Automatic welding device for multi-layer and multi-channel laser tracking structural pipe

Abstract

The invention discloses an automatic welding device for a multi-layer and multi-channel laser tracking structural pipe, and relates to the technical field of automatic welding equipment.The automatic welding device comprises a supporting bottom plate and further comprises rails, and the two rails are arranged on the top of the supporting bottom plate and symmetrically distributed. Electric power resources required by the equipment are provided through the storage battery, and field lighting treatment is assisted through the lighting lamp; according to the device, the driving roller carriers and the driven roller carriers are arranged, the two second fixing plates on the same side are limited through the first limiting shafts, and the driving walking mechanisms of the same structure are installed at the bottoms of the driving roller carriers, so that the driving roller carriers and the driven roller carriers are matched for position adjustment; and the use flexibility of the equipment during actual operation is improved, so that structural pipes of different specifications and placed at different positions are welded, and the safety protection performance is improved while a worker conveniently conducts maintenance.

Description

Technical Field

[0001] The present invention relates to the technical field of automated welding equipment, and particularly to an automated welding device for multi-layer and multi-pass laser tracking structural pipes. Background Technique

[0002] The outer circumferential seam welding manipulator for large-diameter pipes, also known as the outer circumferential seam welding equipment for large-caliber pipes, is a mechanical device specifically used for welding the outer circumferential seams of large-diameter pipes, and is commonly seen in pipeline construction in industries such as petroleum, natural gas, chemical engineering, and electric power. Its main function is to complete the circular welding of large-caliber pipes and ensure the quality of the weld seam and the structural stability.

[0003] Chinese Patent Publication No. CN 118682366 A discloses an automated welding device for steel pipes, which relates to the technical field of welding processing. It includes a mounting shaft rotatably arranged inside the main box body. There are several groups of switching components on the mounting shaft. Inside the main box body, there are successively a feeding component, a welding component, a grinding component, and a discharging component. A clamping mechanism is arranged on the mounting cylinder. One end of the first connecting plate is provided with a linkage mechanism. A rotating mechanism is arranged inside the main box body. In the present invention, by arranging a feeding component, a welding component, a grinding component, and a discharging component inside the main box body, and by arranging several groups of switching components on the mounting shaft, the processes of feeding, welding, grinding, and discharging can be automatically completed, so that continuous automatic welding work can be carried out when welding and processing steel pipes.

[0004] However, the following problems still exist in the above solution: The flexibility of the automated welding equipment is relatively low. During operation, manual adjustment of the equipment is required for welding treatment of structural pipes with different specifications and placed in different positions. The overall intelligent operation level is relatively low. At the same time, when the staff is performing maintenance, there are certain safety problems, which affect the normal use requirements of the equipment and cannot meet the normal use requirements. Therefore, the present invention needs to design an automated welding device for multi-layer and multi-pass laser tracking structural pipes to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide an automated welding device for multi-layer and multi-pass laser tracking structural pipes to solve the problems raised in the above background technique.

[0006] To achieve the above purpose, the present invention provides the following technical solution: An automated welding device for multi-layer and multi-pass laser tracking structural pipes, including a support bottom plate, and further including: Tracks, two of the tracks are arranged on the top of the support bottom plate and are symmetrically distributed; Welding manipulator column. The welding manipulator column is arranged above the two tracks. A moving trolley is provided at the bottom of the welding manipulator column. The moving trolley is located above the tracks. An adjusting block is slidably connected to one side of the welding manipulator column. A cross arm is installed on the outside of the adjusting block. A first moving slider is installed on one side of the cross arm. A connecting frame is installed on the outside of the first moving slider. A fixing frame is installed on the outside of the connecting frame. A flux recovery hopper is installed inside the fixing frame. A conveying pipeline is installed at the top of the flux recovery hopper. A welding manipulator is arranged on one side of the end of the cross arm close to the fixing frame. The welding manipulator includes a welding gun. The gap on the structural pipe is welded in multiple layers and multiple passes through the welding gun. A laser tracking component and a video monitoring component are installed on the welding gun. Remote monitoring is assisted during welding through the video monitoring component. A fourth driving motor is installed at the bottom of the storage battery. The output end of the fourth driving motor is fixedly connected to a first reciprocating lead screw extending into the interior of the welding manipulator column. The adjusting block is connected to the first reciprocating lead screw through a connecting block. Thus, through the operation of the fourth drive, the adjusting block is driven to adjust the height. Similarly, a second reciprocating lead screw for cooperating with the first moving slider is provided inside the cross arm, so as to flexibly adjust the lateral position of the fixing frame, improving the overall intelligent control and operation level; The welding manipulator further includes a welding head. The welding head is arranged on the head mounting component through a manual sliding component. One end of the head mounting component is fixedly arranged on the electric sliding component. And the electric sliding component is fixedly arranged on the carriage mounting component. One end of the carriage mounting component is fixedly arranged on the carriage. The carriage is slidably connected to the cross arm. And the connecting frame is fixedly arranged on the carriage. The head mounting component slides back and forth through the electric sliding component. At the same time, the electric sliding component is fixedly arranged on the carriage through the carriage mounting component. The carriage is slidably connected to the cross arm. The carriage slides left and right along the cross arm, thereby driving the carriage mounting component to slide left and right. The welding head is fixedly arranged on the electric sliding component through the cooperation of the manual sliding component and the head mounting component. And the welding head slides on the manual sliding component. And through the cooperation of the electric sliding component and the carriage mounting component with the carriage, the welding gun moves in the front-back direction and the left-right direction through the welding head, so as to weld the gap on the structural pipe in multiple layers and multiple passes; The laser tracking assembly includes a laser tracker, a tracker mounting plate, a tracker mounting bracket, and a tracker mounting clamp. The tracker mounting plate is fixedly arranged on the side wall of the laser tracker. One end of the tracker mounting bracket is fixedly arranged on the side wall of the tracker mounting plate, and the other end of the tracker mounting bracket is fixedly arranged on one end of the tracker mounting clamp. The tracker mounting clamp is fixedly installed on the outer side wall of the welding torch through a third insulating sleeve, and the welding process of the welding torch is tracked in real time by the laser tracker; The driving roller rack is arranged on the top of the support base plate and on one side of the column of the welding manipulator. Two first moving slides are slidably connected to the top of the driving roller rack. Two first fixing plates are installed on the top of each first moving slide. Two first supporting rollers are rotatably connected inside the two first fixing plates located on the same first moving slide, and the structural pipe is located on the top of the two first supporting rollers; The driven roller rack is arranged on the top of the support base plate and on the side of the driving roller rack away from the column of the welding manipulator. Two second moving slides are slidably connected to the top of the driven roller rack. Two second fixing plates are installed on the top of each second moving slide. A rotating plate is installed between the two second fixing plates located on the same second moving slide, and a second supporting roller is installed between the two rotating plates located on the same second moving slide, and the structural pipe is located on the top of the two second supporting rollers; The driving and traveling mechanism is arranged at the bottom of both the driving roller rack and the driven roller rack, and is used to drive the corresponding driving roller rack and driven roller rack to adjust their positions.

[0007] As a preferred embodiment of the present invention, an operation control box is installed on one side of the driven roller rack. A third driving motor is installed on the top of the operation control box. A partition plate and a first limiting shaft are installed between the two rotating plates located on the same second moving slide and on one side of the corresponding second supporting roller. The partition plate is located between the corresponding first limiting shaft and the second supporting roller. A mounting plate is installed on the outer side of the top of each second moving slide; An electric telescopic rod is installed on the top of each of the mounting plates. The output end of each electric telescopic rod is fixedly connected to the outer wall of the corresponding first limiting shaft. A second limiting shaft is connected between two second fixing plates located on the same second moving slide plate. The second limiting shaft and the first limiting shaft are respectively located at both ends of the corresponding rotating plate. And the rotating plate rotates around the corresponding second limiting shaft under the action of the corresponding electric telescopic rod. Second protective discs are installed on the outer sides of the second fixing plates. The two second fixing plates on the same side are limited by the second limiting shaft, and the two second fixing plates on the same side are limited by the first limiting shaft. By operating the electric telescopic rod, the corresponding first limiting shaft is driven to perform fine height adjustment, so as to adjust the angle of the second fixing plate, achieving the angle adjustment when the second support roller supports the structure pipe, improving the stability during support, and thus improving the use flexibility of the equipment.

