Automatic assembling and welding platform for steel pipe and flange

Abstract

The invention discloses an automatic assembling and welding platform for a steel pipe and a flange, and belongs to the field of welding equipment. The two groups of translation mechanisms are movably mounted on the machine table respectively; the supporting mechanism is fixed to the horizontal moving mechanism and comprises two linear moving assemblies which are arranged in an included angle mode, the ends, close to each other, of the linear moving assemblies are rotationally connected with balls, and when the steel pipe is supported by the supporting mechanism, the peripheral side wall of the steel pipe abuts against the balls; the chuck is fixed on the translation mechanism, and the chuck comprises a plurality of clamping jaws used for clamping a flange; the driving mechanism I is detachably connected with the turntable in the chuck through a worm and gear speed reducer I and a self-dismounting mechanism, and is used for driving the clamping jaws on the chuck to move and loosen and tighten the flange; and the second driving mechanism is in transmission connection with the chuck body on the chuck through the second worm and gear speed reducer and used for driving the chuck to rotate, and rotary welding of the flange and the steel pipe can be achieved.

Description

Technical Field

[0001] The present invention belongs to the field of welding equipment, and more specifically, it relates to an automatic assembly and welding platform for steel pipes and flanges. Background Art

[0002] A steel pipe is a kind of steel with a hollow cross-section. Steel pipes can be classified into carbon structural steel, low-alloy structural steel, alloy steel, composite steel, etc. according to the material; and can be classified into steel pipes for conveying pipelines, engineering structures, thermal equipment, petrochemical industry, mechanical manufacturing, geological exploration, high-pressure equipment, etc. according to the use.

[0003] Since steel pipes usually need to be joined during actual use, and the joining needs to be achieved through flanges at the ends of the steel pipes. A flange is an outward-expanded structure welded to both ends of the steel pipe. During the flange welding process, the flange must be kept coaxial with the steel pipe, otherwise not only will there be false welding, but also it will not meet the steel standards.

[0004] Therefore, people generally use a welding machine to weld the flanges of steel pipes. The principle of the welding machine is to fix the steel pipe through a supporting mechanism, and then fix the flange through chucks at both ends. After the flange moves and aligns towards the steel pipe direction, welding is carried out.

[0005] However, in the prior art, similar welding machines as described above only have a clamping and fixing function during the welding process and cannot rotate, resulting in the flange and the steel pipe being unable to rotate, and the welding machine cannot perform circumferential welding at the connection between the steel pipe and the flange. Summary of the Invention

[0006] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide an automatic assembly and welding platform for steel pipes and flanges, which can realize the rotary welding of the flange and the steel pipe.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] An automatic assembly and welding platform for steel pipes and flanges, comprising: A machine table; A translation mechanism, with two groups and respectively movably installed on the machine table; A supporting mechanism, fixed on the translation mechanism. The supporting mechanism includes two groups of linear moving components arranged at an angle. The mutually approaching ends of the linear moving components are both rotatably connected with balls. When the steel pipe is supported by the supporting mechanism, the circumferential side wall of the steel pipe abuts against the balls; A chuck, fixed on the translation mechanism. The chuck includes a number of jaws for clamping the flange; A driving mechanism one, detachably connected to the turntable in the chuck through a worm and gear reducer one and a self-disassembly and assembly mechanism, for driving the jaws on the chuck to move and loosen or tighten the flange; The second driving mechanism is drivingly connected to the chuck body on the chuck through the second worm and worm gear reducer, and is used to drive the chuck to rotate.

[0009] The advantages of this solution are at least as follows: During operation, first control the linear moving components to approach each other to form a top included angle area, and then the manipulator grabs the steel pipe to the top included angle area on the supporting mechanism and is abutted by the ball bearings to realize the placement of the steel pipe.

[0010] Meanwhile, another manipulator installs the flange on the two chucks, and the first driving mechanism is connected to the turntable in the chuck through the self-disassembling and assembling mechanism, so that the first driving mechanism can drive the clamping jaws to grip the flange. After the clamping jaws grip the flange, the self-disassembling and assembling mechanism separates the first driving mechanism from the chuck. At this time, due to the large torque between the components in the chuck, the components in the chuck will not move relative to each other before the torque is released, that is, rotating any component in the chuck can drive the entire chuck to rotate, thereby realizing the rotation of the flange.

