Metal pipe fitting positioning welding robot

Abstract

The invention relates to the technical field of metal pipe fitting welding, in particular to a metal pipe fitting positioning welding robot which comprises a base, mounting plate seats are movably arranged in the base in a front-back symmetrical mode, and pipe locking mechanisms used for locking square pipes are arranged on the upper sides of the mounting plate seats. A welding mechanism used for welding the connecting position of the two square pipes is arranged between the mounting plate bases on the two sides, the pipe locking mechanism comprises a rotating ring base rotationally connected to the upper sides of the mounting plate bases, and four sets of mounting frames are arranged in an inner hole of the rotating ring base at equal intervals in the circumferential direction. According to the welding tool, two square pipes can be quickly aligned and welded, a conventional spot welding step is omitted in a tool locking mode, the working efficiency is effectively improved, and compared with a traditional face-to-face replacing welding mode, the working steps are simpler, the welding quality is high, and time and labor are saved in use.

Description

Technical Field

[0001] The invention relates to the technical field of metal pipe welding, and in particular to a metal pipe positioning welding robot. Background Art

[0002] The metal pipe positioning welding robot is a robot device specially used for welding metal pipes or pipe fittings. This machine is usually used in pipeline projects, such as oil and gas pipelines, chemical plant pipeline systems, building water supply and drainage systems, and other places that require high-strength and high-sealing connections. Chemical plants use pipes of various shapes during the design and construction process, including round, rectangular and square pipes. When it is necessary to save space, square or rectangular pipes can better adapt to the spatial layout inside the building.

[0003] Square tube is a common metal pipe with a square or rectangular cross-section. Square tube is widely used in construction, machinery manufacturing, steel structure engineering and other fields due to its stable structure and strong bearing capacity. According to different materials, square tube can be divided into carbon steel square tube, stainless steel square tube, aluminum alloy square tube and other types.

[0004] At present, when welding the butt joints of two square tubes, the square tubes are mostly aligned manually in advance, and then welded in a face-to-face succession manner. In this welding method, on the one hand, the manual docking is not accurate enough, and it is difficult to ensure the straightness of the docking of the two square tubes. At the same time, the docking efficiency is low, which affects the welding progress of the square tube. On the other hand, the distribution range of general welding gun heads is limited, and the square tube needs to be welded on four sides, which requires the square tube to be continuously rotated to change the welding surface so that different welding surfaces face the welding gun head. In this way, the face-to-face succession method is used for welding, and the welding gun head needs to be continuously moved back and forth along the welding line of the single side of the square tube. The moving position of the welding gun head is generally completed by manual or computer control. The manual adjustment operation is not convenient enough and the accuracy of the alignment cannot be guaranteed. When it is completed by computer control, the overall structure is relatively complex and the use cost is relatively high. Summary of the invention

[0005] Technical problem to be solved: A metal pipe positioning welding robot provided by the present invention can solve the above-mentioned problems.

[0006] Technical solution: In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: a metal pipe positioning welding robot, including a base, a mounting plate seat is symmetrically arranged inside the base, a locking tube mechanism for locking the square tube is arranged on the upper side of the mounting plate seat, and a welding mechanism for welding the connection between the two square tubes is arranged between the mounting plate seats on both sides.

[0007] The tube locking mechanism includes a swivel seat rotatably connected to the upper side of the mounting plate seat, four groups of mounting frames are equidistantly arranged on the circumference of the inner hole of the swivel seat, a number of rollers are equidistantly connected to the mounting frame through swivel pins in the front-rear direction, a stop assembly for limiting the rotation of the rollers is arranged on the swivel pin on one side of each roller, a spacing adjustment assembly for controlling the four groups of mounting frames to synchronously adjust the centrifugal spacing is arranged in the swivel seat, a centering assembly for positioning the butt joints of the square tubes on both sides to the position of the welding mechanism is also arranged between the mounting plate seats on both sides, and a rotating assembly for controlling the rotation of the square tubes is arranged on the lower side of the swivel seats on both sides.

