Control program of multi-gun steel pipe flange automatic welding machine

Abstract

The invention provides a control program of a multi-gun steel pipe flange automatic welding machine. The control program is characterized in that the writing process of the control program comprises the steps of (1) pressing a reset key after electrification, self-checking equipment and returning each executing mechanism to an initial original point; (2) starting the program and entering a welding state: (1) automatically feeding a flange, (2) automatically feeding a steel pipe, (3) welding the steel pipe and the flange and (4) returning the material; a bottom frame of a machine frame of the multi-gun steel pipe flange automatic welding machine is arranged on the ground, and an assembling and welding sliding table is installed on the machine frame. The flange clamping device is installed on a bidirectional sliding block of the machine frame and the assembling and welding sliding table, and a radial positioning assembly and a positioning pipe pushing assembly of the steel pipe positioning device are installed on the machine frame and the assembling and welding sliding table. The inner welding gun assembly is installed at the end of the inner welding sliding beam, and the outer welding gun assembly is installed on the clamping sliding beam. A lifting transporting device of the steel pipe feeding and discharging device is supported on a transporting guide rail of the machine frame, and a flange feeding device is supported on a sliding table guide rail of the machine frame. The device is good in program adaptability, high in automation degree and rapid in clamping and welding.

Description

Technical Field

[0001] The present invention provides a control program for a multi-gun steel pipe flange automatic welding machine, belonging to the field of automated welding equipment, and is mainly used for programming the automatic feeding, clamping, welding, and unloading procedures of rotary workpieces. Background Art

[0002] Welding, an indispensable technical process in the manufacturing industry, plays a crucial role in the manufacturing industry and constitutes an important part of the market. With the continuous development of industrialization, the competition in the welding market has become increasingly fierce, and various enterprises have emerged. The global welding market continues to show a steady growth trend. The global welding market is growing steadily, but the regional distribution and welding level differences cannot be ignored.

[0003] Currently, some small and medium-sized machinery manufacturing enterprises still use manual operation for welding. This not only results in low welding efficiency, high labor intensity, poor working conditions, and many safety hazards, but also makes it difficult to guarantee welding quality. Especially for rotary workpieces, the positioning accuracy before welding is poor, the speed is slow, the clamping reliability is poor, and the uniformity of the weld seam is poor.

[0004] Looking at the current situation of the automated welding equipment industry, there is an urgent need for a control program for a multi-gun steel pipe flange automatic welding machine that has good program adaptability, high automation, and is convenient for loading and unloading materials on the equipment, with accurate and reliable positioning and clamping. Summary of the Invention

[0005] The purpose of the present invention is to provide a control program for a multi-gun steel pipe flange automatic welding machine that can overcome the problems existing in the current automated welding equipment industry. The written program not only has good adaptability and high automation, but also can accurately and quickly clamp the equipment and is convenient and fast for welding.

[0006] Its technical solution is as follows: The control program writing process is as follows: (1) After power-on, press the reset button, and the equipment performs self-check, and each actuator returns to the initial origin: ① The lifting and transporting device of the steel pipe feeding and unloading device descends and returns to the side close to the pipe rack where the steel pipe to be welded is placed; ② The sliding beam cylinder of the flange clamping device of the flange clamping device retracts, driving the clamping sliding beam, V-groove wheel, and external welding gun assembly to return to one side of the equipment; ③ The cylinder rod of the inner welding cylinder of the inner welding gun assembly retracts, driving the welding gun telescopic assembly to return to one side of the equipment through the inner welding sliding beam; ④ The welding gun telescopic assemblies of the inner welding gun assembly and the external welding gun assembly return to the non-welding state; ⑤ The screw drive of the flange positioning device of the flange clamping device drives the positioning active assembly and the positioning driven assembly to move outward; ⑥ The welding table drive of the welding and clamping slide drives the welding and clamping slide to move outward; ⑦The feeding table drive of the feeding slide of the flange feeding device drives the flange feeding device to move outward, the upward sliding drive drives the feeding slider and the gripping head to rise, and the flipping drive of the gripping head drives the gripping head to flip to the vertical position; ⑧Manually adjust to ensure the best welding position. After starting, the system will automatically save relevant parameters; ⑵Start the program and enter the welding state: ①Automatic flange feeding: A. The upward sliding drive of the flange feeding device drives the feeding slider and the gripping head to descend until the flange to be welded is detected; B. The gripping drive of the gripping head drives the two-way adjustment assembly, the electromagnet and the gripping pin to rotate slowly until they are aligned with the bolt holes of the flange to be welded, and the gripping drive of the gripping head drives the gripping pin to insert into the bolt holes of the flange to be welded; C. The electromagnet is energized to grip the flange to be welded; D. The flipping drive of the gripping head drives the gripping head to flip to the horizontal position; E. The feeding table drive of the feeding slide of the flange feeding device drives the flange feeding device and the flange to be welded to be pushed towards the flange positioning device until they are above the V-grooved wheels of the positioning active component and the positioning driven component; F. The upward sliding drive of the flange feeding device drives the feeding slider, the gripping head and the flange to be welded to descend until the flange to be welded is placed into the V-grooved wheels of the positioning active component and the positioning driven component; G. The V-grooved wheels of the flange clamping device of the flange clamping device descend to clamp the flange to be welded; H. The electromagnet of the gripping head of the flange feeding device is de-energized to release the flange to be welded; I. The upward sliding drive drives the feeding slider and the gripping head to rise; J. The flipping drive of the gripping head drives the gripping head to flip to the vertical position; K. The feeding table drive of the feeding slide drives the flange feeding device to move outward; L. The gripping head descends until the flange to be welded is detected; M. The positioning push frame cylinder of the positioning push pipe assembly of the steel pipe positioning device drives the positioning push pipe assembly to move until it is aligned with the longitudinal symmetry plane of the frame; N. The positioning pin of the positioning push pipe cylinder of the positioning push pipe assembly of the steel pipe positioning device extends and inserts into the bolt hole of the flange to be welded, and the push pipe rod is aligned with the end face of the steel pipe to be welded; ②Automatic steel pipe feeding: A. The lifting and transporting device of the steel pipe feeding and unloading device rises to lift the steel pipe to be welded to the set height; B. The transporting drive drives the lifting and transporting device and the steel pipe to be welded to move towards the longitudinal symmetry plane of the frame to the set position; C. The lifting and transporting device descends, places the steel pipe to be welded on the positioning rollers of the radial positioning component of the steel pipe positioning device, and continues to descend to the initial state; D. The welding table drive of the welding and fitting slide drives the welding and fitting slide, the positioning pin and the pushing pipe rod of the positioning pushing pipe component of the steel pipe positioning device installed on the welding and fitting slide, and pushes the steel pipe to be welded towards the clamping table of the machine frame; E. Stop when the other end of the steel pipe to be welded touches the pushing pipe rod of the positioning pushing pipe component of the steel pipe positioning device installed on the clamping table of the machine frame; ③ Welding of steel pipe and flange: A. The inner welding cylinder of the inner welding gun component drives the welding gun telescopic component to extend to the welding state through the inner welding slide beam; B. The welding gun telescopic components of the inner welding gun component and the outer welding gun component extend to the welding positions; C. The spot welding program is started and the first spot welding is completed; D. The positioning pushing pipe cylinder of the steel pipe positioning device drives the positioning pin and the pushing pipe rod to return to the initial positions; E. The positioning drive of the positioning active component of the flange positioning device drives the V-groove wheel of the positioning active component to rotate, and then drives the flange of the workpiece to be welded together with the steel pipe to rotate "360° / set number of spot welds" and then spot weld again until the number of spot welds is reached; F. The continuous welding program is started until the welding is completed; G. The welding gun telescopic components of the inner welding gun component and the outer welding gun component return to the initial positions; H. The clamping cylinder of the flange clamping device drives the V-groove wheel to return to the initial position; I. The slide beam cylinder of the flange clamping device of the flange clamping device drives the clamping slide beam, the V-groove wheel and the outer welding gun component to return to the initial state; J. The inner welding cylinder of the inner welding gun component drives the welding gun telescopic component to return to the initial state through the inner welding slide beam; K. The welding table drive of the welding and fitting slide drives the welding and fitting slide to move outwards to the initial position; ④ Unloading: A. The lifting and transporting device of the steel pipe loading and unloading device rises, jacks up the welded finished workpiece and the steel pipe to be welded to the set height; B. The transporting drive drives the lifting and transporting device, the finished workpiece and the steel pipe to be welded to move towards the side away from the pipe rack with the steel pipe to be welded to the set position; C. The lifting and transporting device descends, places the steel pipe to be welded on the positioning rollers of the radial positioning component of the steel pipe positioning device, and at the same time places the finished workpiece on the pipe rack, and continues to descend to the set position; D. The transporting drive drives the lifting and transporting device in the reverse direction to move towards the pipe rack with the steel pipe to be welded to the set position; E. The lifting and transporting device ascends to lift the steel pipe to be welded to the set height; F. The transporting drive drives the lifting and transporting device and the steel pipe to be welded to move towards the longitudinal symmetry plane of the frame to the set position; G. The lifting and transporting device descends to the set height; H. The transporting drive drives the lifting and transporting device and the steel pipe to be welded to move towards the longitudinal symmetry plane of the frame to the set position, waiting for unloading; Thus, a welding cycle is completed.