[0011] As the translation mechanism drives the flange on the chuck to move towards the steel pipe, the steel pipe and the flange can be clamped and matched, thereby realizing the pre-positioning between the steel pipe and the flange.

[0012] After pre-positioning, the second driving mechanism drives the entire chuck to rotate. When the chuck drives the flange to rotate, since the steel pipe can move on the ball bearings, the rotary welding of the flange and the steel pipe can be realized by an external welding machine. During the welding process, since the self-disassembling and assembling mechanism disconnects the first driving mechanism from the chuck, the jamming problem caused by the self-locking of the first worm and worm gear reducer on the first driving mechanism can be solved.

[0013] The present invention is further configured as: The self-disassembling and assembling mechanism includes: A telescopic driving member, fixedly installed on the translation mechanism; A movable frame, fixedly connected to the movable end of the telescopic driving member, and the first driving mechanism is fixedly installed on the movable frame; A gear shaft, on which the gear meshes with the circumferential side wall of the turntable of the chuck to drive the clamping jaws to move; The output shaft of the first driving mechanism and the gear shaft are coaxially arranged, and corresponding clamping grooves and clamping blocks are provided at one ends of the two that are close to each other.

[0014] The advantages of this solution are at least as follows: After the flange and the steel pipe are pre-positioned, the controller controls the telescopic driving member to extend, thereby realizing the movement of the movable frame, and further enabling the output shaft (clamping groove or clamping block) of the first driving mechanism to penetrate into the gear shaft (clamping block or clamping groove), achieving the automatic connection between the first driving mechanism and the chuck. Similarly, the automatic disassembly can be achieved in the reverse direction.

[0015] The present invention is further configured as: The second worm and worm gear reducer and the chuck body on the chuck are meshingly connected through a gear set with different gear ratios.

[0016] The advantage of this solution is at least that the output speed can be further adjusted.

[0017] The present invention is further configured as follows: the support mechanism further comprises a synchronous driving mechanism for driving the two linear moving assemblies to move synchronously;

[0018] The synchronous drive mechanism includes a rotating drive member, a worm gear reducer three that is transmission-connected to the rotating drive member, a transmission gear that is transmission-connected to the two output ends of the worm gear reducer three respectively, and a rack fixed on the linear moving component and parallel to the movement direction of the linear moving component, wherein the rack is meshed with the transmission gear.

[0019] The advantages of this solution are at least that the rotating drive member is driven by the worm gear reducer 3 pair of transmission gears, so that the rack moves with the linear moving component along a predetermined linear direction to form a top angle area for the steel pipe to be placed. Since the worm gear reducer 3 has two output ends, and the two output ends rotate synchronously, the two linear moving components can be raised and lowered synchronously. In addition, since the worm gear reducer 3 has a self-locking function, the problem of the rack moving in the opposite direction under the action of gravity can also be avoided.

[0020] The present invention is further configured to include a first sensor for detecting the position of the steel pipe.

[0021] The present invention is further configured to include: a second sensor for detecting the flange angle.

[0022] The advantages of this solution are at least that the first sensor and the second sensor can realize the positioning of the steel pipe position and the flange angle without manual positioning, with high positioning accuracy and high degree of automation.

[0023] In summary, the present invention has at least the following advantages: 1. By setting a machine table, a translation mechanism, a support mechanism, and setting a ball on the support mechanism, the steel pipe can be supported by the support mechanism and can rotate and move on the support mechanism. By setting a chuck, and setting a driving mechanism 1 for driving the movement of the clamping claws on the chuck, and a driving mechanism 2 for driving the rotation of the chuck, the chuck can rotate after grasping the flange, thereby realizing the rotation welding of the flange and the steel pipe.