[0008] The welding mechanism includes a support column fixedly connected to the center of the left side of the base, an electric push rod three is fixedly connected to the upper end of the support column, an output end of the electric push rod three is flush with the central axis of the swivel seat and points to the central axis of the swivel seat, a welding gun head is arranged on the output end of the electric push rod three, and an anti-collision component for periodically adjusting the centrifugal position of the welding gun head is arranged between the welding gun head and the output end of the electric push rod three.

[0009] The tube locking mechanism and the welding mechanism are used in coordination to achieve rapid alignment and welding of two square tubes.

[0010] As a preferred technical solution of the present invention, the stop assembly includes a movable frame sleeved on a swivel pin on one side, a tube-resisting protrusion is provided at one end of the movable frame close to the central axis of the swivel seat, a connecting rod is fixedly connected to one end of the movable frame away from the central axis of the swivel seat, a movable cavity is opened corresponding to the connecting rod on the main panel of the mounting frame, the connecting rod slides into the movable cavity and one end of the connecting rod located inside the movable cavity is fixedly connected to a limiting slide, the limiting slide is slidably connected in the movable cavity, a section of the connecting rod between the main panel of the mounting frame and the movable frame is sleeved with a spring, and a side wall inside the movable frame close to the central axis of the swivel seat is fixedly connected to a friction plate, and the friction plate is made of synthetic resin.

[0011] As a preferred technical solution of the present invention, the distance adjustment assembly includes an inner swivel rotatably connected to the inside of the swivel seat, four groups of inclined slide grooves are provided on the inner swivel corresponding to the positions of each mounting frame, a connecting pin is slidably connected in the inclined slide groove, the connecting pin is rotatably connected to the telescopic rod, one end of the telescopic rod away from the connecting pin slides through the inner ring wall of the swivel seat and is fixedly connected to the mounting frame, and a control component for controlling its rotation is provided on the inner swivel.

[0012] As a preferred technical solution of the present invention, the control component includes a gear ring segment fixedly connected to the edge of the inner swivel ring, the outer periphery of the gear ring segment is meshedly connected to gear 2, the center of gear 2 is fixedly connected to a rotating rod, the rotating rod is rotatably connected in the swivel seat, one end of the rotating rod extends to the outside of the swivel seat and is fixedly connected to gear 3, the outer periphery of gear 3 is meshedly connected to a rack, and the rack is fixedly connected to the output end of electric push rod 2.

[0013] As a preferred technical solution of the present invention, the centering assembly includes connecting sleeves symmetrically and fixedly connected to the lower side of the mounting plate seat on the left and right. Two connecting sleeves on the left side of the front and rear mounting plate seats jointly and slidably connect a first guide rod. Two connecting sleeves on the right side of the front and rear mounting plate seats are jointly and symmetrically threaded on a bidirectional lead screw in the front and rear directions. One end of the bidirectional lead screw extends to the outside of the base and is fixedly connected to the output end of a second motor. The second motor is fixedly connected to the outside of the base. A positioning component for adjusting the docking end position of the two side square tubes is arranged at the center position of the base in the front and rear directions.

[0014] As a preferred technical solution of the present invention, the positioning component includes a plurality of first electric push rods fixedly connected to the center position of the base in the front and rear directions. The output ends of the plurality of first electric push rods are jointly and fixedly connected upward to form a fixed seat. A plurality of bidirectional electric push rods distributed in the front and rear directions are fixedly connected to the fixed seat. The two output ends on both sides of the plurality of bidirectional electric push rods are respectively and jointly fixedly connected with baffles.

[0015] As a preferred technical solution of the present invention, the rotating assembly includes a gear ring fixedly connected to the outer edge of the rotating ring seat. A first gear is meshed and connected to the lower side of the periphery of the gear ring. The center of the first gear is fixedly connected with a sliding sleeve. The sliding sleeve is rotatably connected to the mounting plate seat. The centers of the sliding sleeves on the front and rear sides are also jointly limited and slidably connected with a limiting sliding shaft. One end of the limiting sliding shaft extends to the outside of the base and is fixedly connected to the output end of a first motor. The first motor is fixedly connected to the outside of the base.