[0008] As a preferred embodiment of the present invention, a connection slider is slidably connected to the side of the cross arm away from the fixed frame. A flux recovery dust removal filter barrel is installed on one side of the connection slider. A recovery channel is installed on the outer side of the flux recovery dust removal filter barrel. A fume treatment machine is installed on one side of the connection slider. The fume treatment machine is located on one side of the flux recovery dust removal filter barrel. A collection box is installed on the side of the fume treatment machine away from the connection slider. A flue gas recovery pipe is installed on one side of the fume treatment machine. An air pump is installed inside the fume treatment machine. The flux recovery dust removal filter barrel is used to assist in flux recovery, and the air pump, flue gas recovery pipe and fume treatment machine cooperate to assist in on-site flue gas recovery treatment.

[0009] As a preferred embodiment of the present invention, a storage box is installed on the top of the mobile trolley and on the side of the column of the welding operation machine away from the cross arm. A flux replenishing device is installed on the top of the mobile trolley and on the side of the storage box. An inspection cover is installed on the top of the flux replenishing device. Installation clamping plates for cooperating with the track are installed around the mobile trolley. After the position of the mobile trolley is adjusted by the installation clamping plates, the mobile trolley is limited. Positioning bolts are provided on the outer sides of the installation clamping plates. The inspection cover is opened to cooperate with the internal inspection of the flux replenishing device. The storage box is used to control the operation of each power equipment.

[0010] As a preferred embodiment of the present invention, a second electrical control cabinet is fixedly connected to one side of the active roller rack. A first driving motor is installed on one side of the first fixing plate. The output end of the first driving motor is connected to one of the first supporting rollers. A belt transmission device is installed on one side of the other first fixing plate. A second driving motor is installed on one side of the belt transmission device. A first protective disc is installed on the outer side of each first fixing plate. Fixed boxes are installed on both sides of the active roller rack. By operating the first driving motor, one corresponding first supporting roller is driven to rotate. By operating the second driving motor and driven by the belt transmission device, the other corresponding first supporting roller is driven to rotate, so as to realize the rotation and flipping of the structural pipe placed on the tops of the two first supporting rollers, and reduce the labor intensity of frequent manual auxiliary operations by workers.

[0011] As a preferred embodiment of the present invention, a first bidirectional lead screw is rotatably connected inside the active roller rack. Two first moving sliders are sleeved on the first bidirectional lead screw, and each first moving slider is fixedly arranged on the lower surface of the corresponding first moving slide plate. The two first moving sliders move under the rotation of the first bidirectional lead screw to realize the movement of approaching or separating from each other, and each first moving slider is fixedly arranged on the lower surface of the corresponding first moving slide plate. One end of the first bidirectional lead screw is fixedly provided with a first turbine. A first rotating motor is arranged under the second electrical control cabinet on one side of the active roller rack. The output end of the first rotating motor is fixedly connected with a first worm. The first turbine is rotatably connected above the first worm, and the first worm is meshed with the first turbine. By operating the first rotating motor, the first worm is driven to rotate, thereby driving the first turbine to rotate, and further driving the first bidirectional lead screw to rotate, so that the two first moving sliders both move towards the middle or the two ends, thereby driving the two first moving slide plates both move towards the middle or the two ends, realizing the adjustment of the distance between the two first supporting rollers to become smaller or larger.

[0012] As a preferred embodiment of the present invention, a second bidirectional lead screw is rotatably connected inside the driven roller frame. Two second moving sliders are arranged on the second bidirectional lead screw to achieve threaded connection. The two second moving sliders move under the rotation of the second bidirectional lead screw to achieve the movement of approaching or separating from each other. Each second moving slider is fixedly arranged on the lower surface of the corresponding second moving slide plate. One end of the second bidirectional lead screw is fixedly connected with a connecting rod. A second rotating motor is installed on one side of the driven roller frame and below the operation control box. The output end of the second rotating motor is fixedly connected with a second worm. A second turbine is rotatably connected above the second worm. The second turbine is meshed and connected with the second worm. One end of the connecting rod is connected with the second turbine. During use, the second rotating motor operates to drive the second worm to rotate, thereby driving the second turbine to rotate. Under the connection of the connecting rod, the second bidirectional lead screw is driven to rotate, so that the two second moving sliders both move towards the middle or the two ends, thereby driving the two second moving slide plates to both move towards the middle or the two ends, realizing the adjustment of the distance between the two second supporting rollers to become smaller or larger, so as to be suitable for welding operations on structural pipes with different outer diameters.

[0013] As a preferred embodiment of the present invention, an installation base plate is installed at the bottom of the driven roller frame. A bottom limiting plate is installed inside the driven roller frame and below the second bidirectional lead screw. The bottom limiting plate is used for limiting the bottom of the second bidirectional lead screw. The installation base plate is used for protecting the bottom of the driven roller frame.

[0014] As a preferred embodiment of the present invention, the video monitoring component includes a first camera clamping block, a first support rod, a second support rod, a second camera clamping block and a camera. The lower end of the first support rod is fixedly arranged on the first camera clamping block. The first camera clamping block is fixedly installed on the outer side wall of the welding torch through a second insulating sleeve. The second camera clamping block is fixedly arranged at the upper end of the first support rod. One end of the second support rod is fixedly arranged on the second camera clamping block. The other end of the second support rod is fixedly arranged on a third camera clamping block. The camera is fixedly arranged on the third camera clamping block, so as to remotely monitor the welding process of the welding torch through the camera.

[0015] As a preferred embodiment of the present invention, the driving and walking mechanism includes a walking motor. Two symmetrically distributed walking motors are installed at the bottom of the driven roller frame. The output ends of the two walking motors are fixedly connected with first gears. One side of each of the two first gears and inside the driven roller frame is rotatably connected with a second gear. Each second gear is meshed with the corresponding first gear. One side of each of the two second gears is rotatably connected with a walking roller, and the walking roller is fixedly connected with the second gear. One walking roller is arranged on both sides inside each fixed box. The driven roller frame as a whole is assisted to move through the walking rollers. The driving and walking mechanism with the same structure is installed at the bottom of the driving roller frame, so as to cooperate with each driving roller frame and driven roller frame for position adjustment, and improve the use flexibility of the equipment during actual operation.

[0016] As a preferred embodiment of the present invention, a ladder is installed on the side of the welding manipulator column away from the cross arm. A protective cage is installed on the outside of the ladder. The top of the welding manipulator column is fixedly connected with a storage battery. The bottom of the side wall of the storage battery is fixedly connected with a lighting lamp. The lighting lamp is located above the ladder. The ladder is used for manual climbing of the mobile trolley. The protective cage provides a protective effect during manual climbing. The storage battery provides the power resources required by the equipment. The lighting lamp assists in on-site lighting treatment.

[0017] As a preferred embodiment of the present invention, the top of the welding manipulator column is fixedly connected with a storage battery. A fourth driving motor is installed at the bottom of the storage battery. The output end of the fourth driving motor is fixedly connected with a first reciprocating lead screw extending into the welding manipulator column. The adjusting block is connected with the first reciprocating lead screw through a connecting block. Thus, through the driving operation of the fourth driving motor, the adjusting block is driven to adjust the height, so that the cross arm slides up and down along the welding manipulator column, and further adjusts the height of the welding gun. A second reciprocating lead screw for cooperating with the first moving slider is arranged inside the cross arm, so that the drag plate slides left and right along the cross arm, and the welding gun slides left and right along the cross arm.