[0024] 2. By setting up a synchronous driving mechanism, the two linear moving components can move synchronously to ensure that the central axis of the steel pipe is fixed. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an overall schematic diagram of a preferred embodiment of the present invention; Figure 2 forFigure 1 Schematic diagram of a structure for hiding a partial blocking structure Figure 3 Schematic diagram highlighting the support mechanism and the chuck in a preferred embodiment Figure 4 Schematic diagram highlighting the self - disassembling and assembling mechanism and drive mechanisms I and II in a preferred embodiment Figure 5 Schematic diagram highlighting the internal structure of the support mechanism in a preferred embodiment

[0026] Reference numerals: 1, machine platform; 2, translation mechanism; 3, support mechanism; 31, linear movement component; 32, ball; 33, synchronous drive mechanism; 331, rotation drive part; 332, worm and worm gear reducer III; 333, transmission gear; 334, rack; 4, chuck; 41, jaw; 42, chuck body; 43, turntable; 5, drive mechanism I; 51, worm and worm gear reducer I; 6, self - disassembling and assembling mechanism; 61, telescopic drive part; 62, movable frame; 63, gear shaft; 7, drive mechanism II; 71, worm and worm gear reducer II; 72, gear set; 8, first sensor; 9, second sensor; 10, top included - angle area; 11, welding machine; 12, steel pipe; 13, flange Detailed description of the specific implementation

[0027] The present invention will be further described in detail below with reference to the accompanying drawings

[0028] An automatic assembly and welding platform for a steel pipe and a flange, as Figure 1 shown in Figure 2 includes: Machine platform 1 Translation mechanism 2, with two sets and respectively movably installed on the machine platform 1. The translation mechanism 2 is a mechanism with a linear movement function, such as a mechanism formed by a motor and a screw - rod slider combination. Preferably, the two sets of translation mechanisms 2 are respectively located at both ends of the machine platform 1, and the movement directions and movement strokes of the translation mechanisms 2 are completely symmetric

[0029] Support mechanism 3, as Figure 1 shown in Figure 3 fixed to the translation mechanism 2 and capable of moving together with the translation mechanism 2. The support mechanism 3 includes two sets of linear movement components 31 arranged at an included angle. The mutually - approaching ends of the linear movement components 31 form a top included - angle area 10. After the two linear movement components 31 approach each other, the steel pipe 12 can be placed in the top included - angle area 10. Rotationally connected to the mutually - approaching ends of the linear movement components 31 are balls 32. When the steel pipe 12 is supported by the support mechanism 3, the circumferential side wall of the steel pipe 12 abuts against the balls 32. Since the balls 32 can rotate, when the steel pipe 12 is stressed, the steel pipe 12 can move or rotate on the balls 32

[0030] Chuck 4, such as Figure 3 and Figure 4 As shown, it is fixed on the translation mechanism 2 and can move with the translation mechanism 2. The chuck 4 includes a plurality of clamping jaws 41 for clamping the flange 13. It is worth mentioning that the chuck 4 also includes a chuck body 42 and a turntable 43 rotatably connected to the chuck body 42. The turntable 43, the chuck body 42 and the clamping jaws 41 for clamping the flange 13 are all prior art. The principle is that by rotating the turntable 43 on the chuck 4 (the side wall of the turntable 43 has a tooth opening that meshes with the gear shaft 63, and the tooth opening is not shown in the figure), the turntable 43 will drive the clamping jaws 41 to move radially, thereby achieving the clamping of the object to be clamped (flange 13). After the object (flange 13) is clamped, there is a large torque between the chuck body 42, the turntable 43, the clamping jaws 41 and the flange 13. When there is no large external force to reverse the turntable 43, they are relatively fixed to each other, that is, if any one of the chuck body 42, the turntable 43, the clamping jaws 41 and the flange 13 is rotated, the other three structures will rotate together.