[0016] As a preferred technical solution of the present invention, the anti-collision assembly includes an arch frame fixedly connected to the output end of a third electric push rod through a support plate. Moving openings are formed in the left and right side walls of the arch frame. A moving rod is jointly and slidably connected in the two moving openings on both sides. The left and right ends of the moving rod extend to the outside of the arch frame and are fixedly connected with mounting rods flush with the direction pointed by the third electric push rod. A roller is rotatably connected to the end of the mounting rod away from the third electric push rod. A second connecting rod is fixedly connected between the two mounting rods. The welding gun head is fixedly connected to the middle of the second connecting rod.

[0017] As a preferred technical solution of the present invention, the anti-collision assembly further includes a moving column slidably penetrating through the main wall of the arch frame. The end of the moving column away from the third electric push rod is fixedly connected to the moving rod. A limiting block is fixedly connected to the end of the moving column close to the third electric push rod. A second spring is sleeved on a section of the moving column between the main wall of the arch frame and the moving rod.

[0018] Beneficial effects:

[0019] 1. The pipe locking mechanism adopted by the present invention can tightly press the square pipe on four sides, effectively ensuring the stability of the butt welding of the square pipe. At the same time, through the limiting effect of the positioning component, it can automatically control the docking of the two square pipes at the welding position of the welding gun, with accurate positioning, effectively ensuring the butt joint straightness of the two square pipes, and being convenient to use.

[0020] 2. The welding mechanism adopted by the present invention can maintain the contact between the roller and the rotating square pipe through the pressing action of the second spring. By adjusting the position of the roller, the welding torch is driven to automatically adjust the distance from the central axis of the turntable, effectively ensuring the welding distance between the welding torch and the weld seam and ensuring the welding quality.

[0021] 3. The pipe locking mechanism and the welding mechanism adopted by the present invention are used in combination to complete the rapid alignment and welding of two square pipes. By using the method of tooling locking, the conventional spot welding steps are omitted, effectively improving the work efficiency. Compared with the traditional surface-to-surface replacement welding method, the working steps are simpler, the welding quality is high, and it is time-saving and labor-saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below in conjunction with the drawings and embodiments.

[0023] Figure 1 is a first perspective three-dimensional structural schematic diagram of the present invention.

[0024] Figure 2 is a right view structural schematic diagram of the present invention.

[0025] Figure 3 is a top view structural schematic diagram of the present invention.

[0026] Figure 4 is an internal sectional structural schematic diagram of the swivel base in the present invention.

[0027] Figure 5 is a sectional structural schematic diagram of the position of the mounting bracket rotating pin in the present invention.

[0028] Figure 6 is a second perspective three-dimensional structural schematic diagram of the present invention.

[0029] Figure 7 is a three-dimensional structural schematic diagram of the welding mechanism of the present invention.

[0030] Figure 8 is a working state diagram of the square pipe, roller and welding torch of the present invention.

[0031] In the figure: 1, base; 2, mounting plate base; 3, pipe locking mechanism; 31, rotating assembly; 311, gear ring; 312, first gear; 313, limiting sliding shaft; 314, sliding sleeve; 315, first motor; 32, centering assembly; 321, positioning component; 3211, baffle; 3212, bidirectional electric push rod; 3213, fixed seat; 3214, first electric push rod; 322, second motor; 323, bidirectional lead screw; 324, first guide rod; 325, connecting sleeve; 33, swivel base; 34, mounting bracket; 35, distance adjusting assembly; 351, inner swivel ring; 352, connecting pin; 353, inclined chute; 354, telescopic rod; 355, control component; 3551, second gear; 3552, rotating rod; 3553, tooth ring section; 3554, third gear; 3555, rack; 3556, second electric push rod; 36, stopping assembly; 361, movable cavity; 362, limiting sliding piece; 363, first connecting rod; 364, first spring; 365, moving frame; 366, friction plate; 3655, pipe pressing projection; 37, rotating pin; 38, pressing roller; 4, welding mechanism; 41, welding gun head; 42, third electric push rod; 43, support column; 44, anti-collision assembly; 441, roller; 442, moving rod; 443, moving column; 444, second spring; 445, arch frame; 446, limiting block; 447, mounting rod; 448, second connecting rod. Detailed implementation mode

[0032] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways defined and covered by the claims.