[0018] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention is provided with a support base plate, a track and a column of a welding manipulator. During use, remote monitoring is assisted by a video monitoring component during welding. A fourth driving motor is installed at the bottom of the storage battery. The output end of the fourth driving motor is fixedly connected to a first reciprocating lead screw extending into the column of the welding manipulator. The adjusting block is connected to the first reciprocating lead screw through a connecting block. Thus, by the operation of the fourth driving motor, the adjusting block is driven to adjust the height. Similarly, a second reciprocating lead screw for cooperating with the first moving slider is provided inside the cross arm, so as to flexibly adjust the lateral position of the fixing frame, improving the overall intelligent control and operation level. The ladder is used for manual climbing of the mobile trolley, and the protective cage provides protection during manual climbing. The storage battery provides the power resources required by the equipment, and the lighting lamp assists in on-site lighting processing; 2. The present invention is provided with a driving roller rack. A first bidirectional lead screw, a first rotating motor, a first turbine, a first worm and a first supporting roller are provided on the driving roller rack. Two first moving sliders are sleeved on the first bidirectional lead screw by threads; at the same time, the first worm rotates under the drive of the first rotating motor to drive the first turbine to rotate, and the first turbine drives the first bidirectional lead screw to rotate, so that the two first moving sliders on the first bidirectional lead screw both move towards the middle or both ends, thereby driving the two first moving slides to move towards the middle or both ends, realizing the adjustment of the distance between the two first supporting rollers to become larger or smaller, so as to be suitable for welding operations of structural pipes with different outer diameters; 3. The present invention is provided with a driven roller rack. One end of two second fixing plates on the corresponding second moving slide is limited and fixed by a first limiting shaft, and the other end of the two second fixing plates on the corresponding second moving slide is limited and fixed by a second limiting shaft to enhance the firmness of the connection between the two second fixing plates; at the same time, the second worm rotates under the drive of the second rotating motor to drive the second turbine to rotate, and the second turbine drives the second bidirectional lead screw to rotate through a connecting rod at the end of the second bidirectional lead screw, so that the two second moving sliders on the second bidirectional lead screw both move towards the middle or both ends, thereby driving the two second moving slides to move towards the middle or both ends, realizing the adjustment of the distance between the two second supporting rollers to become larger or smaller, so as to be suitable for welding operations of structural pipes with different outer diameters; in addition, the bottom limiting plate is used to limit the bottom of the second bidirectional lead screw, and the mounting base plate is used to protect the bottom of the driven roller rack. The driven roller rack is assisted to move as a whole through the walking rollers. The same structure of a driving and walking mechanism is installed at the bottom of the driving roller rack, so as to cooperate with each driving roller rack and driven roller rack for position adjustment, improving the flexibility of the equipment during actual operation, thereby welding structural pipes placed in different specifications and positions, improving the overall intelligent operation level, facilitating the maintenance of the staff and improving the safety protection at the same time. Description of the Drawings

[0019] Figure 1 Schematic diagram of the overall structure of an automated welding device for a multi-layer and multi-pass laser tracking structural pipe provided by an embodiment of the present invention; Figure 2 Schematic diagram of the welding manipulator of an automated welding device for a multi-layer and multi-pass laser tracking structural pipe provided by an embodiment of the present invention Figure 1 ; Figure 3 Schematic diagram of the welding manipulator of an automated welding device for a multi-layer and multi-pass laser tracking structural pipe provided by an embodiment of the present invention Figure 2 ; Figure 4 Schematic diagram of the welding manipulator of an automated welding device for a multi-layer and multi-pass laser tracking structural pipe provided by an embodiment of the present invention Figure 3 ; Figure 5 Schematic diagram of the structure of the driving roller rack of an automated welding device for a multi-layer and multi-pass laser tracking structural pipe provided by an embodiment of the present invention Figure 1 ; Figure 6 Schematic diagram of the structure of the driving roller rack of an automated welding device for a multi-layer and multi-pass laser tracking structural pipe provided by an embodiment of the present invention Figure 2 ; Figure 7 Schematic diagram of the structure of the driven roller rack of an automated welding device for a multi-layer and multi-pass laser tracking structural pipe provided by an embodiment of the present invention Figure 1 ; Figure 8 Schematic diagram of the structure of the driven roller rack of an automated welding device for a multi-layer and multi-pass laser tracking structural pipe provided by an embodiment of the present invention Figure 2 ; Figure 9 Schematic diagram of the structure of the driven roller rack of an automated welding device for a multi-layer and multi-pass laser tracking structural pipe provided by an embodiment of the present invention Figure 3 ; Figure 10 is Figure 4 Enlarged schematic diagram of the structure at A in Figure 11 Schematic diagram of a physical photo of the gap to be welded on the structural pipe in an embodiment of the present invention; Figure 12 Schematic diagram of welding the first layer of the weld seam during multi-layer and multi-pass welding of the structural pipe in an embodiment of the present invention using the tracking function; Figure 13 Schematic diagram of welding the first pass of the second layer of the weld seam during multi-layer and multi-pass welding of the structural pipe in an embodiment of the present invention using the tracking function; Figure 14Schematic diagram of welding with tracking function for the second pass of the second layer of the weld during multi-layer multi-pass welding of the structural pipe in the embodiment of the present invention; Figure 15 Schematic diagram of welding for other layers of the weld during multi-layer multi-pass welding of the structural pipe in the embodiment of the present invention, where the upper computer records the trajectory of the first layer or the second layer and makes an offset for welding; Figure 16 Schematic diagram of the three-dimensional structure of the multi-layer multi-pass laser tracking structural pipe automatic welding device provided in the embodiment of the present invention after removing the fixing frame and the track; Figure 17 Schematic diagram of the three-dimensional structure of the welding torch cooperating with the cross arm provided in the embodiment of the present invention; Figure 18 For Figure 17 Enlarged three-dimensional structure diagram of position B in Figure 19 Enlarged three-dimensional structure diagram of the welding manipulator provided in the embodiment of the present invention; Figure 20 Enlarged front view structure diagram of the welding manipulator provided in the embodiment of the present invention; Figure 21 Enlarged side view structure diagram of the welding manipulator provided in the embodiment of the present invention; Figure 22 Enlarged top view structure diagram of the welding manipulator provided in the embodiment of the present invention; Figure 23 Enlarged three-dimensional structure diagram of the video monitoring component provided in the embodiment of the present invention; Figure 24 Enlarged top view structure diagram of the video monitoring component provided in the embodiment of the present invention; Figure 25 Enlarged side view structure diagram of the video monitoring component provided in the embodiment of the present invention; Figure 26 Enlarged three-dimensional structure diagram of the laser tracking component provided in the embodiment of the present invention; Figure 27 Enlarged front view structure diagram of the laser tracking component provided in the embodiment of the present invention; Figure 28 Enlarged top view structure diagram of the laser tracking component provided in the embodiment of the present invention; Figure 29 Schematic diagram of the multi-layer multi-pass laser tracking structural pipe automatic welding device provided in the embodiment of the present invention for welding the longitudinal weld on the structural pipe; Figure 30 Schematic diagram of the multi-layer multi-pass laser tracking structural pipe automatic welding device provided in the embodiment of the present invention for welding the inner side of the longitudinal weld on the structural pipe; Figure 31 Schematic diagram of welding the outer side of the longitudinal weld on the structural pipe by a multi-layer multi-pass laser tracking structural pipe automatic welding device provided by an embodiment of the present invention; Figure 32 Schematic diagram of two structural pipes approaching and moving relative to each other through the cooperation of two sets of active roller racks and driven roller racks provided by an embodiment of the present invention; Figure 33 Schematic diagram of welding the outer side of the circumferential weld on the structural pipe by a multi-layer multi-pass laser tracking structural pipe automatic welding device provided by an embodiment of the present invention; Figure 34 Schematic diagram of welding the inner side of the circumferential weld on the structural pipe by a multi-layer multi-pass laser tracking structural pipe automatic welding device provided by an embodiment of the present invention.

[0020] In the figure: 1. Support bottom plate; 2. Rail; 21. Installation clamping plate; 3. Welding manipulator column; 31. Mobile trolley; 32. First electrical control cabinet; 33. Flux replenishing device; 34. Storage tank; 35. Battery; 36. Lighting lamp; 37. Ladder; 38. Safety cage; 39. Maintenance cover; 4. Active roller rack; 41. Second electrical control cabinet; 42. First fixing plate; 43. First supporting roller; 44. First driving motor; 45. First protective disc; 46. Belt transmission device; 47. Second driving motor; 48. First moving slide plate; 49. Fixed box; 5. Driven roller rack; 50. Second moving slide plate; 51. Operation control box; 52. Second fixing plate; 53. Second supporting roller; 54. Installation plate; 55. Electric telescopic rod; 56. Partition board; 57. First limiting shaft; 58. Rotating plate; 59. Second limiting shaft; 501. First bidirectional lead screw; 502. First turbine; 503. First worm; 504. First rotating motor; 6. Cross arm; 61. Fume treatment machine; 62. Flux recovery dust removal and filtration barrel; 63. Recovery channel; 64. Collection box; 65. Connecting slider; 7. Fixed frame; 7512. Flux recovery hopper; 72. Conveying pipeline; 73. Laser tracking component; 74. Video monitoring component; 75. Welding gun; 76. Connecting frame; 77. First moving slider; 8. Second moving slider; 81. Second protective disc; 82. Electric control board; 83. Third driving motor; 84. Second bidirectional lead screw; 85. Second turbine; 86. Second worm; 87. Second rotating motor; 88. Connecting rod; 9. Traveling motor; 91. First gear; 92. Second gear; 93. Traveling roller; 94. Bottom limit plate; 95. Mounting base plate. Detailed implementation

[0021] 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.