[0031] Driving mechanism 5, such as Figure 3 and Figure 4 As shown, the self-disassembly mechanism 6 is detachably connected to the rotating disk 43 in the chuck 4, and is used to drive the clamping jaws 41 on the chuck 4 to move and loosen or tighten the flange 13. The driving mechanism 15 is preferably a servo motor, and the output shaft of the driving mechanism 15 is transmission-connected to the self-disassembly mechanism 6 through a worm gear reducer 151. After the flange 13 and the steel pipe 12 are pre-positioned in the top angle area 10, the driving mechanism 15 is automatically connected to the rotating disk 43 of the chuck 4 through the self-disassembly mechanism 6. The rotation of the rotating disk 43 in the chuck 4 can be realized by starting the driving mechanism 15, thereby achieving the purpose of loosening or tightening the flange 13 of the clamping jaws 41 on the chuck 4. Similarly, the automatic disassembly of the driving mechanism 15 and the chuck 4 can be realized in the reverse direction.

[0032] Driving mechanism 27, such as Figure 4 As shown, the second worm gear reducer 71 is connected to the chuck body 42 on the chuck 4 for driving the chuck 4 to rotate. In some embodiments, the second drive mechanism 7 is a servo motor, and the output shaft of the second drive mechanism 7 is connected to the chuck body 42 on the chuck 4 through the second worm gear reducer 71. In a preferred embodiment, the second worm gear reducer 71 is meshed with the chuck body 42 on the chuck 4 through a gear set 72 with different gear ratios to further adjust the rotation speed.

[0033] like Figure 1 and Figure 3 As shown, during operation, the linear moving components 31 are first controlled to approach each other to form the top angle area 10, and then the robot grabs the steel pipe 12 to the top angle area 10 on the support mechanism 3 to be abutted by the ball 32, thereby placing the steel pipe 12.

[0034] At the same time, Figure 3 and Figure 4 As shown, another manipulator installs the flange 13 on the two chucks 4, and the driving mechanism 5 is connected to the turntable 43 in the chuck 4 through the self-disassembly mechanism 6, so that the driving mechanism 5 can drive the clamping jaws 41 to grasp the flange 13. After the clamping jaws 41 grasp the flange 13, the self-disassembly mechanism 6 separates the driving mechanism 5 from the chuck 4. At this time, due to the large torque between the components in the chuck 4, the components in the chuck 4 will not move relative to each other before the torque is released, that is, driving any component in the chuck 4 to rotate can drive the entire chuck 4 to rotate, thereby realizing the rotation of the flange 13.

[0035] like Figure 1 and Figure 4 As shown, as the translation mechanism 2 drives the flange 13 on the chuck 4 to move onto the steel pipe 12 , the steel pipe 12 and the flange 13 can be engaged with each other, thereby achieving pre-positioning between the steel pipe 12 and the flange 13 .

[0036] After pre-positioning, the driving mechanism 2 7 drives the entire chuck 4 to rotate. When the chuck 4 drives the flange 13 to rotate, since the steel pipe 12 can move on the ball 32, the flange 13 and the steel pipe 12 can be rotated and welded by the external welding machine 11. In other embodiments, the welding machine 11 can also be directly installed on the translation mechanism 2. During the rotation welding process, since the self-disassembly mechanism 6 disconnects the driving mechanism 1 5 from the chuck 4, the problem of jamming caused by the self-locking of the worm gear reducer 1 51 on the driving mechanism 1 5 can be solved.

[0037] like Figure 4 As shown, in some embodiments, the self-disassembly mechanism 6 includes: The telescopic driving member 61 is fixedly mounted on the translation mechanism 2 and moves along with the translation mechanism 2. The telescopic driving member 61 is any mechanism that can move linearly, such as an oil cylinder, an air cylinder, a screw slider assembly, etc.

[0038] The movable frame 62 is fixedly connected to the movable end of the telescopic driving member 61, so that the movable frame 62 can be driven by the telescopic driving member 61 to move linearly. The driving mechanism 15 is fixedly installed on the movable frame 62, and when the movable frame 62 moves linearly, the driving mechanism 15 will also move.

