side gears I are both meshed with toothed plates IV. Clamping members II sliding up and down on the inner wall of the lower base are fixed on the rear side walls of the toothed plates IV. A clamping member I sliding up and down on the inner wall of the lower base is fixed on the front side wall of the toothed plate III. Positioning columns are fixed on the top walls of the clamping member I and the two clamping members II. The docking device includes a driving mechanism II and a feeding component. The driving mechanism II includes a hydraulic rod II. A vertical plate is slidably connected to the bottom wall of the upper pressing table in the direction of the to-be-processed three-way pipe. A hydraulic rod II is installed on the side of the vertical plate close to the to-be-processed three-way pipe. The output end of the hydraulic rod II is fixed with a cross member. The upper and lower branches of the cross member are jointly fixed with an annular fixture. The annular fixture is composed of an annular member connected to the cross member and three clamping pieces fixed along the circumferential direction on the side wall of the annular member away from the cross member. The feeding component includes a first stop bar respectively fixed on the mutually close sides of the two vertical sections of the U-shaped support frame. A second stop bar is slidably connected to the mutually close sides of the two vertical sections of the U-shaped support frame through springs. The first stop bar and the second stop bar are correspondingly distributed. A wedge block I is fixed on the bottom wall of the second stop bar through a rod. The side wall of the wedge block I close to the cross member is inclined. An adjusting rod is slidably connected to the side wall of the U-shaped support frame close to the cross member through a spring. The adjusting rod is an elastic telescopic structure. A wedge block II is fixed on the side wall of the adjusting rod away from the cross member. The side walls of the wedge block II close to the two wedge blocks I are both inclined.

2. The high-precision automatic welding robot according to claim 1, wherein The plurality of positioning columns are snap-fitted with the bottom wall of the convex block of the upper pressing table. Rubber pads are installed on the side walls of the clamping member I, the two clamping members II, and the convex block of the upper pressing table close to the to-be-processed three-way pipe.

3. The high-precision automatic welding robot according to claim 1, wherein, The second fixing device includes a U-shaped telescopic frame, and the outer wall of one side of the U-shaped support frame away from the tee to be processed is slidably connected to the U-shaped telescopic frame through an electric slider. A hollow fixing table is fixed in the middle of the U-shaped telescopic frame, and an adjusting column is slidably connected to the inner wall of the hollow fixing table in the direction of the tee to be processed. A plurality of inner support members are hinged to the outer wall of the adjusting column along the circumferential direction, and the plurality of inner support members are hinged to the side wall of the hollow fixing table. A frosted convex strip is fixed to the outer wall of one side of the inner support member away from the hollow fixing table.

4. The high-precision automatic welding robot according to claim 3, wherein, Balancing columns are 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 member not connected to the annular clamp are slidably connected to the side wall of the balancing column. A spring rod that slidably penetrates through the middle of the U-shaped telescopic frame is fixed in the middle of the cross member.

5. A high-precision automatic welding robot according to claim 3, characterized in that, The third driving mechanism includes a second gear, and the second gear is rotatably connected to the side wall of the U-shaped support frame close to the tee to be processed. The top walls of the three second gears are respectively engaged with third gears rotatably connected to the front side wall, left side wall and right side wall of the upper pressing table convex block. A double-headed motor is installed inside the upper pressing table. The two output ends of the double-headed motor are respectively connected to the third gears on the left side wall and right side wall of the upper pressing table convex block. A second bevel gear is coaxially connected to one of the third gears. The side wall of the second bevel gear is engaged with a first bevel gear, and the first bevel gear is coaxially connected to the third gear on the front side wall of the upper pressing table convex block.

6. The high-precision automatic welding robot according to claim 5, characterized in that, The welding head is installed on the inner wall of the second gear. The cooling mechanism includes a first air pump, and the first air pump is installed on the inner wall of the second gear and is staggered with the welding head. The air outlet end of the first air pump is connected to a first blowing head. An air pump two is installed at one end of the adjusting column close to the tee to be processed, and the air outlet end of the air pump two is connected with a plurality of telescopic air outlet pipes along the circumferential direction. A plurality of laterally penetrating through holes are formed inside the inner support members, and the telescopic air outlet pipes are connected to one ends of the through holes.

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