[0033] Refer to Figure 1 , a positioning and welding robot for metal pipe fittings, including a base 1. Inside the base 1, mounting plate bases 2 are symmetrically and movably arranged front and back. Above the mounting plate bases 2, a pipe locking mechanism 3 for locking square pipes is provided. Between the two mounting plate bases 2, a welding mechanism 4 for welding the connection parts of two square pipes is provided.

[0034] Refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5The tube locking mechanism 3 includes a swivel seat 33 rotatably connected to the upper side of the mounting plate seat 2, four groups of mounting frames 34 are equidistantly arranged in the circumference of the inner hole of the swivel seat 33, and a plurality of rollers 38 are rotatably connected in the mounting frame 34 along the front-to-back direction through a rotating pin 37. A stop assembly 36 for limiting the rotation of the roller 38 is arranged on the rotating pin 37 on one side of each roller 38. A spacing adjustment assembly 35 for controlling the four groups of mounting frames 34 to synchronously adjust the centrifugal spacing is arranged in the swivel seat 33. A centering assembly 32 for positioning the butt joints of the square tubes on both sides to the position of the welding mechanism 4 is also arranged between the mounting plate seats 2 on both sides, and a rotating assembly 31 for controlling the rotation of the square tube is commonly arranged on the lower side of the swivel seats 33 on both sides.

[0035] During specific operation, the surface of the square tube is abutted by the abutting roller 38, which is made of rubber and connected by a rotating pin 37, so that the abutting roller 38 has rotatability, which facilitates the forward and backward movement of the square tube.

[0036] See also Figure 1 and Figure 7 The welding mechanism 4 includes a support column 43 fixedly connected to the left center of the base 1, and an electric push rod 3 42 is fixedly connected to the upper end of the support column 43. The output end of the electric push rod 3 42 is flush with the central axis of the swivel seat 33 and points to the central axis of the swivel seat 33. A welding gun head 41 is arranged on the output end of the electric push rod 3 42, and an anti-collision component 44 for periodically adjusting the centrifugal position of the welding gun head 41 is arranged between the welding gun head 41 and the output end of the electric push rod 3 42.

[0037] During specific operation, the welding gun head 41 is controlled by the electric push rod 3 42 to change the initial distance from the central axis of the swivel seat 33 to adapt to the welding of square tubes of different widths.

[0038] By using the tube locking mechanism 3 and the welding mechanism 4 in coordination, the rapid alignment and welding of two square tubes can be completed.

[0039] See also Figure 5 The stop assembly 36 includes a moving frame 365 sleeved on a rotating pin 37 on one side, and a tube-stopping protrusion 3655 is provided at one end of the moving frame 365 close to the central axis of the swivel seat 33, and a connecting rod 363 is fixedly connected to one end of the moving frame 365 away from the central axis of the swivel seat 33. A main panel of the mounting frame 34 is provided with an active cavity 361 corresponding to the connecting rod 363, and the connecting rod 363 slides into the active cavity 361 and one end of the connecting rod 363 located inside the active cavity 361 is fixedly connected to a limiting slide 362, and the limiting slide 362 is slidably connected in the active cavity 361. A section of the connecting rod 363 between the main panel of the mounting frame 34 and the moving frame 365 is sleeved with a spring 364, and a side wall of the moving frame 365 close to the central axis of the swivel seat 33 is fixedly connected to a friction plate 366, and the friction plate 366 is made of synthetic resin.

[0040] During specific operation, when the square tube is resisted by the roller 38, the contact portion between the roller 38 and the square tube will be squeezed and slightly deformed. The tube-resisting protrusion 3655 does not exceed the outer contour of the roller 38. When the roller 38 is continuously deformed, the square tube will contact the moving frame 365. The moving frame 365 will move through the connecting rod 363 and the compressing spring 364. After moving to the friction plate 366 and contacting the swivel pin 37, the friction plate 366 controls the rotation of the swivel pin 37, and the roller 38 is restricted from rotating. Static friction is generated between the square tube and the roller 38. Under normal conditions, the square tube and the roller 38 are rolling friction with less friction, so that the locking effect of the square tube during welding can be effectively guaranteed. The locking of the swivel pin 37 can be released by the rebound of the spring 364.