[0039] The gear on the gear shaft 63 meshes with the side wall of the rotating disk 43 of the chuck 4 (the teeth on the side wall of the rotating disk 43 are not shown) to drive the clamping jaws 41 to move. When the gear shaft 63 drives the rotating disk 43 to rotate, the clamping jaws 41 of the chuck 4 will move, thereby loosening or gripping the flange 13; The output shaft of the driving mechanism 15 is coaxially arranged with the gear shaft 63, and corresponding card slots and card blocks are provided at the ends close to each other. Therefore, after the telescopic driving member 61 drives the movable frame 62 to move linearly, the card slot and the card block will cooperate with each other, thereby realizing the connection and separation of the driving mechanism 15 and the chuck 4.

[0040] like Figure 5 As shown, in order to ensure that the flange 13 and the steel pipe 12 (see Figure 1 ) are in a coaxial state before mating, and the support mechanism 3 also includes a synchronous drive mechanism 33 for driving the two linear moving components 31 to move synchronously. The synchronous drive mechanism 33 includes a rotary drive member 331, a worm gear reducer 332 connected to the rotary drive member 331, a transmission gear 333 connected to the two output ends of the worm gear reducer 332, and a rack 334 fixed on the linear moving component 31 and parallel to the movement direction of the linear moving component 31, and the rack 334 is meshed with the transmission gear 333. It is worth noting that the worm gear reducer 332 has an input shaft and two output shafts, and the two output shafts move completely synchronously. The worm gear reducer 332 with two output shafts belongs to the prior art and will not be described here. In addition, in order to facilitate the selection of the installation position of the rotary drive member 331, a bevel gear set can also be installed in the synchronous drive mechanism 33 to achieve steering. Installing a bevel gear set to change direction is also common knowledge, and therefore also falls within the protection scope of this solution.

[0041] The rotating drive member 331 is preferably a servo motor, which drives the transmission gear 333 through the worm gear reducer 332, so that the rack 334 moves with the linear moving component 31 along a predetermined linear direction to form a top angle area 10 for the steel pipe 12 to be placed. Since the worm gear reducer 332 has two output ends, and the two output ends rotate synchronously, the two linear moving components 31 can be raised and lowered synchronously to form a stable top angle area 10. In addition, since the worm gear reducer 332 has a self-locking function, the problem of the rack 334 moving in the opposite direction under the action of gravity can also be avoided.

[0042] In order to further realize the positioning of the placement position of the steel pipe 12 and the placement angle of the flange 13, in some embodiments, the welding positioning platform also includes a first sensor 8 for detecting the position of the steel pipe 12 and a second sensor 9 for detecting the angle of the flange 13. Both the first sensor 8 and the second sensor 9 can be installed on the support mechanism 3 or the translation mechanism 2.

[0043] like Figure 1 and Figure 5As shown in the figure, during the process of the translation mechanism 2 moving the flange 13 towards the steel pipe 12, when the first sensor 8 senses the position of the end of the steel pipe 12, the translation mechanism 2 stops or stops after a delay. At this time, the flange 13 is clamped on the steel pipe 12 to achieve the pre-positioning of the flange 13 and the steel pipe 12. Since there are multiple bolt hole positions arranged around the flange 13, during the rotation of the chuck 4 with the flange 13, when the second sensor 9 senses any bolt hole position, the chuck 4 stops rotating or stops rotating after a delay, so that the angles of the flanges 13 at both ends of the steel pipe 12 are the same. After the flange 13 and the steel pipe 12 are positioned, the welding process can start.

[0044] It is worth mentioning that in this solution, all driving parts and electronic components can be electrically connected through the controller.

[0045] The working process and beneficial effects of the present invention are as follows: During operation, first control the linear movement components 31 to approach each other to form the top included angle area 10, and then the manipulator grabs the steel pipe 12 and is abutted by the balls 32 in the top included angle area 10 on the support mechanism 3 to achieve the placement of the steel pipe 12.

[0046] At the same time, another manipulator installs the flange 13 on the two chucks 4. The driving mechanism 1 5 is connected to the turntable 43 in the chuck 4 through the self-disassembly and assembly mechanism 6, so that the driving mechanism 1 5 can drive the clamping jaws 41 to clamp the flange 13. After the clamping jaws 41 clamp the flange 13, the self-disassembly and assembly mechanism 6 separates the driving mechanism 1 5 from the chuck 4. At this time, due to the large torque between the components in the chuck 4, the components in the chuck 4 will not move relative to each other before the torque is released, that is, rotating any component in the chuck 4 can drive the entire chuck 4 to rotate, thereby realizing the rotation of the flange 13.