[0007] The multi-gun automatic welding machine for steel pipe flanges adapted to the control program of the multi-gun automatic welding machine for steel pipe flanges includes a frame, a welding and mounting slide table, a flange clamping device, a steel pipe positioning device, an inner welding gun assembly, an outer welding gun assembly, a steel pipe loading and unloading device, and a flange loading device. The frame is placed on the ground, and the welding and mounting slide table is slidably mounted above it; two flange clamping devices and two steel pipe positioning devices are respectively installed on the frame and the welding and mounting slide table, and two inner welding gun assemblies and two outer welding gun assemblies are respectively installed on the frame and the welding and mounting slide table; the steel pipe loading and unloading device is installed on the frame and located between the frame and the welding and mounting slide table, and two flange loading devices are installed on the frame and located outside the frame and the welding and mounting slide table.

[0008] The multi-gun automatic welding machine for steel pipe flanges adapted to the control program of the multi-gun automatic welding machine for steel pipe flanges, the frame includes a chassis, columns, a clamping table, a slide table guide rail, a transporting guide rail, a clamping table linear guide rail, a column linear guide rail, a two-way slider, and a double-slider drive. The chassis extends upward with columns and a clamping table, and is provided with a slide table guide rail and a transporting guide rail; the clamping table is provided with a clamping table linear guide rail, the columns are provided with column linear guide rails, and two two-way sliders equipped with double-slider drives are respectively clamped on the column linear guide rails of the columns.

[0009] The multi-gun automatic welding machine for steel pipe flanges adapted to the control program of the multi-gun automatic welding machine for steel pipe flanges, the welding and mounting slide table includes a welding and mounting slide table plate, rollers, a welding and mounting table drive, columns, a clamping table linear guide rail, a column linear guide rail, a two-way slider, and a double-slider drive. The welding and mounting slide table plate is slidably mounted on the slide table guide rail of the frame through the rollers on one side surface; the welding and mounting slide table plate extends upward with columns and a clamping table linear guide rail, and the columns are provided with column linear guide rails; the two-way sliders equipped with double-slider drives are respectively clamped on the column linear guide rails of the columns of the welding and mounting slide table.

[0010] The multi-gun steel pipe flange automatic welding machine adapted to the control program of the multi-gun steel pipe flange automatic welding machine, the flange clamping device includes a flange positioning device and a flange clamping device. The flange positioning device includes a lead screw, a lead screw drive, a positioning active component and a positioning driven component. Two lead screws are respectively supported at both ends of the clamping table linear guide of the machine frame and the welding slide table. The right-handed nuts of the positioning active components and the left-handed nuts of the positioning driven components of the two flange positioning devices are screwed onto the lead screws. The positioning active component and the positioning driven component are installed on the clamping table linear guide. The flange clamping device includes a slide beam cylinder, a clamping slide beam, a clamping slider, a clamping cylinder and a V-groove wheel. Two slide beam cylinders are respectively installed on the bidirectional sliders of the machine frame and the welding slide table. Two clamping slide beams are respectively slidably mounted on the bidirectional sliders equipped with slide beam cylinders. The end of the cylinder rod of the slide beam cylinder is connected to the clamping slide beam. Two clamping sliders are respectively slidably mounted at the ends of the clamping slide beams of the machine frame and the welding slide table. Two clamping cylinders are respectively installed on one side of the clamping slide beams of the machine frame and the welding slide table. The lever ends of the two clamping cylinders are respectively connected to the two clamping sliders. Two V-groove wheels are respectively installed on the two clamping sliders.

[0011] The multi-gun steel pipe flange automatic welding machine adapted to the control program of the multi-gun steel pipe flange automatic welding machine, the steel pipe positioning device includes a radial positioning component and a positioning push pipe component. The radial positioning component includes a steel pipe positioning table, a steel pipe positioning drive, a steel pipe positioning plate and a positioning roller. The output shaft end of the steel pipe positioning drive installed on the steel pipe positioning table is equipped with a steel pipe positioning plate and a positioning roller. Two steel pipe positioning devices are respectively installed on the machine frame and the welding slide table. The positioning push pipe component includes a positioning push pipe frame, a positioning push pipe cylinder, a positioning pin, a push pipe rod and a positioning push frame cylinder. The end of the cylinder rod of the positioning push pipe cylinder installed on the positioning push pipe frame is equipped with a positioning pin and a push pipe rod. Two positioning push pipe components are respectively installed on the machine frame and the welding slide table. Two positioning push frame cylinders are respectively installed on the machine frame and the welding slide table. The end of the cylinder rod of the two positioning push frame cylinders is respectively connected to the positioning push pipe frame.

[0012] The multi-gun steel pipe flange automatic welding machine adapted to the control program of the multi-gun steel pipe flange automatic welding machine, the inner welding gun component includes a welding gun telescopic component, an inner welding cylinder and an inner welding slide beam. The welding gun telescopic component includes a telescopic slider, a telescopic frame, a welding cylinder, a horizontal adjustment component, a fine adjustment component and a wire clamp. The telescopic slider installed on the telescopic frame is connected to the lever end of the welding cylinder. The horizontal adjustment component is installed on the telescopic slider. The end of the fine adjustment component installed on the horizontal adjustment component is equipped with a wire clamp. Two inner welding cylinders are respectively installed on the bidirectional sliders clamped on the column linear guides of the machine frame and the welding slide table. Two inner welding slide beams are slidably mounted on the bidirectional sliders equipped with inner welding cylinders. The end of the cylinder rod of the inner welding cylinder is connected to the inner welding slide beam. Two welding gun telescopic components are respectively installed at the ends of the inner welding slide beam.

[0013] The multi-gun automatic welding machine for steel pipe flanges adapted to the control program of the multi-gun automatic welding machine for steel pipe flanges. The outer welding gun assembly includes a welding gun telescopic assembly and an outer welding frame. Two outer welding gun assemblies are respectively installed on the clamping sliding beams of the flange clamping devices of the flange clamping devices of the frame and the welding and clamping sliding table through the outer welding frame.