[0041] See also Figure 4 and Figure 6 The distance adjustment component 35 includes an inner swivel 351 rotatably connected to the inside of the swivel seat 33. Four sets of inclined grooves 353 are provided on the inner swivel 351 at positions corresponding to the mounting frames 34. A connecting pin 352 is slidably connected in the inclined groove 353. The connecting pin 352 is rotatably connected to the telescopic rod 354. The end of the telescopic rod 354 away from the connecting pin 352 slides through the inner ring wall of the swivel seat 33 and is fixedly connected to the mounting frame 34. A control component 355 for controlling the rotation of the inner swivel 351 is provided; the control part Component 355 includes a gear ring segment 3553 fixedly connected to the edge of the inner swivel ring 351, the outer periphery of the gear ring segment 3553 is meshedly connected to the gear 2 3551, the center of the gear 2 3551 is fixedly connected to a rotating rod 3552, the rotating rod 3552 is rotatably connected to the swivel seat 33, one end of the rotating rod 3552 extends to the outside of the swivel seat 33 and is fixedly connected to the gear 3 3554, the outer periphery of the gear 3 3554 is meshedly connected to the rack 3555, and the rack 3555 is fixedly connected to the output end of the electric push rod 2 3556.

[0042] During specific operation, the rack 3555 is controlled by the electric push rod 2 3556 to move and drive the gear 3 3554 to rotate, and the gear 3 3554 drives the gear 2 3551 to rotate through the rotating rod 3552, and the gear 2 3551 drives the inner rotating ring 351 to rotate through the gear ring segment 3553, and the connecting pin 352 is pushed to move radially through the inclined slide groove 353 on the inner rotating ring 351, and the connecting pin 352 drives the telescopic rod 354 to control the mounting frame 34 to move radially, so as to adjust the centrifugal spacing of the mounting frame 34.

[0043] See also Figure 1 , Figure 2 , Figure 3 and Figure 6, the centering component 32 includes connecting sleeves 325 symmetrically and fixedly connected to the lower side of the mounting plate base 2 from left to right. Two connecting sleeves 325 on the left side of the front and rear mounting plate bases 2 are jointly and slidably connected to a first guide rod 324. Two connecting sleeves 325 on the right side of the front and rear mounting plate bases 2 are jointly and symmetrically connected to a bidirectional lead screw 323 in a front-back direction by threads. One end of the bidirectional lead screw 323 extends outside the base 1 and is fixedly connected to the output end of a second motor 322. The second motor 322 is fixedly connected to the outside of the base 1. A positioning component 321 for adjusting the docking end position of the two side square tubes is arranged at the front-back center position of the base 1; the positioning component 321 includes a plurality of first electric push rods 3214 fixedly connected to the front-back center position of the base 1. The output ends of the plurality of first electric push rods 3214 are jointly and fixedly connected upward to a fixed seat 3213. A plurality of bidirectional electric push rods 3212 distributed in the front-back direction are fixedly connected to the fixed seat 3213. The two output ends of the plurality of bidirectional electric push rods 3212 are respectively and jointly fixedly connected to a baffle 3211.

[0044] During specific operation, the second motor 322 is controlled to drive the bidirectional lead screw 323 to rotate. The two mounting plate bases 2 on both sides are driven by the bidirectional lead screw 323 to move towards each other in the front-back direction along the first guide rod 324, so as to control the docking ends of the two square tubes to approach each other. To ensure that the docking seam is at the central position, the square tubes are initially pre-clamped and the pressure rollers 38 do not deform. When the docking ends of the square tubes move towards the central position of the base 1, restricted by the baffle 3211, the square tubes will stop moving. The centering stops until the two side square tubes both contact the baffle 3211. Then, the two baffles 3211 on both sides are controlled by the bidirectional electric push rods 3212 to move away from the square tubes, so as to avoid large friction when the baffle 3211 moves downward. Then, the fixed seat 3213 is driven by the first electric push rod 3214 to move the baffle 3211 downward to a height that does not hinder the docking of the two side square tubes. Through centering, it can be ensured that the docking seam of the two square tubes is at the front-back central position of the base 1, so that the welding gun head 41 can be accurately positioned on the docking seam.