[0022] Please refer to Figures 1 - 34 , the present invention provides a technical solution: an automated welding device for multi-layer and multi-pass laser tracking structural pipes, including a support base plate 1, and further including: Tracks 2, two tracks 2 are arranged on the top of the support base plate 1 and are symmetrically distributed; Welding manipulator column 3, the welding manipulator column 3 is arranged above the two tracks 2. A moving trolley 31 is provided at the bottom of the welding manipulator column 3. The moving trolley 31 is located above the track 2. One side of the welding manipulator column 3 is slidably connected with an adjustment block. A cross arm 6 is installed outside the adjustment block. A first moving slider 77 is installed on one side of the cross arm 6. A connecting frame 76 is installed outside the first moving slider 77. A fixing frame 7 is installed outside the connecting frame 76. A flux recovery hopper 7512 is installed inside the fixing frame 7. A conveying pipeline 72 is installed at the top of the flux recovery hopper 7512. A welding manipulator is arranged at the end of the cross arm 6 close to one side of the fixing frame 76. The welding manipulator includes a welding gun 75. The gaps on the structural pipe are welded in multiple layers and multiple passes through the welding gun 75. A laser tracking component 73 and a video monitoring component 74 are installed on the welding gun 75. Remote monitoring is assisted during welding through the video monitoring component 74; Active roller stand 4, the active roller stand 4 is arranged on the top of the support base plate 1 and is located on one side of the welding manipulator column 3. Two first moving slides 48 are slidably connected to the top of the active roller stand 4. A first fixing plate 42 is installed on the top of each first moving slide 48. Two first support rollers 43 are rotatably connected inside the two first fixing plates 42 located on the same first moving slide 48. The structural pipe is located on the top of the two first support rollers 43; The driven roller frame 5 is arranged on the top of the support base plate 1 and on the side of the driving roller frame 4 away from the welding manipulator column 3. Two second moving slides 50 with the same structure are slidably connected to the top of the driven roller frame 5. Two second fixing plates 52 are installed on the top of each second moving slide 50. A rotating plate 58 is installed between the two second fixing plates 52 on the same second moving slide 50. A second support roller 53 is installed between the two rotating plates 58 on the same second moving slide 50. The structural pipe is installed on the top of the two second support rollers 53; The driving and traveling mechanism, the driving and traveling mechanism is arranged at the bottom of both the driving roller frame 4 and the driven roller frame 5, and the driving and traveling mechanism is used to drive the corresponding driving roller frame 4 and the driven roller frame 5 to adjust their positions.

[0023] Please refer to Figures 17 - 22 In this solution, the welding manipulator further includes a welding torch head 7507. The welding torch head 7507 is arranged on the head mounting assembly 7505 through a manual sliding assembly 7506. One end of the head mounting assembly 7505 is fixedly arranged on the electric sliding assembly 7502, and the electric sliding assembly 7502 is fixedly arranged on the carriage mounting assembly 7501. One end of the carriage mounting assembly 7501 is fixedly arranged on the carriage 7530. The carriage 7530 is slidably connected to the cross arm 6. The head mounting assembly 7505 slides back and forth through the electric sliding assembly 7502. At the same time, the electric sliding assembly 7502 is fixedly arranged on the carriage 7530 through the carriage mounting assembly 7501, and the connecting frame 76 is fixedly arranged on the carriage 7530. The carriage 7530 is slidably connected to the cross arm 6, that is, the carriage 7530 can slide left and right along the cross arm 6, thereby driving the carriage mounting assembly 7501 to slide left and right; that is, the welding torch head 7507 is fixedly arranged on the electric sliding assembly 7502 through the cooperation of the manual sliding assembly 7506 and the head mounting assembly 7505, and the welding torch head 7507 can slide on the manual sliding assembly 7506. In addition, through the cooperation of the electric sliding assembly 7502 and the carriage mounting assembly 7501 with the carriage 7530, the welding gun 75 can move in the front-back direction and the left-right direction through the welding torch head 7507, so as to perform multi-layer and multi-pass welding on the gap on the structural pipe, which has the characteristics of convenient operation and flexible welding.

[0024] Please refer to Figures 19 - 21, in this solution, a hopper mounting member 7511 is fixedly arranged on the side wall of the flux recovery hopper 7512. The upper end of the hopper mounting member 7511 is fixedly arranged on the outer side wall of the hopper mounting member 7511, and the lower end of the hopper mounting member 7511 is fixedly arranged on the welding head 7507. A flux recovery pipe fixing bracket 7514 is fixedly arranged on the welding head 7507. The lower end of the flux recovery pipe fixing bracket 7514 is provided with a flux recovery pipe fixing bracket clamp 7518 through a first insulating sleeve 7516. A recovery pipe connecting bracket 7517 is fixedly arranged on the flux recovery pipe fixing bracket clamp 7518. A recovery pipe connecting card seat 7515 is arranged on the recovery pipe connecting bracket 7517. A recovery pipe 7519 is arranged in the recovery pipe connecting card seat 7515. The upper end of the recovery pipe 7519 is communicated with the flux recovery hopper 7512. The lower end of the recovery pipe 7519 is fixedly provided with a recovery suction nozzle. Through the cooperation of the flux recovery hopper 7512, the recovery pipe 7519 and the recovery suction nozzle, the flux scattered during the welding process of the welding gun 75 is recovered to improve the utilization rate of the flux.

[0025] Please refer to Figure 3 , Figure 10 , Figure 16 , Figure 17 , in the embodiment of the present invention, a connecting slider 65 is slidably connected to the side of the cross arm 6 away from the fixing frame 7. A flux recovery, dust removal and filtration barrel 62 is installed on one side of the connecting slider 65. A dust suction fan is arranged in the flux recovery, dust removal and filtration barrel 62. The flux recovery, dust removal and filtration barrel 62 is communicated with a conveying pipeline 72, that is, the flux recovery hopper 7512 is connected to the flux recovery, dust removal and filtration barrel 62 through the conveying pipeline 72. Thus, the flux is dust-removed, filtered and recovered through the flux recovery, dust removal and filtration barrel 62 and the flux recovery hopper 7512, and further the purpose of improving the utilization rate of the flux is achieved.

[0026] The welding manipulator further includes a dust suction hood 611. The dust suction hood 611 is fixedly arranged between two welding heads 7507 and above the welding gun 75. A fume treatment machine 61 is installed on one side of the connecting slider 65. The fume treatment machine 61 is located on one side of the flux recovery, dust removal and filtration barrel 62. A collection box 64 is installed on the side of the fume treatment machine 61 away from the connecting slider 65. A flue gas recovery pipeline is installed on one side of the fume treatment machine 61. The lower end of the flue gas recovery pipeline is communicated with the dust suction hood 611. An air pump is installed inside the fume treatment machine 61. The dust suction hood 611, the flue gas recovery pipeline and the fume treatment machine 61 cooperate to assist in the on-site flue gas recovery treatment.

[0027] Please refer to Figures 23 - 25, in this solution, the video monitoring component 74 includes a first camera clamping block 746, a first support rod 747, a second support rod 743, a second camera clamping block 744, and a camera 742, where: the lower end of the first support rod 747 is fixedly arranged on the first camera clamping block 746, the first camera clamping block 746 is fixedly installed on the outer side wall of the welding torch 75 through a second insulating sleeve 745, the second camera clamping block 744 is fixedly arranged at the upper end of the first support rod 747, one end of the second support rod 743 is fixedly arranged on the second camera clamping block 744, the other end of the second support rod 743 is fixedly arranged on a third camera clamping block 741, and the camera 742 is fixedly arranged on the third camera clamping block 741, so as to remotely monitor the welding process of the welding torch 75 through the camera 742, and the safety and reliability are improved.