[0014] The multi-gun automatic welding machine for steel pipe flanges adapted to the control program of the multi-gun automatic welding machine for steel pipe flanges. The steel pipe loading and unloading device includes a lifting and transporting device and a pipe material rack. Among them, the lifting and transporting device includes a lifting and transporting seat, rollers, a transporting drive, a lifting rod, a hinge shaft, a slider, a lifting drive, and a material supporting table. The lifting and transporting device is supported on the transporting guide rail of the frame through the rollers. Two pipe material racks are respectively located on both sides of the lifting and transporting device.

[0015] The multi-gun automatic welding machine for steel pipe flanges adapted to the control program of the multi-gun automatic welding machine for steel pipe flanges. The flange loading device includes a loading sliding table, a grasping head, and a flange rack. Among them, the loading sliding table includes a loading sliding table plate, rollers, a loading table drive, a loading column, a loading linear guide, an upper sliding drive, a loading slider, a flipping drive, and a flipping arm. The plate surface of the loading sliding table plate of the loading sliding table away from the rollers extends with a loading column. The loading slider equipped with the upper sliding drive is clamped on the loading linear guide on the loading column. The flipping drive is installed on the loading slider, and the flipping arm is inserted into the power output hole of the flipping drive. Two loading sliding tables are supported on the frame through the rollers and are respectively located outside the frame and the loading sliding table. The grasping head includes a grasping rod, a grasping drive, a double adjustment drive, a two-way adjustment assembly, an electromagnet, and a grasping pin. The end of the flipping arm is equipped with a grasping rod and a grasping drive. The two-way adjustment assembly equipped with the two-way drive is installed at one end of the grasping rod. Two grasping pins equipped with electromagnets are installed on the side of the two-way adjustment assembly away from the grasping rod. The flange rack is installed on the loading sliding table plate of the loading sliding table.

[0016] Compared with the current situation in the existing field, the control program written according to the present invention is convenient and practical, highly operable, and greatly improves the automation level of the equipment. Since the multi-gun steel pipe flange automatic welding machine is equipped with a program control system, and each step and action are controlled by the program, the welding efficiency is high, the quality is good, and the automation level is high. Since the flange positioning device of the flange clamping device has a right-handed nut and a left-handed nut that are respectively screwed with the same screw in the positioning active component and the positioning driven component, it maintains "centering" relative to the longitudinal symmetry plane of the machine frame, achieving both precise positioning of the workpiece and adapting to the positioning requirements of flanges with different diameters. Since the positioning push tube component of the steel pipe positioning device is installed on the clamping table linear guide, the distance between the positioning pin and the push tube rod of the positioning push tube component relative to the longitudinal symmetry plane of the machine frame is adjustable, so that both precise positioning in the circumferential direction of the flange and adaptation to the positioning requirements of the bolt hole circles with different diameters of the flange can be achieved. Since the push tube rod of the positioning push tube component of the steel pipe positioning device installed on the welding and clamping slide table can push the steel pipe to axially move towards the clamping table of the machine frame, axial automatic positioning of the steel pipe can be realized. Since the push tube rod of the positioning push tube component of the steel pipe positioning device installed on the machine frame has a triggering function, when the push tube rod of the positioning push tube component installed on the welding and clamping slide table pushes the steel pipe to be welded until the end face of the steel pipe to be welded contacts the push tube rod installed on the machine frame, the movement stops, so the positioning of the steel pipe is accurate and reliable. Since the welding and clamping slide table is equipped with slide table rollers and a welding and clamping table drive, it can drive the welding and clamping slide table and each device installed on the welding and clamping slide table to reciprocate longitudinally, so that both the clamping requirements of steel pipes to be welded with different lengths can be adapted and the steel pipe to be welded can be pushed axially to achieve accurate axial positioning of the steel pipe to be welded. Since the gripping heads of each flange feeding device can reciprocate longitudinally, move up and down, and rotate, the gripping and pushing of the flange to be welded are simple and convenient. Since the gripping heads of each flange feeding device are provided with a gripping drive, they can rotate at a low speed to find and insert into the bolt holes of the flange to be welded. Since the lifting drive of the lifting and transporting device of the steel pipe feeding and discharging device is hinged on the hinge shaft equipped with a slider, and during the lifting process of the material supporting table, the lifting drive can slide together with the slider, the telescopic stroke required by the lifting drive is short, the lifting efficiency is high, and when it descends to the limit position, the lifting component can be completely hidden in the lifting seat and the material supporting table, so the transportation requirements under height limitation can be maximally met. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a partial program body diagram of the control program of the multi-gun steel pipe flange automatic welding machine in an embodiment of the present invention; Figure 2 is the present invention Figure 1 is a user window diagram of the control program of the multi-gun steel pipe flange automatic welding machine in the embodiment shown; Figure 3 is the present invention Figure 1An isometric view of the flange clamping device of the multi-gun steel pipe flange automatic welding machine adapted to the control program of the illustrated embodiment when it is in the clamping state, the positioning push pipe assembly of the steel pipe positioning device is in the positioning state, the welding torch telescopic assemblies of the inner welding torch assembly and the outer welding torch assembly are in the welding state, the flange feeding device is in the state of waiting to grab the flange, and the steel pipe feeding and discharging device is in the waiting for discharging state; Figure 4 is the present invention Figure 3 An isometric view from another direction when the flange clamping device of the illustrated embodiment is in the non-clamping state, the positioning push pipe assembly of the steel pipe positioning device is in the retracted state, the welding torch telescopic assemblies of the inner welding torch assembly and the outer welding torch assembly are in the retracted state, the flange feeding device is in the state of pushing the flange into the V-shaped groove of the V-groove wheel, the steel pipe feeding and discharging device is in the state of pushing the steel pipe into contact with the positioning surface of the steel pipe positioning device, and at the same time discharging the welded workpiece to one side of the frame; Figure 5 is the present invention Figure 3 An isometric view of the frame of the illustrated embodiment; Figure 6 is the present invention Figure 3 An isometric view of the welding and clamping slide of the illustrated embodiment; Figure 7 is the present invention Figure 3 An isometric view of the flange clamping device of the illustrated embodiment; Figure 8 is the present invention Figure 7 An isometric view of the flange positioning device of the illustrated embodiment; Figure 9 is the present invention Figure 7 An isometric view of the flange clamping device of the illustrated embodiment; Figure 10 is the present invention Figure 3 An isometric view of the steel pipe positioning device of the illustrated embodiment; Figure 11 is the present invention Figure 10 An isometric view of the radial positioning assembly of the illustrated embodiment; Figure 12 is the present invention Figure 10 An isometric view of the positioning push pipe assembly of the illustrated embodiment; Figure 13 is the present invention Figure 3 An isometric view of the inner welding torch assembly of the illustrated embodiment; Figure 14 is the present invention Figure 13 An isometric view of the welding torch telescopic assembly of the illustrated embodiment; Figure 15 is the present invention Figure 3 An isometric view of the outer welding torch assembly of the illustrated embodiment; Figure 16 is the present invention Figure 3Axonometric view of the steel pipe loading and unloading device in the illustrated embodiment; Figure 17 This is the present invention Figure 16 Axonometric view of the lifting and transporting device in the illustrated embodiment; Figure 18 This is the present invention Figure 3 Axonometric view of the flange loading device in the illustrated embodiment; Figure 19 This is the present invention Figure 18 Axonometric view of the loading slide in the illustrated embodiment; Figure 20 This is the present invention Figure 18 Axonometric view of the grasping head in the illustrated embodiment; Figure 21 This is the present invention Figure 1 The first ladder diagram of the control program in the illustrated embodiment; Figure 22 This is the present invention Figure 1 The second ladder diagram of the control program in the illustrated embodiment; Figure 23 This is the present invention Figure 1 The third ladder diagram of the control program in the illustrated embodiment; Figure 24 This is the present invention Figure 1 The fourth ladder diagram of the control program in the illustrated embodiment; Figure 25 This is the present invention Figure 1 The fifth ladder diagram of the control program in the illustrated embodiment; Figure 26 This is the present invention Figure 1 The sixth ladder diagram of the control program in the illustrated embodiment; Figure 27 This is the present invention Figure 1 The seventh ladder diagram of the control program in the illustrated embodiment; Figure 28 This is the present invention Figure 1 The eighth ladder diagram of the control program in the illustrated embodiment; Figure 29 This is the present invention Figure 1 The ninth ladder diagram of the control program in the illustrated embodiment; Figure 30 This is the present invention Figure 1 The tenth ladder diagram of the control program in the illustrated embodiment; Figure 31 This is the present invention Figure 1 The eleventh ladder diagram of the control program in the illustrated embodiment; Figure 32 This is the present invention Figure 1 The twelfth ladder diagram of the control program in the illustrated embodiment; Figure 33 This is the present inventionFigure 1 The 13th ladder diagram of the control program of the illustrated embodiment; Figure 34 of the present invention Figure 1 The 14th ladder diagram of the control program of the illustrated embodiment; Figure 35 of the present invention Figure 1 The 15th ladder diagram of the control program of the illustrated embodiment; Figure 36 of the present invention Figure 1 The 16th ladder diagram of the control program of the illustrated embodiment; Figure 37 of the present invention Figure 1 The 17th ladder diagram of the control program of the illustrated embodiment; Figure 38 of the present invention Figure 1 The 18th ladder diagram of the control program of the illustrated embodiment; Figure 39 of the present invention Figure 1 The 19th ladder diagram of the control program of the illustrated embodiment; Figure 40 of the present invention Figure 1 The 20th ladder diagram of the control program of the illustrated embodiment; Figure 41 of the present invention Figure 1 The 21st ladder diagram of the control program of the illustrated embodiment; Figure 42 of the present invention Figure 1 The 22nd ladder diagram of the control program of the illustrated embodiment; Figure 43 of the present invention Figure 1 The 23rd ladder diagram of the control program of the illustrated embodiment; Figure 44 of the present invention Figure 1 The 24th ladder diagram of the control program of the illustrated embodiment; Figure 45 of the present invention Figure 1 The 25th ladder diagram of the control program of the illustrated embodiment; Figure 46 of the present invention Figure 1 The 26th ladder diagram of the control program of the illustrated embodiment; Figure 47 of the present invention Figure 1 The 27th ladder diagram of the control program of the illustrated embodiment; Figure 48 of the present invention Figure 1 The 28th ladder diagram of the control program of the illustrated embodiment; Figure 49 of the present invention Figure 1 The 29th ladder diagram of the control program of the illustrated embodiment; Figure 50 is the 30th ladder diagram of the control program of the embodiment shown in the present invention; Figure 1 Figure 51 is the 31st ladder diagram of the control program of the embodiment shown in the present invention; Figure 1 Figure 52 is the 32nd ladder diagram of the control program of the embodiment shown in the present invention; Figure 1 Figure 53 is the 33rd ladder diagram of the control program of the embodiment shown in the present invention; Figure 1 Figure 54 is the 34th ladder diagram of the control program of the embodiment shown in the present invention; Figure 1 Figure 55 is the 35th ladder diagram of the control program of the embodiment shown in the present invention; Figure 1 Figure 56 is the 36th ladder diagram of the control program of the embodiment shown in the present invention; Figure 1 Figure 57 is the 37th ladder diagram of the control program of the embodiment shown in the present invention. Figure 1 Detailed implementation manners