[0045] Refer to Figure 1 、 Figure 3 and Figure 6 , the rotating component 31 includes a gear ring 311 fixedly connected to the outer edge of the swivel base 33. A first gear 312 is meshed and connected to the lower side of the periphery of the gear ring 311. A sliding sleeve 314 is fixedly connected to the center of the first gear 312. The sliding sleeve 314 is rotatably connected to the mounting plate base 2. A limiting sliding shaft 313 is jointly limited and slidably connected to the centers of the front and rear sliding sleeves 314. One end of the limiting sliding shaft 313 extends outside the base 1 and is fixedly connected to the output end of a first motor 315. The first motor 315 is fixedly connected to the outside of the base 1.

[0046] During specific operation, the motor 315 is used to control the rotation of the limit sliding shaft 313, which drives the sliding sleeves 314 on both sides to rotate and drives the gear 312 to control the gear ring 311 to rotate, and the gear ring 311 drives the swivel seat 33 to rotate, so that the square tubes on both sides rotate synchronously, thereby completing the complete welding of the square tubes on both sides of the butt seam in a circular circle.

[0047] See also Figure 7 The anti-collision component 44 includes an arch frame 445 fixedly connected to the output end of the electric push rod 3 42 through a support plate, and the left and right side walls of the arch frame 445 are both provided with movable openings, and the movable openings on both sides are slidably connected with a moving rod 442. The left and right ends of the moving rod 442 extend to the outside of the arch frame 445 and are fixedly connected with a mounting rod 447 that is flush with the electric push rod 3 42. The end of the mounting rod 447 away from the electric push rod 3 42 is rotatably connected with a roller 441, and the mounting rods 447 on both sides are connected. It is fixedly connected with a connecting rod 2 448, and the welding gun head 41 is fixedly connected to the middle part of the connecting rod 2 448; the anti-collision component 44 also includes a moving column 443 that slides through the main wall of the arch frame 445, and the end of the moving column 443 away from the electric push rod 3 42 is fixedly connected to the moving rod 442, and the end of the moving column 443 close to the electric push rod 3 42 is fixedly connected to the limiting block 446, and a section of the moving column 443 between the main wall of the arch frame 445 and the moving rod 442 is sleeved with a spring 2 444.

[0048] During specific operation, the roller 441 contacts the surface of the square tube so that the welding gun head 41 maintains a distance from the joint. When the top angle of the square tube rotates to the welding position, the roller 441 controls the moving rod 442 to compress the spring 2 444 through the mounting rod 447. When the centers of the planes of the square tube rotate to the welding position, the spring 2 444 is in a fully relaxed state. When it rotates to a section between the top angle of the square tube and the centers of the planes of the square tube, the rebound effect of the spring 2 444 keeps the roller 441 in contact with the square tube, so that the welding gun head 41 maintains the same welding interval.

[0049] See also Figures 1 - 8 The main steps for use are as follows:

[0050] S1: insert two square tubes into the swivel seat 33 respectively, and then control the rack 3555 to move and drive the gear three 3554 to rotate through the electric push rod 2 3556, and the gear three 3554 drives the gear two 3551 to rotate through the rotating rod 3552, and the gear two 3551 drives the inner swivel 351 to rotate through the gear ring segment 3553, and the connecting pin 352 is pushed to move radially through the inclined slide groove 353 on the inner swivel 351, and the connecting pin 352 drives the telescopic rod 354 to control the mounting frame 34 to move radially, so that the four groups of mounting frames 34 are in contact with the square tubes in four planes.

[0051] S2: Control the rotation of the bidirectional lead screw 323 through the second motor 322. Drive the two side mounting seat plates 2 to move towards each other in the front-back direction along the first guide rod 324 by the bidirectional lead screw 323, and control the butt ends of the two square tubes to approach each other. To ensure that the butt joint seam is at the central position, the square tubes are initially pre-clamped, and the pressing rollers 38 do not deform. When the butt ends of the square tubes move towards the central position of the base 1, restricted by the baffle 3211, the square tubes will stop moving. Until both side square tubes contact the baffle 3211, stop centering. Then, control the two side baffles 3211 to move away from the square tubes through the bidirectional electric push rod 3212, and drive the fixed seat 3213 to move the baffle 3211 down to a height that does not hinder the butt joint of the two side square tubes through the first electric push rod 3214.