[0028] Please refer to Figures 26 - 28 , in this solution, the laser tracking component 73 includes a laser tracker 735, a tracker mounting plate 734, a tracker mounting bracket 733, and a tracker mounting clamp 731, where: the tracker mounting plate 734 is fixedly arranged on the side wall of the laser tracker 735, one end of the tracker mounting bracket 733 is fixedly arranged on the side wall of the tracker mounting plate 734, the other end of the tracker mounting bracket 733 is fixedly arranged at one end of the tracker mounting clamp 731, the tracker mounting clamp 731 is fixedly installed on the outer side wall of the welding torch 75 through a third insulating sleeve 732, and the laser tracker 735 is located below the camera 742, and the welding process of the welding torch 75 is tracked in real time through the laser tracker 735 to improve the welding accuracy.

[0029] Please refer to Figures 1 - 9 , in this solution, an operation control box 51 is installed on one side of the driven roller rack 5, a third driving motor 83 is installed on the top of the operation control box 51, an electronic control board 82 is installed on one side of the third driving motor 83, and the electronic control board 82 is connected to the third driving motor 83 through a plurality of circuits on one side. Partition plates 56 and first limiting shafts 57 are installed between two rotating plates 58 located on the same second moving slide plate 50 and on one side of the corresponding second supporting rollers 53, the partition plates 56 are located between the corresponding first limiting shafts 57 and the second supporting rollers 53, and mounting plates 54 are installed on the outer sides of the tops of each first moving slide plate 48; Meanwhile, an electric telescopic rod 55 is installed on the top of each mounting plate 54. The output end of each electric telescopic rod 55 is fixedly connected to the outer wall of the corresponding first limiting shaft 57. A second limiting shaft 59 is connected between two second fixing plates 52 located on the same second moving slide plate 50. The second limiting shaft 59 and the first limiting shaft 57 are respectively located at both ends of the corresponding rotating plate 58. And the rotating plate 58 rotates around the corresponding second limiting shaft 59 under the action of the corresponding electric telescopic rod 55. A second protective disc 81 is installed on the outer side of each rotating plate 58. The two second fixing plates 52 located on the same second moving slide plate 50 are limited by the second limiting shaft 59. The two second fixing plates 52 on the same side are limited by the first limiting shaft 57. By operating the electric telescopic rod 55, the corresponding first limiting shaft 57 is driven to perform fine height adjustment, so as to adjust the angle of the second fixing plate 52, achieving the angle adjustment when the second support roller 53 supports the structural pipe, improving the stability during support, and thus improving the use flexibility of the equipment.

[0030] Please refer to Figures 1 - 4 , in the embodiment of the present invention, a storage box 34 is installed on the top of the mobile trolley 31 and on the side away from the cross arm 6 of the welding manipulator column 3. A flux replenishing device 33 is installed on the top of the mobile trolley 31 and on the side of the storage box 34. An inspection cover 39 is installed on the top of the flux replenishing device 33. Installation clamping plates 21 for cooperating with the track 2 are installed around the mobile trolley 31. After the position adjustment of the mobile trolley 31 is completed through the installation clamping plates 21, the mobile trolley 31 is limited. A positioning bolt is provided on the outer side of the installation clamping plate 21. The inspection cover 39 is opened to cooperate with the internal inspection of the flux replenishing device 33. The storage box 34 is used to control the operation of each electrical equipment.

[0031] In the embodiment of the present invention, a ladder 37 is installed on the side of the column 3 of the welding manipulator away from the cross arm 6, and a protective cage 38 is installed outside the ladder 37. The top of the column 3 of the welding manipulator is fixedly connected with a storage battery 35, and the bottom of the storage battery 35 is fixedly connected with a lighting lamp 36. The lighting lamp 36 is located above the ladder 37. The ladder 37 is used for manual climbing of the mobile trolley 31. The protective cage 38 provides a protective effect during manual climbing. The storage battery 35 provides the power resources required by the equipment, and the lighting lamp 36 assists in on-site lighting processing. A fourth driving motor is installed at the bottom of the storage battery 35. The output end of the fourth driving motor is fixedly connected with a first reciprocating lead screw extending into the column 3 of the welding manipulator. The adjusting block is connected to the first reciprocating lead screw through a connecting block. Thus, through the driving operation of the fourth driving motor, the adjusting block is driven to adjust its height. Similarly, a second reciprocating lead screw for cooperating with the first moving slider 77 is provided inside the cross arm 6, so as to flexibly adjust the lateral position of the fixing bracket 7, that is, drive the adjusting block to adjust its height, so that the cross arm slides up and down along the column of the welding manipulator, and further adjust the height of the welding gun; A second reciprocating lead screw for cooperating with the first moving slider is provided inside the cross arm, so that the carriage slides left and right along the cross arm, so that the welding gun slides left and right along the cross arm, improving the overall intelligent control and operation level.

[0032] Specifically, a fourth driving motor is fixedly arranged at the top of the column 3 of the welding manipulator and below the storage battery 35. The output end of the fourth driving motor is fixedly connected with a first reciprocating lead screw in the vertical direction inside the column 3 of the welding manipulator; At the same time, a connecting block is fixedly arranged on the side wall of the adjusting block. The connecting block is sleeved on the first reciprocating lead screw, and the connecting block is threadedly connected with the first reciprocating lead screw. That is, the connecting block moves up or down along the length direction of the first reciprocating lead screw under the rotation of the first reciprocating lead screw. The adjusting block moves up or down under the drive of the fourth driving motor through the connecting block, so as to conveniently drive the cross arm 6 to adjust its position at different heights, that is, conveniently adjust the position of the welding gun 75 on the cross arm 6 at different heights to adapt to structural steel with different outer diameters or inner diameters, thereby improving the flexibility of the use of the welding gun 75. In addition, a second reciprocating lead screw is arranged along the length direction inside the cross arm 6. One end of the second reciprocating lead screw is connected with a fifth driving motor arranged on the cross arm 6. The first moving slider 77 is sleeved on the second reciprocating lead screw, and the first moving slider 77 moves left or right along the length direction of the second reciprocating lead screw under the rotation of the second reciprocating lead screw, so that the lateral position of the fixing bracket 7 can be flexibly adjusted through the movement of the first moving slider 77.

[0033] Please refer to Figures 1 - 6, in the embodiment of the present invention, a second electrical control cabinet 41 is fixedly connected to one side of the active roller rack 4. A first driving motor 44 is installed on one side of the first fixing plate 42. The output end of the first driving motor 44 is connected to one of the first supporting rollers 43. A belt transmission device 46 is installed on one side of the other first fixing plate 42. A second driving motor 47 is installed on one side of the belt transmission device 46. A first protective disc 45 is installed on the outer side of each first fixing plate 42. Fixed boxes 49 are installed on both sides of the active roller rack 4. By operating the first driving motor 44, the corresponding first supporting roller 43 is driven to rotate. By operating the second driving motor 47 and driven by the belt transmission device 46, the other first supporting roller 43 is driven to rotate, so as to realize the rotation and flipping of the structural pipe placed on the surfaces of the two first supporting rollers 43, and reduce the labor intensity of frequent manual auxiliary operations. At the same time, a first bidirectional lead screw 501 is rotatably connected inside the active roller rack 4. Two first moving sliders are sleeved on the first bidirectional lead screw 501, and each first moving slider is fixedly arranged on the lower surface of the corresponding first moving slide plate 48. The two first moving sliders move under the rotation of the first bidirectional lead screw 501 to realize the movement of approaching or separating from each other, and each first moving slider is fixedly arranged on the lower surface of the corresponding first moving slide plate. One end of the first bidirectional lead screw 501 is fixedly provided with a first turbine 502. A first rotating motor 504 is arranged on one side of the active roller rack 4 and below the second electrical control cabinet 41. The output end of the first rotating motor 504 is fixedly connected with a first worm 503. The first turbine 502 is rotatably connected above the first worm 503, and the first worm 503 is meshed with the first turbine 502. During use, by operating the first rotating motor 504, the first worm 503 is driven to rotate, thereby driving the first turbine 502 to rotate, and further driving the first bidirectional lead screw 501 to rotate, so that the two first moving sliders both move towards the middle or the two ends, thereby driving the two first moving slide plates 48 to both move towards the middle or the two ends, realizing the adjustment of the distance between the two first supporting rollers 43 to become smaller or larger, so as to improve the use flexibility of the active roller rack 4, and thus be suitable for welding operations of structural pipes with different outer diameters.