[0018] ​​​​​​​​1. Frame 11. Underframe 12. Column 13. Clamping table 14. Slideway of slide table 15. Transport guide rail 16. Clamping table linear guide 17. Column linear guide 18. Bidirectional slider 19. Double-slide drive 2. Welding slide table 21. Welding slide table plate 22. Roller 23. Welding table drive 3. Flange clamping device 31. Flange positioning device 311. Lead screw 312. Lead screw drive 313. Positioning active component 3132. V-groove wheel 3133. Right-handed nut 314. Positioning driven component 3142. Left-handed nut 32. Flange clamping device 321. Slide beam cylinder 322. Clamping slide beam 323. Clamping slider 324. Clamping cylinder 4. Steel pipe positioning device 41. Radial positioning component 411. Steel pipe positioning table 412. Steel pipe positioning drive 413. Steel pipe positioning plate 414. Positioning roller 42. Positioning pipe-pushing component 421. Positioning pipe-pushing frame 422. Positioning pipe-pushing cylinder 423. Positioning pin 424. Pipe-pushing rod 425. Positioning pushing frame cylinder 5. Inner welding torch assembly 51. Welding torch telescopic assembly 511. Telescopic slider 512. Telescopic frame 513. Welding cylinder 514. Horizontal adjustment component 515. Fine adjustment component 516. Wire clamp 52. Inner welding cylinder 53. Inner welding slide beam 6. Outer welding torch assembly 61. Outer welding frame 7. Steel pipe loading and unloading device 71. Lifting and transporting device 711. Lifting and transporting seat 712. Transport drive 713. Lifting rod 714. Hinge shaft 715. Slider 716. Lifting drive 717. Supporting table 72. Pipe rack 8. Flange loading device 81. Loading slide table 811. Loading slide table plate 812. Loading table drive 813. Loading column 814. Loading linear guide 815. Upper slide drive 816. Loading slider 817. Tipping drive 818. Tipping arm 82. Gripping head 821. Gripping rod 822. Gripping drive 823. Double adjustment drive 824. Bidirectional adjustment component 825. Electromagnet 826. Gripping pin 83. Flange rack.