[0052] S3: Once again, control the pressing rollers 38 to tightly press the square tubes through the distance adjustment assembly 35. During the pressing, the contact parts between the pressing rollers 38 and the square tubes will be squeezed and slightly deformed. When the pressing rollers 38 continue to deform, it will cause the square tubes to contact the moving frame 365. The moving frame 365 will move by compressing the first spring 364 through the connecting rod. After moving until the friction plate 366 contacts the rotating pin 37, the friction plate 366 will control the rotation of the rotating pin 37, and the rotation of the pressing rollers 38 is restricted. Static friction is generated between the square tubes and the pressing rollers 38, so that the square tubes are firmly locked. Then, control the mounting seat plates 2 to move towards each other again, so that the butt ends of the two side square tubes contact.

[0053] S4: Align the center of one side plane of the square tube with the welding gun head 41, and then control the welding gun head 41 to approach the butt joint seam to start welding through the third electric push rod 42. During the welding process, control the rotation of the limit sliding shaft 313 through the first motor 315. Drive the two side sliding sleeves 314 to rotate by the limit sliding shaft 313, drive the first gear 312 to control the rotation of the gear ring 311, and drive the rotating ring seat 33 to rotate by the gear ring 311, so that the two side square tubes rotate synchronously for one circle. At the same time, keep the distance between the welding gun head 41 and the butt joint seam by contacting the surface of the square tube with the roller 441. When the top corner of the square tube rotates to the welding position, the roller 441 will control the moving rod 442 to compress the second spring 444 through the mounting rod 447. When the center of each plane of the square tube rotates to the welding position, the second spring 444 is in a fully relaxed state. When rotating to a section between the top corner of the square tube and the center of each plane of the square tube, the second spring 444 rebounds to keep the roller 441 in contact with the square tube, so that the welding gun head 41 maintains the same welding interval until the welding is completed, and then remove the welded square tube.

[0054] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A metal pipe fitting positioning and welding robot, comprising a base, characterized in that: Inside the base, mounting plate seats are symmetrically and movably arranged in the front and back directions. On the upper side of the mounting plate seats, there is a pipe locking mechanism for locking the square pipes, and between the two side mounting plate seats, there is a welding mechanism for welding the connection part of the two square pipes. The pipe locking mechanism includes a rotating ring seat rotatably connected to the upper side of the mounting plate seat. In the inner hole of the rotating ring seat, four groups of mounting brackets are circumferentially and equidistantly arranged. In the mounting brackets, a number of pressing rollers are rotatably connected at equal intervals in the front and back directions through rotating pins. On the rotating pin on one side of each pressing roller, there is a stopping component for restricting the rotation of the pressing roller. Inside the rotating ring seat, there is an adjusting distance component for controlling the synchronous adjustment of the centrifugal distance of the four groups of mounting brackets. Between the two side mounting plate seats, there is also a centering component for positioning the butt joint seam of the two side square pipes to the position of the welding mechanism. Below the two side rotating ring seats, there is a rotating component for controlling them to drive the square pipes to rotate. The welding mechanism includes a support column fixedly connected to the center of the left side of the base. At the upper end of the support column, there is a third electric push rod fixedly connected. The output end of the third electric push rod is flush with the central axis of the rotating ring seat in height and points to the central axis of the rotating ring seat. On the output end of the third electric push rod, there is a welding gun head. Between the welding gun head and the output end of the third electric push rod, there is an anti-collision component for periodically adjusting the centrifugal position of the welding gun head. By using the pipe locking mechanism and the welding mechanism in cooperation, the rapid alignment and welding of two square pipes can be completed.

2. The positioning and welding robot for metal pipe fittings according to claim 1, characterized in that: The stopping component includes a moving frame sleeved on one side of the rotating pin. At one end of the moving frame close to the central axis of the rotating ring seat, there is a pipe pressing protrusion. At the end of the moving frame far from the central axis of the rotating ring seat, there is a first connecting rod fixedly connected. The main panel of the mounting bracket is provided with a moving cavity corresponding to the first connecting rod. The first connecting rod slides into the moving cavity, and at the end of it located inside the moving cavity, there is a limiting sliding piece fixedly connected. The limiting sliding piece is slidably connected in the moving cavity. A first spring is sleeved on a section of the first connecting rod between the main panel of the mounting bracket and the moving frame. On the inner side wall of the moving frame close to the central axis of the rotating ring seat, there is a friction piece fixedly connected. The friction piece is made of synthetic resin material.