[0034] Please refer to Figure 9, in the embodiment of the present invention, a second bidirectional lead screw 84 is rotatably connected inside the driven roller frame 5. Two second moving sliders 8 are sleeved on the second bidirectional lead screw 84 to achieve threaded connection. The two second moving sliders 8 move under the rotation of the second bidirectional lead screw 84 to achieve the movement of approaching or separating from each other. Each second moving slider 8 is fixedly arranged on the lower surface of the corresponding second moving slide plate 50. One end of the second bidirectional lead screw 84 is fixedly connected with a connecting rod 88. A second rotary motor 87 is installed on one side of the driven roller frame 5 and below the operation control box 51. The output end of the second rotary motor 87 is fixedly connected with a second worm 86. A second turbine 85 is rotatably connected above the second worm 86. The second turbine 85 is meshed with the second worm 86. One end of the connecting rod 88 is connected with the second turbine 85. When in use, the operation of the second rotary motor 87 drives the second worm 86 to rotate, thereby driving the second turbine 85 to rotate. Under the connection of the connecting rod 88, the second bidirectional lead screw 84 is driven to rotate, so that the two second moving sliders 8 both move towards the middle or the two ends, thereby driving the two second moving slide plates 50 to both move towards the middle or the two ends, realizing the adjustment of the distance between the two second support rollers 53 to become smaller or larger, so as to improve the use flexibility of the driven roller frame 5, and thus being suitable for welding operations on structural pipes with different outer diameters.

[0035] Through the above design, that is, through the cooperation of the provided driving roller frame 4 and the driven roller frame 5, the structural pipe to be welded can be automatically adjusted and clamped in position. That is, by hoisting the structural pipe to be welded onto the driving roller frame 4 and the driven roller frame 5, that is, the two ends of the structural pipe are respectively located on the driving roller frame 4 and the driven roller frame 5, and then the position of the weld to be welded on the structural pipe is adjusted through the cooperation of the driving roller frame 4 and the driven roller frame 5. Among them, the types of welds include longitudinal welds and circumferential welds.

[0036] Please refer to Figure 29 and Figure 30 , when the weld on the structural pipe is a longitudinal weld, at this time, the central axis of the structural pipe is parallel to the central axis of the cross arm 6. Through the cooperation of the driving roller frame 4 and the driven roller frame 5, the structural pipe is rotated and moved to rotate the longitudinal weld on the structural pipe to the lowest position. The welding head 7507 moves into the interior of the structural pipe to perform multi-layer and multi-pass welding on the inner side of the longitudinal weld on the structural pipe. After completing the inner side welding of the longitudinal weld, the welding head 7507 moves outside the structural pipe; then, again through the cooperation of the driving roller frame 4 and the driven roller frame 5, the structural pipe is rotated and moved to rotate the longitudinal weld on the structural pipe to the highest position. The welding head 7507 moves above the longitudinal weld on the structural pipe to perform multi-layer and multi-pass welding on the outer side of the longitudinal weld on the structural pipe, as Figure 31 shown.

[0037] Please refer to Figure 32 and Figure 33 When the weld on the structural pipe is a circumferential weld, that is, the gap between two adjacent ends of two adjacent structural pipes forms a circumferential weld, where: When the welding head 7507 welds the outer side of the circumferential weld, through the cooperative positioning and movement of multiple groups of active roller stands 4 and driven roller stands 5, multiple structural pipes are aligned with each other, that is, the central axis of each structural pipe is located on the same straight line. At this time, the central axis of each structural pipe is perpendicular to the central axis of the cross arm 6. The welding head 7507 moves above the circumferential weld to perform multi-layer and multi-pass welding on the outer side of the circumferential weld. During the welding process, the structural pipe rotates synchronously under the cooperation of the rotational movement of the active roller stand 4 and the driven roller stand 5, that is, during the welding process, the welding head 7507 does not move and the structural pipe rotates. After completing the welding of the outer side of the circumferential weld, the welding head 7507 moves upward; then, the structural pipe moves through the cooperation of the corresponding active roller stand 4 and the driven roller stand 5 to make the central axis of the structural pipe parallel to the central axis of the cross arm 6. The welding head 7507 moves into the interior of the structural pipe to weld the inner side of the circumferential weld, as Figure 34 shown.

[0038] In the embodiment of the present invention, an installation base plate 95 is installed at the bottom of the driven roller stand 5. A bottom limit plate 94 is installed inside the driven roller stand 5 and below the second bidirectional lead screw 84. The bottom limit plate 94 is used to limit the bottom of the second bidirectional lead screw 84, and the installation base plate 95 is used to protect the bottom of the driven roller stand 5.

[0039] Please refer to Figures 1 - 8 , in the embodiment of the present invention, the driving walking mechanism includes a walking motor 9. Two symmetrically distributed walking motors 9 are installed at the bottom of the driven roller stand 5. The output ends of the two walking motors 9 are fixedly connected with first gears 91. A second gear 92 is rotatably connected to one side of each of the two first gears 91 inside the driven roller stand 5. Each second gear 92 is meshed with the corresponding first gear 91. A walking roller 93 is rotatably connected to one side of each of the two second gears 92, and the walking roller 93 is fixedly connected with the second gear 92. One walking roller 93 is arranged on both sides inside each fixed box 49. The overall movement of the driven roller stand 5 is assisted by the walking roller 93. The driving walking mechanism with the same structure is installed at the bottom of the active roller stand 4, so as to cooperate with each active roller stand 4 and driven roller stand 5 for position adjustment, improving the flexibility of the equipment during actual operation.

[0040] In an embodiment of the present invention, a ladder 37 is installed on the side of the column 3 of the welding manipulator away from the cross arm 6, a protective cage 38 is installed outside the ladder 37, a storage battery 35 is fixedly connected to the top of the column 3 of the welding manipulator, and a lighting lamp 36 is fixedly connected to the bottom of the side wall of the storage battery 35.

[0041] In an embodiment of the present invention, two first electrical control cabinets 32 are fixedly connected to the side of the column 3 of the welding manipulator away from the storage box 34. A PLC controller is installed inside the first electrical control cabinet 32. The storage box 34, the lighting lamp 36, the second electrical control cabinet 41, the first drive motor 44, the second drive motor 47, the electric telescopic rod 55, the fume treatment machine 61, the flux recovery dust removal filter barrel 62, the flux recovery hopper 7512, the laser tracking assembly 73, the video monitoring assembly 74, the welding gun 75, the electronic control board 82, the third drive motor 83, the second rotation motor 87, and the traveling motor 9 are all connected to the PLC controller. The PLC controller is used to control the operation of the first electrical control cabinet 32, the storage box 34, the lighting lamp 36, the second electrical control cabinet 41, the first drive motor 44, the second drive motor 47, the electric telescopic rod 55, the fume treatment machine 61, the flux recovery dust removal filter barrel 62, the flux recovery hopper 7512, the laser tracking assembly 73, the video monitoring assembly 74, the welding gun 75, the electronic control board 82, the third drive motor 83, the second rotation motor 87, and the traveling motor 9, realizing the unified management of electrical equipment and facilitating remote supervision.

[0042] Please refer to Figures 1 - 10 , a multi-layer multi-pass laser tracking structure tube automatic welding device provided by an embodiment of the present invention is provided with a support base plate 1, a track 2, and a column 3 of a welding manipulator. When in use, the video monitoring assembly 74 is used to assist in remote monitoring during welding. A fourth drive motor is installed at the bottom of the storage battery 35, and the output end of the fourth drive motor is fixedly connected to a first reciprocating lead screw extending into the column 3 of the welding manipulator. The adjusting block is connected to the first reciprocating lead screw through a connecting block. Thus, through the operation of the fourth drive, the adjusting block is driven to adjust the height. Similarly, a second reciprocating lead screw for cooperating with the first moving slider 77 is provided inside the cross arm 6, thereby flexibly adjusting the lateral position of the fixing frame 7, improving the overall intelligent control and operation level.

[0043] An air pump is installed inside the fume treatment machine 61. The flux recovery dust removal filter barrel 62 is used to assist in flux recovery. The air pump, the flue gas recovery pipeline, and the fume treatment machine 61 cooperate to assist in on-site flue gas recovery and treatment. After the position of the mobile trolley 31 is adjusted through the mounting card plate 21 for the track 2, the mounting card plate 21 is provided with positioning bolts on the outside, and the maintenance cover 39 is opened to cooperate with the internal inspection of the flux replenishing device 33.