[0019] In Figure 1 - Figure 20 the shown embodiment: The control program writing process is as follows: ⑴ After power-on, press the reset key, the equipment performs self-check, and each execution mechanism returns to the initial origin: ① The lifting and transporting device of the steel pipe loading and unloading device descends and returns to the side close to the pipe rack where the steel pipe to be welded is placed; ② The slide beam cylinder of the flange clamping device of the flange clamping device retracts, driving the clamping slide beam, V-groove wheel and outer welding torch assembly to retreat to one side of the equipment; ③ The rod of the inner welding cylinder of the inner welding torch assembly retracts, driving the welding torch telescopic assembly to retreat to one side of the equipment through the inner welding slide beam; ④ The welding torch telescopic assemblies of the inner welding torch assembly and the outer welding torch assembly retreat to the non-welding state; ⑤The lead screw drive of the flange positioning device of the flange clamping device drives the positioning active component and the positioning driven component to move outward; ⑥The welding table drive of the welding slide drives the welding slide to move outward; ⑦The loading table drive of the loading slide of the flange loading device drives the flange loading device to move outward, the upward slide drive drives the loading slider and the gripping head to rise, and the flipping drive of the gripping head drives the gripping head to flip to the vertical position; ⑧Manually adjust to ensure the best welding position, and the system will automatically save relevant parameters after startup; ⑵Start the program and enter the welding state: ①Automatic flange feeding: A. The upward slide drive of the flange loading device drives the loading slider and the gripping head to descend until the flange to be welded is detected; B. The gripping drive of the gripping head drives the two-way adjustment component, the electromagnet and the gripping pin to rotate slowly until they are aligned with the bolt holes of the flange to be welded, and the gripping drive of the gripping head drives the gripping pin to insert into the bolt holes of the flange to be welded; C. The electromagnet is energized to grip the flange to be welded; D. The flipping drive of the gripping head drives the gripping head to flip to the horizontal position; E. The loading table drive of the loading slide of the flange loading device drives the flange loading device and the flange to be welded to be pushed towards the flange positioning device until they are above the V-grooved wheels of the positioning active component and the positioning driven component; F. The upward slide drive of the flange loading device drives the loading slider, the gripping head and the flange to be welded to descend until the flange to be welded is placed into the V-grooved wheels of the positioning active component and the positioning driven component; G. The V-grooved wheels of the flange clamping device of the flange clamping device descend to clamp the flange to be welded; H. The electromagnet of the gripping head of the flange loading device is de-energized to release the flange to be welded; I. The upward slide drive drives the loading slider and the gripping head to rise; J. The flipping drive of the gripping head drives the gripping head to flip to the vertical position; K. The loading table drive of the loading slide drives the flange loading device to move outward; L. The gripping head descends until the flange to be welded is detected; M. The positioning push frame cylinder of the positioning push tube component of the steel pipe positioning device drives the positioning push tube component to move until it is aligned with the longitudinal symmetry plane of the frame; N. The positioning pin of the positioning push tube cylinder of the positioning push tube component of the steel pipe positioning device extends and inserts into the bolt hole of the flange to be welded, and the push tube rod is aligned with the end face of the steel pipe to be welded; ②Automatic steel pipe feeding: A. The lifting and transporting device of the steel pipe loading and unloading device rises to lift the steel pipe to be welded to the set height; B. The lifting and transporting drive drives the lifting and transporting device and the steel pipe to be welded to move towards the longitudinal symmetry plane of the rack to a set position; C. The lifting and transporting device descends, places the steel pipe to be welded on the positioning rollers of the radial positioning component of the steel pipe positioning device, and continues to descend to the initial state; D. The welding table drive of the welding and installation slide drives the welding and installation slide and the positioning pin and pushing pipe rod of the positioning and pushing pipe component of the steel pipe positioning device installed on the welding and installation slide, and pushes the steel pipe to be welded towards the clamping table of the rack; E. Stop when the other end of the steel pipe to be welded touches the pushing pipe rod of the positioning and pushing pipe component of the steel pipe positioning device installed on the clamping table of the rack; ③ Welding of steel pipe and flange: A. The inner welding cylinder of the inner welding gun component drives the welding gun telescopic component to extend to the welding state through the inner welding slide beam; B. The welding gun telescopic components of the inner welding gun component and the outer welding gun component extend to the welding position; C. The spot welding program starts and the first spot welding is completed; D. The positioning and pushing pipe cylinder of the steel pipe positioning device drives the positioning pin and the pushing pipe rod to return to the initial position; E. The positioning drive of the positioning active component of the flange positioning device drives the V-groove wheel of the positioning active component to rotate, and then drives the flange of the workpiece to be welded together with the steel pipe to rotate "360° / set number of spot welds" and then spot weld again until the number of spot welds is reached; F. The continuous welding program starts until the welding is completed; G. The welding gun telescopic components of the inner welding gun component and the outer welding gun component return to the initial position; H. The clamping cylinder of the flange clamping device drives the V-groove wheel to return to the initial position; I. The slide beam cylinder of the flange clamping device of the flange clamping device drives the clamping slide beam, the V-groove wheel and the outer welding gun component to return to the initial state; J. The inner welding cylinder of the inner welding gun component drives the welding gun telescopic component to return to the initial state through the inner welding slide beam; K. The welding table drive of the welding and installation slide drives the welding and installation slide to move outwards to the initial position; ④ Unloading: A. The lifting and transporting device of the steel pipe loading and unloading device rises, and jacks up the welded finished workpiece and the steel pipe to be welded to a set height; B. The transporting drive drives the lifting and transporting device, the finished workpiece and the steel pipe to be welded to move away from the side of the pipe rack with the steel pipe to be welded to a set position; C. The lifting and transporting device descends, places the steel pipe to be welded on the positioning rollers of the radial positioning component of the steel pipe positioning device, and at the same time places the finished workpiece on the pipe rack, and continues to descend to the set position; D. The migration drive reversely drives the lifting and migrating device to move towards the stock rack where the steel pipe to be welded is placed to a set position; E. The lifting and migrating device ascends to lift the steel pipe to be welded to a set height; F. The migration drive drives the lifting and migrating device and the steel pipe to be welded to move towards the longitudinal symmetry plane of the frame to a set position; G. The lifting and migrating device descends to a set height; H. The migration drive drives the lifting and migrating device and the steel pipe to be welded to move towards the longitudinal symmetry plane of the frame to a set position and waits for material withdrawal; Thus, a welding cycle is completed.