[0047] As the translation mechanism 2 drives the flange 13 on the chuck 4 to move towards the steel pipe 12, the steel pipe 12 and the flange 13 can be clamped and matched, so as to achieve the pre-positioning between the steel pipe 12 and the flange 13. During the pre-positioning process, the position of the steel pipe 12 and the installation angles of the flanges 13 at both ends are sensed by the first sensor 8 and the second sensor 9.

[0048] After pre-positioning, the external spot welder 11 starts spot welding and circumferential welding. At this time, the driving mechanism 2 7 can drive the entire chuck 4 to rotate (the driving mechanism 1 5 is separated from the chuck 4). When the chuck 4 drives the flange 13 to rotate, since the steel pipe 12 can move on the balls 32, the rotational welding of the flange 13 and the steel pipe 12 can be realized, solving the technical problem that the chuck 4 cannot perform rotational welding in the prior art.

[0049] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the design concept of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic assembly and welding platform for steel pipes and flanges, characterized in that, Comprising: Machine platform (1); Translation mechanisms (2), with two sets and respectively movably installed on the machine platform (1); Support mechanism (3), fixed to the translation mechanism (2), the support mechanism (3) includes two sets of linear movement components (31) arranged at an angle, and ball bearings (32) are rotatably connected to the ends of the linear movement components (31) that are close to each other. When the steel pipe (12) is supported by the support mechanism (3), the circumferential side wall of the steel pipe (12) abuts against the ball bearings (32); Chuck (4), fixed to the translation mechanism (2), the chuck (4) includes a number of jaws (41) for clamping the flange (13); First driving mechanism (5), detachably connected to the turntable (43) inside the chuck (4) through a worm and gear reducer one (51) and a self-disassembly and assembly mechanism (6), for driving the jaws (41) on the chuck (4) to move and tighten or loosen the flange (13); Second driving mechanism (7), drivingly connected to the chuck body (42) on the chuck (4) through a worm and gear reducer two (71), for driving the chuck (4) to rotate.

2. The automatic assembly and welding platform for steel pipes and flanges according to claim 1, characterized in that The self-disassembly and assembly mechanism (6) includes: Telescopic driving member (61), fixedly installed on the translation mechanism (2); Moving frame (62), fixedly connected to the moving end of the telescopic driving member (61), the first driving mechanism (5) is fixedly installed on the moving frame (62); Gear shaft (63), the gear thereon meshes with the circumferential side wall of the turntable (43) of the chuck (4) to drive the jaws (41) to move; The output shaft of the first driving mechanism (5) is coaxially arranged with the gear shaft (63), and corresponding card slots and blocks are provided at the ends of the two that are close to each other.

3. The automatic assembly and welding platform for steel pipes and flanges according to claim 1, characterized in that, A gear set (72) with different gear ratios is meshingly connected between the worm and gear reducer two (71) and the chuck body (42) on the chuck (4).

4. The automatic assembly and welding platform for steel pipes and flanges according to claim 1, characterized in that The support mechanism (3) further includes a synchronous driving mechanism (33) for driving the two linear movement components (31) to move synchronously; The synchronous driving mechanism (33) includes a rotary driving member (331), a worm and gear reducer three (332) drivingly connected to the rotary driving member (331), transmission gears (333) respectively drivingly connected to the two output ends of the worm and gear reducer three (332), and racks (334) fixed on the linear movement components (31) and parallel to the movement direction of the linear movement components (31), and the racks (334) mesh with the transmission gears (333).

5. The automatic assembly and welding platform for steel pipes and flanges according to claim 1, characterized in that, It further includes a first sensor (8) for detecting the position of the steel pipe (12).

6. The automatic assembly and welding platform for steel pipes and flanges according to claim 1, characterized in that It further includes a second sensor (9) for detecting the angle of the flange (13).

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