[0044] The storage box 34 is used to control the operation of each power device. The lighting lamp 36 is located above the ladder 37. The ladder 37 is used for manual climbing of the mobile trolley 31. The protective cage 38 provides protection during manual climbing. The battery 35 supplies the power resources required by the equipment. The lighting lamp 36 is used to assist in on-site lighting processing. The PLC controller is used to control the first electrical control cabinet 32, the storage box 34, the lighting lamp 36, the second electrical control cabinet 41, the first drive motor 44, the second drive motor 47, the electric telescopic rod 55, the fume treatment machine 61, the flux recovery dust removal filter barrel 62, the flux recovery hopper 7512, the laser tracking component 73, the video monitoring component 74, the welding gun 75, the electronic control board 82, the third drive motor 83, the second rotation motor 87 and the traveling motor 9 to run, realizing the unified management of power devices and facilitating remote supervision; The present invention is provided with an active roller rack 4 and a driven roller rack 5. One end of two second fixing plates 52 on the corresponding second moving slide plate 50 is limited and fixed by the first limiting shaft 57, and the other end of the two second fixing plates 52 on the corresponding second moving slide plate 50 is limited and fixed by the second limiting shaft 59 to enhance the firmness of the connection between the two second fixing plates. At the same time, through the operation of the electric telescopic rod 55, the corresponding first limiting shaft 57 is driven to perform fine height adjustment, thereby adjusting the angle of the second fixing plate 52, achieving the angle adjustment when the second support roller 53 supports the structural pipe, improving the stability during support, and thus improving the use flexibility of the equipment.

[0045] Through the operation of the second drive motor 47, under the drive of the belt transmission device 46, another first support roller 43 is driven to rotate, so as to realize the rotation and flipping of the structural pipe placed on the surfaces of the two first support rollers 43, reducing the labor intensity of frequent manual auxiliary operations, and at the same time cooperating with the welding gun 75, the welding flexibility can be further improved.

[0046] The laser tracker 735 is a semiconductor laser that emits a laser beam. The laser beam propagates between the equipment (i.e., the semiconductor laser) and the target (i.e., the gap of the structural pipe (welding position to be welded)). The welding distance and welding position of the welding position on the structural pipe are measured through the reflected laser beam, and multiple sets can be set for use.

[0047] The relevant parameters of the semiconductor laser are as follows: Working environmental conditions: Power input: DC12 - 24V, working temperature range: -10°C to 65°C, storage temperature range: -30°C to 80°C, working humidity range: 0 to 95% without condensation; Measurement range (coverage): Tracking series: Depth: 100 - 250mm, Lateral: 40 - 120mm; Position finding series: Depth: 200 - 500 mm, Horizontal: 60 - 160 mm; Measurement resolution: Depth: < 0.1 mm, Horizontal: < 0.1 mm; (when the viewing distance ≥ 150 mm); Sampling frequency: > 15 Hz; Laser power: < 200 mW; Service life: not less than 50,000 hours; Protection level: IP65; Naked machine weight: < 600 g; Connecting cable: resistant to high temperature, with both ends' connectors shielded, and the length depends on the on-site situation; Optimal erection distance range: BP120: 70 - 170 mm; HA180: 90 - 270 mm; LR400: 200 - 600 mm.

[0048] During use, it operates through the second rotating motor 87, driving the worm 86 to rotate, thereby driving the turbine 85 to rotate. Under the connection of the connecting rod 88, it drives the second bidirectional lead screw 84 to rotate, causing both second moving sliders 8 to move towards the middle, thereby driving both second moving slides 50 to move towards the middle, realizing the adjustment of the distance between the two second support rollers 53, so as to be suitable for welding operation of structural pipes with different lengths.

[0049] The bottom limit plate 94 is used to limit the bottom of the second bidirectional lead screw 84, and the mounting base plate 95 is used to protect the bottom of the driven roller frame 5. The whole driven roller frame 5 is assisted to move through the traveling rollers 93. The bottom of the driving roller frame 4 is equipped with a driving traveling mechanism with the same structure, so as to cooperate with each driving roller frame 4 and driven roller frame 5 for position adjustment, improving the flexibility of equipment use during actual operation, thereby performing automatic welding treatment on structural pipes placed in different specifications and positions, improving the overall intelligent operation level, facilitating the maintenance of workers and improving the safety protection at the same time.

[0050] A multi-layer multi-pass laser tracking structural pipe automatic welding device provided by an embodiment of the present invention has the following functions: 1. It has a real-time tracking function, can detect and store the weld position in real time, and correct the deviation in real time; 2. It has a single-point position finding function, can measure the single-point position difference and compensate it into the welding track; 3. For large weld position deviations, through the starting point position finding function and the automatic secondary position finding function; 4. It has functions of arc light resistance, spatter resistance, smoke and dust resistance, and electromagnetic interference resistance.

[0051] A multi-layer multi-pass laser tracking structural pipe automatic welding device provided by an embodiment of the present invention performs multi-layer multi-pass welding on the gap (i.e., weld) of the structural pipe, specifically as follows: For the gap that needs to be welded on the structural steel, such asFigure 11 as shown, where the first to second layers are welded using a tracking function, and the welding of other layers is performed by the host computer recording the trajectories of the first or second layer and making offsets for welding. For specific reference, Figures 12 to 15 .

[0052] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-layer multi-channel laser tracking structural pipe automatic welding device, comprising a supporting base plate (1), characterized in that: Also includes: Tracks (2), two tracks (2) are arranged on the top of the supporting base plate (1) and are symmetrically distributed; A welding operation machine column (3), the welding operation machine column (3) is arranged above the two rails (2), a movable trolley (31) is arranged at the bottom of the welding operation machine column (3), an adjustment block is slidably connected to one side of the welding operation machine column (3), a cross arm (6) is installed on the outer side of the adjustment block, a first movable slider (77) is installed on one side of the cross arm (6), a connecting frame (76) is installed on the outer side of the first movable slider (77), and a fixed A fixing frame (7), a flux recovery hopper (7512) is installed inside the fixing frame (7), a conveying pipe (72) is installed on the top of the flux recovery hopper (7512), a welding operation machine is arranged at the end of the cross arm (6) close to the fixing frame (7), the welding operation machine comprises a welding gun (75), and multi-layer and multi-pass welding is performed on the gap on the structural pipe by the welding gun (75), and a laser tracking component (73) and a video monitoring component (74) are installed on the welding gun (75); The welding operation machine further comprises a welding head (7507), wherein the welding head (7507) is arranged on a head mounting assembly (7505) via a manual sliding assembly (7506), one end of the head mounting assembly (7505) is fixedly arranged on an electric sliding assembly (7502), and the electric sliding assembly (7502) is fixedly arranged on a carriage mounting assembly (7501), one end of the carriage mounting assembly (7501) is fixedly arranged on a carriage (7530), the carriage (7530) is slidably connected to the cross arm (6), and the connecting frame (76) is fixedly arranged on the carriage (7530), the head mounting assembly (7505) slides forward and backward via the electric sliding assembly (7502), and the electric sliding assembly (7502) is fixedly arranged on the carriage mounting assembly (75 01) is fixedly arranged on the carriage (7530), the carriage (7530) is slidably connected to the cross arm (6), the carriage (7530) slides left and right along the cross arm (6), thereby driving the carriage mounting assembly (7501) to slide left and right, the welding machine head (7507) is fixedly arranged on the electric sliding assembly (7502) through the cooperation of the manual sliding assembly (7506) and the machine head mounting assembly (7505), and the welding machine head (7507) slides on the manual sliding assembly (7506), and the electric sliding assembly (7502) cooperates with the carriage (7530) through the carriage mounting assembly (7501), so that the welding gun (75) moves in the front-rear direction and the left-right direction through the welding machine head (7507), so as to perform multi-layer and multi-pass welding on the gap on the structural pipe; The laser tracking assembly (73) comprises a laser tracker (735), a tracker mounting plate (734), a tracker mounting bracket (733), and a tracker mounting clamp (731); the tracker mounting plate (734) is fixedly arranged on a side wall of the laser tracker (735); one end of the tracker mounting bracket (733) is fixedly arranged on the side wall of the tracker mounting plate (734); the other end of the tracker mounting bracket (733) is fixedly arranged on one end of the tracker mounting clamp (731); the tracker mounting clamp (731) is fixedly mounted on an outer side wall of a welding gun (75) via a third insulating sleeve (732); and the welding process of the welding gun (75) is tracked in real time via the laser tracker (735); An active roller frame (4), the active roller frame (4) being arranged on the top of the supporting base plate (1) and located on one side of the welding operation machine column (3); A driven roller frame (5), the driven roller frame (5) being arranged on the top of the supporting base plate (1) and located on a side of the driving roller frame (4) away from the welding operation machine column (3); A driving walking mechanism is provided at the bottom of the active roller frame (4) and the driven roller frame (5), and the driving walking mechanism is used to drive the corresponding active roller frame and the driven roller frame to adjust their positions.