3. The metal pipe fitting positioning and welding robot according to claim 1, characterized in that: The adjusting distance component includes an inner rotating ring rotatably connected inside the rotating ring seat. At the positions corresponding to each mounting bracket on the inner rotating ring, there are four groups of inclined sliding grooves. In the inclined sliding grooves, there are connecting pins slidably connected. The connecting pins are rotatably connected to the telescopic rods. The end of the telescopic rod far from the connecting pin slides through the inner ring wall of the rotating ring seat and is fixedly connected to the mounting bracket. On the inner rotating ring, there is a control component for controlling its rotation.

4. The metal pipe fitting positioning and welding robot according to claim 3, wherein: The control component includes a toothed ring section fixedly connected to the edge of the inner rotating ring. The toothed ring section is meshed and connected with a second gear on the periphery. The center of the second gear is fixedly connected with a rotating rod. The rotating rod is rotatably connected inside the rotating ring seat. One end of the rotating rod extends to the outside of the rotating ring seat and is fixedly connected with a third gear. The third gear is meshed and connected with a rack on the periphery. The rack is fixedly connected to the output end of the second electric push rod.

5. A metal pipe fitting positioning and welding robot according to claim 1, characterized in that: The centering component includes connecting sleeves symmetrically and fixedly connected to the lower side of the mounting plate seat on the left and right. Two connecting sleeves on the left side of the front and rear mounting plate seats are jointly and slidably connected to a first guide rod. Two connecting sleeves on the right side of the front and rear mounting plate seats are jointly and symmetrically connected to a bidirectional lead screw in a threaded manner. One end of the bidirectional lead screw extends to the outside of the base and is fixedly connected to the output end of a second motor. The second motor is fixedly connected to the outside of the base. A positioning component for adjusting the docking end positions of the two side square tubes is provided at the front-to-back center position of the base.

6. The metal pipe fitting positioning and welding robot according to claim 5, wherein: The positioning component includes a number of first electric push rods fixedly connected to the front-to-back center position of the base. The output ends of the number of first electric push rods are jointly and fixedly connected upward to a fixed seat. A number of bidirectional electric push rods distributed in the front-to-back direction are fixedly connected to the fixed seat. The two output ends of the number of bidirectional electric push rods are respectively and jointly fixedly connected with baffles.

7. A metal pipe fitting positioning and welding robot according to claim 1, characterized in that: The rotating component includes a gear ring fixedly connected to the outer edge of the rotating ring seat. A first gear is meshed and connected to the lower side of the periphery of the gear ring. A sliding sleeve is fixedly connected to the center of the first gear. The sliding sleeve is rotatably connected to the mounting plate seat. A limiting sliding shaft is jointly limited and slidably connected to the centers of the front and rear sliding sleeves. One end of the limiting sliding shaft extends to the outside of the base and is fixedly connected to the output end of a first motor. The first motor is fixedly connected to the outside of the base.

8. A metal pipe fitting positioning and welding robot according to claim 1, characterized in that: The anti-collision component includes an arch frame fixedly connected to the output end of a third electric push rod through a support plate. Moving openings are formed in the left and right side walls of the arch frame. A moving rod is jointly slidably connected in the two moving openings. The left and right ends of the moving rod extend to the outside of the arch frame and are fixedly connected to mounting rods flush with the direction pointed by the third electric push rod. A roller is rotatably connected to one end of the mounting rod away from the third electric push rod. A second connecting rod is fixedly connected between the two mounting rods. A welding gun head is fixedly connected to the middle of the second connecting rod.

9. A metal pipe fitting positioning and welding robot according to claim 1, characterized in that: The anti-collision component further includes a moving column slidably penetrating through the main wall of the arch frame. One end of the moving column away from the third electric push rod is fixedly connected to the moving rod. A limiting block is fixedly connected to one end of the moving column close to the third electric push rod. A second spring is sleeved on a section of the moving column between the main wall of the arch frame and the moving rod.

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