[0020] The frame 1 of the multi-gun steel pipe flange automatic welding machine adapted by the control program of the multi-gun steel pipe flange automatic welding machine is placed on the ground, and a welding slide table 2 is slidably installed above it; two flange clamping devices 3 and two steel pipe positioning devices 4 are respectively installed on the frame 1 and the welding slide table 2, and two inner welding gun assemblies 5 and two outer welding gun assemblies 6 are respectively installed on the frame 1 and the welding slide table 2; the steel pipe loading and unloading device 7 is installed on the frame 1 and is located between the frame 1 and the welding slide table 2, and two flange loading devices 8 are installed on the frame 1 and are located outside the frame 1 and the welding slide table 2. Among them, the bottom frame 11 of the frame 1 extends upward with columns 12 and a clamping table 13, and is provided with a slide table guide rail 14 and a transport guide rail 15; the clamping table 13 is provided with a clamping table linear guide rail 16, the column 12 is provided with a column linear guide rail 17, and two bidirectional sliders 18 equipped with a double-slide drive 19 are respectively clamped on the column linear guide rail 17 of the column 12. The welding slide table plate 21 of the welding slide table 2 is slidably installed on the slide table guide rail 14 of the frame 1 through the rollers 22 on one side surface, the welding slide table plate 21 extends upward with columns 12 and a clamping table linear guide rail 16, and the column 12 is provided with a column linear guide rail 17; the bidirectional sliders 18 equipped with a double-slide drive 19 are respectively clamped on the column linear guide rail 17 of the column 12 of the welding slide table 2. The two lead screws 311 of the flange positioning device 31 of the flange clamping device 3 are respectively supported at both ends of the clamping table linear guide rail 16 of the frame 1 and the welding slide table 2, the right-handed nuts 3133 of the positioning driving assembly 313 and the left-handed nuts 3142 of the positioning driven assembly 314 of the two flange positioning devices 31 are both screwed onto the lead screw 311, and the positioning driving assembly 313 and the positioning driven assembly 314 are installed on the clamping table linear guide rail 16; when the lead screw 311 rotates, the right-handed nut 3133 and the left-handed nut 3142 can be simultaneously driven to move in the direction close to or away from the longitudinal symmetry plane of the frame 1, that is, drive the positioning driving assembly 313 and the positioning driven assembly 314 of the flange positioning device 31 to reciprocate axially along the lead screw 311, so that the two V-groove wheels 3132 respectively installed on the positioning driving assembly 313 and the positioning driven assembly 314 have the "centering" function relative to the longitudinal symmetry plane of the frame 1. The two sliding beam cylinders 321 of the flange clamping device 32 are respectively installed on the bidirectional sliders 18 of the frame 1 and the welding slide table 2, the two clamping sliding beams 322 are respectively slidably installed on the bidirectional sliders 18 equipped with the sliding beam cylinders 321, and the end of the cylinder rod of the sliding beam cylinder 321 is connected to the clamping sliding beam 322; the two clamping sliders 323 are respectively slidably installed at the ends of the clamping sliding beams 322 of the frame 1 and the welding slide table 2, the two clamping cylinders 324 are respectively installed on one side of the clamping sliding beams 322 of the frame 1 and the welding slide table 2, the lever ends of the two clamping cylinders 324 are respectively connected to the two clamping sliders 323, and the two V-groove wheels 3132 are respectively installed on the two clamping sliders 323.The output shaft end of the steel pipe positioning drive 412 installed on the steel pipe positioning table 411 of the radial positioning assembly 41 of the steel pipe positioning device 4 is equipped with a steel pipe positioning plate 413 and a positioning roller 414. Two steel pipe positioning devices 4 are respectively installed on the frame 1 and the welding slide 2; the positioning pipe pushing assembly 42 is installed on the positioning pipe pushing frame 421, and the end of the piston rod of the positioning pipe pushing cylinder 422 is equipped with a positioning pin 423 and a pipe pushing rod 424; two positioning pipe pushing assemblies 42 are respectively installed on the frame 1 and the welding slide 2, two positioning pushing frame cylinders 425 are respectively installed on the frame 1 and the welding slide 2, and the end of the piston rod of the two positioning pushing frame cylinders 425 is respectively connected to the positioning pipe pushing frame 421. The welding torch telescopic assembly 51 of the internal welding torch assembly 5 is connected to the end of the lever of the welding cylinder 513 by the telescopic slider 511 installed on the telescopic frame 512. The horizontal adjustment assembly 514 is installed on the telescopic slider 511, and the end of the fine adjustment assembly 515 installed on the horizontal adjustment assembly 514 is equipped with a wire clamp 516; two internal welding cylinders 52 are respectively installed on the two-way sliders 18 clamped on the column linear rails 17 of the frame 1 and the welding slide 2, two internal welding slide beams 53 are slidably installed on the two-way sliders 18 equipped with the internal welding cylinders 52, and the end of the piston rod of the internal welding cylinder 52 is connected to the internal welding slide beam 53; two welding torch telescopic assemblies 51 are respectively installed at the ends of the internal welding slide beams 53. Two external welding torch assemblies 6 are respectively installed on the clamping slide beam 322 of the flange clamping device 32 of the flange clamping device 3 of the frame 1 and the welding slide 2 through the external welding frame 61. The lifting and transporting device 71 of the steel pipe loading and unloading device 7 is supported on the transporting guide rail 15 of the frame 1 by the rollers 22, and two pipe material racks 72 are respectively located on both sides of the lifting and transporting device 71. The feeding slide plate 811 of the feeding slide 81 of the flange feeding device 8 extends a feeding column 813 from the plate surface far away from the roller 22. The feeding slider 816 equipped with the upward sliding drive 815 is clamped on the feeding linear rail 814 on the feeding column 813; the flipping drive 817 is installed on the feeding slider 816, and the flipping arm 818 is inserted into the power output hole of the flipping drive 817; two feeding slides 81 are supported on the frame 1 through the rollers 22 and are respectively located outside the frame 1 and the feeding slide 81; the end of the flipping arm 818 of the gripping head 82 is equipped with a gripping rod 821 and a gripping drive 822. The two-way adjustment assembly 824 equipped with the two-way drive 824 is installed at one end of the gripping rod 821, and two gripping pins 826 equipped with electromagnets 825 are installed on the side of the two-way adjustment assembly 824 away from the gripping rod 821; therefore, the two-way drive 824 can adjust the two gripping pins 826 to approach or move away from the center of the two-way adjustment assembly 824 simultaneously through the left-handed and right-handed lead screws of the two-way adjustment assembly 824 to meet the gripping requirements for different bolt hole circle diameters of the flange; in addition, the gripping drive 822 can drive the two gripping pins 826 to rotate around the axis of the gripping drive 822 through the two-way adjustment assembly 824 so as to be aligned with the bolt holes of the flange and inserted into the holes. The flange rack 83 is installed on the feeding slide plate 811 of the feeding slide 81, and the flange to be welded is horizontally placed in the flange rack 83.When the flipping drive 817 of the loading slide 81 drives the gripper head 82 to rotate through the flipping arm 818 until the axis of the gripping rod 821 is perpendicular to the plate surface of the loading slide plate 811, that is, in the gripping state, the upward sliding drive 815 of the loading slide 81 drives the flipping drive 817, the flipping arm 818 and the entire gripper head 82 to move downward through the loading slider 816 until the ends of the two gripping pins 826 contact the flange end face. The gripping drive 822 of the gripper head 82 drives the two gripping pins 826 to rotate around the axis of the gripping drive 822 through the two-way adjustment assembly 824. When the ends of the two gripping pins 826 are aligned with the bolt holes of the flange, the two gripping pins 826 are respectively inserted into the bolt holes of the flange; at the same time, the electromagnet 825 is energized to adsorb and grip the flange and then send it to the clamping station.

[0021] In Figure 21 - Figure 49 the embodiment shown, the control program written by the present invention for the welding of a certain specification of flange and steel pipe is as follows: PLC parameters: Data name: Memory capacity setting Memory capacity setting [Memory capacity] 16000 [Program capacity] 16000 steps [Comment capacity] 0 blocks 0 points [File register capacity] 0 blocks 0 points [Special module initial value setting] 0 blocks [Built-in positioning setting] 0 blocks [Built-in CC-Link / LT setting] 0 blocks Data name: PLC system setting PLC system setting [Battery-less mode] OFF [Modem initialization] None [RUN terminal input] None Data name: Soft element setting Data name: Program setting Execution type Program file name [Title] FEND SRET / IRET Execute program MAIN C set value Data name: MAIN Position Soft element / Label Set value (1121) T0 D234 (1156) T1 D238 (1205) T2 D264 (1305) T200 D242 (1367) T201 D244 (1413) T202 D242 (1475) T203 D244 (1696) T40 K50 (1791) T6 K10 (1923) T30 D274 (1945) T8 D250 (2057) T50 D280 (2137) T9 D240 (2154) T10 D236 (2174) T31 D276 (2194) T62 D278 (2596) T61 K50 Data name: Soft element usage list Search location: (All projects) Search target: Used soft elements (contacts & coils) Print range: All ranges *: In use, (times): Number of times the coil is used