2. The multi-layer multi-channel laser tracking structure pipe automatic welding device according to claim 1 is characterized in that: The top of the active roller frame (4) is slidably connected to two first movable slides (48), the top of each of the first movable slides (48) is equipped with two first fixed plates (42), the insides of the two first fixed plates (42) located on the same first movable slide (48) are both rotatably connected to first supporting rollers (43), and the structural tube is located on the tops of the two first supporting rollers (43); The top of the driven roller frame (5) is slidably connected to two second movable slides (50), and two second fixed plates (52) are installed on the top of each of the second movable slides (50). A rotating plate (58) is installed between the two second fixed plates (52) located on the same second movable slide (50), and a second supporting roller (53) is installed between the two rotating plates (58) located on the same second movable slide (50), and the structural tube is located on the top of the two second supporting rollers.

3. The multi-layer multi-channel laser tracking structure pipe automatic welding device according to claim 2 is characterized in that: An operation control box (51) is installed on one side of the driven roller frame (5), a third drive motor (83) is installed on the top of the operation control box (51), an electric control panel (82) is installed on one side of the third drive motor (83), a partition plate (56) and a first limit shaft (57) are installed between the two rotating plates (58) on the same second movable slide plate (50) and on one side of the corresponding second support roller (53), the partition plate (56) is located between the corresponding first limit shaft (57) and the second support roller (53), and a mounting plate (54) is installed on the outer side of the top of each second movable slide plate (50).

4. The multi-layer multi-channel laser tracking structure pipe automatic welding device according to claim 3 is characterized in that: An electric telescopic rod (55) is installed on the top of each mounting plate (54), and the output end of each electric telescopic rod (55) is fixedly connected to the outer side wall of the corresponding first limiting shaft (57). A second limiting shaft (59) is connected between two second fixed plates (52) located on the same second movable slide plate (50), and the second limiting shaft (59) and the first limiting shaft (57) are respectively located at two ends of the corresponding rotating plate (58), and the rotating plate (58) rotates around the corresponding second limiting shaft (59) under the action of the corresponding electric telescopic rod (55).

5. The multi-layer multi-channel laser tracking structure pipe automatic welding device according to claim 4 is characterized in that: A connecting slider (65) is slidably connected to a side of the cross arm (6) away from the fixing frame (7); a flux recovery dust removal filter barrel (62) is installed on one side of the connecting slider (65); a recovery channel (63) is installed on the outer side of the flux recovery dust removal filter barrel (62); a smoke treatment machine (61) is installed on one side of the connecting slider (65); and a collection box (64) is installed on a side of the smoke treatment machine (61) away from the connecting slider (65).

6. The multi-layer multi-channel laser tracking structure pipe automatic welding device according to claim 2 is characterized in that: A second electrical control cabinet (41) is fixedly connected to one side of the active roller frame (4), a first drive motor (44) is installed on one side of the first fixed plate (42), an output end of the first drive motor (44) is connected to one of the first support rollers (43), a transmission belt device (46) is installed on one side of another first fixed plate (42), a second drive motor (47) is installed on one side of the transmission belt device (46), a first protective plate (45) is installed on the outer side of each first fixed plate (42), and a fixing box (49) is installed on both sides of the active roller frame (4).

7. The multi-layer multi-channel laser tracking structure pipe automatic welding device according to claim 6 is characterized in that: The active roller frame (4) is internally rotatably connected to a first bidirectional screw rod (501), two first movable sliders are sleeved on the first bidirectional screw rod (501), and each first movable slider is fixedly arranged on the lower surface of the corresponding first movable slider (48), the two first movable sliders move under the rotation of the first bidirectional screw rod (501) to achieve movement towards or away from each other, and each first movable slider is fixedly arranged on the lower surface of the corresponding first movable slider (48), and a first turbine (502) is fixedly arranged at one end of the first bidirectional screw rod (501); A first rotating motor (504) is provided on one side of the active roller frame (4) and below the second electrical control cabinet (41); the output end of the first rotating motor (504) is fixedly connected to a first worm (503); the first turbine (502) is rotatably connected above the first worm (503); and the first worm (503) is meshingly connected to the first turbine (502); the operation of the first rotating motor (504) drives the first worm (503) to rotate, thereby driving the first turbine (502) to rotate, and further driving the first bidirectional screw (501) to rotate, so that the two first movable slide blocks both move toward the middle or both ends, thereby driving the two first movable slide plates (48) both move toward the middle or both ends, thereby achieving adjustment of the distance between the two first support rollers (43) to become smaller or larger.

8. The multi-layer multi-channel laser tracking structure pipe automatic welding device according to claim 3 is characterized in that: The driven roller frame (5) is internally rotatably connected to a second bidirectional screw rod (84); two second movable sliders (8) are sleeved on a turbine of the second bidirectional screw rod (84); each second movable slider (8) is fixedly arranged on the lower surface of a corresponding second movable slide plate (50); the two second movable sliders (8) move under the rotation of the second bidirectional screw rod (84) to achieve movement toward or away from each other; one end of the second bidirectional screw rod (84) is fixedly connected to a connecting rod (88); a second rotating motor (87) is installed on one side of the driven roller frame (5) and below the operation control box (51); The output end of the second rotating motor (87) is fixedly connected to a second worm gear (86), and the upper part of the second worm gear (86) is rotatably connected to a second turbine gear (85). The second turbine gear (85) is meshingly connected to the second worm gear (86). The operation of the second rotating motor (87) drives the second worm gear (86) to rotate, thereby driving the second turbine gear (85) to rotate, and further driving the second bidirectional screw rod (84) to rotate, so that the two second movable slide blocks (8) move toward the middle or both ends, thereby driving the two second movable slide plates (50) to move toward the middle or both ends, thereby achieving the adjustment of the distance between the two second support rollers (53) to become smaller or larger.

9. The multi-layer multi-channel laser tracking structure pipe automatic welding device according to claim 1 is characterized in that: The video monitoring component (74) comprises a first camera clamping block (746), a first support rod (747), a second support rod (743), a second camera clamping block (744) and a camera (742), wherein the lower end of the first support rod (747) is fixedly arranged on the first camera clamping block (746), the first camera clamping block (746) is fixedly mounted on the outer wall of the welding gun (75) through a second insulating sleeve (745), the second camera clamping block (744) is fixedly arranged on the upper end of the first support rod (747), one end of the second support rod (743) is fixedly arranged on the second camera clamping block (744), the other end of the second support rod (743) is fixedly arranged on the third camera clamping block (741), and the camera (742) is fixedly arranged on the third camera clamping block (741), so that the welding process of the welding gun (75) can be remotely monitored through the camera (742).

10. The multi-layer multi-channel laser tracking structure pipe automatic welding device according to claim 1, characterized in that: A battery (35) is fixedly connected to the top of the welding operation machine column (3), a fourth drive motor is installed at the bottom of the battery (35), an output end of the fourth drive motor is fixedly connected to a first reciprocating screw rod extending into the interior of the welding operation machine column (3), the adjustment block is connected to the first reciprocating screw rod via a connecting block, so that the adjustment block is driven to adjust the height by the driving operation of the fourth drive motor, so that the cross arm (6) slides up and down along the welding operation machine column (3), thereby adjusting the height of the welding gun (75); A second reciprocating screw rod used in conjunction with the first movable slider (77) is provided inside the cross arm (6), so that the carriage (7530) slides left and right along the cross arm (6), thereby allowing the welding gun (75) to slide left and right along the cross arm (6).

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