Claims

1. Control program for an automatic multi-gun steel pipe flange welding machine, characterized in that: The control program writing process is as follows: ⑴ After power-on, press the reset button, and the device performs self-check, and each actuator returns to the initial origin: ① The lifting and transporting device of the steel pipe loading and unloading device descends and returns to the side close to the pipe rack where the steel pipe to be welded is placed; ② The sliding beam cylinder of the flange clamping device of the flange clamping device retracts, driving the clamping sliding beam, V-groove wheel and external welding torch assembly to return to one side of the device; ③ The piston rod of the internal welding cylinder of the internal welding torch assembly retracts, driving the welding torch telescopic assembly to return to one side of the device through the internal welding sliding beam; ④ The welding torch telescopic assemblies of the internal welding torch assembly and the external welding torch assembly return to the non-welding state; ⑤ The lead screw drive of the flange positioning device of the flange clamping device drives the positioning active assembly and the positioning driven assembly to move outward; ⑥ The welding table drive of the welding and assembling slide drives the welding and assembling slide to move outward; ⑦ The feeding table drive of the feeding slide of the flange feeding device drives the flange feeding device to move outward, the upward sliding drive drives the feeding slider and the grasping head to rise, and the flipping drive of the grasping head drives the grasping head to flip to the vertical position; ⑧ Manually adjust to ensure the best welding position, and the system will automatically save relevant parameters after startup; ⑵ Start the program and enter the welding state: ① Automatic flange feeding: A. The upward sliding drive of the flange feeding device drives the feeding slider and the grasping head to descend until the flange to be welded is detected; B. The grasping drive of the grasping head drives the two-way adjustment assembly, the electromagnet and the grasping pin to rotate slowly until they are aligned with the bolt holes of the flange to be welded, and the grasping drive of the grasping head drives the grasping pin to insert into the bolt holes of the flange to be welded; C. The electromagnet is energized to grasp the flange to be welded; D. The flipping drive of the grasping head drives the grasping head to flip to the horizontal position; E. The feeding table drive of the feeding slide of the flange feeding device drives the flange feeding device and the flange to be welded to be pushed towards the flange positioning device to the upper part of the V-groove wheel of the positioning active assembly and the positioning driven assembly; F. The upward sliding drive of the flange feeding device drives the feeding slider, the grasping head and the flange to be welded to descend until the flange to be welded is placed into the V-groove wheel of the positioning active assembly and the positioning driven assembly; G. The V-groove wheel of the flange clamping device of the flange clamping device descends to clamp the flange to be welded; H. The electromagnet of the grasping head of the flange feeding device is powered off to release the flange to be welded; I. The upward sliding drive drives the feeding slider and the grasping head to rise; J. The flipping drive of the grasping head drives the grasping head to flip to the vertical position; K. The feeding table drive of the feeding slide drives the flange feeding device to move outward; L. The grasping head descends until the flange to be welded is detected; M. The positioning push frame cylinder of the positioning push pipe assembly of the steel pipe positioning device drives the positioning push pipe assembly to move to align with the longitudinal symmetry plane of the frame; N. The positioning pin of the positioning push pipe cylinder of the positioning push pipe assembly of the steel pipe positioning device extends and inserts into the bolt hole of the flange to be welded, and the push pipe rod is aligned with the end face of the steel pipe to be welded; ② Automatic steel pipe feeding: A. The lifting and transporting device of the steel pipe loading and unloading device rises, lifting the steel pipe to be welded to the set height; B. The transporting drive drives the lifting and transporting device and the steel pipe to be welded to move towards the longitudinal symmetry plane of the frame to the set position; C. The lifting and transporting device descends, places the steel pipe to be welded on the positioning rollers of the radial positioning assembly of the steel pipe positioning device, and continues to descend to the initial state; D. The welding table drive of the welding and fitting slide drives the welding and fitting slide, the positioning pin and the push rod of the positioning push rod assembly of the steel pipe positioning device installed on the welding and fitting slide, and pushes the steel pipe to be welded towards the clamping table of the machine frame; E. Stop when the other end of the steel pipe to be welded touches the push rod of the positioning push rod assembly of the steel pipe positioning device installed on the clamping table of the machine frame; ③ Welding of steel pipe and flange: A. The inner welding cylinder of the inner welding gun assembly drives the welding gun telescopic assembly to extend to the welding state through the inner welding slide beam; B. The welding gun telescopic assemblies of the inner welding gun assembly and the outer welding gun assembly extend to the welding position; C. Start the spot welding program and complete the first spot welding; D. The positioning push rod cylinder of the steel pipe positioning device drives the positioning pin and the push rod to return to the initial position; E. The positioning drive of the positioning active assembly of the flange positioning device drives the V-groove wheel of the positioning active assembly to rotate, and then drives the flange of the workpiece to be welded together with the steel pipe to rotate "360° / set number of spot welds" and then spot weld again until the number of spot welds is reached; F. Start the continuous welding program until the welding is completed; G. The welding gun telescopic assemblies of the inner welding gun assembly and the outer welding gun assembly return to the initial position; H. The clamping cylinder of the flange clamping device drives the V-groove wheel to return to the initial position; I. The slide beam cylinder of the flange clamping device of the flange clamping device drives the clamping slide beam, the V-groove wheel and the outer welding gun assembly to return to the initial state; J. The inner welding cylinder of the inner welding gun assembly drives the welding gun telescopic assembly to return to the initial state through the inner welding slide beam; K. The welding table drive of the welding and fitting slide drives the welding and fitting slide to move outwards to the initial position; ④ Unloading: A. The lifting and transporting device of the steel pipe loading and unloading device rises, and jacks up the welded finished workpiece and the steel pipe to be welded to the set height; B. The transport drive drives the lifting and transporting device, the finished workpiece and the steel pipe to be welded to move towards the side away from the pipe rack with the steel pipe to be welded to the set position; C. The lifting and transporting device descends, places the steel pipe to be welded on the positioning roller of the radial positioning assembly of the steel pipe positioning device, and at the same time places the finished workpiece on the pipe rack, and continues to descend to the set position; D. The transport drive drives the lifting and transporting device in the reverse direction to move towards the pipe rack with the steel pipe to be welded to the set position; E. The lifting and transporting device rises, and jacks up the steel pipe to be welded to the set height; F. The transport drive drives the lifting and transporting device and the steel pipe to be welded to move towards the longitudinal symmetry plane of the machine frame to the set position; G. The lifting and transporting device descends to the set height; H. The transport drive drives the lifting and transporting device and the steel pipe to be welded to move towards the longitudinal symmetry plane of the machine frame to the set position and wait for unloading; Thus, a welding cycle is completed.

2. The multi-gun steel pipe flange automatic welding machine adapted to the control program of the multi-gun steel pipe flange automatic welding machine according to claim 1, comprising a frame (1), a welding slide (2), a flange clamping device (3), a steel pipe positioning device (4), an inner welding gun assembly (5), an outer welding gun assembly (6), a steel pipe loading and unloading device (7) and a flange loading device (8), characterized in that: The frame (1) is placed on the ground, and the welding and fitting sliding table (2) is slidably installed above it; two flange clamping devices (3) and two steel pipe positioning devices (4) are respectively installed on the frame (1) and the welding and fitting sliding table (2), and two inner welding torch assemblies (5) and two outer welding torch assemblies (6) are respectively installed on the frame (1) and the welding and fitting sliding table (2); the steel pipe loading and unloading device (7) is installed on the frame (1) and is located between the frame (1) and the welding and fitting sliding table (2), and two flange loading devices (8) are installed on the frame (1) and are located outside the frame (1) and the welding and fitting sliding table (2).

3. The multi-gun steel pipe flange automatic welding machine adapted to the control program of the multi-gun steel pipe flange automatic welding machine according to claim 1, characterized in that: The frame (1) includes a chassis (11), columns (12), a clamping table (13), a sliding table guide rail (14), a transporting guide rail (15), a clamping table linear guide (16), a column linear guide (17), a two-way slider (18), and a double-slider drive (19). Among them, the chassis (11) extends upward with columns (12) and a clamping table (13), and is provided with a sliding table guide rail (14) and a transporting guide rail (15); the clamping table (13) is provided with a clamping table linear guide (16), the columns (12) are provided with a column linear guide (17), and two two-way sliders (18) equipped with a double-slider drive (19) are respectively clamped on the column linear guide (17) of the columns (12).

4. The multi-gun steel pipe flange automatic welding machine adapted to the control program of the multi-gun steel pipe flange automatic welding machine according to claim 1, characterized in that: The welding and fitting sliding table (2) includes a welding and fitting sliding table board (21), rollers (22), a welding and fitting table drive (23), columns (12), a clamping table linear guide (16), a column linear guide (17), a two-way slider (18), and a double-slider drive (19). Among them, the welding and fitting sliding table board (21) is slidably installed on the sliding table guide rail (14) of the frame (1) through the rollers (22) on one side surface; the welding and fitting sliding table board (21) extends upward with columns (12) and a clamping table linear guide (16), and the columns (12) are provided with a column linear guide (17); two-way sliders (18) equipped with a double-slider drive (19) are respectively clamped on the column linear guide (17) of the columns (12) of the welding and fitting sliding table (2).

5. The multi-gun steel pipe flange automatic welding machine adapted to the control program of the multi-gun steel pipe flange automatic welding machine according to claim 1, characterized in that: The flange clamping device (3) includes a flange positioning device (31) and a flange clamping device (32). The flange positioning device (31) includes a lead screw (311), a lead screw drive (312), a positioning active component (313), and a positioning driven component (314). The two lead screws (311) are respectively supported at both ends of the clamping table linear guide (16) of the frame (1) and the welding slide table (2). The right-handed nuts (3133) of the positioning active components (313) and the left-handed nuts (3142) of the positioning driven components (314) of the two flange positioning devices (31) are screwed onto the lead screw (311). The positioning active component (313) and the positioning driven component (314) are installed on the clamping table linear guide (16). The flange clamping device (32) includes a slide beam cylinder (321), a clamping slide beam (322), a clamping slider (323), a clamping cylinder (324), and a V-groove wheel (3132). The two slide beam cylinders (321) are respectively installed on the bidirectional sliders (18) of the frame (1) and the welding slide table (2). The two clamping slide beams (322) are respectively slidably mounted on the bidirectional sliders (18) equipped with the slide beam cylinder (321). The end of the cylinder rod of the slide beam cylinder (321) is connected to the clamping slide beam (322). The two clamping sliders (323) are respectively slidably mounted at the ends of the clamping slide beams (322) of the frame (1) and the welding slide table (2). The two clamping cylinders (324) are respectively installed on one side of the clamping slide beams (322) of the frame (1) and the welding slide table (2). The lever ends of the two clamping cylinders (324) are respectively connected to the two clamping sliders (323). The two V-groove wheels (3132) are respectively installed on the two clamping sliders (323).

6. The multi-gun steel pipe flange automatic welding machine adapted to the control program of the multi-gun steel pipe flange automatic welding machine according to claim 1, characterized in that: The steel pipe positioning device (4) includes a radial positioning component (41) and a positioning pipe-pushing component (42). The radial positioning component (41) includes a steel pipe positioning table (411), a steel pipe positioning drive (412), a steel pipe positioning plate (413), and a positioning roller (414). The output shaft end of the steel pipe positioning drive (412) installed on the steel pipe positioning table (411) is equipped with the steel pipe positioning plate (413) and the positioning roller (414). The two steel pipe positioning devices (4) are respectively installed on the frame (1) and the welding slide table (2). The positioning pipe-pushing component (42) includes a positioning pipe-pushing frame (421), a positioning pipe-pushing cylinder (422), a positioning pin (423), a pipe-pushing rod (424), and a positioning push frame cylinder (425). The end of the cylinder rod of the positioning pipe-pushing cylinder (422) installed on the positioning pipe-pushing frame (421) is equipped with the positioning pin (423) and the pipe-pushing rod (424). The two positioning pipe-pushing components (42) are respectively installed on the frame (1) and the welding slide table (2). The two positioning push frame cylinders (425) are respectively installed on the frame (1) and the welding slide table (2). The lever ends of the two positioning push frame cylinders (425) are respectively connected to the positioning pipe-pushing frame (421).

7. The multi-gun steel pipe flange automatic welding machine adapted to the control program of the multi-gun steel pipe flange automatic welding machine according to claim 1, characterized in that: The inner welding torch assembly (5) includes a welding torch telescopic assembly (51), an inner welding cylinder (52) and an inner welding sliding beam (53). The welding torch telescopic assembly (51) includes a telescopic slider (511), a telescopic frame (512), a welding cylinder (513), a horizontal adjustment assembly (514), a fine adjustment assembly (515) and a wire clamp (516). The telescopic slider (511) mounted on the telescopic frame (512) is connected to the lever end of the welding cylinder (513). The horizontal adjustment assembly (514) is mounted on the telescopic slider (511), and the end of the fine adjustment assembly (515) mounted on the horizontal adjustment assembly (514) is equipped with a wire clamp (516). Two inner welding cylinders (52) are respectively mounted on the two-way sliders (18) clamped on the column linear guide (17) of the frame (1) and the welding and mounting sliding table (2). Two inner welding sliding beams (53) are slidably mounted on the two-way sliders (18) equipped with the inner welding cylinders (52), and the end of the cylinder rod of the inner welding cylinder (52) is connected to the inner welding sliding beam (53). Two welding torch telescopic assemblies (51) are respectively mounted at the ends of the inner welding sliding beams (53).

8. The multi-gun steel pipe flange automatic welding machine adapted to the control program of the multi-gun steel pipe flange automatic welding machine according to claim 1, characterized in that: The outer welding torch assembly (6) includes a welding torch telescopic assembly (51) and an outer welding frame (61). Two outer welding torch assemblies (6) are respectively mounted on the clamping sliding beams (322) of the flange clamping devices (32) of the flange mounting devices (3) of the frame (1) and the welding and mounting sliding table (2) through the outer welding frames (61).

9. The multi-gun steel pipe flange automatic welding machine adapted to the control program of the multi-gun steel pipe flange automatic welding machine according to claim 1, characterized in that: The steel pipe loading and unloading device (7) includes a lifting and transporting device (71) and a pipe rack (72). The lifting and transporting device (71) includes a lifting and transporting seat (711), rollers (22), a transporting drive (712), a lifting rod (713), a hinge shaft (714), a slider (715), a lifting drive (716) and a material supporting table (717). The lifting and transporting device (71) is supported on the transporting guide rail (15) of the frame (1) through the rollers (22), and two pipe racks (72) are respectively located on both sides of the lifting and transporting device (71).

10. The multi-gun steel pipe flange automatic welding machine adapted to the control program of the multi-gun steel pipe flange automatic welding machine according to claim 1, characterized in that: The flange loading device (8) includes a loading slide (81), a gripping head (82), and a flange rack (83). The loading slide (81) includes a loading slide plate (811), rollers (22), a loading table drive (812), a loading column (813), a loading linear guide (814), an upper slide drive (815), a loading slider (816), a flipping drive (817), and a flipping arm (818). A loading column (813) protrudes from the plate surface of the loading slide plate (811) of the loading slide (81) that is away from the rollers (22). The loading slider (816) equipped with the upper slide drive (815) is clamped on the loading linear guide (814) on the loading column (813). The flipping drive (817) is installed on the loading slider (816), and the flipping arm (818) is inserted into the power output hole of the flipping drive (817). Two loading slides (81) are supported by the rollers (22) and are respectively located outside the frame (1) and the loading slide (81) and are arranged on the frame (1). The gripping head (82) includes a gripping rod (821), a gripping drive (822), a double adjustment drive (823), a two-way adjustment assembly (824), an electromagnet (825), and gripping pins (826). The end of the flipping arm (818) is equipped with the gripping rod (821) and the gripping drive (822). The two-way adjustment assembly (824) equipped with the two-way drive (824) is installed at one end of the gripping rod (821). Two gripping pins (826) equipped with the electromagnet (825) are installed on the side of the two-way adjustment assembly (824) that is away from the gripping rod (821). The flange rack (83) is installed on the loading slide plate (811) of the loading slide (81).

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